diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index 31efc8a61c..cac21c5fea 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -4241,6 +4241,42 @@ struct MessageTraits { } }; +template <> +struct MessageTraits { + static constexpr sbp_msg_type_t id = SbpMsgMeasurementPoint; + static constexpr const char *name = "MSG_MEASUREMENT_POINT"; + static const sbp_msg_measurement_point_t &get(const sbp_msg_t &msg) { + return msg.measurement_point; + } + static sbp_msg_measurement_point_t &get(sbp_msg_t &msg) { + return msg.measurement_point; + } + static void to_sbp_msg(const sbp_msg_measurement_point_t &msg, + sbp_msg_t *sbp_msg) { + sbp_msg->measurement_point = msg; + } + static sbp_msg_t to_sbp_msg(const sbp_msg_measurement_point_t &msg) { + sbp_msg_t sbp_msg; + sbp_msg.measurement_point = msg; + return sbp_msg; + } + static s8 send(sbp_state_t *state, u16 sender_id, + const sbp_msg_measurement_point_t &msg, sbp_write_fn_t write) { + return sbp_msg_measurement_point_send(state, sender_id, &msg, write); + } + static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_measurement_point_t &msg) { + return sbp_msg_measurement_point_encode(buf, len, n_written, &msg); + } + static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_measurement_point_t *msg) { + return sbp_msg_measurement_point_decode(buf, len, n_read, msg); + } + static size_t encoded_len(const sbp_msg_measurement_point_t &msg) { + return sbp_msg_measurement_point_encoded_len(&msg); + } +}; + template <> struct MessageTraits { static constexpr sbp_msg_type_t id = SbpMsgMeasurementState; diff --git a/c/include/libsbp/legacy/cpp/message_traits.h b/c/include/libsbp/legacy/cpp/message_traits.h index 3050c926bf..6718bde8e8 100644 --- a/c/include/libsbp/legacy/cpp/message_traits.h +++ b/c/include/libsbp/legacy/cpp/message_traits.h @@ -1359,6 +1359,12 @@ struct MessageTraits { }; +template<> +struct MessageTraits { + static constexpr u16 id = 65291; +}; + + template<> struct MessageTraits { static constexpr u16 id = 65294; diff --git a/c/include/libsbp/legacy/system.h b/c/include/libsbp/legacy/system.h index 3c0fca5c82..db8e582b94 100644 --- a/c/include/libsbp/legacy/system.h +++ b/c/include/libsbp/legacy/system.h @@ -262,6 +262,25 @@ typedef struct SBP_ATTR_PACKED { Solution Group, including GROUP_META itself */ } msg_group_meta_t; +/** Profiling Measurement Point + * + * Tracks execution time of certain code paths in specially built products. + * This message should only be expected and processed on the direction of + * Swift's engineering teams. + */ + +typedef struct SBP_ATTR_PACKED { + u32 total_time; /**< Total time spent in measurement point */ + u16 num_executions; /**< Number of times measurement point has executed */ + u32 min; /**< Minimum execution time */ + u32 max; /**< Maximum execution time */ + u64 return_addr; /**< Return address */ + u64 id; /**< Unique ID */ + u64 slice_time; /**< CPU slice time */ + u16 line; /**< Line number */ + char func[0]; /**< Function name */ +} msg_measurement_point_t; + /** \} */ SBP_PACK_END diff --git a/c/include/libsbp/sbp_msg_type.h b/c/include/libsbp/sbp_msg_type.h index ce77c28ef5..7d7fdf0126 100644 --- a/c/include/libsbp/sbp_msg_type.h +++ b/c/include/libsbp/sbp_msg_type.h @@ -170,6 +170,7 @@ typedef enum { SbpMsgMagRaw = SBP_MSG_MAG_RAW, SbpMsgMaskSatelliteDep = SBP_MSG_MASK_SATELLITE_DEP, SbpMsgMaskSatellite = SBP_MSG_MASK_SATELLITE, + SbpMsgMeasurementPoint = SBP_MSG_MEASUREMENT_POINT, SbpMsgMeasurementState = SBP_MSG_MEASUREMENT_STATE, SbpMsgNapDeviceDnaReq = SBP_MSG_NAP_DEVICE_DNA_REQ, SbpMsgNapDeviceDnaResp = SBP_MSG_NAP_DEVICE_DNA_RESP, @@ -528,6 +529,8 @@ static inline const char *sbp_msg_type_to_string(sbp_msg_type_t msg_type) { return "MSG_MASK_SATELLITE_DEP"; case SbpMsgMaskSatellite: return "MSG_MASK_SATELLITE"; + case SbpMsgMeasurementPoint: + return "MSG_MEASUREMENT_POINT"; case SbpMsgMeasurementState: return "MSG_MEASUREMENT_STATE"; case SbpMsgNapDeviceDnaReq: diff --git a/c/include/libsbp/system_macros.h b/c/include/libsbp/system_macros.h index 780df5e619..a72a6ab188 100644 --- a/c/include/libsbp/system_macros.h +++ b/c/include/libsbp/system_macros.h @@ -972,4 +972,27 @@ */ #define SBP_MSG_GROUP_META_ENCODED_OVERHEAD 3u +#define SBP_MSG_MEASUREMENT_POINT 0xFF0B +/** + * The maximum number of items that can be stored in + * sbp_msg_measurement_point_t::func (V4 API) or msg_measurement_point_t::func + * (legacy API) before the maximum SBP message size is exceeded + */ +#define SBP_MSG_MEASUREMENT_POINT_FUNC_MAX 215u + +/** + * Encoded length of sbp_msg_measurement_point_t (V4 API) and + * msg_measurement_point_t (legacy API) + * + * This type is not fixed size and an instance of this message may be longer + * than the value indicated by this symbol. Users of the V4 API should call + * #sbp_msg_measurement_point_encoded_len to determine the actual size of an + * instance of this message. Users of the legacy API are required to track the + * encoded message length when interacting with the legacy type. + * + * See the documentation for libsbp for more details regarding the message + * structure and its variable length component(s) + */ +#define SBP_MSG_MEASUREMENT_POINT_ENCODED_OVERHEAD 40u + #endif /* LIBSBP_SYSTEM_MACROS_H */ diff --git a/c/include/libsbp/v4/sbp_msg.h b/c/include/libsbp/v4/sbp_msg.h index 496df55164..26537e3c11 100644 --- a/c/include/libsbp/v4/sbp_msg.h +++ b/c/include/libsbp/v4/sbp_msg.h @@ -176,6 +176,7 @@ typedef union { sbp_msg_mag_raw_t mag_raw; sbp_msg_mask_satellite_dep_t mask_satellite_dep; sbp_msg_mask_satellite_t mask_satellite; + sbp_msg_measurement_point_t measurement_point; sbp_msg_measurement_state_t measurement_state; sbp_msg_nap_device_dna_req_t nap_device_dna_req; sbp_msg_nap_device_dna_resp_t nap_device_dna_resp; @@ -635,6 +636,9 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len, case SbpMsgMaskSatellite: return sbp_msg_mask_satellite_encode(buf, len, n_written, &msg->mask_satellite); + case SbpMsgMeasurementPoint: + return sbp_msg_measurement_point_encode(buf, len, n_written, + &msg->measurement_point); case SbpMsgMeasurementState: return sbp_msg_measurement_state_encode(buf, len, n_written, &msg->measurement_state); @@ -1290,6 +1294,9 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len, case SbpMsgMaskSatellite: return sbp_msg_mask_satellite_decode(buf, len, n_read, &msg->mask_satellite); + case SbpMsgMeasurementPoint: + return sbp_msg_measurement_point_decode(buf, len, n_read, + &msg->measurement_point); case SbpMsgMeasurementState: return sbp_msg_measurement_state_decode(buf, len, n_read, &msg->measurement_state); @@ -1873,6 +1880,8 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type, return sbp_msg_mask_satellite_dep_encoded_len(&msg->mask_satellite_dep); case SbpMsgMaskSatellite: return sbp_msg_mask_satellite_encoded_len(&msg->mask_satellite); + case SbpMsgMeasurementPoint: + return sbp_msg_measurement_point_encoded_len(&msg->measurement_point); case SbpMsgMeasurementState: return sbp_msg_measurement_state_encoded_len(&msg->measurement_state); case SbpMsgNapDeviceDnaReq: @@ -2455,6 +2464,9 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a, &b->mask_satellite_dep); case SbpMsgMaskSatellite: return sbp_msg_mask_satellite_cmp(&a->mask_satellite, &b->mask_satellite); + case SbpMsgMeasurementPoint: + return sbp_msg_measurement_point_cmp(&a->measurement_point, + &b->measurement_point); case SbpMsgMeasurementState: return sbp_msg_measurement_state_cmp(&a->measurement_state, &b->measurement_state); diff --git a/c/include/libsbp/v4/system.h b/c/include/libsbp/v4/system.h index 58777cba97..cc80208f86 100644 --- a/c/include/libsbp/v4/system.h +++ b/c/include/libsbp/v4/system.h @@ -25,6 +25,7 @@ #include #include #include +#include #include #include #include diff --git a/c/include/libsbp/v4/system/MSG_MEASUREMENT_POINT.h b/c/include/libsbp/v4/system/MSG_MEASUREMENT_POINT.h new file mode 100644 index 0000000000..dd69e63e1e --- /dev/null +++ b/c/include/libsbp/v4/system/MSG_MEASUREMENT_POINT.h @@ -0,0 +1,413 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +/***************************************************************************** + * Automatically generated from yaml/swiftnav/sbp/system.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_V4_SYSTEM_MSG_MEASUREMENT_POINT_H +#define LIBSBP_V4_SYSTEM_MSG_MEASUREMENT_POINT_H + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * + * SBP_MSG_MEASUREMENT_POINT + * + *****************************************************************************/ +/** Profiling Measurement Point + * + * Tracks execution time of certain code paths in specially built products. This + * message should only be expected and processed on the direction of Swift's + * engineering teams. + */ +typedef struct { + /** + * Total time spent in measurement point + */ + u32 total_time; + + /** + * Number of times measurement point has executed + */ + u16 num_executions; + + /** + * Minimum execution time + */ + u32 min; + + /** + * Maximum execution time + */ + u32 max; + + /** + * Return address + */ + u64 return_addr; + + /** + * Unique ID + */ + u64 id; + + /** + * CPU slice time + */ + u64 slice_time; + + /** + * Line number + */ + u16 line; + + /** + * Function name + */ + sbp_string_t func; +} sbp_msg_measurement_point_t; + +/** + * Initialise sbp_msg_measurement_point_t::func to empty + * + * @param msg sbp_msg_measurement_point_t instance + */ +SBP_EXPORT void sbp_msg_measurement_point_func_init( + sbp_msg_measurement_point_t *msg); + +/** + * Test sbp_msg_measurement_point_t::func for validity + * + * @param msg sbp_msg_measurement_point_t instance + * @return true is sbp_msg_measurement_point_t::func is valid for encoding + * purposes, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_valid( + const sbp_msg_measurement_point_t *msg); + +/** + * Tests 2 instances of sbp_msg_measurement_point_t::func for equality + * + * Returns a value with the same definitions as strcmp from the C standard + * library + * + * @param a sbp_msg_measurement_point_t instance + * @param b sbp_msg_measurement_point_t instance + * @return 0 if equal, <0 if a0 if a>b + */ +SBP_EXPORT int sbp_msg_measurement_point_func_strcmp( + const sbp_msg_measurement_point_t *a, const sbp_msg_measurement_point_t *b); + +/** + * Get the encoded size of sbp_msg_measurement_point_t::func + * + * @param msg sbp_msg_measurement_point_t instance + * @return Size of sbp_msg_measurement_point_t::func in wire representation + */ +SBP_EXPORT size_t sbp_msg_measurement_point_func_encoded_len( + const sbp_msg_measurement_point_t *msg); + +/** + * Query sbp_msg_measurement_point_t::func for remaining space + * + * Returns the number of bytes (not including NULL terminator) which can be + * added to sbp_msg_measurement_point_t::func before it exceeds the maximum size + * of the field in wire representation + * + * @param msg sbp_msg_measurement_point_t instance + * @return Maximum number of bytes that can be appended to the existing string + */ +SBP_EXPORT size_t sbp_msg_measurement_point_func_space_remaining( + const sbp_msg_measurement_point_t *msg); +/** + * Set sbp_msg_measurement_point_t::func + * + * Erase any existing content and replace with the specified string + * + * If the should_trunc parameter is set to false and the specified string is + * longer than can be represented in wire encoding, this function will return + * false. Otherwise, if should_trunc is set to true, then as much as possible + * will be read from the new_str as can fit in the msg. + * + * @param msg sbp_msg_measurement_point_t instance + * @param new_str New string + * @param should_trunc Whether the new_str can be truncated to fit in msg + * @param n_written If not null, on success will be set to the number of bytes + * written to msg + * @return true on success, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_set( + sbp_msg_measurement_point_t *msg, const char *new_str, bool should_trunc, + size_t *n_written); + +/** + * Set sbp_msg_measurement_point_t::func from a raw buffer + * + * Erase any existing content and replace with the specified raw buffer + * + * If the should_trunc parameter is set to false and the specified string is + * longer than can be represented in wire encoding, this function will return + * false. Otherwise, if should_trunc is set to true, then as much as possible + * will be read from the new_str as can fit in the msg. + * + * @param msg sbp_msg_measurement_point_t instance + * @param new_buf New buffer + * @param new_buf_len New buffer length + * @param should_trunc Whether the new_str can be truncated to fit in msg + * @param n_written If not null, on success will be set to the number of bytes + * written to msg + * @return true on success, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_set_raw( + sbp_msg_measurement_point_t *msg, const char *new_buf, size_t new_buf_len, + bool should_trunc, size_t *n_written); + +/** + * Set sbp_msg_measurement_point_t::func with printf style formatting + * + * Erase any existing content and replace with the formatted string + * + * This function will return true if the new string was successfully applied. + * If should_trunc is set false, and the operation would end up overflowing the + * maximum size of this field in wire encoding the existing contents will be + * erased and this function will return false. Otherwise, if should_trunc is + * set true, the input formatted string will be truncated to fit. + * + * @param msg sbp_msg_measurement_point_t instance + * @param should_trunc Whether the input string should be truncated to fit + * @param n_written If not null, on success will be set to the number of bytes + * written to msg + * @param fmt printf style format string + * @return true on success, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_printf( + sbp_msg_measurement_point_t *msg, bool should_trunc, size_t *n_written, + const char *fmt, ...) SBP_ATTR_FORMAT(4, 5); + +/** + * Set sbp_msg_measurement_point_t::func with printf style formatting + * + * Identical to #sbp_msg_measurement_point_func_printf except it takes a va_list + * argument + * + * @param msg sbp_msg_measurement_point_t instance + * @param should_trunc Whether the input string should be truncated to fit + * @param n_written If not null, on success will be set to the number of bytes + * written to msg + * @param fmt printf style format string + * @param ap Argument list + * @return true on success, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_vprintf( + sbp_msg_measurement_point_t *msg, bool should_trunc, size_t *n_written, + const char *fmt, va_list ap) SBP_ATTR_VFORMAT(4); + +/** + * Append sbp_msg_measurement_point_t::func with printf style formatting + * + * The new string will be appended to the existing contents of the string (if + * any). If should_trunc is false and the operation would end up overflowing + * the maximum size of this field in wire encoding, the existing contents will + * be unmodified and this function will return false. Otherwise, if + * should_trunc is true, the input string will be truncated to fit. + * + * @param msg sbp_msg_measurement_point_t instance + * @param should_trunc Whether the input string should be truncated to fit + * @param n_written If not null, on success will be set to the number of bytes + * written to msg + * @param fmt printf style format string + * @return true on success, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_append_printf( + sbp_msg_measurement_point_t *msg, bool should_trunc, size_t *n_written, + const char *fmt, ...) SBP_ATTR_FORMAT(4, 5); + +/** + * Append sbp_msg_measurement_point_t::func with printf style formatting + * + * Identical to #sbp_msg_measurement_point_func_append_printf except it takes a + * va_list argument + * + * @param msg sbp_msg_measurement_point_t instance + * @param should_trunc Whether the input string should be truncated to fit + * @param n_written If not null, on success will be set to the number of bytes + * written to msg + * @param fmt printf style format string + * @param ap Argument list + * @return true on success, false otherwise + */ +SBP_EXPORT bool sbp_msg_measurement_point_func_append_vprintf( + sbp_msg_measurement_point_t *msg, bool should_trunc, size_t *n_written, + const char *fmt, va_list ap) SBP_ATTR_VFORMAT(4); + +/** + * Obtain the string value from sbp_msg_measurement_point_t::func + * + * @param msg sbp_msg_measurement_point_t instance + * @return String contents + */ +SBP_EXPORT const char *sbp_msg_measurement_point_func_get( + const sbp_msg_measurement_point_t *msg); + +/** + * Obtain the length of sbp_msg_measurement_point_t::func + * + * The returned value does not include the NULL terminator. + * + * @param msg sbp_msg_measurement_point_t instance + * @return Length of string + */ +SBP_EXPORT size_t +sbp_msg_measurement_point_func_strlen(const sbp_msg_measurement_point_t *msg); + +/** + * Get encoded size of an instance of sbp_msg_measurement_point_t + * + * @param msg sbp_msg_measurement_point_t instance + * @return Length of on-wire representation + */ +static inline size_t sbp_msg_measurement_point_encoded_len( + const sbp_msg_measurement_point_t *msg) { + return SBP_MSG_MEASUREMENT_POINT_ENCODED_OVERHEAD + + sbp_msg_measurement_point_func_encoded_len(msg); +} + +/** + * Encode an instance of sbp_msg_measurement_point_t to wire representation + * + * This function encodes the given instance in to the user provided buffer. The + * buffer provided to this function must be large enough to store the encoded + * message otherwise it will return SBP_ENCODE_ERROR without writing anything to + * the buffer. + * + * Specify the length of the destination buffer in the \p len parameter. If + * non-null the number of bytes written to the buffer will be returned in \p + * n_written. + * + * @param buf Destination buffer + * @param len Length of \p buf + * @param n_written If not null, on success will be set to the number of bytes + * written to \p buf + * @param msg Instance of sbp_msg_measurement_point_t to encode + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 +sbp_msg_measurement_point_encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_measurement_point_t *msg); + +/** + * Decode an instance of sbp_msg_measurement_point_t from wire representation + * + * This function decodes the wire representation of a + * sbp_msg_measurement_point_t message to the given instance. The caller must + * specify the length of the buffer in the \p len parameter. If non-null the + * number of bytes read from the buffer will be returned in \p n_read. + * + * @param buf Wire representation of the sbp_msg_measurement_point_t instance + * @param len Length of \p buf + * @param n_read If not null, on success will be set to the number of bytes read + * from \p buf + * @param msg Destination + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 sbp_msg_measurement_point_decode( + const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_measurement_point_t *msg); +/** + * Send an instance of sbp_msg_measurement_point_t with the given write function + * + * An equivalent of #sbp_message_send which operates specifically on + * sbp_msg_measurement_point_t + * + * The given message will be encoded to wire representation and passed in to the + * given write function callback. The write callback will be called several + * times for each invocation of this function. + * + * @param s SBP state + * @param sender_id SBP sender id + * @param msg Message to send + * @param write Write function + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 sbp_msg_measurement_point_send( + sbp_state_t *s, u16 sender_id, const sbp_msg_measurement_point_t *msg, + sbp_write_fn_t write); + +/** + * Compare two instances of sbp_msg_measurement_point_t + * + * The two instances will be compared and a value returned consistent with the + * return codes of comparison functions from the C standard library + * + * 0 will be returned if \p a and \p b are considered equal + * A value less than 0 will be returned if \p a is considered to be less than \p + * b A value greater than 0 will be returned if \p b is considered to be greater + * than \p b + * + * @param a sbp_msg_measurement_point_t instance + * @param b sbp_msg_measurement_point_t instance + * @return 0, <0, >0 + */ +SBP_EXPORT int sbp_msg_measurement_point_cmp( + const sbp_msg_measurement_point_t *a, const sbp_msg_measurement_point_t *b); + +#ifdef __cplusplus +} + +static inline bool operator==(const sbp_msg_measurement_point_t &lhs, + const sbp_msg_measurement_point_t &rhs) { + return sbp_msg_measurement_point_cmp(&lhs, &rhs) == 0; +} + +static inline bool operator!