[SR-146] Updates to solution meta message

c/include/libsbp/cpp/message_traits.h

@@ -1136,6 +1136,12 @@ struct MessageTraits<msg_group_meta_t> {
 
 template<>
 struct MessageTraits<msg_soln_meta_t> {
+  static constexpr u16 id = 65294;
+};
+
+
+template<>
+struct MessageTraits<msg_soln_meta_dep_a_t> {
   static constexpr u16 id = 65295;
 };
 

c/include/libsbp/solution_meta.h

@@ -44,28 +44,28 @@ typedef struct SBP_ATTR_PACKED {
 } solution_input_type_t;
 
 
-/** Solution Sensors Metadata
+/** Deprecated
  *
  * This message contains all metadata about the sensors received and/or used in computing the Fuzed Solution.
  * It focuses primarly, but not only, on GNSS metadata.
  */
-#define SBP_MSG_SOLN_META 0xFF0F
-#define SBP_SOLN_META_ALIGNMENT_STATUS_MASK (0x7)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_SHIFT (0u)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_GET(flags) \
-                             (((flags) >> SBP_SOLN_META_ALIGNMENT_STATUS_SHIFT) \
-                             & SBP_SOLN_META_ALIGNMENT_STATUS_MASK)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_SET(flags, val) \
+#define SBP_MSG_SOLN_META_DEP_A 0xFF0F
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_MASK (0x7)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_SHIFT (0u)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_GET(flags) \
+                             (((flags) >> SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_SHIFT) \
+                             & SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_MASK)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_SET(flags, val) \
                              do {((flags) |= \
-                             (((val) & (SBP_SOLN_META_ALIGNMENT_STATUS_MASK)) \
-                             << (SBP_SOLN_META_ALIGNMENT_STATUS_SHIFT)));} while(0)
+                             (((val) & (SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_MASK)) \
+                             << (SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_SHIFT)));} while(0)
 
 
-#define SBP_SOLN_META_ALIGNMENT_STATUS_UNKNOWN_REASON_OR_ALREADY_ALIGNED (0)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_SEED_VALUES_LOADED_AND_ALIGNMENT_IN_PROGRESS (1)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_NO_SEED_VALUES_AND_ALIGNMENT_IN_PROGRESS (2)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_SEED_VALUES_LOADED_BUT_NO_GNSS_MEASUREMENTS (3)
-#define SBP_SOLN_META_ALIGNMENT_STATUS_NO_SEED_VALUES_NOR_GNSS_MEASUREMENTS (4)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_UNKNOWN_REASON_OR_ALREADY_ALIGNED (0)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_SEED_VALUES_LOADED_AND_ALIGNMENT_IN_PROGRESS (1)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_NO_SEED_VALUES_AND_ALIGNMENT_IN_PROGRESS (2)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_SEED_VALUES_LOADED_BUT_NO_GNSS_MEASUREMENTS (3)
+#define SBP_SOLN_META_DEP_A_ALIGNMENT_STATUS_NO_SEED_VALUES_NOR_GNSS_MEASUREMENTS (4)
 
 typedef struct SBP_ATTR_PACKED {
   u16 pdop;                      /**< Position Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
@@ -77,6 +77,24 @@ typedef struct SBP_ATTR_PACKED {
   u32 last_used_gnss_pos_tow;    /**< Tow of last-used GNSS position measurement [ms] */
   u32 last_used_gnss_vel_tow;    /**< Tow of last-used GNSS velocity measurement [ms] */
   solution_input_type_t sol_in[0];                 /**< Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc. */
+} msg_soln_meta_dep_a_t;
+
+
+/** Solution Sensors Metadata
+ *
+ * This message contains all metadata about the sensors received and/or used in computing the sensorfusion solution.
+ * It focuses primarly, but not only, on GNSS metadata.
+ */
+#define SBP_MSG_SOLN_META       0xFF0E
+
+typedef struct SBP_ATTR_PACKED {
+  u32 tow;                /**< GPS time of week rounded to the nearest millisecond [ms] */
+  u16 pdop;               /**< Position Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
+  u16 hdop;               /**< Horizontal Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
+  u16 vdop;               /**< Vertical Dilution of Precision, as per last available DOPS from Starling GNSS engine [0.01] */
+  u16 age_corrections;    /**< Age of the corrections (0xFFFF indicates invalid), as per last available AGE_CORRECTIONS from Starling GNSS engine [deciseconds] */
+  u16 age_gnss;           /**< Age of the last received valid GNSS solution (0xFFFF indicates invalid) [ms] */
+  solution_input_type_t sol_in[0];          /**< Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc. */
 } msg_soln_meta_t;
 