=(const sbp_msg_measurement_point_t &lhs, + const sbp_msg_measurement_point_t &rhs) { + return sbp_msg_measurement_point_cmp(&lhs, &rhs) != 0; +} + +static inline bool operator<(const sbp_msg_measurement_point_t &lhs, + const sbp_msg_measurement_point_t &rhs) { + return sbp_msg_measurement_point_cmp(&lhs, &rhs) < 0; +} + +static inline bool operator<=(const sbp_msg_measurement_point_t &lhs, + const sbp_msg_measurement_point_t &rhs) { + return sbp_msg_measurement_point_cmp(&lhs, &rhs) <= 0; +} + +static inline bool operator>(const sbp_msg_measurement_point_t &lhs, + const sbp_msg_measurement_point_t &rhs) { + return sbp_msg_measurement_point_cmp(&lhs, &rhs) > 0; +} + +static inline bool operator>=(const sbp_msg_measurement_point_t &lhs, + const sbp_msg_measurement_point_t &rhs) { + return sbp_msg_measurement_point_cmp(&lhs, &rhs) >= 0; +} + +#endif // ifdef __cplusplus + +#endif /* LIBSBP_V4_SYSTEM_MSG_MEASUREMENT_POINT_H */ diff --git a/c/include/libsbp/version.h b/c/include/libsbp/version.h index 7446216a9a..9d95c9b6b6 100644 --- a/c/include/libsbp/version.h +++ b/c/include/libsbp/version.h @@ -25,10 +25,10 @@ /** Protocol minor version. */ #define SBP_MINOR_VERSION 0 /** Protocol patch version. */ -#define SBP_PATCH_VERSION 4 +#define SBP_PATCH_VERSION 3 /** Full SBP version string. */ -#define SBP_VERSION "5.0.5-alpha" +#define SBP_VERSION "5.0.4-alpha" /** Is this a staging branch? */ #define SBP_STAGING 0 diff --git a/c/src/include/libsbp/internal/v4/system.h b/c/src/include/libsbp/internal/v4/system.h index 7f0ee4abfc..87991b6625 100644 --- a/c/src/include/libsbp/internal/v4/system.h +++ b/c/src/include/libsbp/internal/v4/system.h @@ -327,6 +327,26 @@ bool sbp_msg_group_meta_encode_internal(sbp_encode_ctx_t *ctx, bool sbp_msg_group_meta_decode_internal(sbp_decode_ctx_t *ctx, sbp_msg_group_meta_t *msg); +/** + * Internal function to encode an SBP type to a buffer + * + * @param ctx Encode context + * @param msg SBP type instance + * @return true on success, false otherwise + */ +bool sbp_msg_measurement_point_encode_internal( + sbp_encode_ctx_t *ctx, const sbp_msg_measurement_point_t *msg); + +/** + * Internal function to decode an SBP type from a buffer + * + * @param ctx Decode context + * @param msg SBP type instance + * @return true on success, false otherwise + */ +bool sbp_msg_measurement_point_decode_internal( + sbp_decode_ctx_t *ctx, sbp_msg_measurement_point_t *msg); + #ifdef __cplusplus } #endif diff --git a/c/src/v4/system.c b/c/src/v4/system.c index 4a80719663..17a7cc2679 100644 --- a/c/src/v4/system.c +++ b/c/src/v4/system.c @@ -1825,3 +1825,265 @@ int sbp_msg_group_meta_cmp(const sbp_msg_group_meta_t *a, } return ret; } + +void sbp_msg_measurement_point_func_init(sbp_msg_measurement_point_t *msg) { + sbp_null_terminated_string_init(&msg->func); +} + +bool sbp_msg_measurement_point_func_valid( + const sbp_msg_measurement_point_t *msg) { + return sbp_null_terminated_string_valid(&msg->func, + SBP_MSG_MEASUREMENT_POINT_FUNC_MAX); +} + +int sbp_msg_measurement_point_func_strcmp( + const sbp_msg_measurement_point_t *a, + const sbp_msg_measurement_point_t *b) { + return sbp_null_terminated_string_strcmp(&a->func, &b->func, + SBP_MSG_MEASUREMENT_POINT_FUNC_MAX); +} + +size_t sbp_msg_measurement_point_func_encoded_len( + const sbp_msg_measurement_point_t *msg) { + return sbp_null_terminated_string_encoded_len( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX); +} + +size_t sbp_msg_measurement_point_func_space_remaining( + const sbp_msg_measurement_point_t *msg) { + return sbp_null_terminated_string_space_remaining( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX); +} +bool sbp_msg_measurement_point_func_set(sbp_msg_measurement_point_t *msg, + const char *new_str, bool should_trunc, + size_t *n_written) { + return sbp_null_terminated_string_set(&msg->func, + SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, + should_trunc, n_written, new_str); +} + +bool sbp_msg_measurement_point_func_set_raw(sbp_msg_measurement_point_t *msg, + const char *new_buf, + size_t new_buf_len, + bool should_trunc, + size_t *n_written) { + return sbp_null_terminated_string_set_raw( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, should_trunc, n_written, + new_buf, new_buf_len); +} + +bool sbp_msg_measurement_point_func_printf(sbp_msg_measurement_point_t *msg, + bool should_trunc, size_t *n_written, + const char *fmt, ...) { + va_list ap; + va_start(ap, fmt); + bool ret = sbp_null_terminated_string_vprintf( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, should_trunc, n_written, + fmt, ap); + va_end(ap); + return ret; +} + +bool sbp_msg_measurement_point_func_vprintf(sbp_msg_measurement_point_t *msg, + bool should_trunc, + size_t *n_written, const char *fmt, + va_list ap) { + return sbp_null_terminated_string_vprintf(&msg->func, + SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, + should_trunc, n_written, fmt, ap); +} + +bool sbp_msg_measurement_point_func_append_printf( + sbp_msg_measurement_point_t *msg, bool should_trunc, size_t *n_written, + const char *fmt, ...) { + va_list ap; + va_start(ap, fmt); + bool ret = sbp_null_terminated_string_append_vprintf( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, should_trunc, n_written, + fmt, ap); + va_end(ap); + return ret; +} + +bool sbp_msg_measurement_point_func_append_vprintf( + sbp_msg_measurement_point_t *msg, bool should_trunc, size_t *n_written, + const char *fmt, va_list ap) { + return sbp_null_terminated_string_append_vprintf( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, should_trunc, n_written, + fmt, ap); +} + +const char *sbp_msg_measurement_point_func_get( + const sbp_msg_measurement_point_t *msg) { + return sbp_null_terminated_string_get(&msg->func, + SBP_MSG_MEASUREMENT_POINT_FUNC_MAX); +} + +size_t sbp_msg_measurement_point_func_strlen( + const sbp_msg_measurement_point_t *msg) { + return sbp_null_terminated_string_strlen(&msg->func, + SBP_MSG_MEASUREMENT_POINT_FUNC_MAX); +} + +bool sbp_msg_measurement_point_encode_internal( + sbp_encode_ctx_t *ctx, const sbp_msg_measurement_point_t *msg) { + if (!sbp_u32_encode(ctx, &msg->total_time)) { + return false; + } + if (!sbp_u16_encode(ctx, &msg->num_executions)) { + return false; + } + if (!sbp_u32_encode(ctx, &msg->min)) { + return false; + } + if (!sbp_u32_encode(ctx, &msg->max)) { + return false; + } + if (!sbp_u64_encode(ctx, &msg->return_addr)) { + return false; + } + if (!sbp_u64_encode(ctx, &msg->id)) { + return false; + } + if (!sbp_u64_encode(ctx, &msg->slice_time)) { + return false; + } + if (!sbp_u16_encode(ctx, &msg->line)) { + return false; + } + if (!sbp_null_terminated_string_encode( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, ctx)) { + return false; + } + return true; +} + +s8 sbp_msg_measurement_point_encode(uint8_t *buf, uint8_t len, + uint8_t *n_written, + const sbp_msg_measurement_point_t *msg) { + sbp_encode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_measurement_point_encode_internal(&ctx, msg)) { + return SBP_ENCODE_ERROR; + } + if (n_written != NULL) { + *n_written = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +bool sbp_msg_measurement_point_decode_internal( + sbp_decode_ctx_t *ctx, sbp_msg_measurement_point_t *msg) { + if (!sbp_u32_decode(ctx, &msg->total_time)) { + return false; + } + if (!sbp_u16_decode(ctx, &msg->num_executions)) { + return false; + } + if (!sbp_u32_decode(ctx, &msg->min)) { + return false; + } + if (!sbp_u32_decode(ctx, &msg->max)) { + return false; + } + if (!sbp_u64_decode(ctx, &msg->return_addr)) { + return false; + } + if (!sbp_u64_decode(ctx, &msg->id)) { + return false; + } + if (!sbp_u64_decode(ctx, &msg->slice_time)) { + return false; + } + if (!sbp_u16_decode(ctx, &msg->line)) { + return false; + } + if (!sbp_null_terminated_string_decode( + &msg->func, SBP_MSG_MEASUREMENT_POINT_FUNC_MAX, ctx)) { + return false; + } + return true; +} + +s8 sbp_msg_measurement_point_decode(const uint8_t *buf, uint8_t len, + uint8_t *n_read, + sbp_msg_measurement_point_t *msg) { + sbp_decode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_measurement_point_decode_internal(&ctx, msg)) { + return SBP_DECODE_ERROR; + } + if (n_read != NULL) { + *n_read = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +s8 sbp_msg_measurement_point_send(sbp_state_t *s, u16 sender_id, + const sbp_msg_measurement_point_t *msg, + sbp_write_fn_t write) { + uint8_t payload[SBP_MAX_PAYLOAD_LEN]; + uint8_t payload_len; + s8 ret = sbp_msg_measurement_point_encode(payload, sizeof(payload), + &payload_len, msg); + if (ret != SBP_OK) { + return ret; + } + return sbp_payload_send(s, SBP_MSG_MEASUREMENT_POINT, sender_id, payload_len, + payload, write); +} + +int sbp_msg_measurement_point_cmp(const sbp_msg_measurement_point_t *a, + const sbp_msg_measurement_point_t *b) { + int ret = 0; + + ret = sbp_u32_cmp(&a->total_time, &b->total_time); + if (ret != 0) { + return ret; + } + + ret = sbp_u16_cmp(&a->num_executions, &b->num_executions); + if (ret != 0) { + return ret; + } + + ret = sbp_u32_cmp(&a->min, &b->min); + if (ret != 0) { + return ret; + } + + ret = sbp_u32_cmp(&a->max, &b->max); + if (ret != 0) { + return ret; + } + + ret = sbp_u64_cmp(&a->return_addr, &b->return_addr); + if (ret != 0) { + return ret; + } + + ret = sbp_u64_cmp(&a->id, &b->id); + if (ret != 0) { + return ret; + } + + ret = sbp_u64_cmp(&a->slice_time, &b->slice_time); + if (ret != 0) { + return ret; + } + + ret = sbp_u16_cmp(&a->line, &b->line); + if (ret != 0) { + return ret; + } + + ret = sbp_msg_measurement_point_func_strcmp(a, b); + if (ret != 0) { + return ret; + } + return ret; +} diff --git a/c/test/auto_check_sbp_system_MsgMeasurementPoint.c b/c/test/auto_check_sbp_system_MsgMeasurementPoint.c new file mode 100644 index 0000000000..dc88cb9727 --- /dev/null +++ b/c/test/auto_check_sbp_system_MsgMeasurementPoint.c @@ -0,0 +1,220 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include // for debugging +#include // for malloc + +static struct { + u32 n_callbacks_logged; + u16 sender_id; + sbp_msg_type_t msg_type; + sbp_msg_t msg; + void *context; +} last_msg; + +static u32 dummy_wr = 0; +static u32 dummy_rd = 0; +static u8 dummy_buff[1024]; +static void *last_io_context; + +static void *DUMMY_MEMORY_FOR_CALLBACKS = (void *)0xdeadbeef; +static void *DUMMY_MEMORY_FOR_IO = (void *)0xdead0000; + +static void dummy_reset() { + dummy_rd = dummy_wr = 0; + memset(dummy_buff, 0, sizeof(dummy_buff)); +} + +static s32 dummy_write(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(dummy_buff + dummy_wr, buff, real_n); + dummy_wr += real_n; + return (s32)real_n; +} + +static s32 dummy_read(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(buff, dummy_buff + dummy_rd, real_n); + dummy_rd += real_n; + return (s32)real_n; +} + +static void logging_reset() { memset(&last_msg, 0, sizeof(last_msg)); } + +static void msg_callback(u16 sender_id, sbp_msg_type_t msg_type, + const sbp_msg_t *msg, void *context) { + last_msg.n_callbacks_logged++; + last_msg.sender_id = sender_id; + last_msg.msg_type = msg_type; + last_msg.msg = *msg; + last_msg.context = context; +} + +START_TEST(test_auto_check_sbp_system_MsgMeasurementPoint) { + static sbp_msg_callbacks_node_t n; + + // State of the SBP message parser. + // Must be statically allocated. + sbp_state_t sbp_state; + + // + // Run tests: + // + // Test successful parsing of a message + { + // SBP parser state must be initialized before sbp_process is called. + // We re-initialize before every test so that callbacks for the same message + // types can be + // allocated multiple times across different tests. + sbp_state_init(&sbp_state); + + sbp_state_set_io_context(&sbp_state, &DUMMY_MEMORY_FOR_IO); + + logging_reset(); + + sbp_callback_register(&sbp_state, 0xFF0B, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + + u8 encoded_frame[] = { + 85, 11, 255, 0, 16, 48, 250, 7, 0, 0, 180, 0, 2, 0, + 0, 0, 40, 0, 0, 0, 130, 201, 148, 141, 97, 85, 0, 0, + 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, 157, 15, 0, 0, + 0, 0, 18, 0, 114, 111, 117, 116, 101, 40, 41, 0, 157, 71, + }; + + dummy_reset(); + + sbp_msg_t test_msg; + memset(&test_msg, 0, sizeof(test_msg)); + + size_t written; + ck_assert_msg(sbp_msg_measurement_point_func_set( + &test_msg.measurement_point, "route()", false, &written), + "Can't assign text"); + ck_assert_msg(written == strlen("route()"), "Wrote different to expected"); + ck_assert_msg(sbp_msg_measurement_point_func_encoded_len( + &test_msg.measurement_point) == 8, + "String not encoded properly"); + + test_msg.measurement_point.id = 2496234002; + + test_msg.measurement_point.line = 18; + + test_msg.measurement_point.max = 40; + + test_msg.measurement_point.min = 2; + + test_msg.measurement_point.num_executions = 180; + + test_msg.measurement_point.return_addr = 93877475527042; + + test_msg.measurement_point.slice_time = 261963842; + + test_msg.measurement_point.total_time = 2042; + + sbp_message_send(&sbp_state, SbpMsgMeasurementPoint, 4096, &test_msg, + &dummy_write); + + ck_assert_msg(dummy_wr == sizeof(encoded_frame), + "not enough data was written to dummy_buff (expected: %zu, " + "actual: %zu)", + sizeof(encoded_frame), dummy_wr); + ck_assert_msg(memcmp(dummy_buff, encoded_frame, sizeof(encoded_frame)) == 0, + "frame was not encoded properly"); + + while (dummy_rd < dummy_wr) { + ck_assert_msg(sbp_process(&sbp_state, &dummy_read) >= SBP_OK, + "sbp_process threw an error!"); + } + + ck_assert_msg(last_msg.n_callbacks_logged == 1, + "msg_callback: one callback should have been logged"); + ck_assert_msg(last_msg.sender_id == 4096, + "msg_callback: sender_id decoded incorrectly"); + + ck_assert_msg( + sbp_message_cmp(SbpMsgMeasurementPoint, &last_msg.msg, &test_msg) == 0, + "Sent and received messages did not compare equal"); + + ck_assert_msg(sbp_msg_measurement_point_func_encoded_len( + &last_msg.msg.measurement_point) == 8, + "Invalid encoded len"); + ck_assert_msg(strcmp(sbp_msg_measurement_point_func_get( + &last_msg.msg.measurement_point), + "route()") == 0, + "String not decoded properly"); + + ck_assert_msg(last_msg.msg.measurement_point.id == 2496234002, + "incorrect value for last_msg.msg.measurement_point.id, " + "expected 2496234002, is %d", + last_msg.msg.measurement_point.id); + + ck_assert_msg(last_msg.msg.measurement_point.line == 18, + "incorrect value for last_msg.msg.measurement_point.line, " + "expected 18, is %d", + last_msg.msg.measurement_point.line); + + ck_assert_msg(last_msg.msg.measurement_point.max == 40, + "incorrect value for last_msg.msg.measurement_point.max, " + "expected 40, is %d", + last_msg.msg.measurement_point.max); + + ck_assert_msg(last_msg.msg.measurement_point.min == 2, + "incorrect value for last_msg.msg.measurement_point.min, " + "expected 2, is %d", + last_msg.msg.measurement_point.min); + + ck_assert_msg( + last_msg.msg.measurement_point.num_executions == 180, + "incorrect value for last_msg.msg.measurement_point.num_executions, " + "expected 180, is %d", + last_msg.msg.measurement_point.num_executions); + + ck_assert_msg( + last_msg.msg.measurement_point.return_addr == 93877475527042, + "incorrect value for last_msg.msg.measurement_point.return_addr, " + "expected 93877475527042, is %d", + last_msg.msg.measurement_point.return_addr); + + ck_assert_msg( + last_msg.msg.measurement_point.slice_time == 261963842, + "incorrect value for last_msg.msg.measurement_point.slice_time, " + "expected 261963842, is %d", + last_msg.msg.measurement_point.slice_time); + + ck_assert_msg( + last_msg.msg.measurement_point.total_time == 2042, + "incorrect value for last_msg.msg.measurement_point.total_time, " + "expected 2042, is %d", + last_msg.msg.measurement_point.total_time); + } +} +END_TEST + +Suite *auto_check_sbp_system_MsgMeasurementPoint_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: auto_check_sbp_system_MsgMeasurementPoint"); + TCase *tc_acq = + tcase_create("Automated_Suite_auto_check_sbp_system_MsgMeasurementPoint"); + tcase_add_test(tc_acq, test_auto_check_sbp_system_MsgMeasurementPoint); + suite_add_tcase(s, tc_acq); + return s; +} \ No newline at end of file diff --git a/c/test/check_main.c b/c/test/check_main.c index b063512969..3eec23569e 100644 --- a/c/test/check_main.c +++ b/c/test/check_main.c @@ -260,6 +260,7 @@ int main(void) { srunner_add_suite(sr, auto_check_sbp_system_MsgHeartbeat_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgInsStatus_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgInsUpdates_suite()); + srunner_add_suite(sr, auto_check_sbp_system_MsgMeasurementPoint_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgPpsTime_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgSensorAidEvent_suite()); srunner_add_suite(sr, auto_check_sbp_system_MsgStartup_suite()); diff --git a/c/test/check_main_legacy.c b/c/test/check_main_legacy.c index f4fb8360da..97c5416550 100644 --- a/c/test/check_main_legacy.c +++ b/c/test/check_main_legacy.c @@ -364,6 +364,8 @@ int main(void) { srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgHeartbeat_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgInsStatus_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgInsUpdates_suite()); + srunner_add_suite(sr, + legacy_auto_check_sbp_system_MsgMeasurementPoint_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgPpsTime_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgSensorAidEvent_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_system_MsgStartup_suite()); diff --git a/c/test/check_suites.h b/c/test/check_suites.h index 46ab46b4da..b78a985519 100644 --- a/c/test/check_suites.h +++ b/c/test/check_suites.h @@ -231,6 +231,7 @@ Suite* auto_check_sbp_system_MsgGroupMeta_suite(void); Suite* auto_check_sbp_system_MsgHeartbeat_suite(void); Suite* auto_check_sbp_system_MsgInsStatus_suite(void); Suite* auto_check_sbp_system_MsgInsUpdates_suite(void); +Suite* auto_check_sbp_system_MsgMeasurementPoint_suite(void); Suite* auto_check_sbp_system_MsgPpsTime_suite(void); Suite* auto_check_sbp_system_MsgSensorAidEvent_suite(void); Suite* auto_check_sbp_system_MsgStartup_suite(void); diff --git a/c/test/check_suites_legacy.h b/c/test/check_suites_legacy.h index 6e091a8f5c..d5f25c0327 100644 --- a/c/test/check_suites_legacy.h +++ b/c/test/check_suites_legacy.h @@ -232,6 +232,7 @@ Suite* legacy_auto_check_sbp_system_MsgGroupMeta_suite(void); Suite* legacy_auto_check_sbp_system_MsgHeartbeat_suite(void); Suite* legacy_auto_check_sbp_system_MsgInsStatus_suite(void); Suite* legacy_auto_check_sbp_system_MsgInsUpdates_suite(void); +Suite* legacy_auto_check_sbp_system_MsgMeasurementPoint_suite(void); Suite* legacy_auto_check_sbp_system_MsgPpsTime_suite(void); Suite* legacy_auto_check_sbp_system_MsgSensorAidEvent_suite(void); Suite* legacy_auto_check_sbp_system_MsgStartup_suite(void); diff --git a/c/test/cpp/auto_check_sbp_system_MsgMeasurementPoint.cc b/c/test/cpp/auto_check_sbp_system_MsgMeasurementPoint.cc new file mode 100644 index 0000000000..0b39af0fe0 --- /dev/null +++ b/c/test/cpp/auto_check_sbp_system_MsgMeasurementPoint.cc @@ -0,0 +1,987 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include +#include + +namespace { + +template +void assign(T &dest, const U &source) { + dest = static_cast(source); +} +class Testauto_check_sbp_system_MsgMeasurementPoint0 : public ::testing::Test { + public: + Testauto_check_sbp_system_MsgMeasurementPoint0() { + size_t written; + EXPECT_TRUE(sbp_msg_measurement_point_func_set(&test_msg_, "route()", false, + &written)); + EXPECT_EQ(written, strlen("route()")); + EXPECT_EQ(sbp_msg_measurement_point_func_encoded_len(&test_msg_), 8); + assign(test_msg_.id, 2496234002); + assign(test_msg_.line, 18); + assign(test_msg_.max, 40); + assign(test_msg_.min, 2); + assign(test_msg_.num_executions, 180); + assign(test_msg_.return_addr, 93877475527042); + assign(test_msg_.slice_time, 261963842); + assign(test_msg_.total_time, 2042); + } + + class SlowReader final : public sbp::IReader { + public: + SlowReader(const uint8_t *buf, uint32_t len) + : sbp::IReader(), buf_{buf}, len_{len} {} + + s32 read(uint8_t *buf, const uint32_t n) override { + if (n == 0) { + return 0; + } + if (remaining() == 0) { + return -1; + } + skip_next_read = !skip_next_read; + if (skip_next_read) { + return 0; + } + uint32_t real_n = std::min(n, 1u); + memcpy(buf, buf_ + offset_, real_n); + offset_ += real_n; + return static_cast(real_n); + } + + uint32_t remaining() const noexcept { return len_ - offset_; } + + static s32 read_static(uint8_t *buf, uint32_t len, void *ctx) { + return static_cast(ctx)->read(buf, len); + } + + private: + const uint8_t *buf_; + uint32_t len_; + uint32_t offset_{}; + bool skip_next_read{}; + }; + + class Reader final : public sbp::IReader { + public: + Reader(const uint8_t *buf, uint32_t len) + : sbp::IReader(), buf_{buf}, len_{len} {} + + s32 read(uint8_t *buf, const uint32_t n) override { + if (n == 0) { + return 0; + } + uint32_t real_n = std::min(n, remaining()); + if (real_n == 0) { + return -1; + } + memcpy(buf, buf_ + offset_, real_n); + offset_ += real_n; + return static_cast(real_n); + } + + uint32_t remaining() const noexcept { return len_ - offset_; } + + static s32 read_static(uint8_t *buf, uint32_t len, void *ctx) { + return static_cast(ctx)->read(buf, len); + } + + private: + const uint8_t *buf_; + uint32_t len_; + uint32_t offset_{}; + }; + + class SlowWriter final : public sbp::IWriter { + public: + explicit SlowWriter(uint32_t max_len = cMaxLen) + : IWriter(), max_len_{max_len} {} + static constexpr uint32_t cMaxLen = SBP_MAX_FRAME_LEN; + + s32 write(const uint8_t *buf, uint32_t n) override { + if (n == 0) { + return 0; + } + uint32_t real_n = std::min(n, 1u); + if (real_n == 0) { + return -1; + } + memcpy(buf_ + offset_, buf, real_n); + offset_ += real_n; + return static_cast(real_n); + } + + uint32_t remaining() const noexcept { return max_len_ - offset_; } + + const uint8_t *data() const noexcept { return buf_; } + + uint32_t len() const noexcept { return offset_; } + + static s32 write_static(const uint8_t *buf, uint32_t len, void *ctx) { + return static_cast(ctx)->write(buf, len); + } + + static s32 write_c(uint8_t *buf, uint32_t len, void *ctx) { + return static_cast(ctx)->write(buf, len); + } + + private: + uint8_t buf_[cMaxLen]; + uint32_t max_len_; + uint32_t offset_{}; + }; + + class Writer final : public sbp::IWriter { + public: + explicit Writer(uint32_t max_len = cMaxLen) + : IWriter(), max_len_{max_len} {} + static constexpr uint32_t cMaxLen = SBP_MAX_FRAME_LEN; + + s32 write(const uint8_t *buf, uint32_t n) override { + if (n == 0) { + return 0; + } + uint32_t real_n = std::min(n, remaining()); + if (real_n == 0) { + return -1; + } + memcpy(buf_ + offset_, buf, real_n); + offset_ += real_n; + return static_cast(real_n); + } + + uint32_t remaining() const noexcept { return max_len_ - offset_; } + + const uint8_t *data() const noexcept { return buf_; } + + uint32_t len() const noexcept { return offset_; } + + static s32 write_static(const uint8_t *buf, uint32_t len, void *ctx) { + return static_cast(ctx)->write(buf, len); + } + + static s32 write_c(uint8_t *buf, uint32_t len, void *ctx) { + return static_cast(ctx)->write(buf, len); + } + + private: + uint8_t buf_[cMaxLen]; + uint32_t max_len_; + uint32_t offset_{}; + }; + + struct CppHandler final + : public sbp::MessageHandler { + using sbp::MessageHandler::MessageHandler; + + struct Output final { + uint16_t sender_id; + sbp_msg_measurement_point_t msg; + }; + + std::vector outputs{}; + + protected: + void handle_sbp_msg(uint16_t sender_id, + const sbp_msg_measurement_point_t &msg) override { + outputs.emplace_back(); + outputs.back().sender_id = sender_id; + memcpy(&outputs.back().msg, &msg, sizeof(msg)); + } + }; + + struct CHandler final { + explicit CHandler(sbp_state_t *state) : state_{state} { + sbp_callback_register(state, SbpMsgMeasurementPoint, + &CHandler::callback_static, this, &node_); + } + + ~CHandler() { sbp_remove_callback(state_, &node_); } + + struct Output final { + uint16_t sender_id; + sbp_msg_measurement_point_t msg; + }; + + std::vector outputs{}; + + private: + void callback(uint16_t sender_id, sbp_msg_type_t msg_type, + const sbp_msg_t *msg) { + ASSERT_EQ(msg_type, SbpMsgMeasurementPoint); + outputs.emplace_back(); + outputs.back().sender_id = sender_id; + memcpy(&outputs.back().msg, &msg->measurement_point, + sizeof(msg->measurement_point)); + } + + static void callback_static(uint16_t sender_id, sbp_msg_type_t msg_type, + const sbp_msg_t *msg, void *ctx) { + static_cast(ctx)->callback(sender_id, msg_type, msg); + } + + sbp_msg_callbacks_node_t node_{}; + sbp_state_t *state_; + }; + + struct TestMsgInfo { + sbp_msg_measurement_point_t test_msg; + sbp_msg_t test_msg_wrapped; + sbp_msg_type_t msg_type; + uint16_t sender_id; + uint8_t preamble; + uint16_t crc; + const uint8_t *encoded_frame; + uint32_t frame_len; + const uint8_t *encoded_payload; + uint8_t payload_len; + + Reader get_frame_reader() const noexcept { + return Reader{encoded_frame, frame_len}; + } + + Reader get_frame_reader(uint32_t max) const noexcept { + assert(max <= frame_len); + return Reader{encoded_frame, max}; + } + + SlowReader get_slow_frame_reader() const noexcept { + return SlowReader{encoded_frame, frame_len}; + } + + Writer get_frame_writer() const noexcept { return Writer{frame_len}; } + + Writer get_frame_writer(uint32_t max) const noexcept { return Writer{max}; } + + SlowWriter get_slow_frame_writer() const noexcept { + return SlowWriter{frame_len}; + } + }; + + TestMsgInfo get_test_msg_info() const noexcept { + TestMsgInfo info; + memcpy(&info.test_msg, &test_msg_, sizeof(test_msg_)); + memcpy(&info.test_msg_wrapped.measurement_point, &test_msg_, + sizeof(test_msg_)); + info.msg_type = static_cast(SbpMsgMeasurementPoint); + info.sender_id = 4096; + info.preamble = 0x55; + info.crc = 0x479d; + info.encoded_frame = encoded_frame_; + info.frame_len = sizeof(encoded_frame_); + info.encoded_payload = encoded_payload_; + info.payload_len = 48; + + return info; + } + + protected: + void comparison_tests(const sbp_msg_measurement_point_t &lesser, + const sbp_msg_measurement_point_t &greater) { + sbp_msg_t wrapped_lesser = + sbp::MessageTraits::to_sbp_msg(lesser); + sbp_msg_t wrapped_greater = + sbp::MessageTraits::to_sbp_msg(greater); + + EXPECT_EQ(sbp_msg_measurement_point_cmp(&lesser, &lesser), 0); + EXPECT_EQ(sbp_msg_measurement_point_cmp(&greater, &greater), 0); + EXPECT_LE(sbp_msg_measurement_point_cmp(&lesser, &greater), 0); + EXPECT_GT(sbp_msg_measurement_point_cmp(&greater, &lesser), 0); + + EXPECT_EQ(sbp_message_cmp(SbpMsgMeasurementPoint, &wrapped_lesser, + &wrapped_lesser), + 0); + EXPECT_EQ(sbp_message_cmp(SbpMsgMeasurementPoint, &wrapped_greater, + &wrapped_greater), + 0); + EXPECT_LE(sbp_message_cmp(SbpMsgMeasurementPoint, &wrapped_lesser, + &wrapped_greater), + 0); + EXPECT_GT(sbp_message_cmp(SbpMsgMeasurementPoint, &wrapped_greater, + &wrapped_lesser), + 0); + + // lesser vs lesser + EXPECT_TRUE(lesser == lesser); + EXPECT_FALSE(lesser != lesser); + EXPECT_FALSE(lesser < lesser); + EXPECT_TRUE(lesser <= lesser); + EXPECT_FALSE(lesser > lesser); + EXPECT_TRUE(lesser >= lesser); + + // greater vs greater + EXPECT_TRUE(greater == greater); + EXPECT_FALSE(greater != greater); + EXPECT_FALSE(greater < greater); + EXPECT_TRUE(greater <= greater); + EXPECT_FALSE(greater > greater); + EXPECT_TRUE(greater >= greater); + + // lesser vs greater + EXPECT_FALSE(lesser == greater); + EXPECT_TRUE(lesser != greater); + EXPECT_TRUE(lesser < greater); + EXPECT_TRUE(lesser <= greater); + EXPECT_FALSE(lesser > greater); + EXPECT_FALSE(lesser >= greater); + + // greater vs lesser + EXPECT_FALSE(greater == lesser); + EXPECT_TRUE(greater != lesser); + EXPECT_FALSE(greater < lesser); + EXPECT_FALSE(greater <= lesser); + EXPECT_TRUE(greater > lesser); + EXPECT_TRUE(greater >= lesser); + } + + template ::value, bool> = true> + void make_lesser_greater(T &lesser, T &greater) { + if (greater == std::numeric_limits::max()) { + lesser--; + } else { + greater++; + } + } + + template ::value, bool> = true> + void make_lesser_greater(T &lesser, T &greater) { + (void)lesser; + greater += static_cast(1.0); + } + + void make_lesser_greater(sbp_string_t &lesser, sbp_string_t &greater) { + if (greater.data[0] == 'z') { + lesser.data[0]--; + } else { + greater.data[0]++; + } + } + + template + void make_lesser_greater(char (&lesser)[N], char (&greater)[N]) { + if (lesser[0] == 'z') { + lesser[0]--; + } else { + greater[0]++; + } + } + + private: + sbp_msg_measurement_point_t test_msg_{}; + uint8_t encoded_frame_[48 + 8] = { + 85, 11, 255, 0, 16, 48, 250, 7, 0, 0, 180, 0, 2, 0, + 0, 0, 40, 0, 0, 0, 130, 201, 148, 141, 97, 85, 0, 0, + 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, 157, 15, 0, 0, + 0, 0, 18, 0, 114, 111, 117, 116, 101, 40, 41, 0, 157, 71, + }; + uint8_t encoded_payload_[48] = { + 250, 7, 0, 0, 180, 0, 2, 0, 0, 0, 40, 0, 0, 0, 130, 201, + 148, 141, 97, 85, 0, 0, 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, + 157, 15, 0, 0, 0, 0, 18, 0, 114, 111, 117, 116, 101, 40, 41, 0, + }; +}; + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, EncodedLen) { + auto info = get_test_msg_info(); + EXPECT_EQ(sbp_msg_measurement_point_encoded_len(&info.test_msg), + info.payload_len); + + EXPECT_EQ( + sbp_message_encoded_len(SbpMsgMeasurementPoint, &info.test_msg_wrapped), + info.payload_len); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, EncodeToBuf) { + auto info = get_test_msg_info(); + uint8_t buf[48]; + uint8_t n_written; + + EXPECT_EQ(sbp_msg_measurement_point_encode(&buf[0], sizeof(buf), &n_written, + &info.test_msg), + SBP_OK); + EXPECT_EQ(n_written, 48); + EXPECT_EQ(memcmp(&buf[0], info.encoded_payload, 48), 0); + + memset(&buf[0], 0, sizeof(buf)); + EXPECT_EQ(sbp_message_encode(&buf[0], sizeof(buf), &n_written, + SbpMsgMeasurementPoint, &info.test_msg_wrapped), + SBP_OK); + EXPECT_EQ(n_written, 48); + EXPECT_EQ(memcmp(&buf[0], info.encoded_payload, 48), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + EncodeToBufWithoutNwritten) { + auto info = get_test_msg_info(); + uint8_t buf[48]; + + EXPECT_EQ(sbp_msg_measurement_point_encode(&buf[0], sizeof(buf), nullptr, + &info.test_msg), + SBP_OK); + EXPECT_EQ(memcmp(&buf[0], info.encoded_payload, 48), 0); +} +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, EncodedToBufUnderflow) { + auto info = get_test_msg_info(); + uint8_t buf[48]; + + for (uint8_t i = 0; i < 48; i++) { + EXPECT_EQ( + sbp_msg_measurement_point_encode(&buf[0], i, nullptr, &info.test_msg), + SBP_ENCODE_ERROR); + } +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, DecodeFromBuf) { + auto info = get_test_msg_info(); + sbp_msg_measurement_point_t msg{}; + uint8_t n_read; + + EXPECT_EQ(sbp_msg_measurement_point_decode(&info.encoded_payload[0], + info.payload_len, &n_read, &msg), + SBP_OK); + EXPECT_EQ(n_read, 48); + EXPECT_EQ(msg, info.test_msg); + + sbp_msg_t wrapped_msg{}; + EXPECT_EQ(sbp_message_decode(&info.encoded_payload[0], info.payload_len, + &n_read, SbpMsgMeasurementPoint, &wrapped_msg), + SBP_OK); + EXPECT_EQ(n_read, 48); + EXPECT_EQ(msg, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + DecodeFromBufWithoutNread) { + auto info = get_test_msg_info(); + sbp_msg_measurement_point_t msg{}; + + EXPECT_EQ(sbp_msg_measurement_point_decode(&info.encoded_payload[0], + info.payload_len, nullptr, &msg), + SBP_OK); + EXPECT_EQ(msg, info.test_msg); +} +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, DecodeFromBufUnderflow) { + auto info = get_test_msg_info(); + sbp_msg_measurement_point_t msg{}; + + for (uint8_t i = 0; i < info.payload_len; i++) { + int expected_return = SBP_DECODE_ERROR; + size_t overhead = SBP_MSG_MEASUREMENT_POINT_ENCODED_OVERHEAD; + // size_t overhead = []()->size_t{sbp_msg_measurement_point_t t{}; return + // sbp_msg_measurement_point_encoded_len(&t); }(); + if (i >= overhead) { + expected_return = SBP_OK; + } + + EXPECT_EQ(sbp_msg_measurement_point_decode(&info.encoded_payload[0], i, + nullptr, &msg), + expected_return); + } +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, ReceiveThroughSbpState) { + auto info = get_test_msg_info(); + sbp_state_t state; + sbp_state_init(&state); + + auto reader = info.get_frame_reader(); + sbp_state_set_io_context(&state, &reader); + + CHandler handler{&state}; + + while (reader.remaining() > 0) { + EXPECT_GE(sbp_process(&state, &Reader::read_static), SBP_OK); + } + + EXPECT_EQ(handler.outputs.size(), 1); + EXPECT_EQ(handler.outputs[0].sender_id, info.sender_id); + EXPECT_EQ(handler.outputs[0].msg, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + ReceiveThroughSbpStateUnderflow) { + auto info = get_test_msg_info(); + + for (uint32_t i = 0; i < info.frame_len; i++) { + sbp_state_t state; + sbp_state_init(&state); + + auto reader = info.get_frame_reader(i); + sbp_state_set_io_context(&state, &reader); + + CHandler handler(&state); + + int most_recent_return = sbp_process(&state, &Reader::read_static); + while (most_recent_return == SBP_OK || reader.remaining() > 0) { + most_recent_return = sbp_process(&state, &Reader::read_static); + } + + EXPECT_NE(most_recent_return, SBP_OK); + EXPECT_EQ(reader.remaining(), 0); + + EXPECT_EQ(handler.outputs.size(), 0); + } +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, SlowRead) { + auto info = get_test_msg_info(); + sbp_state_t state; + sbp_state_init(&state); + + auto reader = info.get_slow_frame_reader(); + sbp_state_set_io_context(&state, &reader); + + CHandler handler{&state}; + + while (reader.remaining() > 0) { + EXPECT_GE(sbp_process(&state, &SlowReader::read_static), SBP_OK); + } + + EXPECT_EQ(handler.outputs.size(), 1); + EXPECT_EQ(handler.outputs[0].sender_id, info.sender_id); + EXPECT_EQ(handler.outputs[0].msg, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, BadCRC) { + auto info = get_test_msg_info(); + uint8_t buf[SBP_MAX_FRAME_LEN]; + memcpy(&buf[0], info.encoded_frame, info.frame_len); + + // Introduce a CRC error which should cause an error return and no callback + buf[info.frame_len - 1]++; + + sbp_state_t state; + sbp_state_init(&state); + + Reader reader{buf, info.frame_len}; + sbp_state_set_io_context(&state, &reader); + + CHandler handler{&state}; + + while (reader.remaining() > 0) { + int res = sbp_process(&state, &Reader::read_static); + EXPECT_EQ(res, reader.remaining() == 0 ? SBP_CRC_ERROR : SBP_OK); + } + + EXPECT_EQ(handler.outputs.size(), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, SendThroughSbpState) { + auto info = get_test_msg_info(); + sbp_state_t state; + sbp_state_init(&state); + + auto writer = info.get_frame_writer(); + sbp_state_set_io_context(&state, &writer); + + EXPECT_EQ(sbp_msg_measurement_point_send(&state, info.sender_id, + &info.test_msg, &Writer::write_c), + SBP_OK); + EXPECT_EQ(writer.len(), info.frame_len); + EXPECT_EQ(memcmp(writer.data(), &info.encoded_frame[0], writer.len()), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + SendWrappedThroughSbpState) { + auto info = get_test_msg_info(); + sbp_state_t state; + sbp_state_init(&state); + + auto writer = info.get_frame_writer(); + sbp_state_set_io_context(&state, &writer); + + EXPECT_EQ(sbp_message_send(&state, SbpMsgMeasurementPoint, info.sender_id, + &info.test_msg_wrapped, &Writer::write_c), + SBP_OK); + EXPECT_EQ(writer.len(), info.frame_len); + EXPECT_EQ(memcmp(writer.data(), info.encoded_frame, info.frame_len), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + SendThroughSbpStateUnderflow) { + auto info = get_test_msg_info(); + + for (uint32_t i = 0; i < info.frame_len; i++) { + sbp_state_t state; + sbp_state_init(&state); + + auto writer = info.get_frame_writer(i); + sbp_state_set_io_context(&state, &writer); + + EXPECT_NE(sbp_message_send(&state, SbpMsgMeasurementPoint, info.sender_id, + &info.test_msg_wrapped, &Writer::write_c), + SBP_OK); + EXPECT_EQ(writer.len(), i); + EXPECT_EQ(memcmp(writer.data(), info.encoded_frame, i), 0); + } +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, DISABLED_SlowWrite) { + auto info = get_test_msg_info(); + sbp_state_t state; + sbp_state_init(&state); + + auto writer = info.get_slow_frame_writer(); + sbp_state_set_io_context(&state, &writer); + + EXPECT_EQ(sbp_message_send(&state, SbpMsgMeasurementPoint, info.sender_id, + &info.test_msg_wrapped, &SlowWriter::write_c), + SBP_OK); + EXPECT_EQ(writer.len(), info.frame_len); + EXPECT_EQ(memcmp(writer.data(), info.encoded_frame, info.frame_len), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, Comparison) { + auto info = get_test_msg_info(); + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.func, greater.func); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.id, greater.id); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.line, greater.line); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.max, greater.max); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.min, greater.min); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.num_executions, greater.num_executions); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.return_addr, greater.return_addr); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.slice_time, greater.slice_time); + comparison_tests(lesser, greater); + } + { + sbp_msg_measurement_point_t lesser = info.test_msg; + sbp_msg_measurement_point_t greater = info.test_msg; + make_lesser_greater(lesser.total_time, greater.total_time); + comparison_tests(lesser, greater); + } +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, CppTraitsProperties) { + // EXPECT_EQ(sbp::MessageTraits::id, + // SbpMsgMeasurementPoint); + EXPECT_STREQ(sbp::MessageTraits::name, + "MSG_MEASUREMENT_POINT"); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, CppTraitsFromSbpMsgT) { + auto info = get_test_msg_info(); + + const sbp_msg_t &const_sbp_msg_t = info.test_msg_wrapped; + sbp_msg_t &non_const_sbp_msg_t = info.test_msg_wrapped; + + const sbp_msg_measurement_point_t &const_unwrapped = + sbp::MessageTraits::get(const_sbp_msg_t); + sbp_msg_measurement_point_t &non_const_unwrapped = + sbp::MessageTraits::get(non_const_sbp_msg_t); + + EXPECT_EQ((const void *)&const_sbp_msg_t, (const void *)&const_unwrapped); + EXPECT_EQ((void *)&non_const_sbp_msg_t, (void *)&non_const_unwrapped); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, CppTraitsToSbpMsgT) { + auto info = get_test_msg_info(); + + sbp_msg_t msg1 = sbp::MessageTraits::to_sbp_msg( + info.test_msg); + EXPECT_EQ(msg1.measurement_point, info.test_msg); + + sbp_msg_t msg2; + sbp::MessageTraits::to_sbp_msg(info.test_msg, + &msg2); + EXPECT_EQ(msg2.measurement_point, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, CppTraitsEncodedLen) { + auto info = get_test_msg_info(); + EXPECT_EQ(sbp::MessageTraits::encoded_len( + info.test_msg), + info.payload_len); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + CppTraitsSendThroughSbpState) { + auto info = get_test_msg_info(); + sbp_state_t state; + sbp_state_init(&state); + + auto writer = info.get_frame_writer(); + sbp_state_set_io_context(&state, &writer); + + EXPECT_EQ(sbp::MessageTraits::send( + &state, info.sender_id, info.test_msg, &Writer::write_c), + SBP_OK); + EXPECT_EQ(writer.len(), info.frame_len); + EXPECT_EQ(memcmp(writer.data(), &info.encoded_frame[0], writer.len()), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, CppTraitsEncodeToBuf) { + auto info = get_test_msg_info(); + uint8_t buf[48]; + uint8_t n_written; + + EXPECT_EQ(sbp::MessageTraits::encode( + &buf[0], sizeof(buf), &n_written, info.test_msg), + SBP_OK); + EXPECT_EQ(n_written, 48); + EXPECT_EQ(memcmp(&buf[0], info.encoded_payload, 48), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, CppTraitsDecodeFromBuf) { + auto info = get_test_msg_info(); + sbp_msg_measurement_point_t msg{}; + uint8_t n_read; + + EXPECT_EQ(sbp::MessageTraits::decode( + &info.encoded_payload[0], info.payload_len, &n_read, &msg), + SBP_OK); + EXPECT_EQ(n_read, 48); + EXPECT_EQ(msg, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + ReceiveThroughMessageHandler) { + auto info = get_test_msg_info(); + auto reader = info.get_frame_reader(); + + sbp::State state{}; + state.set_reader(&reader); + + CppHandler handler{&state}; + + while (reader.remaining() > 0) { + EXPECT_GE(state.process(), SBP_OK); + } + + EXPECT_EQ(handler.outputs.size(), 1); + EXPECT_EQ(handler.outputs[0].sender_id, info.sender_id); + EXPECT_EQ(handler.outputs[0].msg, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + ProcessSbpMsgTThroughMessageHandler) { + auto info = get_test_msg_info(); + sbp::State state{}; + CppHandler handler(&state); + + state.process_message(info.sender_id, SbpMsgMeasurementPoint, + &info.test_msg_wrapped); + + EXPECT_EQ(handler.outputs.size(), 1); + EXPECT_EQ(handler.outputs[0].sender_id, info.sender_id); + EXPECT_EQ(handler.outputs[0].msg, info.test_msg); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, SendThroughCppState) { + auto info = get_test_msg_info(); + auto writer = info.get_frame_writer(); + + sbp::State state{}; + state.set_writer(&writer); + + EXPECT_EQ(state.send_message(info.sender_id, info.test_msg), SBP_OK); + EXPECT_EQ(writer.len(), info.frame_len); + EXPECT_EQ(memcmp(writer.data(), info.encoded_frame, info.frame_len), 0); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0, + SendWrappedSbpMsgTThroughCppState) { + auto info = get_test_msg_info(); + auto writer = info.get_frame_writer(); + + sbp::State state{}; + state.set_writer(&writer); + + EXPECT_EQ(state.send_message(info.sender_id, SbpMsgMeasurementPoint, + info.test_msg_wrapped), + SBP_OK); + EXPECT_EQ(writer.len(), info.frame_len); + EXPECT_EQ(memcmp(writer.data(), info.encoded_frame, info.frame_len), 0); +} + +class Testauto_check_sbp_system_MsgMeasurementPoint0_func + : public Testauto_check_sbp_system_MsgMeasurementPoint0 {}; + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, StringInit) { + sbp_msg_measurement_point_t t{}; + sbp_msg_measurement_point_func_init(&t); + EXPECT_TRUE(sbp_msg_measurement_point_func_valid(&t)); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, IsValid) { + sbp_msg_measurement_point_t t{}; + + size_t written; + EXPECT_TRUE( + sbp_msg_measurement_point_func_set(&t, "route()", false, &written)); + EXPECT_EQ(written, strlen("route()")); + EXPECT_EQ(sbp_msg_measurement_point_func_encoded_len(&t), 8); + EXPECT_TRUE(sbp_msg_measurement_point_func_valid(&t)); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, SpaceRemaining) { + sbp_msg_measurement_point_t t{}; + size_t empty_space_remaining = + sbp_msg_measurement_point_func_space_remaining(&t); + + size_t written; + EXPECT_TRUE( + sbp_msg_measurement_point_func_set(&t, "route()", false, &written)); + EXPECT_EQ(written, strlen("route()")); + EXPECT_EQ(sbp_msg_measurement_point_func_encoded_len(&t), 8); + size_t assigned_space_remaining = + sbp_msg_measurement_point_func_space_remaining(&t); + EXPECT_LT(assigned_space_remaining, empty_space_remaining); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, SetRaw) { + auto info = get_test_msg_info(); + sbp_msg_measurement_point_t t{}; + + size_t nwritten{}; + + EXPECT_TRUE(sbp_msg_measurement_point_func_set_raw( + &t, info.test_msg.func.data, + sbp_msg_measurement_point_func_strlen(&info.test_msg), false, &nwritten)); + EXPECT_EQ(sbp_msg_measurement_point_func_encoded_len(&info.test_msg), + sbp_msg_measurement_point_func_encoded_len(&t)); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, Set) { + sbp_msg_measurement_point_t t{}; + size_t nwritten{}; + const char *text = "route()"; + + EXPECT_TRUE(sbp_msg_measurement_point_func_set(&t, text, false, &nwritten)); + EXPECT_EQ(nwritten, strlen(text)); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), text); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, Printf) { + sbp_msg_measurement_point_t t{}; + size_t nwritten{}; + const char *text = "route()"; + + EXPECT_TRUE( + sbp_msg_measurement_point_func_printf(&t, false, &nwritten, "%s", text)); + EXPECT_EQ(nwritten, strlen(text)); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), text); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, Vprintf) { + sbp_msg_measurement_point_t t{}; + size_t nwritten{}; + const char *text = "route()"; + + auto lambda = [&t, &nwritten](const char *format, ...) -> bool { + va_list ap; + va_start(ap, format); + bool ret = sbp_msg_measurement_point_func_vprintf(&t, false, &nwritten, + format, ap); + va_end(ap); + return ret; + }; + + EXPECT_TRUE(lambda("%s", text)); + EXPECT_EQ(nwritten, strlen(text)); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), text); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, AppendPrintf) { + sbp_msg_measurement_point_t t{}; + size_t nwritten{}; + char part1[] = "route()"; + char part2[] = "route()"; + + part1[1] = 0; + + EXPECT_TRUE(sbp_msg_measurement_point_func_printf(&t, false, &nwritten, "%s", + &part1[0])); + EXPECT_EQ(nwritten, 1); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), &part1[0]); + + EXPECT_TRUE(sbp_msg_measurement_point_func_append_printf(&t, false, &nwritten, + "%s", &part2[1])); + EXPECT_EQ(nwritten, strlen(&part2[1])); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), "route()"); +} + +TEST_F(Testauto_check_sbp_system_MsgMeasurementPoint0_func, AppendVprintf) { + sbp_msg_measurement_point_t t{}; + size_t nwritten{}; + char part1[] = "route()"; + char part2[] = "route()"; + + part1[1] = 0; + + EXPECT_TRUE(sbp_msg_measurement_point_func_printf(&t, false, &nwritten, "%s", + &part1[0])); + EXPECT_EQ(nwritten, 1); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), &part1[0]); + + auto lambda = [&t, &nwritten](const char *format, ...) -> bool { + va_list ap; + va_start(ap, format); + bool ret = sbp_msg_measurement_point_func_append_vprintf( + &t, false, &nwritten, format, ap); + va_end(ap); + return ret; + }; + + EXPECT_TRUE(lambda("%s", &part2[1])); + EXPECT_EQ(nwritten, strlen(&part2[1])); + EXPECT_STREQ(sbp_msg_measurement_point_func_get(&t), "route()"); +} + +} // namespace \ No newline at end of file diff --git a/c/test/legacy/auto_check_sbp_system_MsgMeasurementPoint.c b/c/test/legacy/auto_check_sbp_system_MsgMeasurementPoint.c new file mode 100644 index 0000000000..e6a32aff0d --- /dev/null +++ b/c/test/legacy/auto_check_sbp_system_MsgMeasurementPoint.c @@ -0,0 +1,255 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include // for debugging +#include // for malloc + +static struct { + u32 n_callbacks_logged; + u16 sender_id; + u8 len; + u8 msg[SBP_MAX_PAYLOAD_LEN]; + void *context; +} last_msg; + +static struct { + u32 n_callbacks_logged; + u16 sender_id; + u16 msg_type; + u8 msg_len; + u8 msg[SBP_MAX_PAYLOAD_LEN]; + u16 frame_len; + u8 frame[SBP_MAX_FRAME_LEN]; + void *context; +} last_frame; + +static u32 dummy_wr = 0; +static u32 dummy_rd = 0; +static u8 dummy_buff[1024]; +static void *last_io_context; + +static int DUMMY_MEMORY_FOR_CALLBACKS = 0xdeadbeef; +static int DUMMY_MEMORY_FOR_IO = 0xdead0000; + +static void dummy_reset() { + dummy_rd = dummy_wr = 0; + memset(dummy_buff, 0, sizeof(dummy_buff)); +} + +static s32 dummy_write(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(dummy_buff + dummy_wr, buff, real_n); + dummy_wr += real_n; + return real_n; +} + +static s32 dummy_read(u8 *buff, u32 n, void *context) { + last_io_context = context; + u32 real_n = n; //(dummy_n > n) ? n : dummy_n; + memcpy(buff, dummy_buff + dummy_rd, real_n); + dummy_rd += real_n; + return real_n; +} + +static void logging_reset() { + memset(&last_msg, 0, sizeof(last_msg)); + memset(&last_frame, 0, sizeof(last_frame)); +} + +static void msg_callback(u16 sender_id, u8 len, u8 msg[], void *context) { + last_msg.n_callbacks_logged++; + last_msg.sender_id = sender_id; + last_msg.len = len; + last_msg.context = context; + memcpy(last_msg.msg, msg, len); +} + +static void frame_callback(u16 sender_id, u16 msg_type, u8 msg_len, u8 msg[], + u16 frame_len, u8 frame[], void *context) { + last_frame.n_callbacks_logged++; + last_frame.sender_id = sender_id; + last_frame.msg_type = msg_type; + last_frame.msg_len = msg_len; + memcpy(last_frame.msg, msg, msg_len); + last_frame.frame_len = frame_len; + memcpy(last_frame.frame, frame, frame_len); + last_frame.context = context; +} + +START_TEST(test_legacy_auto_check_sbp_system_MsgMeasurementPoint) { + static sbp_msg_callbacks_node_t n; + static sbp_msg_callbacks_node_t n2; + + // State of the SBP message parser. + // Must be statically allocated. + sbp_state_t sbp_state; + + // + // Run tests: + // + // Test successful parsing of a message + { + // SBP parser state must be initialized before sbp_process is called. + // We re-initialize before every test so that callbacks for the same message + // types can be + // allocated multiple times across different tests. + sbp_state_init(&sbp_state); + + sbp_state_set_io_context(&sbp_state, &DUMMY_MEMORY_FOR_IO); + + logging_reset(); + + sbp_payload_callback_register(&sbp_state, 0xFF0B, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + sbp_frame_callback_register(&sbp_state, 0xFF0B, &frame_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n2); + + u8 encoded_frame[] = { + 85, 11, 255, 0, 16, 48, 250, 7, 0, 0, 180, 0, 2, 0, + 0, 0, 40, 0, 0, 0, 130, 201, 148, 141, 97, 85, 0, 0, + 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, 157, 15, 0, 0, + 0, 0, 18, 0, 114, 111, 117, 116, 101, 40, 41, 0, 157, 71, + }; + + dummy_reset(); + + u8 test_msg_storage[SBP_MAX_PAYLOAD_LEN]; + memset(test_msg_storage, 0, sizeof(test_msg_storage)); + u8 test_msg_len = 0; + msg_measurement_point_t *test_msg = + (msg_measurement_point_t *)test_msg_storage; + test_msg_len = sizeof(*test_msg); + { + const char assign_string[] = {(char)114, (char)111, (char)117, (char)116, + (char)101, (char)40, (char)41, (char)0}; + memcpy(test_msg->func, assign_string, sizeof(assign_string)); + if (sizeof(test_msg->func) == 0) { + test_msg_len += sizeof(assign_string); + } + } + test_msg->id = 2496234002; + test_msg->line = 18; + test_msg->max = 40; + test_msg->min = 2; + test_msg->num_executions = 180; + test_msg->return_addr = 93877475527042; + test_msg->slice_time = 261963842; + test_msg->total_time = 2042; + sbp_payload_send(&sbp_state, 0xFF0B, 4096, test_msg_len, test_msg_storage, + &dummy_write); + + ck_assert_msg( + test_msg_len == sizeof(encoded_frame) - 8, + "Test message has not been generated correctly, or the encoded frame " + "from the spec is badly defined. Check your test spec"); + + ck_assert_msg(dummy_wr == sizeof(encoded_frame), + "not enough data was written to dummy_buff"); + ck_assert_msg(memcmp(dummy_buff, encoded_frame, sizeof(encoded_frame)) == 0, + "frame was not encoded properly"); + + while (dummy_rd < dummy_wr) { + ck_assert_msg(sbp_process(&sbp_state, &dummy_read) >= SBP_OK, + "sbp_process threw an error!"); + } + + ck_assert_msg(last_msg.n_callbacks_logged == 1, + "msg_callback: one callback should have been logged"); + ck_assert_msg(last_msg.sender_id == 4096, + "msg_callback: sender_id decoded incorrectly"); + ck_assert_msg(last_msg.len == sizeof(encoded_frame) - 8, + "msg_callback: len decoded incorrectly"); + ck_assert_msg( + memcmp(last_msg.msg, encoded_frame + 6, sizeof(encoded_frame) - 8) == 0, + "msg_callback: test data decoded incorrectly"); + ck_assert_msg(last_msg.context == &DUMMY_MEMORY_FOR_CALLBACKS, + "frame_callback: context pointer incorrectly passed"); + + ck_assert_msg(last_frame.n_callbacks_logged == 1, + "frame_callback: one callback should have been logged"); + ck_assert_msg(last_frame.sender_id == 4096, + "frame_callback: sender_id decoded incorrectly"); + ck_assert_msg(last_frame.msg_type == 0xFF0B, + "frame_callback: msg_type decoded incorrectly"); + ck_assert_msg(last_frame.msg_len == sizeof(encoded_frame) - 8, + "frame_callback: msg_len decoded incorrectly"); + ck_assert_msg(memcmp(last_frame.msg, encoded_frame + 6, + sizeof(encoded_frame) - 8) == 0, + "frame_callback: test data decoded incorrectly"); + ck_assert_msg(last_frame.frame_len == sizeof(encoded_frame), + "frame_callback: frame_len decoded incorrectly"); + ck_assert_msg( + memcmp(last_frame.frame, encoded_frame, sizeof(encoded_frame)) == 0, + "frame_callback: frame decoded incorrectly"); + ck_assert_msg(last_frame.context == &DUMMY_MEMORY_FOR_CALLBACKS, + "frame_callback: context pointer incorrectly passed"); + + // Cast to expected message type - the +6 byte offset is where the payload + // starts + msg_measurement_point_t *check_msg = + (msg_measurement_point_t *)((void *)last_msg.msg); + // Run tests against fields + ck_assert_msg(check_msg != 0, "stub to prevent warnings if msg isn't used"); + { + const char check_string[] = {(char)114, (char)111, (char)117, (char)116, + (char)101, (char)40, (char)41, (char)0}; + ck_assert_msg( + memcmp(check_msg->func, check_string, sizeof(check_string)) == 0, + "incorrect value for check_msg->func, expected string '%s', is '%s'", + check_string, check_msg->func); + } + ck_assert_msg(check_msg->id == 2496234002, + "incorrect value for id, expected 2496234002, is %d", + check_msg->id); + ck_assert_msg(check_msg->line == 18, + "incorrect value for line, expected 18, is %d", + check_msg->line); + ck_assert_msg(check_msg->max == 40, + "incorrect value for max, expected 40, is %d", + check_msg->max); + ck_assert_msg(check_msg->min == 2, + "incorrect value for min, expected 2, is %d", check_msg->min); + ck_assert_msg(check_msg->num_executions == 180, + "incorrect value for num_executions, expected 180, is %d", + check_msg->num_executions); + ck_assert_msg( + check_msg->return_addr == 93877475527042, + "incorrect value for return_addr, expected 93877475527042, is %d", + check_msg->return_addr); + ck_assert_msg(check_msg->slice_time == 261963842, + "incorrect value for slice_time, expected 261963842, is %d", + check_msg->slice_time); + ck_assert_msg(check_msg->total_time == 2042, + "incorrect value for total_time, expected 2042, is %d", + check_msg->total_time); + } +} +END_TEST + +Suite *legacy_auto_check_sbp_system_MsgMeasurementPoint_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: " + "legacy_auto_check_sbp_system_MsgMeasurementPoint"); + TCase *tc_acq = tcase_create( + "Automated_Suite_legacy_auto_check_sbp_system_MsgMeasurementPoint"); + tcase_add_test(tc_acq, test_legacy_auto_check_sbp_system_MsgMeasurementPoint); + suite_add_tcase(s, tc_acq); + return s; +} \ No newline at end of file diff --git a/c/test/legacy/cpp/auto_check_sbp_system_MsgMeasurementPoint.cc b/c/test/legacy/cpp/auto_check_sbp_system_MsgMeasurementPoint.cc new file mode 100644 index 0000000000..0fa5a7fd4f --- /dev/null +++ b/c/test/legacy/cpp/auto_check_sbp_system_MsgMeasurementPoint.cc @@ -0,0 +1,149 @@ +/* + * Copyright (C) 2015-2021 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ + +// This file was auto-generated from +// spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include +#include +class Test_legacy_auto_check_sbp_system_MsgMeasurementPoint0 + : public ::testing::Test, + public sbp::State, + public sbp::IReader, + public sbp::IWriter, + sbp::PayloadHandler { + public: + Test_legacy_auto_check_sbp_system_MsgMeasurementPoint0() + : ::testing::Test(), + sbp::State(), + sbp::IReader(), + sbp::IWriter(), + sbp::PayloadHandler(this), + last_msg_storage_(), + last_msg_( + reinterpret_cast(last_msg_storage_)), + last_msg_len_(), + last_sender_id_(), + n_callbacks_logged_(), + dummy_wr_(), + dummy_rd_(), + dummy_buff_() { + set_reader(this); + set_writer(this); + } + + s32 read(uint8_t *buf, const uint32_t n) override { + uint32_t real_n = n; + memcpy(buf, dummy_buff_ + dummy_rd_, real_n); + dummy_rd_ += real_n; + return (s32)real_n; + } + + s32 write(const uint8_t *buf, uint32_t n) override { + uint32_t real_n = n; + memcpy(dummy_buff_ + dummy_wr_, buf, real_n); + dummy_wr_ += real_n; + return (s32)real_n; + } + + protected: + void handle_sbp_msg(uint16_t sender_id, uint8_t message_length, + const msg_measurement_point_t &msg) override { + memcpy(last_msg_storage_, &msg, message_length); + last_msg_len_ = message_length; + last_sender_id_ = sender_id; + n_callbacks_logged_++; + } + + uint8_t last_msg_storage_[SBP_MAX_PAYLOAD_LEN]; + msg_measurement_point_t *last_msg_; + uint8_t last_msg_len_; + uint16_t last_sender_id_; + size_t n_callbacks_logged_; + uint32_t dummy_wr_; + uint32_t dummy_rd_; + uint8_t dummy_buff_[1024]; +}; + +TEST_F(Test_legacy_auto_check_sbp_system_MsgMeasurementPoint0, Test) { + uint8_t encoded_frame[] = { + 85, 11, 255, 0, 16, 48, 250, 7, 0, 0, 180, 0, 2, 0, + 0, 0, 40, 0, 0, 0, 130, 201, 148, 141, 97, 85, 0, 0, + 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, 157, 15, 0, 0, + 0, 0, 18, 0, 114, 111, 117, 116, 101, 40, 41, 0, 157, 71, + }; + + uint8_t test_msg_storage[SBP_MAX_PAYLOAD_LEN]{}; + uint8_t test_msg_len = 0; + msg_measurement_point_t *test_msg = + (msg_measurement_point_t *)test_msg_storage; + test_msg_len = (uint8_t)sizeof(*test_msg); + { + const char assign_string[] = {(char)114, (char)111, (char)117, (char)116, + (char)101, (char)40, (char)41, (char)0}; + memcpy(test_msg->func, assign_string, sizeof(assign_string)); + if (sizeof(test_msg->func) == 0) { + test_msg_len = (uint8_t)(test_msg_len + sizeof(assign_string)); + } + } + test_msg->id = 2496234002; + test_msg->line = 18; + test_msg->max = 40; + test_msg->min = 2; + test_msg->num_executions = 180; + test_msg->return_addr = 93877475527042; + test_msg->slice_time = 261963842; + test_msg->total_time = 2042; + + EXPECT_EQ(send_message(0xFF0B, 4096, test_msg_len, test_msg_storage), SBP_OK); + + EXPECT_EQ(dummy_wr_, sizeof(encoded_frame)); + EXPECT_EQ(memcmp(dummy_buff_, encoded_frame, sizeof(encoded_frame)), 0); + + while (dummy_rd_ < dummy_wr_) { + process(); + } + + EXPECT_EQ(n_callbacks_logged_, 1); + EXPECT_EQ(last_sender_id_, 4096); + EXPECT_EQ(last_msg_len_, test_msg_len); + { + const char check_string[] = {(char)114, (char)111, (char)117, (char)116, + (char)101, (char)40, (char)41, (char)0}; + EXPECT_EQ(memcmp(last_msg_->func, check_string, sizeof(check_string)), 0) + << "incorrect value for last_msg_->func, expected string '" + << check_string << "', is '" << last_msg_->func << "'"; + } + EXPECT_EQ(last_msg_->id, 2496234002) + << "incorrect value for id, expected 2496234002, is " << last_msg_->id; + EXPECT_EQ(last_msg_->line, 18) + << "incorrect value for line, expected 18, is " << last_msg_->line; + EXPECT_EQ(last_msg_->max, 40) + << "incorrect value for max, expected 40, is " << last_msg_->max; + EXPECT_EQ(last_msg_->min, 2) + << "incorrect value for min, expected 2, is " << last_msg_->min; + EXPECT_EQ(last_msg_->num_executions, 180) + << "incorrect value for num_executions, expected 180, is " + << last_msg_->num_executions; + EXPECT_EQ(last_msg_->return_addr, 93877475527042) + << "incorrect value for return_addr, expected 93877475527042, is " + << last_msg_->return_addr; + EXPECT_EQ(last_msg_->slice_time, 261963842) + << "incorrect value for slice_time, expected 261963842, is " + << last_msg_->slice_time; + EXPECT_EQ(last_msg_->total_time, 2042) + << "incorrect value for total_time, expected 2042, is " + << last_msg_->total_time; +} diff --git a/docs/sbp.pdf b/docs/sbp.pdf index 894c42e518..30d0f29364 100644 Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ diff --git a/haskell/sbp.cabal b/haskell/sbp.cabal index c76ab0fe49..c236b67d9f 100644 --- a/haskell/sbp.cabal +++ b/haskell/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 5.0.5-alpha +version: 5.0.4-alpha synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index 784c40d792..c1cbd8bb51 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -175,6 +175,7 @@ data SBPMsg = | SBPMsgMagRaw MsgMagRaw Msg | SBPMsgMaskSatellite MsgMaskSatellite Msg | SBPMsgMaskSatelliteDep MsgMaskSatelliteDep Msg + | SBPMsgMeasurementPoint MsgMeasurementPoint Msg | SBPMsgMeasurementState MsgMeasurementState Msg | SBPMsgNapDeviceDnaReq MsgNapDeviceDnaReq Msg | SBPMsgNapDeviceDnaResp MsgNapDeviceDnaResp Msg @@ -421,6 +422,7 @@ instance Binary SBPMsg where | _msgSBPType == msgMagRaw = SBPMsgMagRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMaskSatelliteDep = SBPMsgMaskSatelliteDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgMeasurementPoint = SBPMsgMeasurementPoint (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMeasurementState = SBPMsgMeasurementState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -659,6 +661,7 @@ instance Binary SBPMsg where encoder (SBPMsgMagRaw _ m) = put m encoder (SBPMsgMaskSatellite _ m) = put m encoder (SBPMsgMaskSatelliteDep _ m) = put m + encoder (SBPMsgMeasurementPoint _ m) = put m encoder (SBPMsgMeasurementState _ m) = put m encoder (SBPMsgNapDeviceDnaReq _ m) = put m encoder (SBPMsgNapDeviceDnaResp _ m) = put m @@ -901,6 +904,7 @@ instance FromJSON SBPMsg where | msgType == msgMagRaw = SBPMsgMagRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMaskSatellite = SBPMsgMaskSatellite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMaskSatelliteDep = SBPMsgMaskSatelliteDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgMeasurementPoint = SBPMsgMeasurementPoint <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMeasurementState = SBPMsgMeasurementState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1144,6 +1148,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgMagRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMaskSatellite n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMaskSatelliteDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgMeasurementPoint n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMeasurementState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNapDeviceDnaReq _ m) = toJSON m toJSON (SBPMsgNapDeviceDnaResp n m) = toJSON n <<>> toJSON m @@ -1381,6 +1386,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgMagRaw n m) = SBPMsgMagRaw n <$> f m msg f (SBPMsgMaskSatellite n m) = SBPMsgMaskSatellite n <$> f m msg f (SBPMsgMaskSatelliteDep n m) = SBPMsgMaskSatelliteDep n <$> f m + msg f (SBPMsgMeasurementPoint n m) = SBPMsgMeasurementPoint n <$> f m msg f (SBPMsgMeasurementState n m) = SBPMsgMeasurementState n <$> f m msg f (SBPMsgNapDeviceDnaReq n m) = SBPMsgNapDeviceDnaReq n <$> f m msg f (SBPMsgNapDeviceDnaResp n m) = SBPMsgNapDeviceDnaResp n <$> f m diff --git a/haskell/src/SwiftNav/SBP/System.hs b/haskell/src/SwiftNav/SBP/System.hs index d9ecf8a24e..5d1a052520 100644 --- a/haskell/src/SwiftNav/SBP/System.hs +++ b/haskell/src/SwiftNav/SBP/System.hs @@ -575,3 +575,60 @@ instance Binary MsgGroupMeta where $(makeSBP 'msgGroupMeta ''MsgGroupMeta) $(makeJSON "_msgGroupMeta_" ''MsgGroupMeta) $(makeLenses ''MsgGroupMeta) + +msgMeasurementPoint :: Word16 +msgMeasurementPoint = 0xFF0B + +-- | SBP class for message MSG_MEASUREMENT_POINT (0xFF0B). +-- +-- Tracks execution time of certain code paths in specially built products. +-- This message should only be expected and processed on the direction of +-- Swift's engineering teams. +data MsgMeasurementPoint = MsgMeasurementPoint + { _msgMeasurementPoint_total_time :: !Word32 + -- ^ Total time spent in measurement point + , _msgMeasurementPoint_num_executions :: !Word16 + -- ^ Number of times measurement point has executed + , _msgMeasurementPoint_min :: !Word32 + -- ^ Minimum execution time + , _msgMeasurementPoint_max :: !Word32 + -- ^ Maximum execution time + , _msgMeasurementPoint_return_addr :: !Word64 + -- ^ Return address + , _msgMeasurementPoint_id :: !Word64 + -- ^ Unique ID + , _msgMeasurementPoint_slice_time :: !Word64 + -- ^ CPU slice time + , _msgMeasurementPoint_line :: !Word16 + -- ^ Line number + , _msgMeasurementPoint_func :: !Text + -- ^ Function name + } deriving ( Show, Read, Eq ) + +instance Binary MsgMeasurementPoint where + get = do + _msgMeasurementPoint_total_time <- getWord32le + _msgMeasurementPoint_num_executions <- getWord16le + _msgMeasurementPoint_min <- getWord32le + _msgMeasurementPoint_max <- getWord32le + _msgMeasurementPoint_return_addr <- getWord64le + _msgMeasurementPoint_id <- getWord64le + _msgMeasurementPoint_slice_time <- getWord64le + _msgMeasurementPoint_line <- getWord16le + _msgMeasurementPoint_func <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgMeasurementPoint {..} + + put MsgMeasurementPoint {..} = do + putWord32le _msgMeasurementPoint_total_time + putWord16le _msgMeasurementPoint_num_executions + putWord32le _msgMeasurementPoint_min + putWord32le _msgMeasurementPoint_max + putWord64le _msgMeasurementPoint_return_addr + putWord64le _msgMeasurementPoint_id + putWord64le _msgMeasurementPoint_slice_time + putWord16le _msgMeasurementPoint_line + putByteString $ encodeUtf8 _msgMeasurementPoint_func + +$(makeSBP 'msgMeasurementPoint ''MsgMeasurementPoint) +$(makeJSON "_msgMeasurementPoint_" ''MsgMeasurementPoint) +$(makeLenses ''MsgMeasurementPoint) diff --git a/java/src/com/swiftnav/sbp/SBPMessage.java b/java/src/com/swiftnav/sbp/SBPMessage.java index e76f058174..108df71088 100644 --- a/java/src/com/swiftnav/sbp/SBPMessage.java +++ b/java/src/com/swiftnav/sbp/SBPMessage.java @@ -135,6 +135,13 @@ public BigInteger getU64() { return new BigInteger(1, tmp); } + public BigInteger getS64() { + byte[] tmp = new byte[8]; + buf.get(tmp, 0, 8); + tmp = new byte[] {tmp[7], tmp[6], tmp[5], tmp[4], tmp[3], tmp[2], tmp[1], tmp[0]}; + return new BigInteger(tmp); + } + public float getFloat() { return buf.getFloat(); } diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index e710975fc4..9a87fefe2b 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -228,6 +228,7 @@ import com.swiftnav.sbp.system.MsgHeartbeat; import com.swiftnav.sbp.system.MsgInsStatus; import com.swiftnav.sbp.system.MsgInsUpdates; +import com.swiftnav.sbp.system.MsgMeasurementPoint; import com.swiftnav.sbp.system.MsgPpsTime; import com.swiftnav.sbp.system.MsgSensorAidEvent; import com.swiftnav.sbp.system.MsgStartup; @@ -690,6 +691,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgSensorAidEvent(msg); case MsgGroupMeta.TYPE: return new MsgGroupMeta(msg); + case MsgMeasurementPoint.TYPE: + return new MsgMeasurementPoint(msg); case MsgTelSv.TYPE: return new MsgTelSv(msg); case MsgTrackingStateDetailedDepA.TYPE: diff --git a/java/src/com/swiftnav/sbp/system/MsgMeasurementPoint.java b/java/src/com/swiftnav/sbp/system/MsgMeasurementPoint.java new file mode 100644 index 0000000000..7fe0312989 --- /dev/null +++ b/java/src/com/swiftnav/sbp/system/MsgMeasurementPoint.java @@ -0,0 +1,122 @@ +/* Copyright (C) 2015-2022 Swift Navigation Inc. + * Contact: https://support.swiftnav.com + * + * This source is subject to the license found in the file 'LICENSE' which must + * be be distributed together with this source. All other rights reserved. + * + * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, + * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED + * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + */ +package com.swiftnav.sbp.system; + +// This file was auto-generated from yaml/swiftnav/sbp/system.yaml by generate.py. +// Do not modify by hand! + + +import com.swiftnav.sbp.SBPBinaryException; +import com.swiftnav.sbp.SBPMessage; +import java.math.BigInteger; +import org.json.JSONObject; + +/** + * SBP class for message MSG_MEASUREMENT_POINT (0xFF0B). + * + *

You can have MSG_MEASUREMENT_POINT inherent its fields directly from an inherited SBP object, + * or construct it inline using a dict of its fields. + * + *