 

haskell/src/SwiftNav/SBP/Msg.hs

@@ -202,6 +202,7 @@ data SBPMsg =
    | SBPMsgSettingsWrite MsgSettingsWrite Msg
    | SBPMsgSettingsWriteResp MsgSettingsWriteResp Msg
    | SBPMsgSolnMeta MsgSolnMeta Msg
+   | SBPMsgSolnMetaDepA MsgSolnMetaDepA Msg
    | SBPMsgSpecan MsgSpecan Msg
    | SBPMsgSpecanDep MsgSpecanDep Msg
    | SBPMsgSsrCodeBiases MsgSsrCodeBiases Msg
@@ -408,6 +409,7 @@ instance Binary SBPMsg where
           | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSettingsWriteResp = SBPMsgSettingsWriteResp (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSolnMeta = SBPMsgSolnMeta (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSolnMetaDepA = SBPMsgSolnMetaDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSpecan = SBPMsgSpecan (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSpecanDep = SBPMsgSpecanDep (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrCodeBiases = SBPMsgSsrCodeBiases (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -606,6 +608,7 @@ instance Binary SBPMsg where
       encoder (SBPMsgSettingsWrite _ m) = put m
       encoder (SBPMsgSettingsWriteResp _ m) = put m
       encoder (SBPMsgSolnMeta _ m) = put m
+      encoder (SBPMsgSolnMetaDepA _ m) = put m
       encoder (SBPMsgSpecan _ m) = put m
       encoder (SBPMsgSpecanDep _ m) = put m
       encoder (SBPMsgSsrCodeBiases _ m) = put m
@@ -808,6 +811,7 @@ instance FromJSON SBPMsg where
         | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSettingsWriteResp = SBPMsgSettingsWriteResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSolnMeta = SBPMsgSolnMeta <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSolnMetaDepA = SBPMsgSolnMetaDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSpecan = SBPMsgSpecan <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSpecanDep = SBPMsgSpecanDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrCodeBiases = SBPMsgSsrCodeBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -1011,6 +1015,7 @@ instance ToJSON SBPMsg where
   toJSON (SBPMsgSettingsWrite n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSettingsWriteResp n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSolnMeta n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSolnMetaDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSpecan n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSpecanDep n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrCodeBiases n m) = toJSON n <<>> toJSON m
@@ -1208,6 +1213,7 @@ instance HasMsg SBPMsg where
   msg f (SBPMsgSettingsWrite n m) = SBPMsgSettingsWrite n <$> f m
   msg f (SBPMsgSettingsWriteResp n m) = SBPMsgSettingsWriteResp n <$> f m
   msg f (SBPMsgSolnMeta n m) = SBPMsgSolnMeta n <$> f m
+  msg f (SBPMsgSolnMetaDepA n m) = SBPMsgSolnMetaDepA n <$> f m
   msg f (SBPMsgSpecan n m) = SBPMsgSpecan n <$> f m
   msg f (SBPMsgSpecanDep n m) = SBPMsgSpecanDep n <$> f m
   msg f (SBPMsgSsrCodeBiases n m) = SBPMsgSsrCodeBiases n <$> f m

haskell/src/SwiftNav/SBP/SolutionMeta.hs

@@ -64,37 +64,98 @@ instance Binary SolutionInputType where
 $(makeJSON "_solutionInputType_" ''SolutionInputType)
 $(makeLenses ''SolutionInputType)
 
-msgSolnMeta :: Word16
-msgSolnMeta = 0xFF0F
+msgSolnMetaDepA :: Word16
+msgSolnMetaDepA = 0xFF0F
 
--- | SBP class for message MSG_SOLN_META (0xFF0F).
+-- | SBP class for message MSG_SOLN_META_DEP_A (0xFF0F).
 --
 -- This message contains all metadata about the sensors received and/or used in
 -- computing the Fuzed Solution. It focuses primarly, but not only, on GNSS
 -- metadata.
-data MsgSolnMeta = MsgSolnMeta
-  { _msgSolnMeta_pdop                 :: !Word16
+data MsgSolnMetaDepA = MsgSolnMetaDepA
+  { _msgSolnMetaDepA_pdop                 :: !Word16
     -- ^ Position Dilution of Precision, as per last available DOPS from Starling
     -- GNSS engine
-  , _msgSolnMeta_hdop                 :: !Word16
+  , _msgSolnMetaDepA_hdop                 :: !Word16
     -- ^ Horizontal Dilution of Precision, as per last available DOPS from
     -- Starling GNSS engine
-  , _msgSolnMeta_vdop                 :: !Word16
+  , _msgSolnMetaDepA_vdop                 :: !Word16
     -- ^ Vertical Dilution of Precision, as per last available DOPS from Starling
     -- GNSS engine
-  , _msgSolnMeta_n_sats               :: !Word8
+  , _msgSolnMetaDepA_n_sats               :: !Word8
     -- ^ Number of satellites, as per last available solution from Starling GNSS
     -- engine
-  , _msgSolnMeta_age_corrections      :: !Word16
+  , _msgSolnMetaDepA_age_corrections      :: !Word16
     -- ^ Age of the corrections (0xFFFF indicates invalid), as per last available
     -- AGE_CORRECTIONS from Starling GNSS engine
-  , _msgSolnMeta_alignment_status     :: !Word8
+  , _msgSolnMetaDepA_alignment_status     :: !Word8
     -- ^ State of alignment and the status and receipt of the alignment inputs
-  , _msgSolnMeta_last_used_gnss_pos_tow :: !Word32
+  , _msgSolnMetaDepA_last_used_gnss_pos_tow :: !Word32
     -- ^ Tow of last-used GNSS position measurement
-  , _msgSolnMeta_last_used_gnss_vel_tow :: !Word32
+  , _msgSolnMetaDepA_last_used_gnss_vel_tow :: !Word32
     -- ^ Tow of last-used GNSS velocity measurement
-  , _msgSolnMeta_sol_in               :: ![SolutionInputType]
+  , _msgSolnMetaDepA_sol_in               :: ![SolutionInputType]
+    -- ^ Array of Metadata describing the sensors potentially involved in the
+    -- solution. Each element in the array represents a single sensor type and
+    -- consists of flags containing (meta)data pertaining to that specific
+    -- single sensor. Refer to each (XX)InputType descriptor in the present
+    -- doc.
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSolnMetaDepA where
+  get = do
+    _msgSolnMetaDepA_pdop <- getWord16le
+    _msgSolnMetaDepA_hdop <- getWord16le
+    _msgSolnMetaDepA_vdop <- getWord16le
+    _msgSolnMetaDepA_n_sats <- getWord8
+    _msgSolnMetaDepA_age_corrections <- getWord16le
+    _msgSolnMetaDepA_alignment_status <- getWord8
+    _msgSolnMetaDepA_last_used_gnss_pos_tow <- getWord32le
+    _msgSolnMetaDepA_last_used_gnss_vel_tow <- getWord32le
+    _msgSolnMetaDepA_sol_in <- whileM (not <$> isEmpty) get
+    pure MsgSolnMetaDepA {..}
+
+  put MsgSolnMetaDepA {..} = do
+    putWord16le _msgSolnMetaDepA_pdop
+    putWord16le _msgSolnMetaDepA_hdop
+    putWord16le _msgSolnMetaDepA_vdop
+    putWord8 _msgSolnMetaDepA_n_sats
+    putWord16le _msgSolnMetaDepA_age_corrections
+    putWord8 _msgSolnMetaDepA_alignment_status
+    putWord32le _msgSolnMetaDepA_last_used_gnss_pos_tow
+    putWord32le _msgSolnMetaDepA_last_used_gnss_vel_tow
+    mapM_ put _msgSolnMetaDepA_sol_in
+
+$(makeSBP 'msgSolnMetaDepA ''MsgSolnMetaDepA)
+$(makeJSON "_msgSolnMetaDepA_" ''MsgSolnMetaDepA)
+$(makeLenses ''MsgSolnMetaDepA)
+
+msgSolnMeta :: Word16
+msgSolnMeta = 0xFF0E
+
+-- | SBP class for message MSG_SOLN_META (0xFF0E).
+--
+-- This message contains all metadata about the sensors received and/or used in
+-- computing the sensorfusion solution. It focuses primarly, but not only, on
+-- GNSS metadata.
+data MsgSolnMeta = MsgSolnMeta
+  { _msgSolnMeta_tow           :: !Word32
+    -- ^ GPS time of week rounded to the nearest millisecond
+  , _msgSolnMeta_pdop          :: !Word16
+    -- ^ Position Dilution of Precision, as per last available DOPS from Starling
+    -- GNSS engine
+  , _msgSolnMeta_hdop          :: !Word16
+    -- ^ Horizontal Dilution of Precision, as per last available DOPS from
+    -- Starling GNSS engine
+  , _msgSolnMeta_vdop          :: !Word16
+    -- ^ Vertical Dilution of Precision, as per last available DOPS from Starling
+    -- GNSS engine
+  , _msgSolnMeta_age_corrections :: !Word16
+    -- ^ Age of the corrections (0xFFFF indicates invalid), as per last available
+    -- AGE_CORRECTIONS from Starling GNSS engine
+  , _msgSolnMeta_age_gnss      :: !Word16
+    -- ^ Age of the last received valid GNSS solution (0xFFFF indicates invalid)
+  , _msgSolnMeta_sol_in        :: ![SolutionInputType]
     -- ^ Array of Metadata describing the sensors potentially involved in the
     -- solution. Each element in the array represents a single sensor type and
     -- consists of flags containing (meta)data pertaining to that specific
@@ -104,26 +165,22 @@ data MsgSolnMeta = MsgSolnMeta
 