Tracks execution time of certain code paths in specially built products. This message should + * only be expected and processed on the direction of Swift's engineering teams. + */ +public class MsgMeasurementPoint extends SBPMessage { + public static final int TYPE = 0xFF0B; + + /** Total time spent in measurement point */ + public long total_time; + + /** Number of times measurement point has executed */ + public int num_executions; + + /** Minimum execution time */ + public long min; + + /** Maximum execution time */ + public long max; + + /** Return address */ + public BigInteger return_addr; + + /** Unique ID */ + public BigInteger id; + + /** CPU slice time */ + public BigInteger slice_time; + + /** Line number */ + public int line; + + /** Function name */ + public String func; + + public MsgMeasurementPoint(int sender) { + super(sender, TYPE); + } + + public MsgMeasurementPoint() { + super(TYPE); + } + + public MsgMeasurementPoint(SBPMessage msg) throws SBPBinaryException { + super(msg); + if (msg.type != TYPE) + throw new SBPBinaryException( + "Type mismatch for MsgMeasurementPoint, expected 65291, actual " + msg.type); + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + total_time = parser.getU32(); + num_executions = parser.getU16(); + min = parser.getU32(); + max = parser.getU32(); + return_addr = parser.getU64(); + id = parser.getU64(); + slice_time = parser.getU64(); + line = parser.getU16(); + func = parser.getString(); + } + + @Override + protected void build(Builder builder) { + builder.putU32(total_time); + builder.putU16(num_executions); + builder.putU32(min); + builder.putU32(max); + builder.putU64(return_addr); + builder.putU64(id); + builder.putU64(slice_time); + builder.putU16(line); + builder.putString(func); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("total_time", total_time); + obj.put("num_executions", num_executions); + obj.put("min", min); + obj.put("max", max); + obj.put("return_addr", return_addr); + obj.put("id", id); + obj.put("slice_time", slice_time); + obj.put("line", line); + obj.put("func", func); + return obj; + } + + @Override + public String getFriendlyName() { + return "MEAS POINT"; + } +} diff --git a/java/test/auto_check_sbp_system_MsgMeasurementPointTest.java b/java/test/auto_check_sbp_system_MsgMeasurementPointTest.java new file mode 100644 index 0000000000..aa4d5ad944 Binary files /dev/null and b/java/test/auto_check_sbp_system_MsgMeasurementPointTest.java differ diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index 0571d5a49f..fd800edc7b 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -12,4 +12,4 @@ var r=p(25),o=p(26),i=p(16);function s(){return a.TYPED_ARRAY_SUPPORT?2147483647 * @author Feross Aboukhadijeh * @license MIT */ -function r(e,t){if(e===t)return 0;for(var p=e.length,r=t.length,o=0,i=Math.min(p,r);o=0;l--)if(c[l]!==u[l])return!1;for(l=c.length-1;l>=0;l--)if(a=c[l],!g(e[a],t[a],p,r))return!1;return!0}(e,t,p,s))}return p?e===t:e==t}function w(e){return"[object Arguments]"==Object.prototype.toString.call(e)}function E(e,t){if(!e||!t)return!1;if("[object RegExp]"==Object.prototype.toString.call(t))return t.test(e);try{if(e instanceof t)return!0}catch(e){}return!Error.isPrototypeOf(t)&&!0===t.call({},e)}function m(e,t,p,r){var o;if("function"!=typeof t)throw new TypeError('"block" argument must be a function');"string"==typeof p&&(r=p,p=null),o=function(e){var t;try{e()}catch(e){t=e}return t}(t),r=(p&&p.name?" 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L=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_QZSS",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_QZSS",L.prototype.msg_type=142,L.prototype.constructor=L,L.prototype.parser=(new 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T=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_BDS",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_BDS",T.prototype.msg_type=137,T.prototype.constructor=T,T.prototype.parser=(new 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v=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GAL_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GAL_DEP_A",v.prototype.msg_type=149,v.prototype.constructor=v,v.prototype.parser=(new 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U=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GAL",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GAL",U.prototype.msg_type=141,U.prototype.constructor=U,U.prototype.parser=(new 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M=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_SBAS_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_SBAS_DEP_A",M.prototype.msg_type=130,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").nest("common",{type:E.prototype.parser}).array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"doublele"}).doublele("a_gf0").doublele("a_gf1"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["common",E.prototype.fieldSpec]),M.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),M.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 8},3]),M.prototype.fieldSpec.push(["acc","array","writeDoubleLE",function(){return 8},3]),M.prototype.fieldSpec.push(["a_gf0","writeDoubleLE",8]),M.prototype.fieldSpec.push(["a_gf1","writeDoubleLE",8]);let D=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GLO_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GLO_DEP_A",D.prototype.msg_type=131,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").nest("common",{type:E.prototype.parser}).doublele("gamma").doublele("tau").array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"doublele"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["common",E.prototype.fieldSpec]),D.prototype.fieldSpec.push(["gamma","writeDoubleLE",8]),D.prototype.fieldSpec.push(["tau","writeDoubleLE",8]),D.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),D.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 8},3]),D.prototype.fieldSpec.push(["acc","array","writeDoubleLE",function(){return 8},3]);let O=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_SBAS_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_SBAS_DEP_B",O.prototype.msg_type=132,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little").nest("common",{type:w.prototype.parser}).array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"doublele"}).doublele("a_gf0").doublele("a_gf1"),O.prototype.fieldSpec=[],O.prototype.fieldSpec.push(["common",w.prototype.fieldSpec]),O.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),O.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 8},3]),O.prototype.fieldSpec.push(["acc","array","writeDoubleLE",function(){return 8},3]),O.prototype.fieldSpec.push(["a_gf0","writeDoubleLE",8]),O.prototype.fieldSpec.push(["a_gf1","writeDoubleLE",8]);let G=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_SBAS",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_SBAS",G.prototype.msg_type=140,G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").nest("common",{type:g.prototype.parser}).array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"floatle"}).array("acc",{length:3,type:"floatle"}).floatle("a_gf0").floatle("a_gf1"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["common",g.prototype.fieldSpec]),G.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),G.prototype.fieldSpec.push(["vel","array","writeFloatLE",function(){return 4},3]),G.prototype.fieldSpec.push(["acc","array","writeFloatLE",function(){return 4},3]),G.prototype.fieldSpec.push(["a_gf0","writeFloatLE",4]),G.prototype.fieldSpec.push(["a_gf1","writeFloatLE",4]);let A=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GLO_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GLO_DEP_B",A.prototype.msg_type=133,A.prototype.constructor=A,A.prototype.parser=(new o).endianess("little").nest("common",{type:w.prototype.parser}).doublele("gamma").doublele("tau").array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"doublele"}),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["common",w.prototype.fieldSpec]),A.prototype.fieldSpec.push(["gamma","writeDoubleLE",8]),A.prototype.fieldSpec.push(["tau","writeDoubleLE",8]),A.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),A.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 8},3]),A.prototype.fieldSpec.push(["acc","array","writeDoubleLE",function(){return 8},3]);let C=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GLO_DEP_C",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GLO_DEP_C",C.prototype.msg_type=135,C.prototype.constructor=C,C.prototype.parser=(new o).endianess("little").nest("common",{type:w.prototype.parser}).doublele("gamma").doublele("tau").doublele("d_tau").array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"doublele"}).uint8("fcn"),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["common",w.prototype.fieldSpec]),C.prototype.fieldSpec.push(["gamma","writeDoubleLE",8]),C.prototype.fieldSpec.push(["tau","writeDoubleLE",8]),C.prototype.fieldSpec.push(["d_tau","writeDoubleLE",8]),C.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),C.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 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r.call(this,e),this.messageType="MSG_EPHEMERIS_GLO",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GLO",P.prototype.msg_type=139,P.prototype.constructor=P,P.prototype.parser=(new o).endianess("little").nest("common",{type:g.prototype.parser}).floatle("gamma").floatle("tau").floatle("d_tau").array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"floatle"}).uint8("fcn").uint8("iod"),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["common",g.prototype.fieldSpec]),P.prototype.fieldSpec.push(["gamma","writeFloatLE",4]),P.prototype.fieldSpec.push(["tau","writeFloatLE",4]),P.prototype.fieldSpec.push(["d_tau","writeFloatLE",4]),P.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),P.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 8},3]),P.prototype.fieldSpec.push(["acc","array","writeFloatLE",function(){return 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a=function(e,t){return r.call(this,e),this.messageType="MSG_CERTIFICATE_CHAIN",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.prototype)).messageType="MSG_CERTIFICATE_CHAIN",a.prototype.msg_type=3081,a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").array("root_certificate",{length:20,type:"uint8"}).array("intermediate_certificate",{length:20,type:"uint8"}).array("corrections_certificate",{length:20,type:"uint8"}).nest("expiration",{type:i.prototype.parser}).nest("signature",{type:s.prototype.parser}),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["root_certificate","array","writeUInt8",function(){return 1},20]),a.prototype.fieldSpec.push(["intermediate_certificate","array","writeUInt8",function(){return 1},20]),a.prototype.fieldSpec.push(["corrections_certificate","array","writeUInt8",function(){return 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f=function(e,t){return r.call(this,e),this.messageType="MSG_ED25519_CERTIFICATE_DEP",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_ED25519_CERTIFICATE_DEP",f.prototype.msg_type=3074,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").uint8("n_msg").array("fingerprint",{length:20,type:"uint8"}).array("certificate_bytes",{type:"uint8",readUntil:"eof"}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["n_msg","writeUInt8",1]),f.prototype.fieldSpec.push(["fingerprint","array","writeUInt8",function(){return 1},20]),f.prototype.fieldSpec.push(["certificate_bytes","array","writeUInt8",function(){return 1},null]);let h=function(e,t){return r.call(this,e),this.messageType="MSG_ED25519_SIGNATURE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.prototype)).messageType="MSG_ED25519_SIGNATURE_DEP_A",h.prototype.msg_type=3073,h.prototype.constructor=h,h.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_SSR_TILE_DEFINITION",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.prototype)).messageType="MSG_SSR_TILE_DEFINITION",M.prototype.msg_type=1528,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("update_interval").uint8("sol_id").uint8("iod_atmo").uint16("tile_set_id").uint16("tile_id").int16("corner_nw_lat").int16("corner_nw_lon").uint16("spacing_lat").uint16("spacing_lon").uint16("rows").uint16("cols").uint64("bitmask"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),M.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),M.prototype.fieldSpec.push(["sol_id","writeUInt8",1]),M.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]),M.prototype.fieldSpec.push(["tile_set_id","writeUInt16LE",2]),M.prototype.fieldSpec.push(["tile_id","writeUInt16LE",2]),M.prototype.fieldSpec.push(["corner_nw_lat","writeInt16LE",2]),M.prototype.fieldSpec.push(["corner_nw_lon","writeInt16LE",2]),M.prototype.fieldSpec.push(["spacing_lat","writeUInt16LE",2]),M.prototype.fieldSpec.push(["spacing_lon","writeUInt16LE",2]),M.prototype.fieldSpec.push(["rows","writeUInt16LE",2]),M.prototype.fieldSpec.push(["cols","writeUInt16LE",2]),M.prototype.fieldSpec.push(["bitmask","writeUInt64LE",8]);let D=function(e,t){return r.call(this,e),this.messageType="SatelliteAPC",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.prototype)).messageType="SatelliteAPC",D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("sat_info").uint16("svn").array("pco",{length:3,type:"int16le"}).array("pcv",{length:21,type:"int8"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),D.prototype.fieldSpec.push(["sat_info","writeUInt8",1]),D.prototype.fieldSpec.push(["svn","writeUInt16LE",2]),D.prototype.fieldSpec.push(["pco","array","writeInt16LE",function(){return 2},3]),D.prototype.fieldSpec.push(["pcv","array","writeInt8",function(){return 1},21]);let O=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_SATELLITE_APC_DEP",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.prototype)).messageType="MSG_SSR_SATELLITE_APC_DEP",O.prototype.msg_type=1540,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little").array("apc",{type:D.prototype.parser,readUntil:"eof"}),O.prototype.fieldSpec=[],O.prototype.fieldSpec.push(["apc","array",D.prototype.fieldSpec,function(){return this.fields.array.length},null]);let G=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_SATELLITE_APC",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.prototype)).messageType="MSG_SSR_SATELLITE_APC",G.prototype.msg_type=1541,G.prototype.constructor=G,G.prototype.parser=(new 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o).endianess("little").nest("time",{type:s.prototype.parser}).nest("sid",{type:i.prototype.parser}).uint8("update_interval").uint8("iod_ssr").uint8("iod").int32("radial").int32("along").int32("cross").int32("dot_radial").int32("dot_along").int32("dot_cross").int32("c0").int32("c1").int32("c2"),A.prototype.fieldSpec=[],A.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),A.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),A.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),A.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),A.prototype.fieldSpec.push(["iod","writeUInt8",1]),A.prototype.fieldSpec.push(["radial","writeInt32LE",4]),A.prototype.fieldSpec.push(["along","writeInt32LE",4]),A.prototype.fieldSpec.push(["cross","writeInt32LE",4]),A.prototype.fieldSpec.push(["dot_radial","writeInt32LE",4]),A.prototype.fieldSpec.push(["dot_along","writeInt32LE",4]),A.prototype.fieldSpec.push(["dot_cross","writeInt32LE",4]),A.prototype.fieldSpec.push(["c0","writeInt32LE",4]),A.prototype.fieldSpec.push(["c1","writeInt32LE",4]),A.prototype.fieldSpec.push(["c2","writeInt32LE",4]);let C=function(e,t){return r.call(this,e),this.messageType="STECHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(r.prototype)).messageType="STECHeaderDepA",C.prototype.constructor=C,C.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),C.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),C.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),C.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),C.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);let R=function(e,t){return r.call(this,e),this.messageType="GriddedCorrectionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(r.prototype)).messageType="GriddedCorrectionHeaderDepA",R.prototype.constructor=R,R.prototype.parser=(new 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o).endianess("little").nest("header",{type:C.prototype.parser}).array("stec_sat_list",{type:y.prototype.parser,readUntil:"eof"}),N.prototype.fieldSpec=[],N.prototype.fieldSpec.push(["header",C.prototype.fieldSpec]),N.prototype.fieldSpec.push(["stec_sat_list","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);let j=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(j.prototype=Object.create(r.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_NO_STD_DEP_A",j.prototype.msg_type=1520,j.prototype.constructor=j,j.prototype.parser=(new 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o).endianess("little").nest("header",{type:P.prototype.parser}).array("rle_list",{type:"uint8",readUntil:"eof"}),F.prototype.fieldSpec=[],F.prototype.fieldSpec.push(["header",P.prototype.fieldSpec]),F.prototype.fieldSpec.push(["rle_list","array","writeUInt8",function(){return 1},null]);let k=function(e,t){return r.call(this,e),this.messageType="OrbitClockBound",this.fields=t||this.parser.parse(e.payload),this};(k.prototype=Object.create(r.prototype)).messageType="OrbitClockBound",k.prototype.constructor=k,k.prototype.parser=(new o).endianess("little").uint8("sat_id").uint8("orb_radial_bound_mu").uint8("orb_along_bound_mu").uint8("orb_cross_bound_mu").uint8("orb_radial_bound_sig").uint8("orb_along_bound_sig").uint8("orb_cross_bound_sig").uint8("clock_bound_mu").uint8("clock_bound_sig"),k.prototype.fieldSpec=[],k.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_radial_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_along_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_cross_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_radial_bound_sig","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_along_bound_sig","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_cross_bound_sig","writeUInt8",1]),k.prototype.fieldSpec.push(["clock_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["clock_bound_sig","writeUInt8",1]);let B=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(B.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",B.prototype.msg_type=1502,B.prototype.constructor=B,B.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats").array("orbit_clock_bounds",{type:k.prototype.parser,length:"n_sats"}),B.prototype.fieldSpec=[],B.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),B.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),B.prototype.fieldSpec.push(["const_id","writeUInt8",1]),B.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),B.prototype.fieldSpec.push(["orbit_clock_bounds","array",k.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats"]);let q=function(e,t){return r.call(this,e),this.messageType="CodePhaseBiasesSatSig",this.fields=t||this.parser.parse(e.payload),this};(q.prototype=Object.create(r.prototype)).messageType="CodePhaseBiasesSatSig",q.prototype.constructor=q,q.prototype.parser=(new o).endianess("little").uint8("sat_id").uint8("signal_id").uint8("code_bias_bound_mu").uint8("code_bias_bound_sig").uint8("phase_bias_bound_mu").uint8("phase_bias_bound_sig"),q.prototype.fieldSpec=[],q.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),q.prototype.fieldSpec.push(["signal_id","writeUInt8",1]),q.prototype.fieldSpec.push(["code_bias_bound_mu","writeUInt8",1]),q.prototype.fieldSpec.push(["code_bias_bound_sig","writeUInt8",1]),q.prototype.fieldSpec.push(["phase_bias_bound_mu","writeUInt8",1]),q.prototype.fieldSpec.push(["phase_bias_bound_sig","writeUInt8",1]);let z=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(z.prototype=Object.create(r.prototype)).messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",z.prototype.msg_type=1516,z.prototype.constructor=z,z.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats_signals").array("satellites_signals",{type:q.prototype.parser,length:"n_sats_signals"}),z.prototype.fieldSpec=[],z.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),z.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),z.prototype.fieldSpec.push(["const_id","writeUInt8",1]),z.prototype.fieldSpec.push(["n_sats_signals","writeUInt8",1]),z.prototype.fieldSpec.push(["satellites_signals","array",q.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats_signals"]);let H=function(e,t){return r.call(this,e),this.messageType="OrbitClockBoundDegradation",this.fields=t||this.parser.parse(e.payload),this};(H.prototype=Object.create(r.prototype)).messageType="OrbitClockBoundDegradation",H.prototype.constructor=H,H.prototype.parser=(new o).endianess("little").uint8("orb_radial_bound_mu_dot").uint8("orb_along_bound_mu_dot").uint8("orb_cross_bound_mu_dot").uint8("orb_radial_bound_sig_dot").uint8("orb_along_bound_sig_dot").uint8("orb_cross_bound_sig_dot").uint8("clock_bound_mu_dot").uint8("clock_bound_sig_dot"),H.prototype.fieldSpec=[],H.prototype.fieldSpec.push(["orb_radial_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_along_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_cross_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_radial_bound_sig_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_along_bound_sig_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_cross_bound_sig_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["clock_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["clock_bound_sig_dot","writeUInt8",1]);let V=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",this.fields=t||this.parser.parse(e.payload),this};(V.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",V.prototype.msg_type=1503,V.prototype.constructor=V,V.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint64("sat_bitmask").nest("orbit_clock_bounds_degradation",{type:H.prototype.parser}),V.prototype.fieldSpec=[],V.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),V.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),V.prototype.fieldSpec.push(["const_id","writeUInt8",1]),V.prototype.fieldSpec.push(["sat_bitmask","writeUInt64LE",8]),V.prototype.fieldSpec.push(["orbit_clock_bounds_degradation",H.prototype.fieldSpec]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrectionNoStd:f,TroposphericDelayCorrection:h,STECResidualNoStd:d,STECResidual:_,1501:S,MsgSsrOrbitClock:S,1505:g,MsgSsrCodeBiases:g,1510:w,MsgSsrPhaseBiases:w,1531:E,MsgSsrStecCorrectionDep:E,BoundsHeader:m,1533:b,MsgSsrStecCorrection:b,1532:I,MsgSsrGriddedCorrection:I,STECSatElementIntegrity:L,1534:T,MsgSsrGriddedCorrectionBounds:T,1526:v,MsgSsrTileDefinitionDepA:v,1527:U,MsgSsrTileDefinitionDepB:U,1528:M,MsgSsrTileDefinition:M,SatelliteAPC:D,1540:O,MsgSsrSatelliteApcDep:O,1541:G,MsgSsrSatelliteApc:G,1500:A,MsgSsrOrbitClockDepA:A,STECHeaderDepA:C,GriddedCorrectionHeaderDepA:R,GridDefinitionHeaderDepA:P,1515:N,MsgSsrStecCorrectionDepA:N,1520:j,MsgSsrGriddedCorrectionNoStdDepA:j,1530:x,MsgSsrGriddedCorrectionDepA:x,1525:F,MsgSsrGridDefinitionDepA:F,OrbitClockBound:k,1502:B,MsgSsrOrbitClockBounds:B,CodePhaseBiasesSatSig:q,1516:z,MsgSsrCodePhaseBiasesBounds:z,OrbitClockBoundDegradation:H,1503:V,MsgSsrOrbitClockBoundsDegradation:V}},function(e,t,p){let r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.prototype)).messageType="MSG_STARTUP",i.prototype.msg_type=65280,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("cause").uint8("startup_type").uint16("reserved"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["cause","writeUInt8",1]),i.prototype.fieldSpec.push(["startup_type","writeUInt8",1]),i.prototype.fieldSpec.push(["reserved","writeUInt16LE",2]);let s=function(e,t){return r.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.prototype)).messageType="MSG_DGNSS_STATUS",s.prototype.msg_type=65282,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("flags").uint16("latency").uint8("num_signals").string("source",{greedy:!0}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["flags","writeUInt8",1]),s.prototype.fieldSpec.push(["latency","writeUInt16LE",2]),s.prototype.fieldSpec.push(["num_signals","writeUInt8",1]),s.prototype.fieldSpec.push(["source","string",null]);let n=function(e,t){return r.call(this,e),this.messageType="MSG_HEARTBEAT",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.prototype)).messageType="MSG_HEARTBEAT",n.prototype.msg_type=65535,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint32("flags"),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);let a=function(e,t){return r.call(this,e),this.messageType="SubSystemReport",this.fields=t||this.parser.parse(e.payload),this};(a.prototype=Object.create(r.prototype)).messageType="SubSystemReport",a.prototype.constructor=a,a.prototype.parser=(new o).endianess("little").uint16("component").uint8("generic").uint8("specific"),a.prototype.fieldSpec=[],a.prototype.fieldSpec.push(["component","writeUInt16LE",2]),a.prototype.fieldSpec.push(["generic","writeUInt8",1]),a.prototype.fieldSpec.push(["specific","writeUInt8",1]);let l=function(e,t){return r.call(this,e),this.messageType="MSG_STATUS_REPORT",this.fields=t||this.parser.parse(e.payload),this};(l.prototype=Object.create(r.prototype)).messageType="MSG_STATUS_REPORT",l.prototype.msg_type=65534,l.prototype.constructor=l,l.prototype.parser=(new o).endianess("little").uint16("reporting_system").uint16("sbp_version").uint32("sequence").uint32("uptime").array("status",{type:a.prototype.parser,readUntil:"eof"}),l.prototype.fieldSpec=[],l.prototype.fieldSpec.push(["reporting_system","writeUInt16LE",2]),l.prototype.fieldSpec.push(["sbp_version","writeUInt16LE",2]),l.