 instance Binary MsgSolnMeta where
   get = do
+    _msgSolnMeta_tow <- getWord32le
     _msgSolnMeta_pdop <- getWord16le
     _msgSolnMeta_hdop <- getWord16le
     _msgSolnMeta_vdop <- getWord16le
-    _msgSolnMeta_n_sats <- getWord8
     _msgSolnMeta_age_corrections <- getWord16le
-    _msgSolnMeta_alignment_status <- getWord8
-    _msgSolnMeta_last_used_gnss_pos_tow <- getWord32le
-    _msgSolnMeta_last_used_gnss_vel_tow <- getWord32le
+    _msgSolnMeta_age_gnss <- getWord16le
     _msgSolnMeta_sol_in <- whileM (not <$> isEmpty) get
     pure MsgSolnMeta {..}
 
   put MsgSolnMeta {..} = do
+    putWord32le _msgSolnMeta_tow
     putWord16le _msgSolnMeta_pdop
     putWord16le _msgSolnMeta_hdop
     putWord16le _msgSolnMeta_vdop
-    putWord8 _msgSolnMeta_n_sats
     putWord16le _msgSolnMeta_age_corrections
-    putWord8 _msgSolnMeta_alignment_status
-    putWord32le _msgSolnMeta_last_used_gnss_pos_tow
-    putWord32le _msgSolnMeta_last_used_gnss_vel_tow
+    putWord16le _msgSolnMeta_age_gnss
     mapM_ put _msgSolnMeta_sol_in
 
 $(makeSBP 'msgSolnMeta ''MsgSolnMeta)

java/src/com/swiftnav/sbp/client/MessageTable.java

@@ -175,6 +175,7 @@
 import com.swiftnav.sbp.settings.MsgSettingsReadByIndexDone;
 import com.swiftnav.sbp.settings.MsgSettingsRegister;
 import com.swiftnav.sbp.settings.MsgSettingsRegisterResp;
+import com.swiftnav.sbp.solution_meta.MsgSolnMetaDepA;
 import com.swiftnav.sbp.solution_meta.MsgSolnMeta;
 import com.swiftnav.sbp.ssr.MsgSsrOrbitClock;
 import com.swiftnav.sbp.ssr.MsgSsrCodeBiases;
@@ -532,6 +533,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException {
                 return new MsgSettingsRegister(msg);
             case MsgSettingsRegisterResp.TYPE:
                 return new MsgSettingsRegisterResp(msg);
+            case MsgSolnMetaDepA.TYPE:
+                return new MsgSolnMetaDepA(msg);
             case MsgSolnMeta.TYPE:
                 return new MsgSolnMeta(msg);
             case MsgSsrOrbitClock.TYPE:

java/src/com/swiftnav/sbp/solution_meta/MsgSolnMeta.java

@@ -22,19 +22,22 @@
 import org.json.JSONArray;
 
 
-/** SBP class for message MSG_SOLN_META (0xFF0F).
+/** SBP class for message MSG_SOLN_META (0xFF0E).
  *
  * You can have MSG_SOLN_META inherent its fields directly from
  * an inherited SBP object, or construct it inline using a dict of its
  * fields.
  *
- * This message contains all metadata about the sensors received and/or used in computing the Fuzed Solution.
+ * This message contains all metadata about the sensors received and/or used in computing the sensorfusion solution.
  * It focuses primarly, but not only, on GNSS metadata. */
 
 public class MsgSolnMeta extends SBPMessage {
-    public static final int TYPE = 0xFF0F;
+    public static final int TYPE = 0xFF0E;
 
 
+    /** GPS time of week rounded to the nearest millisecond */
+    public long tow;
+
     /** Position Dilution of Precision, as per last available DOPS from Starling GNSS engine */
     public int pdop;
 
@@ -44,20 +47,11 @@ public class MsgSolnMeta extends SBPMessage {
     /** Vertical Dilution of Precision, as per last available DOPS from Starling GNSS engine */
     public int vdop;
 
-    /** Number of satellites, as per last available solution from Starling GNSS engine */
-    public int n_sats;
-
     /** Age of the corrections (0xFFFF indicates invalid), as per last available AGE_CORRECTIONS from Starling GNSS engine */
     public int age_corrections;
 
-    /** State of alignment and the status and receipt of the alignment inputs */
-    public int alignment_status;
-
-    /** Tow of last-used GNSS position measurement */
-    public long last_used_gnss_pos_tow;
-
-    /** Tow of last-used GNSS velocity measurement */
-    public long last_used_gnss_vel_tow;
+    /** Age of the last received valid GNSS solution (0xFFFF indicates invalid) */
+    public int age_gnss;
 
     /** Array of Metadata describing the sensors potentially involved in the solution. Each element in the array represents a single sensor type and consists of flags containing (meta)data pertaining to that specific single sensor. Refer to each (XX)InputType descriptor in the present doc. */
     public SolutionInputType[] sol_in;
@@ -73,41 +67,35 @@ public MsgSolnMeta (SBPMessage msg) throws SBPBinaryException {
     @Override
     protected void parse(Parser parser) throws SBPBinaryException {
         /* Parse fields from binary */
+        tow = parser.getU32();
         pdop = parser.getU16();
         hdop = parser.getU16();
         vdop = parser.getU16();
-        n_sats = parser.getU8();
         age_corrections = parser.getU16();
-        alignment_status = parser.getU8();
-        last_used_gnss_pos_tow = parser.getU32();
-        last_used_gnss_vel_tow = parser.getU32();
+        age_gnss = parser.getU16();
         sol_in = parser.getArray(SolutionInputType.class);
     }
 
     @Override
     protected void build(Builder builder) {
+        builder.putU32(tow);
         builder.putU16(pdop);
         builder.putU16(hdop);
         builder.putU16(vdop);
-        builder.putU8(n_sats);
         builder.putU16(age_corrections);
-        builder.putU8(alignment_status);
-        builder.putU32(last_used_gnss_pos_tow);
-        builder.putU32(last_used_gnss_vel_tow);
+        builder.putU16(age_gnss);
         builder.putArray(sol_in);
     }
 
     @Override
     public JSONObject toJSON() {
         JSONObject obj = super.toJSON();
+        obj.put("tow", tow);
         obj.put("pdop", pdop);
         obj.put("hdop", hdop);
         obj.put("vdop", vdop);
-        obj.put("n_sats", n_sats);
         obj.put("age_corrections", age_corrections);
-        obj.put("alignment_status", alignment_status);
-        obj.put("last_used_gnss_pos_tow", last_used_gnss_pos_tow);
-        obj.put("last_used_gnss_vel_tow", last_used_gnss_vel_tow);
+        obj.put("age_gnss", age_gnss);
         obj.put("sol_in", SBPStruct.toJSONArray(sol_in));
         return obj;
     }