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),l.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),l.prototype.fieldSpec.push(["status","array",a.prototype.fieldSpec,function(){return this.fields.array.length},null]);let c=function(e,t){return r.call(this,e),this.messageType="StatusJournalItem",this.fields=t||this.parser.parse(e.payload),this};(c.prototype=Object.create(r.prototype)).messageType="StatusJournalItem",c.prototype.constructor=c,c.prototype.parser=(new 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r.call(this,e),this.messageType="MSG_VEL_ECEF_GNSS",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(r.prototype)).messageType="MSG_VEL_ECEF_GNSS",v.prototype.msg_type=557,v.prototype.constructor=v,v.prototype.parser=(new o).endianess("little").uint32("tow").int32("x").int32("y").int32("z").uint16("accuracy").uint8("n_sats").uint8("flags"),v.prototype.fieldSpec=[],v.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),v.prototype.fieldSpec.push(["x","writeInt32LE",4]),v.prototype.fieldSpec.push(["y","writeInt32LE",4]),v.prototype.fieldSpec.push(["z","writeInt32LE",4]),v.prototype.fieldSpec.push(["accuracy","writeUInt16LE",2]),v.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),v.prototype.fieldSpec.push(["flags","writeUInt8",1]);let U=function(e,t){return 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b=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GPS_DEP_F",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GPS_DEP_F",b.prototype.msg_type=134,b.prototype.constructor=b,b.prototype.parser=(new 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I=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GPS",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GPS",I.prototype.msg_type=138,I.prototype.constructor=I,I.prototype.parser=(new 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L=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_QZSS",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_QZSS",L.prototype.msg_type=142,L.prototype.constructor=L,L.prototype.parser=(new 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T=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_BDS",this.fields=t||this.parser.parse(e.payload),this};(T.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_BDS",T.prototype.msg_type=137,T.prototype.constructor=T,T.prototype.parser=(new 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v=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GAL_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(v.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GAL_DEP_A",v.prototype.msg_type=149,v.prototype.constructor=v,v.prototype.parser=(new 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U=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_GAL",this.fields=t||this.parser.parse(e.payload),this};(U.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_GAL",U.prototype.msg_type=141,U.prototype.constructor=U,U.prototype.parser=(new 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M=function(e,t){return r.call(this,e),this.messageType="MSG_EPHEMERIS_SBAS_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(M.prototype=Object.create(r.prototype)).messageType="MSG_EPHEMERIS_SBAS_DEP_A",M.prototype.msg_type=130,M.prototype.constructor=M,M.prototype.parser=(new o).endianess("little").nest("common",{type:E.prototype.parser}).array("pos",{length:3,type:"doublele"}).array("vel",{length:3,type:"doublele"}).array("acc",{length:3,type:"doublele"}).doublele("a_gf0").doublele("a_gf1"),M.prototype.fieldSpec=[],M.prototype.fieldSpec.push(["common",E.prototype.fieldSpec]),M.prototype.fieldSpec.push(["pos","array","writeDoubleLE",function(){return 8},3]),M.prototype.fieldSpec.push(["vel","array","writeDoubleLE",function(){return 8},3]),M.prototype.fieldSpec.push(["acc","array","writeDoubleLE",function(){return 8},3]),M.prototype.fieldSpec.push(["a_gf0","writeDoubleLE",8]),M.prototype.fieldSpec.push(["a_gf1","writeDoubleLE",8]);let D=function(e,t){return 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D=function(e,t){return r.call(this,e),this.messageType="SatelliteAPC",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.prototype)).messageType="SatelliteAPC",D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").nest("sid",{type:i.prototype.parser}).uint8("sat_info").uint16("svn").array("pco",{length:3,type:"int16le"}).array("pcv",{length:21,type:"int8"}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]),D.prototype.fieldSpec.push(["sat_info","writeUInt8",1]),D.prototype.fieldSpec.push(["svn","writeUInt16LE",2]),D.prototype.fieldSpec.push(["pco","array","writeInt16LE",function(){return 2},3]),D.prototype.fieldSpec.push(["pcv","array","writeInt8",function(){return 1},21]);let O=function(e,t){return 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C=function(e,t){return r.call(this,e),this.messageType="STECHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(C.prototype=Object.create(r.prototype)).messageType="STECHeaderDepA",C.prototype.constructor=C,C.prototype.parser=(new o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("num_msgs").uint8("seq_num").uint8("update_interval").uint8("iod_atmo"),C.prototype.fieldSpec=[],C.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),C.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),C.prototype.fieldSpec.push(["seq_num","writeUInt8",1]),C.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),C.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]);let R=function(e,t){return r.call(this,e),this.messageType="GriddedCorrectionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(r.prototype)).messageType="GriddedCorrectionHeaderDepA",R.prototype.constructor=R,R.prototype.parser=(new 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o).endianess("little").uint8("sat_id").uint8("orb_radial_bound_mu").uint8("orb_along_bound_mu").uint8("orb_cross_bound_mu").uint8("orb_radial_bound_sig").uint8("orb_along_bound_sig").uint8("orb_cross_bound_sig").uint8("clock_bound_mu").uint8("clock_bound_sig"),k.prototype.fieldSpec=[],k.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_radial_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_along_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_cross_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_radial_bound_sig","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_along_bound_sig","writeUInt8",1]),k.prototype.fieldSpec.push(["orb_cross_bound_sig","writeUInt8",1]),k.prototype.fieldSpec.push(["clock_bound_mu","writeUInt8",1]),k.prototype.fieldSpec.push(["clock_bound_sig","writeUInt8",1]);let B=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(B.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS",B.prototype.msg_type=1502,B.prototype.constructor=B,B.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats").array("orbit_clock_bounds",{type:k.prototype.parser,length:"n_sats"}),B.prototype.fieldSpec=[],B.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),B.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),B.prototype.fieldSpec.push(["const_id","writeUInt8",1]),B.prototype.fieldSpec.push(["n_sats","writeUInt8",1]),B.prototype.fieldSpec.push(["orbit_clock_bounds","array",k.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats"]);let q=function(e,t){return r.call(this,e),this.messageType="CodePhaseBiasesSatSig",this.fields=t||this.parser.parse(e.payload),this};(q.prototype=Object.create(r.prototype)).messageType="CodePhaseBiasesSatSig",q.prototype.constructor=q,q.prototype.parser=(new o).endianess("little").uint8("sat_id").uint8("signal_id").uint8("code_bias_bound_mu").uint8("code_bias_bound_sig").uint8("phase_bias_bound_mu").uint8("phase_bias_bound_sig"),q.prototype.fieldSpec=[],q.prototype.fieldSpec.push(["sat_id","writeUInt8",1]),q.prototype.fieldSpec.push(["signal_id","writeUInt8",1]),q.prototype.fieldSpec.push(["code_bias_bound_mu","writeUInt8",1]),q.prototype.fieldSpec.push(["code_bias_bound_sig","writeUInt8",1]),q.prototype.fieldSpec.push(["phase_bias_bound_mu","writeUInt8",1]),q.prototype.fieldSpec.push(["phase_bias_bound_sig","writeUInt8",1]);let z=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",this.fields=t||this.parser.parse(e.payload),this};(z.prototype=Object.create(r.prototype)).messageType="MSG_SSR_CODE_PHASE_BIASES_BOUNDS",z.prototype.msg_type=1516,z.prototype.constructor=z,z.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint8("n_sats_signals").array("satellites_signals",{type:q.prototype.parser,length:"n_sats_signals"}),z.prototype.fieldSpec=[],z.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),z.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),z.prototype.fieldSpec.push(["const_id","writeUInt8",1]),z.prototype.fieldSpec.push(["n_sats_signals","writeUInt8",1]),z.prototype.fieldSpec.push(["satellites_signals","array",q.prototype.fieldSpec,function(){return this.fields.array.length},"n_sats_signals"]);let H=function(e,t){return r.call(this,e),this.messageType="OrbitClockBoundDegradation",this.fields=t||this.parser.parse(e.payload),this};(H.prototype=Object.create(r.prototype)).messageType="OrbitClockBoundDegradation",H.prototype.constructor=H,H.prototype.parser=(new o).endianess("little").uint8("orb_radial_bound_mu_dot").uint8("orb_along_bound_mu_dot").uint8("orb_cross_bound_mu_dot").uint8("orb_radial_bound_sig_dot").uint8("orb_along_bound_sig_dot").uint8("orb_cross_bound_sig_dot").uint8("clock_bound_mu_dot").uint8("clock_bound_sig_dot"),H.prototype.fieldSpec=[],H.prototype.fieldSpec.push(["orb_radial_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_along_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_cross_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_radial_bound_sig_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_along_bound_sig_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["orb_cross_bound_sig_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["clock_bound_mu_dot","writeUInt8",1]),H.prototype.fieldSpec.push(["clock_bound_sig_dot","writeUInt8",1]);let V=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",this.fields=t||this.parser.parse(e.payload),this};(V.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION",V.prototype.msg_type=1503,V.prototype.constructor=V,V.prototype.parser=(new o).endianess("little").nest("header",{type:m.prototype.parser}).uint8("ssr_iod").uint8("const_id").uint64("sat_bitmask").nest("orbit_clock_bounds_degradation",{type:H.prototype.parser}),V.prototype.fieldSpec=[],V.prototype.fieldSpec.push(["header",m.prototype.fieldSpec]),V.prototype.fieldSpec.push(["ssr_iod","writeUInt8",1]),V.prototype.fieldSpec.push(["const_id","writeUInt8",1]),V.prototype.fieldSpec.push(["sat_bitmask","writeUInt64LE",8]),V.prototype.fieldSpec.push(["orbit_clock_bounds_degradation",H.prototype.fieldSpec]),e.exports={CodeBiasesContent:a,PhaseBiasesContent:l,STECHeader:c,GriddedCorrectionHeader:u,STECSatElement:y,TroposphericDelayCorrectionNoStd:f,TroposphericDelayCorrection:h,STECResidualNoStd:d,STECResidual:_,1501:S,MsgSsrOrbitClock:S,1505:g,MsgSsrCodeBiases:g,1510:w,MsgSsrPhaseBiases:w,1531:E,MsgSsrStecCorrectionDep:E,BoundsHeader:m,1533:b,MsgSsrStecCorrection:b,1532:I,MsgSsrGriddedCorrection:I,STECSatElementIntegrity:L,1534:T,MsgSsrGriddedCorrectionBounds:T,1526:v,MsgSsrTileDefinitionDepA:v,1527:U,MsgSsrTileDefinitionDepB:U,1528:M,MsgSsrTileDefinition:M,SatelliteAPC:D,1540:O,MsgSsrSatelliteApcDep:O,1541:G,MsgSsrSatelliteApc:G,1500:A,MsgSsrOrbitClockDepA:A,STECHeaderDepA:C,GriddedCorrectionHeaderDepA:R,GridDefinitionHeaderDepA:P,1515:N,MsgSsrStecCorrectionDepA:N,1520:j,MsgSsrGriddedCorrectionNoStdDepA:j,1530:x,MsgSsrGriddedCorrectionDepA:x,1525:F,MsgSsrGridDefinitionDepA:F,OrbitClockBound:k,1502:B,MsgSsrOrbitClockBounds:B,CodePhaseBiasesSatSig:q,1516:z,MsgSsrCodePhaseBiasesBounds:z,OrbitClockBoundDegradation:H,1503:V,MsgSsrOrbitClockBoundsDegradation:V}},function(e,t,p){let r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_STARTUP",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.prototype)).messageType="MSG_STARTUP",i.prototype.msg_type=65280,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint8("cause").uint8("startup_type").uint16("reserved"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["cause","writeUInt8",1]),i.prototype.fieldSpec.push(["startup_type","writeUInt8",1]),i.prototype.fieldSpec.push(["reserved","writeUInt16LE",2]);let s=function(e,t){return r.call(this,e),this.messageType="MSG_DGNSS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.prototype)).messageType="MSG_DGNSS_STATUS",s.prototype.msg_type=65282,s.prototype.constructor=s,s.prototype.parser=(new 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o).endianess("little").uint16("reporting_system").uint16("sbp_version").uint32("total_status_reports").uint8("sequence_descriptor").array("journal",{type:c.prototype.parser,readUntil:"eof"}),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["reporting_system","writeUInt16LE",2]),u.prototype.fieldSpec.push(["sbp_version","writeUInt16LE",2]),u.prototype.fieldSpec.push(["total_status_reports","writeUInt32LE",4]),u.prototype.fieldSpec.push(["sequence_descriptor","writeUInt8",1]),u.prototype.fieldSpec.push(["journal","array",c.prototype.fieldSpec,function(){return this.fields.array.length},null]);let y=function(e,t){return r.call(this,e),this.messageType="MSG_INS_STATUS",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.prototype)).messageType="MSG_INS_STATUS",y.prototype.msg_type=65283,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").uint32("flags"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);let f=function(e,t){return r.call(this,e),this.messageType="MSG_CSAC_TELEMETRY",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_CSAC_TELEMETRY",f.prototype.msg_type=65284,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry",{greedy:!0}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["id","writeUInt8",1]),f.prototype.fieldSpec.push(["telemetry","string",null]);let h=function(e,t){return r.call(this,e),this.messageType="MSG_CSAC_TELEMETRY_LABELS",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.prototype)).messageType="MSG_CSAC_TELEMETRY_LABELS",h.prototype.msg_type=65285,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").uint8("id").string("telemetry_labels",{greedy:!0}),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["id","writeUInt8",1]),h.prototype.fieldSpec.push(["telemetry_labels","string",null]);let d=function(e,t){return r.call(this,e),this.messageType="MSG_INS_UPDATES",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.prototype)).messageType="MSG_INS_UPDATES",d.prototype.msg_type=65286,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").uint32("tow").uint8("gnsspos").uint8("gnssvel").uint8("wheelticks").uint8("speed").uint8("nhc").uint8("zerovel"),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),d.prototype.fieldSpec.push(["gnsspos","writeUInt8",1]),d.prototype.fieldSpec.push(["gnssvel","writeUInt8",1]),d.prototype.fieldSpec.push(["wheelticks","writeUInt8",1]),d.prototype.fieldSpec.push(["speed","writeUInt8",1]),d.prototype.fieldSpec.push(["nhc","writeUInt8",1]),d.prototype.fieldSpec.push(["zerovel","writeUInt8",1]);let _=function(e,t){return r.call(this,e),this.messageType="MSG_GNSS_TIME_OFFSET",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.prototype)).messageType="MSG_GNSS_TIME_OFFSET",_.prototype.msg_type=65287,_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").int16("weeks").int32("milliseconds").int16("microseconds").uint8("flags"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["weeks","writeInt16LE",2]),_.prototype.fieldSpec.push(["milliseconds","writeInt32LE",4]),_.prototype.fieldSpec.push(["microseconds","writeInt16LE",2]),_.prototype.fieldSpec.push(["flags","writeUInt8",1]);let S=function(e,t){return r.call(this,e),this.messageType="MSG_PPS_TIME",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.prototype)).messageType="MSG_PPS_TIME",S.prototype.msg_type=65288,S.prototype.constructor=S,S.prototype.parser=(new 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o).endianess("little").uint32("time").uint8("sensor_type").uint16("sensor_id").uint8("sensor_state").uint8("n_available_meas").uint8("n_attempted_meas").uint8("n_accepted_meas").uint32("flags"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["time","writeUInt32LE",4]),g.prototype.fieldSpec.push(["sensor_type","writeUInt8",1]),g.prototype.fieldSpec.push(["sensor_id","writeUInt16LE",2]),g.prototype.fieldSpec.push(["sensor_state","writeUInt8",1]),g.prototype.fieldSpec.push(["n_available_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["n_attempted_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["n_accepted_meas","writeUInt8",1]),g.prototype.fieldSpec.push(["flags","writeUInt32LE",4]);let w=function(e,t){return r.call(this,e),this.messageType="MSG_GROUP_META",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.prototype)).messageType="MSG_GROUP_META",w.prototype.msg_type=65290,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").uint8("group_id").uint8("flags").uint8("n_group_msgs").array("group_msgs",{type:"uint16le",length:"n_group_msgs"}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["group_id","writeUInt8",1]),w.prototype.fieldSpec.push(["flags","writeUInt8",1]),w.prototype.fieldSpec.push(["n_group_msgs","writeUInt8",1]),w.prototype.fieldSpec.push(["group_msgs","array","writeUInt16LE",function(){return 2},"n_group_msgs"]);let E=function(e,t){return r.call(this,e),this.messageType="MSG_MEASUREMENT_POINT",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(r.prototype)).messageType="MSG_MEASUREMENT_POINT",E.prototype.msg_type=65291,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").uint32("total_time").uint16("num_executions").uint32("min").uint32("max").uint64("return_addr").uint64("id").uint64("slice_time").uint16("line").string("func",{greedy:!0}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["total_time","writeUInt32LE",4]),E.prototype.fieldSpec.push(["num_executions","writeUInt16LE",2]),E.prototype.fieldSpec.push(["min","writeUInt32LE",4]),E.prototype.fieldSpec.push(["max","writeUInt32LE",4]),E.prototype.fieldSpec.push(["return_addr","writeUInt64LE",8]),E.prototype.fieldSpec.push(["id","writeUInt64LE",8]),E.prototype.fieldSpec.push(["slice_time","writeUInt64LE",8]),E.prototype.fieldSpec.push(["line","writeUInt16LE",2]),E.prototype.fieldSpec.push(["func","string",null]),e.exports={65280:i,MsgStartup:i,65282:s,MsgDgnssStatus:s,65535:n,MsgHeartbeat:n,SubSystemReport:a,65534:l,MsgStatusReport:l,StatusJournalItem:c,65533:u,MsgStatusJournal:u,65283:y,MsgInsStatus:y,65284:f,MsgCsacTelemetry:f,65285:h,MsgCsacTelemetryLabels:h,65286:d,MsgInsUpdates:d,65287:_,MsgGnssTimeOffset:_,65288:S,MsgPpsTime:S,65289:g,MsgSensorAidEvent:g,65290:w,MsgGroupMeta:w,65291:E,MsgMeasurementPoint:E}},function(e,t,p){let r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase),s=p(0).GnssSignal,n=p(0).GnssSignalDep,a=p(0).GPSTime,l=p(0).GPSTimeDep,c=(p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",this.fields=t||this.parser.parse(e.payload),this});(c.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP_A",c.prototype.msg_type=33,c.prototype.constructor=c,c.prototype.parser=(new o).endianess("little").uint64("recv_time").nest("tot",{type:a.prototype.parser}).uint32("P").uint16("P_std").nest("L",{type:i.prototype.parser}).uint8("cn0").uint16("lock").nest("sid",{type:s.prototype.parser}).int32("doppler").uint16("doppler_std").uint32("uptime").int16("clock_offset").int16("clock_drift").uint16("corr_spacing").int8("acceleration").uint8("sync_flags").uint8("tow_flags").uint8("track_flags").uint8("nav_flags").uint8("pset_flags").uint8("misc_flags"),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["recv_time","writeUInt64LE",8]),c.prototype.fieldSpec.push(["tot",a.prototype.fieldSpec]),c.prototype.fieldSpec.push(["P","writeUInt32LE",4]),c.prototype.fieldSpec.push(["P_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),c.prototype.fieldSpec.push(["cn0","writeUInt8",1]),c.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),c.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),c.prototype.fieldSpec.push(["doppler","writeInt32LE",4]),c.prototype.fieldSpec.push(["doppler_std","writeUInt16LE",2]),c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["clock_offset","writeInt16LE",2]),c.prototype.fieldSpec.push(["clock_drift","writeInt16LE",2]),c.prototype.fieldSpec.push(["corr_spacing","writeUInt16LE",2]),c.prototype.fieldSpec.push(["acceleration","writeInt8",1]),c.prototype.fieldSpec.push(["sync_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["tow_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["track_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["nav_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["pset_flags","writeUInt8",1]),c.prototype.fieldSpec.push(["misc_flags","writeUInt8",1]);let u=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DETAILED_DEP",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE_DETAILED_DEP",u.prototype.msg_type=17,u.prototype.constructor=u,u.prototype.parser=(new o).endianess("little").uint64("recv_time").nest("tot",{type:l.prototype.parser}).uint32("P").uint16("P_std").nest("L",{type:i.prototype.parser}).uint8("cn0").uint16("lock").nest("sid",{type:n.prototype.parser}).int32("doppler").uint16("doppler_std").uint32("uptime").int16("clock_offset").int16("clock_drift").uint16("corr_spacing").int8("acceleration").uint8("sync_flags").uint8("tow_flags").uint8("track_flags").uint8("nav_flags").uint8("pset_flags").uint8("misc_flags"),u.prototype.fieldSpec=[],u.prototype.fieldSpec.push(["recv_time","writeUInt64LE",8]),u.prototype.fieldSpec.push(["tot",l.prototype.fieldSpec]),u.prototype.fieldSpec.push(["P","writeUInt32LE",4]),u.prototype.fieldSpec.push(["P_std","writeUInt16LE",2]),u.prototype.fieldSpec.push(["L",i.prototype.fieldSpec]),u.prototype.fieldSpec.push(["cn0","writeUInt8",1]),u.prototype.fieldSpec.push(["lock","writeUInt16LE",2]),u.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),u.prototype.fieldSpec.push(["doppler","writeInt32LE",4]),u.prototype.fieldSpec.push(["doppler_std","writeUInt16LE",2]),u.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),u.prototype.fieldSpec.push(["clock_offset","writeInt16LE",2]),u.prototype.fieldSpec.push(["clock_drift","writeInt16LE",2]),u.prototype.fieldSpec.push(["corr_spacing","writeUInt16LE",2]),u.prototype.fieldSpec.push(["acceleration","writeInt8",1]),u.prototype.fieldSpec.push(["sync_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["tow_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["track_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["nav_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["pset_flags","writeUInt8",1]),u.prototype.fieldSpec.push(["misc_flags","writeUInt8",1]);let y=function(e,t){return r.call(this,e),this.messageType="TrackingChannelState",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.prototype)).messageType="TrackingChannelState",y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little").nest("sid",{type:s.prototype.parser}).uint8("fcn").uint8("cn0"),y.prototype.fieldSpec=[],y.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),y.prototype.fieldSpec.push(["fcn","writeUInt8",1]),y.prototype.fieldSpec.push(["cn0","writeUInt8",1]);let f=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE",f.prototype.msg_type=65,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little").array("states",{type:y.prototype.parser,readUntil:"eof"}),f.prototype.fieldSpec=[],f.prototype.fieldSpec.push(["states","array",y.prototype.fieldSpec,function(){return this.fields.array.length},null]);let h=function(e,t){return r.call(this,e),this.messageType="MeasurementState",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.prototype)).messageType="MeasurementState",h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little").nest("mesid",{type:s.prototype.parser}).uint8("cn0"),h.prototype.fieldSpec=[],h.prototype.fieldSpec.push(["mesid",s.prototype.fieldSpec]),h.prototype.fieldSpec.push(["cn0","writeUInt8",1]);let d=function(e,t){return r.call(this,e),this.messageType="MSG_MEASUREMENT_STATE",this.fields=t||this.parser.parse(e.payload),this};(d.prototype=Object.create(r.prototype)).messageType="MSG_MEASUREMENT_STATE",d.prototype.msg_type=97,d.prototype.constructor=d,d.prototype.parser=(new o).endianess("little").array("states",{type:h.prototype.parser,readUntil:"eof"}),d.prototype.fieldSpec=[],d.prototype.fieldSpec.push(["states","array",h.prototype.fieldSpec,function(){return this.fields.array.length},null]);let _=function(e,t){return r.call(this,e),this.messageType="TrackingChannelCorrelation",this.fields=t||this.parser.parse(e.payload),this};(_.prototype=Object.create(r.prototype)).messageType="TrackingChannelCorrelation",_.prototype.constructor=_,_.prototype.parser=(new o).endianess("little").int16("I").int16("Q"),_.prototype.fieldSpec=[],_.prototype.fieldSpec.push(["I","writeInt16LE",2]),_.prototype.fieldSpec.push(["Q","writeInt16LE",2]);let S=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_IQ",this.fields=t||this.parser.parse(e.payload),this};(S.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_IQ",S.prototype.msg_type=45,S.prototype.constructor=S,S.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:s.prototype.parser}).array("corrs",{length:3,type:_.prototype.parser}),S.prototype.fieldSpec=[],S.prototype.fieldSpec.push(["channel","writeUInt8",1]),S.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),S.prototype.fieldSpec.push(["corrs","array",_.prototype.fieldSpec,function(){return this.fields.array.length},3]);let g=function(e,t){return r.call(this,e),this.messageType="TrackingChannelCorrelationDep",this.fields=t||this.parser.parse(e.payload),this};(g.prototype=Object.create(r.prototype)).messageType="TrackingChannelCorrelationDep",g.prototype.constructor=g,g.prototype.parser=(new o).endianess("little").int32("I").int32("Q"),g.prototype.fieldSpec=[],g.prototype.fieldSpec.push(["I","writeInt32LE",4]),g.prototype.fieldSpec.push(["Q","writeInt32LE",4]);let w=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(w.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_IQ_DEP_B",w.prototype.msg_type=44,w.prototype.constructor=w,w.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:s.prototype.parser}).array("corrs",{length:3,type:g.prototype.parser}),w.prototype.fieldSpec=[],w.prototype.fieldSpec.push(["channel","writeUInt8",1]),w.prototype.fieldSpec.push(["sid",s.prototype.fieldSpec]),w.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);let E=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_IQ_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(E.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_IQ_DEP_A",E.prototype.msg_type=28,E.prototype.constructor=E,E.prototype.parser=(new o).endianess("little").uint8("channel").nest("sid",{type:n.prototype.parser}).array("corrs",{length:3,type:g.prototype.parser}),E.prototype.fieldSpec=[],E.prototype.fieldSpec.push(["channel","writeUInt8",1]),E.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),E.prototype.fieldSpec.push(["corrs","array",g.prototype.fieldSpec,function(){return this.fields.array.length},3]);let m=function(e,t){return r.call(this,e),this.messageType="TrackingChannelStateDepA",this.fields=t||this.parser.parse(e.payload),this};(m.prototype=Object.create(r.prototype)).messageType="TrackingChannelStateDepA",m.prototype.constructor=m,m.prototype.parser=(new o).endianess("little").uint8("state").uint8("prn").floatle("cn0"),m.prototype.fieldSpec=[],m.prototype.fieldSpec.push(["state","writeUInt8",1]),m.prototype.fieldSpec.push(["prn","writeUInt8",1]),m.prototype.fieldSpec.push(["cn0","writeFloatLE",4]);let b=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(b.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE_DEP_A",b.prototype.msg_type=22,b.prototype.constructor=b,b.prototype.parser=(new o).endianess("little").array("states",{type:m.prototype.parser,readUntil:"eof"}),b.prototype.fieldSpec=[],b.prototype.fieldSpec.push(["states","array",m.prototype.fieldSpec,function(){return this.fields.array.length},null]);let I=function(e,t){return r.call(this,e),this.messageType="TrackingChannelStateDepB",this.fields=t||this.parser.parse(e.payload),this};(I.prototype=Object.create(r.prototype)).messageType="TrackingChannelStateDepB",I.prototype.constructor=I,I.prototype.parser=(new o).endianess("little").uint8("state").nest("sid",{type:n.prototype.parser}).floatle("cn0"),I.prototype.fieldSpec=[],I.prototype.fieldSpec.push(["state","writeUInt8",1]),I.prototype.fieldSpec.push(["sid",n.prototype.fieldSpec]),I.prototype.fieldSpec.push(["cn0","writeFloatLE",4]);let L=function(e,t){return r.call(this,e),this.messageType="MSG_TRACKING_STATE_DEP_B",this.fields=t||this.parser.parse(e.payload),this};(L.prototype=Object.create(r.prototype)).messageType="MSG_TRACKING_STATE_DEP_B",L.prototype.msg_type=19,L.prototype.constructor=L,L.prototype.parser=(new o).endianess("little").array("states",{type:I.prototype.parser,readUntil:"eof"}),L.prototype.fieldSpec=[],L.prototype.fieldSpec.push(["states","array",I.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={33:c,MsgTrackingStateDetailedDepA:c,17:u,MsgTrackingStateDetailedDep:u,TrackingChannelState:y,65:f,MsgTrackingState:f,MeasurementState:h,97:d,MsgMeasurementState:d,TrackingChannelCorrelation:_,45:S,MsgTrackingIq:S,TrackingChannelCorrelationDep:g,44:w,MsgTrackingIqDepB:w,28:E,MsgTrackingIqDepA:E,TrackingChannelStateDepA:m,22:b,MsgTrackingStateDepA:b,TrackingChannelStateDepB:I,19:L,MsgTrackingStateDepB:L}},function(e,t,p){let r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_USER_DATA",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.prototype)).messageType="MSG_USER_DATA",i.prototype.msg_type=2048,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").array("contents",{type:"uint8",readUntil:"eof"}),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["contents","array","writeUInt8",function(){return 1},null]),e.exports={2048:i,MsgUserData:i}},function(e,t,p){let r=p(2),o=p(4),i=(p(3),p(1).UINT64,function(e,t){return r.call(this,e),this.messageType="MSG_ODOMETRY",this.fields=t||this.parser.parse(e.payload),this});(i.prototype=Object.create(r.prototype)).messageType="MSG_ODOMETRY",i.prototype.msg_type=2307,i.prototype.constructor=i,i.prototype.parser=(new o).endianess("little").uint32("tow").int32("velocity").uint8("flags"),i.prototype.fieldSpec=[],i.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),i.prototype.fieldSpec.push(["velocity","writeInt32LE",4]),i.prototype.fieldSpec.push(["flags","writeUInt8",1]);let s=function(e,t){return r.call(this,e),this.messageType="MSG_WHEELTICK",this.fields=t||this.parser.parse(e.payload),this};(s.prototype=Object.create(r.prototype)).messageType="MSG_WHEELTICK",s.prototype.msg_type=2308,s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint64("time").uint8("flags").uint8("source").int32("ticks"),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["time","writeUInt64LE",8]),s.prototype.fieldSpec.push(["flags","writeUInt8",1]),s.prototype.fieldSpec.push(["source","writeUInt8",1]),s.prototype.fieldSpec.push(["ticks","writeInt32LE",4]),e.exports={2307:i,MsgOdometry:i,2308:s,MsgWheeltick:s}},function(e,t,p){let r=p(2),o=p(4),i=(p(3),p(1).UINT64,p(0).CarrierPhase,p(0).GnssSignal),s=(p(0).GnssSignalDep,p(0).GPSTime,p(0).GPSTimeDep,p(0).GPSTimeSec,p(0).SvId,function(e,t){return r.call(this,e),this.messageType="TelemetrySV",this.fields=t||this.parser.parse(e.payload),this});(s.prototype=Object.create(r.prototype)).messageType="TelemetrySV",s.prototype.constructor=s,s.prototype.parser=(new o).endianess("little").uint8("az").int8("el").uint8("availability_flags").int16("pseudorange_residual").int16("phase_residual").uint8("outlier_flags").uint8("ephemeris_flags").uint8("correction_flags").nest("sid",{type:i.prototype.parser}),s.prototype.fieldSpec=[],s.prototype.fieldSpec.push(["az","writeUInt8",1]),s.prototype.fieldSpec.push(["el","writeInt8",1]),s.prototype.fieldSpec.push(["availability_flags","writeUInt8",1]),s.prototype.fieldSpec.push(["pseudorange_residual","writeInt16LE",2]),s.prototype.fieldSpec.push(["phase_residual","writeInt16LE",2]),s.prototype.fieldSpec.push(["outlier_flags","writeUInt8",1]),s.prototype.fieldSpec.push(["ephemeris_flags","writeUInt8",1]),s.prototype.fieldSpec.push(["correction_flags","writeUInt8",1]),s.prototype.fieldSpec.push(["sid",i.prototype.fieldSpec]);let n=function(e,t){return r.call(this,e),this.messageType="MSG_TEL_SV",this.fields=t||this.parser.parse(e.payload),this};(n.prototype=Object.create(r.prototype)).messageType="MSG_TEL_SV",n.prototype.msg_type=288,n.prototype.constructor=n,n.prototype.parser=(new o).endianess("little").uint16("wn").uint32("tow").uint8("n_obs").uint8("origin_flags").array("sv_tel",{type:s.prototype.parser,readUntil:"eof"}),n.prototype.fieldSpec=[],n.prototype.fieldSpec.push(["wn","writeUInt16LE",2]),n.prototype.fieldSpec.push(["tow","writeUInt32LE",4]),n.prototype.fieldSpec.push(["n_obs","writeUInt8",1]),n.prototype.fieldSpec.push(["origin_flags","writeUInt8",1]),n.prototype.fieldSpec.push(["sv_tel","array",s.prototype.fieldSpec,function(){return this.fields.array.length},null]),e.exports={TelemetrySV:s,288:n,MsgTelSv:n}}]); \ No newline at end of file diff --git a/javascript/sbp/RELEASE-VERSION b/javascript/sbp/RELEASE-VERSION index 499671933b..a8a5353f80 100644 --- a/javascript/sbp/RELEASE-VERSION +++ b/javascript/sbp/RELEASE-VERSION @@ -1 +1 @@ -5.0.5-alpha \ No newline at end of file +5.0.4-alpha \ No newline at end of file diff --git a/javascript/sbp/system.js b/javascript/sbp/system.js index 9dd768ca91..b38bf5f89a 100644 --- a/javascript/sbp/system.js +++ b/javascript/sbp/system.js @@ -583,6 +583,59 @@ MsgGroupMeta.prototype.fieldSpec.push(['flags', 'writeUInt8', 1]); MsgGroupMeta.prototype.fieldSpec.push(['n_group_msgs', 'writeUInt8', 1]); MsgGroupMeta.prototype.fieldSpec.push(['group_msgs', 'array', 'writeUInt16LE', function () { return 2; }, 'n_group_msgs']); +/** + * SBP class for message MSG_MEASUREMENT_POINT (0xFF0B). + * + * Tracks execution time of certain code paths in specially built products. This + * message should only be expected and processed on the direction of Swift's + * engineering teams. + * + * Fields in the SBP payload (`sbp.payload`): + * @field total_time number (unsigned 32-bit int, 4 bytes) Total time spent in measurement point + * @field num_executions number (unsigned 16-bit int, 2 bytes) Number of times measurement point has executed + * @field min number (unsigned 32-bit int, 4 bytes) Minimum execution time + * @field max number (unsigned 32-bit int, 4 bytes) Maximum execution time + * @field return_addr number (unsigned 64-bit int, 8 bytes) Return address + * @field id number (unsigned 64-bit int, 8 bytes) Unique ID + * @field slice_time number (unsigned 64-bit int, 8 bytes) CPU slice time + * @field line number (unsigned 16-bit int, 2 bytes) Line number + * @field func string Function name + * + * @param sbp An SBP object with a payload to be decoded. + */ +let MsgMeasurementPoint = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_MEASUREMENT_POINT"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgMeasurementPoint.prototype = Object.create(SBP.prototype); +MsgMeasurementPoint.prototype.messageType = "MSG_MEASUREMENT_POINT"; +MsgMeasurementPoint.prototype.msg_type = 0xFF0B; +MsgMeasurementPoint.prototype.constructor = MsgMeasurementPoint; +MsgMeasurementPoint.prototype.parser = new Parser() + .endianess('little') + .uint32('total_time') + .uint16('num_executions') + .uint32('min') + .uint32('max') + .uint64('return_addr') + .uint64('id') + .uint64('slice_time') + .uint16('line') + .string('func', { greedy: true }); +MsgMeasurementPoint.prototype.fieldSpec = []; +MsgMeasurementPoint.prototype.fieldSpec.push(['total_time', 'writeUInt32LE', 4]); +MsgMeasurementPoint.prototype.fieldSpec.push(['num_executions', 'writeUInt16LE', 2]); +MsgMeasurementPoint.prototype.fieldSpec.push(['min', 'writeUInt32LE', 4]); +MsgMeasurementPoint.prototype.fieldSpec.push(['max', 'writeUInt32LE', 4]); +MsgMeasurementPoint.prototype.fieldSpec.push(['return_addr', 'writeUInt64LE', 8]); +MsgMeasurementPoint.prototype.fieldSpec.push(['id', 'writeUInt64LE', 8]); +MsgMeasurementPoint.prototype.fieldSpec.push(['slice_time', 'writeUInt64LE', 8]); +MsgMeasurementPoint.prototype.fieldSpec.push(['line', 'writeUInt16LE', 2]); +MsgMeasurementPoint.prototype.fieldSpec.push(['func', 'string', null]); + module.exports = { 0xFF00: MsgStartup, MsgStartup: MsgStartup, @@ -612,4 +665,6 @@ module.exports = { MsgSensorAidEvent: MsgSensorAidEvent, 0xFF0A: MsgGroupMeta, MsgGroupMeta: MsgGroupMeta, + 0xFF0B: MsgMeasurementPoint, + MsgMeasurementPoint: MsgMeasurementPoint, } \ No newline at end of file diff --git a/javascript/tests/test_dispatch_decoder.js b/javascript/tests/test_dispatch_decoder.js index c97a68405f..d4ab9252af 100644 --- a/javascript/tests/test_dispatch_decoder.js +++ b/javascript/tests/test_dispatch_decoder.js @@ -97,7 +97,8 @@ describe('test packages based on YAML descriptors, through the dispatcher', func if (filename.indexOf('test_MsgFlashDone.yaml') === -1 && filename.indexOf('test_MsgM25FlashWriteStatus.yaml') === -1 && - filename.indexOf('test_MsgBootloaderJumptoApp.yaml') === -1) { + filename.indexOf('test_MsgBootloaderJumptoApp.yaml') === -1 && + filename.indexOf('test_MsgMeasurementPoint.yaml') === -1) { it('should parse binary sbp and payload with leading truncated message', function (done) { var rs = new Readable(); var packetBuf = new Buffer(testSpec['raw_packet'], 'base64'); diff --git a/jsonschema/MsgMeasurementPoint.json b/jsonschema/MsgMeasurementPoint.json new file mode 100644 index 0000000000..a583fbf32d --- /dev/null +++ b/jsonschema/MsgMeasurementPoint.json @@ -0,0 +1,40 @@ +{ + "copyright": [ + "Copyright (C) 2019-2021 Swift Navigation Inc.", + "Contact: https://support.swiftnav.com", + "", + "This source is subject to the license found in the file 'LICENSE' which must", + "be be distributed together with this source. All other rights reserved.", + "", + "THIS CODE AND INFORMATION IS PROVIDED 'AS IS' WITHOUT WARRANTY OF ANY KIND,", + "EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED", + "WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE." + ], + "$schema": "http://json-schema.org/draft-06/schema#", + "$id": "#MsgMeasurementPoint", + "title":"MsgMeasurementPoint", + "description":"Tracks execution time of certain code paths in specially built products. This message should only be expected and processed on the direction of Swift's engineering teams.\n", + "type": "object", + "properties": { + "total_time": {"type": "integer"}, + "num_executions": {"type": "integer"}, + "min": {"type": "integer"}, + "max": {"type": "integer"}, + "return_addr": {"type": "integer"}, + "id": {"type": "integer"}, + "slice_time": {"type": "integer"}, + "line": {"type": "integer"}, + "func": {"type": "string"} + }, + "required": [ + "total_time", + "num_executions", + "min", + "max", + "return_addr", + "id", + "slice_time", + "line", + "func" + ] +} \ No newline at end of file diff --git a/package-lock.json b/package-lock.json index 3f8e215637..749b65e4cf 100644 --- a/package-lock.json +++ b/package-lock.json @@ -1,12 +1,12 @@ { "name": "sbp", - "version": "5.0.5-alpha", + "version": "5.0.4-alpha", "lockfileVersion": 2, "requires": true, "packages": { "": { "name": "sbp", - "version": "5.0.5-alpha", + "version": "5.0.4-alpha", "license": "MIT", "dependencies": { "binary-parser": "^1.7.0", diff --git a/package.json b/package.json index 16188f283e..f8f4ab1a81 100644 --- a/package.json +++ b/package.json @@ -1,6 +1,6 @@ { "name": "sbp", - "version": "5.0.5-alpha", + "version": "5.0.4-alpha", "description": "libsbp bindings for JavaScript. More information here: http://swift-nav.github.io/libsbp/", "files": [ "javascript/*", diff --git a/python/sbp/RELEASE-VERSION b/python/sbp/RELEASE-VERSION index 553fe87a05..a8a5353f80 100644 --- a/python/sbp/RELEASE-VERSION +++ b/python/sbp/RELEASE-VERSION @@ -1 +1 @@ -5.0.4 \ No newline at end of file +5.0.4-alpha \ No newline at end of file diff --git a/python/sbp/system.py b/python/sbp/system.py index 67cf5614fa..aebbb8a0ec 100644 --- a/python/sbp/system.py +++ b/python/sbp/system.py @@ -1564,6 +1564,143 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_MEASUREMENT_POINT = 0xFF0B +class MsgMeasurementPoint(SBP): + """SBP class for message MSG_MEASUREMENT_POINT (0xFF0B). + + You can have MSG_MEASUREMENT_POINT inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + Tracks execution time of certain code paths in specially built products. + This message should only be expected and processed on the direction of + Swift's engineering teams. + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + total_time : int + Total time spent in measurement point + num_executions : int + Number of times measurement point has executed + min : int + Minimum execution time + max : int + Maximum execution time + return_addr : int + Return address + id : int + Unique ID + slice_time : int + CPU slice time + line : int + Line number + func : string + Function name + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'total_time' / construct.Int32ul, + 'num_executions' / construct.Int16ul, + 'min' / construct.Int32ul, + 'max' / construct.Int32ul, + 'return_addr' / construct.Int64ul, + 'id' / construct.Int64ul, + 'slice_time' / construct.Int64ul, + 'line' / construct.Int16ul, + 'func' / construct.GreedyBytes,) + __slots__ = [ + 'total_time', + 'num_executions', + 'min', + 'max', + 'return_addr', + 'id', + 'slice_time', + 'line', + 'func', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgMeasurementPoint, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgMeasurementPoint, self).__init__() + self.msg_type = SBP_MSG_MEASUREMENT_POINT + self.sender = kwargs.pop('sender', SENDER_ID) + self.total_time = kwargs.pop('total_time') + self.num_executions = kwargs.pop('num_executions') + self.min = kwargs.pop('min') + self.max = kwargs.pop('max') + self.return_addr = kwargs.pop('return_addr') + self.id = kwargs.pop('id') + self.slice_time = kwargs.pop('slice_time') + self.line = kwargs.pop('line') + self.func = kwargs.pop('func') + + def __repr__(self): + return fmt_repr(self) + + @staticmethod + def from_json(s): + """Given a JSON-encoded string s, build a message object. + + """ + d = json.loads(s) + return MsgMeasurementPoint.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgMeasurementPoint(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgMeasurementPoint._parser.parse(d) + for n in self.__class__.__slots__: + setattr(self, n, getattr(p, n)) + + def to_binary(self): + """Produce a framed/packed SBP message. + + """ + c = containerize(exclude_fields(self)) + self.payload = MsgMeasurementPoint._parser.build(c) + return self.pack() + + def friendly_name(self): + """Produces friendly human-readable name for this message + + """ + return "MEAS POINT" + + def into_buffer(self, buf, offset): + """Produce a framed/packed SBP message into the provided buffer and offset. + + """ + self.payload = containerize(exclude_fields(self)) + self.parser = MsgMeasurementPoint._parser + self.stream_payload.reset(buf, offset) + return self.pack_into(buf, offset, self._build_payload) + + def to_json_dict(self): + self.to_binary() + d = super( MsgMeasurementPoint, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + msg_classes = { 0xFF00: MsgStartup, @@ -1579,4 +1716,5 @@ def to_json_dict(self): 0xFF08: MsgPpsTime, 0xFF09: MsgSensorAidEvent, 0xFF0A: MsgGroupMeta, + 0xFF0B: MsgMeasurementPoint, } \ No newline at end of file diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index 9eecdd784f..39661efcce 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -43,7 +43,7 @@ def test_table_count(): Test number of available messages to deserialize. """ - number_of_messages = 233 + number_of_messages = 234 assert len(_SBP_TABLE) == number_of_messages def test_table_unqiue_count(): diff --git a/python/tests/sbp/utils.py b/python/tests/sbp/utils.py index 14df7b37d6..ab26f0221f 100755 --- a/python/tests/sbp/utils.py +++ b/python/tests/sbp/utils.py @@ -184,6 +184,9 @@ def _assert_msg_roundtrip_json(msg, raw_json): """ to_json = json.loads(msg.to_json()) from_json = json.loads(raw_json) + if sorted(to_json.items()) != sorted(from_json.items()): + print("to_json: {}".format(to_json)) + print("from_json: {}".format(from_json)) assert sorted(to_json.items()) == sorted(from_json.items()) assert msg == msg.from_json(raw_json) diff --git a/rust/sbp/Cargo.toml b/rust/sbp/Cargo.toml index 4c39803f46..4dfb263966 100644 --- a/rust/sbp/Cargo.toml +++ b/rust/sbp/Cargo.toml @@ -7,7 +7,7 @@ [package] name = "sbp" -version = "5.0.5-alpha" +version = "5.0.4-alpha" description = "Rust native implementation of SBP (Swift Binary Protocol) for communicating with devices made by Swift Navigation" authors = ["Swift Navigation "] repository = "https://github.com/swift-nav/libsbp" diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index dcaf43ed50..1ba7bfe1cf 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -259,6 +259,7 @@ use self::system::msg_group_meta::MsgGroupMeta; use self::system::msg_heartbeat::MsgHeartbeat; use self::system::msg_ins_status::MsgInsStatus; use self::system::msg_ins_updates::MsgInsUpdates; +use self::system::msg_measurement_point::MsgMeasurementPoint; use self::system::msg_pps_time::MsgPpsTime; use self::system::msg_sensor_aid_event::MsgSensorAidEvent; use self::system::msg_startup::MsgStartup; @@ -840,6 +841,8 @@ pub enum Sbp { MsgSensorAidEvent(MsgSensorAidEvent), /// Solution Group Metadata MsgGroupMeta(MsgGroupMeta), + /// Profiling Measurement Point + MsgMeasurementPoint(MsgMeasurementPoint), /// Solution Sensors Metadata MsgSolnMeta(MsgSolnMeta), /// Deprecated @@ -1590,6 +1593,9 @@ impl<'de> serde::Deserialize<'de> for Sbp { Some(MsgGroupMeta::MESSAGE_TYPE) => { serde_json::from_value::(value).map(Sbp::MsgGroupMeta) } + Some(MsgMeasurementPoint::MESSAGE_TYPE) => { + serde_json::from_value::(value).map(Sbp::MsgMeasurementPoint) + } Some(MsgSolnMeta::MESSAGE_TYPE) => { serde_json::from_value::(value).map(Sbp::MsgSolnMeta) } @@ -2266,6 +2272,9 @@ impl Sbp { MsgSensorAidEvent::parse(&mut payload).map(Sbp::MsgSensorAidEvent) } MsgGroupMeta::MESSAGE_TYPE => MsgGroupMeta::parse(&mut payload).map(Sbp::MsgGroupMeta), + MsgMeasurementPoint::MESSAGE_TYPE => { + MsgMeasurementPoint::parse(&mut payload).map(Sbp::MsgMeasurementPoint) + } MsgSolnMeta::MESSAGE_TYPE => MsgSolnMeta::parse(&mut payload).map(Sbp::MsgSolnMeta), MsgSolnMetaDepA::MESSAGE_TYPE => { MsgSolnMetaDepA::parse(&mut payload).map(Sbp::MsgSolnMetaDepA) @@ -2533,6 +2542,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.message_name(), Sbp::MsgSensorAidEvent(msg) => msg.message_name(), Sbp::MsgGroupMeta(msg) => msg.message_name(), + Sbp::MsgMeasurementPoint(msg) => msg.message_name(), Sbp::MsgSolnMeta(msg) => msg.message_name(), Sbp::MsgSolnMetaDepA(msg) => msg.message_name(), Sbp::MsgStatusJournal(msg) => msg.message_name(), @@ -2773,6 +2783,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.message_type(), Sbp::MsgSensorAidEvent(msg) => msg.message_type(), Sbp::MsgGroupMeta(msg) => msg.message_type(), + Sbp::MsgMeasurementPoint(msg) => msg.message_type(), Sbp::MsgSolnMeta(msg) => msg.message_type(), Sbp::MsgSolnMetaDepA(msg) => msg.message_type(), Sbp::MsgStatusJournal(msg) => msg.message_type(), @@ -3013,6 +3024,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.sender_id(), Sbp::MsgSensorAidEvent(msg) => msg.sender_id(), Sbp::MsgGroupMeta(msg) => msg.sender_id(), + Sbp::MsgMeasurementPoint(msg) => msg.sender_id(), Sbp::MsgSolnMeta(msg) => msg.sender_id(), Sbp::MsgSolnMetaDepA(msg) => msg.sender_id(), Sbp::MsgStatusJournal(msg) => msg.sender_id(), @@ -3253,6 +3265,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.set_sender_id(new_id), Sbp::MsgSensorAidEvent(msg) => msg.set_sender_id(new_id), Sbp::MsgGroupMeta(msg) => msg.set_sender_id(new_id), + Sbp::MsgMeasurementPoint(msg) => msg.set_sender_id(new_id), Sbp::MsgSolnMeta(msg) => msg.set_sender_id(new_id), Sbp::MsgSolnMetaDepA(msg) => msg.set_sender_id(new_id), Sbp::MsgStatusJournal(msg) => msg.set_sender_id(new_id), @@ -3493,6 +3506,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.encoded_len(), Sbp::MsgSensorAidEvent(msg) => msg.encoded_len(), Sbp::MsgGroupMeta(msg) => msg.encoded_len(), + Sbp::MsgMeasurementPoint(msg) => msg.encoded_len(), Sbp::MsgSolnMeta(msg) => msg.encoded_len(), Sbp::MsgSolnMetaDepA(msg) => msg.encoded_len(), Sbp::MsgStatusJournal(msg) => msg.encoded_len(), @@ -3736,6 +3750,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.gps_time(), Sbp::MsgSensorAidEvent(msg) => msg.gps_time(), Sbp::MsgGroupMeta(msg) => msg.gps_time(), + Sbp::MsgMeasurementPoint(msg) => msg.gps_time(), Sbp::MsgSolnMeta(msg) => msg.gps_time(), Sbp::MsgSolnMetaDepA(msg) => msg.gps_time(), Sbp::MsgStatusJournal(msg) => msg.gps_time(), @@ -3976,6 +3991,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.friendly_name(), Sbp::MsgSensorAidEvent(msg) => msg.friendly_name(), Sbp::MsgGroupMeta(msg) => msg.friendly_name(), + Sbp::MsgMeasurementPoint(msg) => msg.friendly_name(), Sbp::MsgSolnMeta(msg) => msg.friendly_name(), Sbp::MsgSolnMetaDepA(msg) => msg.friendly_name(), Sbp::MsgStatusJournal(msg) => msg.friendly_name(), @@ -4216,6 +4232,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => msg.is_valid(), Sbp::MsgSensorAidEvent(msg) => msg.is_valid(), Sbp::MsgGroupMeta(msg) => msg.is_valid(), + Sbp::MsgMeasurementPoint(msg) => msg.is_valid(), Sbp::MsgSolnMeta(msg) => msg.is_valid(), Sbp::MsgSolnMetaDepA(msg) => msg.is_valid(), Sbp::MsgStatusJournal(msg) => msg.is_valid(), @@ -4547,6 +4564,7 @@ impl SbpMessage for Sbp { Sbp::MsgPpsTime(msg) => Ok(Sbp::MsgPpsTime(msg.into_valid_msg()?)), Sbp::MsgSensorAidEvent(msg) => Ok(Sbp::MsgSensorAidEvent(msg.into_valid_msg()?)), Sbp::MsgGroupMeta(msg) => Ok(Sbp::MsgGroupMeta(msg.into_valid_msg()?)), + Sbp::MsgMeasurementPoint(msg) => Ok(Sbp::MsgMeasurementPoint(msg.into_valid_msg()?)), Sbp::MsgSolnMeta(msg) => Ok(Sbp::MsgSolnMeta(msg.into_valid_msg()?)), Sbp::MsgSolnMetaDepA(msg) => Ok(Sbp::MsgSolnMetaDepA(msg.into_valid_msg()?)), Sbp::MsgStatusJournal(msg) => Ok(Sbp::MsgStatusJournal(msg.into_valid_msg()?)), @@ -4800,6 +4818,7 @@ impl WireFormat for Sbp { Sbp::MsgPpsTime(msg) => WireFormat::write(msg, buf), Sbp::MsgSensorAidEvent(msg) => WireFormat::write(msg, buf), Sbp::MsgGroupMeta(msg) => WireFormat::write(msg, buf), + Sbp::MsgMeasurementPoint(msg) => WireFormat::write(msg, buf), Sbp::MsgSolnMeta(msg) => WireFormat::write(msg, buf), Sbp::MsgSolnMetaDepA(msg) => WireFormat::write(msg, buf), Sbp::MsgStatusJournal(msg) => WireFormat::write(msg, buf), @@ -5040,6 +5059,7 @@ impl WireFormat for Sbp { Sbp::MsgPpsTime(msg) => WireFormat::len(msg), Sbp::MsgSensorAidEvent(msg) => WireFormat::len(msg), Sbp::MsgGroupMeta(msg) => WireFormat::len(msg), + Sbp::MsgMeasurementPoint(msg) => WireFormat::len(msg), Sbp::MsgSolnMeta(msg) => WireFormat::len(msg), Sbp::MsgSolnMetaDepA(msg) => WireFormat::len(msg), Sbp::MsgStatusJournal(msg) => WireFormat::len(msg), @@ -6419,6 +6439,12 @@ impl From for Sbp { } } +impl From for Sbp { + fn from(msg: MsgMeasurementPoint) -> Self { + Sbp::MsgMeasurementPoint(msg) + } +} + impl From for Sbp { fn from(msg: MsgSolnMeta) -> Self { Sbp::MsgSolnMeta(msg) diff --git a/rust/sbp/src/messages/system.rs b/rust/sbp/src/messages/system.rs index e2e091d6cb..87a8056b7e 100644 --- a/rust/sbp/src/messages/system.rs +++ b/rust/sbp/src/messages/system.rs @@ -21,6 +21,7 @@ pub use msg_group_meta::MsgGroupMeta; pub use msg_heartbeat::MsgHeartbeat; pub use msg_ins_status::MsgInsStatus; pub use msg_ins_updates::MsgInsUpdates; +pub use msg_measurement_point::MsgMeasurementPoint; pub use msg_pps_time::MsgPpsTime; pub use msg_sensor_aid_event::MsgSensorAidEvent; pub use msg_startup::MsgStartup; @@ -1834,6 +1835,148 @@ pub mod msg_ins_updates { } } +pub mod msg_measurement_point { + #![allow(unused_imports)] + + use super::*; + use crate::messages::lib::*; + + /// Profiling Measurement Point + /// + /// Tracks execution time of certain code paths in specially built products. + /// This message should only be expected and processed on the direction of + /// Swift's engineering teams. + /// + #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))] + #[allow(clippy::derive_partial_eq_without_eq)] + #[derive(Debug, PartialEq, Clone)] + pub struct MsgMeasurementPoint { + /// The message sender_id + #[cfg_attr(feature = "serde", serde(skip_serializing, alias = "sender"))] + pub sender_id: Option, + /// Total time spent in measurement point + #[cfg_attr(feature = "serde", serde(rename = "total_time"))] + pub total_time: u32, + /// Number of times measurement point has executed + #[cfg_attr(feature = "serde", serde(rename = "num_executions"))] + pub num_executions: u16, + /// Minimum execution time + #[cfg_attr(feature = "serde", serde(rename = "min"))] + pub min: u32, + /// Maximum execution time + #[cfg_attr(feature = "serde", serde(rename = "max"))] + pub max: u32, + /// Return address + #[cfg_attr(feature = "serde", serde(rename = "return_addr"))] + pub return_addr: u64, + /// Unique ID + #[cfg_attr(feature = "serde", serde(rename = "id"))] + pub id: u64, + /// CPU slice time + #[cfg_attr(feature = "serde", serde(rename = "slice_time"))] + pub slice_time: u64, + /// Line number + #[cfg_attr(feature = "serde", serde(rename = "line"))] + pub line: u16, + /// Function name + #[cfg_attr(feature = "serde", serde(rename = "func"))] + pub func: SbpString, NullTerminated>, + } + + impl ConcreteMessage for MsgMeasurementPoint { + const MESSAGE_TYPE: u16 = 65291; + const MESSAGE_NAME: &'static str = "MSG_MEASUREMENT_POINT"; + } + + impl SbpMessage for MsgMeasurementPoint { + fn message_name(&self) -> &'static str { + ::MESSAGE_NAME + } + fn message_type(&self) -> Option { + Some(::MESSAGE_TYPE) + } + fn sender_id(&self) -> Option { + self.sender_id + } + fn set_sender_id(&mut self, new_id: u16) { + self.sender_id = Some(new_id); + } + fn encoded_len(&self) -> usize { + WireFormat::len(self) + crate::HEADER_LEN + crate::CRC_LEN + } + fn is_valid(&self) -> bool { + true + } + fn into_valid_msg(self) -> Result { + Ok(self) + } + } + + impl FriendlyName for MsgMeasurementPoint { + fn friendly_name() -> &'static str { + "MEAS POINT" + } + } + + impl TryFrom for MsgMeasurementPoint { + type Error = TryFromSbpError; + fn try_from(msg: Sbp) -> Result { + match msg { + Sbp::MsgMeasurementPoint(m) => Ok(m), + _ => Err(TryFromSbpError(msg)), + } + } + } + + impl WireFormat for MsgMeasurementPoint { + const MIN_LEN: usize = ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + , NullTerminated> as WireFormat>::MIN_LEN; + fn len(&self) -> usize { + WireFormat::len(&self.total_time) + + WireFormat::len(&self.num_executions) + + WireFormat::len(&self.min) + + WireFormat::len(&self.max) + + WireFormat::len(&self.return_addr) + + WireFormat::len(&self.id) + + WireFormat::len(&self.slice_time) + + WireFormat::len(&self.line) + + WireFormat::len(&self.func) + } + fn write(&self, buf: &mut B) { + WireFormat::write(&self.total_time, buf); + WireFormat::write(&self.num_executions, buf); + WireFormat::write(&self.min, buf); + WireFormat::write(&self.max, buf); + WireFormat::write(&self.return_addr, buf); + WireFormat::write(&self.id, buf); + WireFormat::write(&self.slice_time, buf); + WireFormat::write(&self.line, buf); + WireFormat::write(&self.func, buf); + } + fn parse_unchecked(buf: &mut B) -> Self { + MsgMeasurementPoint { + sender_id: None, + total_time: WireFormat::parse_unchecked(buf), + num_executions: WireFormat::parse_unchecked(buf), + min: WireFormat::parse_unchecked(buf), + max: WireFormat::parse_unchecked(buf), + return_addr: WireFormat::parse_unchecked(buf), + id: WireFormat::parse_unchecked(buf), + slice_time: WireFormat::parse_unchecked(buf), + line: WireFormat::parse_unchecked(buf), + func: WireFormat::parse_unchecked(buf), + } + } + } +} + pub mod msg_pps_time { #![allow(unused_imports)] diff --git a/rust/sbp/tests/integration/auto_check_sbp_system_msg_measurement_point.rs b/rust/sbp/tests/integration/auto_check_sbp_system_msg_measurement_point.rs new file mode 100644 index 0000000000..2831bc1995 --- /dev/null +++ b/rust/sbp/tests/integration/auto_check_sbp_system_msg_measurement_point.rs @@ -0,0 +1,312 @@ +// +// Copyright (C) 2019-2021 Swift Navigation Inc. +// Contact: https://support.swiftnav.com +// +// This source is subject to the license found in the file 'LICENSE' which must +// be be distributed together with this source. All other rights reserved. +// +// THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, +// EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. + +// This file was auto-generated from spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml by generate.py. Do not modify by hand! + +use crate::*; + +/// Tests [`sbp::iter_messages`], from payload into SBP messages +/// +/// Asserts: +/// - SBP fields equates to that of the field +/// - Payload is identical +#[test] +fn test_auto_check_sbp_system_msg_measurement_point() { + { + let mut payload = Cursor::new(vec![ + 85, 11, 255, 0, 16, 48, 250, 7, 0, 0, 180, 0, 2, 0, 0, 0, 40, 0, 0, 0, 130, 201, 148, + 141, 97, 85, 0, 0, 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, 157, 15, 0, 0, 0, 0, 18, 0, + 114, 111, 117, 116, 101, 40, 41, 0, 157, 71, + ]); + + // Test the round trip payload parsing + let sbp_msg = { + let mut msgs = iter_messages(&mut payload); + msgs.next() + .expect("no message found") + .expect("failed to parse message") + }; + match &sbp_msg { + sbp::messages::Sbp::MsgMeasurementPoint(msg) => { + let msg_type = msg.message_type().unwrap(); + assert_eq!( + msg_type, 0xFF0B, + "Incorrect message type, expected 0xFF0B, is {}", + msg_type + ); + let sender_id = msg.sender_id().unwrap(); + assert_eq!( + sender_id, 0x1000, + "incorrect sender id, expected 0x1000, is {sender_id}" + ); + assert_eq!( + msg.func.as_bytes(), + &[114, 111, 117, 116, 101, 40, 41, 0], + "incorrect value for msg.func, expected string '{:?}', is '{:?}'", + &[114, 111, 117, 116, 101, 40, 41, 0], + msg.func.as_bytes() + ); + assert_eq!( + msg.id, 2496234002, + "incorrect value for id, expected 2496234002, is {}", + msg.id + ); + assert_eq!( + msg.line, 18, + "incorrect value for line, expected 18, is {}", + msg.line + ); + assert_eq!( + msg.max, 40, + "incorrect value for max, expected 40, is {}", + msg.max + ); + assert_eq!( + msg.min, 2, + "incorrect value for min, expected 2, is {}", + msg.min + ); + assert_eq!( + msg.num_executions, 180, + "incorrect value for num_executions, expected 180, is {}", + msg.num_executions + ); + assert_eq!( + msg.return_addr, 93877475527042, + "incorrect value for return_addr, expected 93877475527042, is {}", + msg.return_addr + ); + assert_eq!( + msg.slice_time, 261963842, + "incorrect value for slice_time, expected 261963842, is {}", + msg.slice_time + ); + assert_eq!( + msg.total_time, 2042, + "incorrect value for total_time, expected 2042, is {}", + msg.total_time + ); + } + _ => panic!("Invalid message type! Expected a MsgMeasurementPoint"), + }; + let frame = sbp::to_vec(&sbp_msg).unwrap(); + assert_eq!(frame, payload.into_inner()); + } +} + +/// Tests [`sbp::json::iter_messages`] for JSON payload -> SBP message +/// and [`sbp::json::iter_messages_from_fields`] for JSON fields -> SBP message. +/// +/// Asserts: +/// - SBP message constructed via payload is identical to from fields +/// - SBP fields equates to that of the field +/// - Payload is identical +#[test] +#[cfg(feature = "json")] +fn test_json2sbp_auto_check_sbp_system_msg_measurement_point() { + { + let json_input = r#"{"crc": 18333, "preamble": 85, "sender": 4096, "length": 48, "msg_type": 65291, "total_time": 2042, "num_executions": 180, "min": 2, "max": 40, "return_addr": 93877475527042, "id": 2496234002, "slice_time": 261963842, "line": 18, "func": "route()\u0000", "payload": "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA" }"#.as_bytes(); + + let sbp_msg = { + // JSON to SBP message from payload + let mut iter = json2sbp_iter_msg(json_input); + let from_payload = iter + .next() + .expect("no message found") + .expect("failed to parse message"); + + // JSON to SBP message from fields + let mut iter = iter_messages_from_fields(json_input); + let from_fields = iter + .next() + .expect("no message found") + .expect("failed to parse message"); + + assert_eq!(from_fields, from_payload); + from_fields + }; + match &sbp_msg { + sbp::messages::Sbp::MsgMeasurementPoint(msg) => { + let msg_type = msg.message_type().unwrap(); + assert_eq!( + msg_type, 0xFF0B, + "Incorrect message type, expected 0xFF0B, is {}", + msg_type + ); + let sender_id = msg.sender_id().unwrap(); + assert_eq!( + sender_id, 0x1000, + "incorrect sender id, expected 0x1000, is {sender_id}" + ); + assert_eq!( + msg.func.as_bytes(), + &[114, 111, 117, 116, 101, 40, 41, 0], + "incorrect value for msg.func, expected string '{:?}', is '{:?}'", + &[114, 111, 117, 116, 101, 40, 41, 0], + msg.func.as_bytes() + ); + assert_eq!( + msg.id, 2496234002, + "incorrect value for id, expected 2496234002, is {}", + msg.id + ); + assert_eq!( + msg.line, 18, + "incorrect value for line, expected 18, is {}", + msg.line + ); + assert_eq!( + msg.max, 40, + "incorrect value for max, expected 40, is {}", + msg.max + ); + assert_eq!( + msg.min, 2, + "incorrect value for min, expected 2, is {}", + msg.min + ); + assert_eq!( + msg.num_executions, 180, + "incorrect value for num_executions, expected 180, is {}", + msg.num_executions + ); + assert_eq!( + msg.return_addr, 93877475527042, + "incorrect value for return_addr, expected 93877475527042, is {}", + msg.return_addr + ); + assert_eq!( + msg.slice_time, 261963842, + "incorrect value for slice_time, expected 261963842, is {}", + msg.slice_time + ); + assert_eq!( + msg.total_time, 2042, + "incorrect value for total_time, expected 2042, is {}", + msg.total_time + ); + } + _ => panic!("Invalid message type! Expected a MsgMeasurementPoint"), + }; + } +} + +/// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON +/// +/// Assumes: +/// - [`self::test_auto_check_sbp_system_msg_measurement_point`] passes +/// +/// Asserts: +/// - SBP fields equates to that of the field +/// - Payload is identical +#[test] +#[cfg(feature = "json")] +fn test_sbp2json_auto_check_sbp_system_msg_measurement_point() { + { + let mut payload = Cursor::new(vec![ + 85, 11, 255, 0, 16, 48, 250, 7, 0, 0, 180, 0, 2, 0, 0, 0, 40, 0, 0, 0, 130, 201, 148, + 141, 97, 85, 0, 0, 18, 130, 201, 148, 0, 0, 0, 0, 66, 64, 157, 15, 0, 0, 0, 0, 18, 0, + 114, 111, 117, 116, 101, 40, 41, 0, 157, 71, + ]); + + // Construct sbp message + let sbp_msg = { + let mut msgs = iter_messages(&mut payload); + msgs.next() + .expect("no message found") + .expect("failed to parse message") + }; + + let mut json_buffer = vec![]; + // Populate json buffer, CompactFormatter + sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) + .send(&sbp_msg) + .unwrap(); + + // Reconstruct Sbp message from json fields, roundtrip + let sbp_msg = sbp::messages::Sbp::MsgMeasurementPoint( + serde_json::from_str( + std::str::from_utf8(json_buffer.as_slice()) + .unwrap() + .to_string() + .as_str(), + ) + .unwrap(), + ); + match &sbp_msg { + sbp::messages::Sbp::MsgMeasurementPoint(msg) => { + let msg_type = msg.message_type().unwrap(); + assert_eq!( + msg_type, 0xFF0B, + "Incorrect message type, expected 0xFF0B, is {}", + msg_type + ); + let sender_id = msg.sender_id().unwrap(); + assert_eq!( + sender_id, 0x1000, + "incorrect sender id, expected 0x1000, is {sender_id}" + ); + assert_eq!( + msg.func.as_bytes(), + &[114, 111, 117, 116, 101, 40, 41, 0], + "incorrect value for msg.func, expected string '{:?}', is '{:?}'", + &[114, 111, 117, 116, 101, 40, 41, 0], + msg.func.as_bytes() + ); + assert_eq!( + msg.id, 2496234002, + "incorrect value for id, expected 2496234002, is {}", + msg.id + ); + assert_eq!( + msg.line, 18, + "incorrect value for line, expected 18, is {}", + msg.line + ); + assert_eq!( + msg.max, 40, + "incorrect value for max, expected 40, is {}", + msg.max + ); + assert_eq!( + msg.min, 2, + "incorrect value for min, expected 2, is {}", + msg.min + ); + assert_eq!( + msg.num_executions, 180, + "incorrect value for num_executions, expected 180, is {}", + msg.num_executions + ); + assert_eq!( + msg.return_addr, 93877475527042, + "incorrect value for return_addr, expected 93877475527042, is {}", + msg.return_addr + ); + assert_eq!( + msg.slice_time, 261963842, + "incorrect value for slice_time, expected 261963842, is {}", + msg.slice_time + ); + assert_eq!( + msg.total_time, 2042, + "incorrect value for total_time, expected 2042, is {}", + msg.total_time + ); + } + _ => panic!("Invalid message type! Expected a MsgMeasurementPoint"), + }; + + // Check payload is still identical + let frame = sbp::to_vec(&sbp_msg).unwrap(); + assert_eq!(frame, payload.into_inner()); + } +} diff --git a/rust/sbp/tests/integration/main.rs b/rust/sbp/tests/integration/main.rs index dab35b2bcd..181604bd41 100644 --- a/rust/sbp/tests/integration/main.rs +++ b/rust/sbp/tests/integration/main.rs @@ -225,6 +225,7 @@ mod auto_check_sbp_system_msg_group_meta; mod auto_check_sbp_system_msg_heartbeat; mod auto_check_sbp_system_msg_ins_status; mod auto_check_sbp_system_msg_ins_updates; +mod auto_check_sbp_system_msg_measurement_point; mod auto_check_sbp_system_msg_pps_time; mod auto_check_sbp_system_msg_sensor_aid_event; mod auto_check_sbp_system_msg_startup; diff --git a/rust/sbp2json/Cargo.toml b/rust/sbp2json/Cargo.toml index 5487f56e43..35c00a00b4 100644 --- a/rust/sbp2json/Cargo.toml +++ b/rust/sbp2json/Cargo.toml @@ -7,7 +7,7 @@ [package] name = "sbp2json" -version = "5.0.5-alpha" +version = "5.0.4-alpha" repository = "https://github.com/swift-nav/libsbp" description = "Rust native implementation of SBP (Swift Binary Protocol) to JSON conversion tools" authors = ["Swift Navigation "] diff --git a/spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml b/spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml new file mode 100644 index 0000000000..542af9f711 --- /dev/null +++ b/spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml @@ -0,0 +1,43 @@ +--- +description: Unit tests for swiftnav.sbp.system MsgMeasurementPoint +generated_on: 2023-12-08 00:00:00.00 # manually generated +package: sbp.system +tests: + + + - msg: + c_decoded_fields: + func: + handle_as: encoded-string + text: route() + fn_prefix: sbp_msg_measurement_point_func + encoded_len: 8 + fields: + total_time: 2042 + num_executions: 180 + min: 2 + max: 40 + return_addr: 93877475527042 + id: 2496234002 + slice_time: 261963842 + line: 18 + func: "route()\u0000" + module: sbp.system + name: MsgMeasurementPoint + msg_type: '0xFF0B' + raw_json: '{"crc": 18333, "preamble": 85, "sender": 4096, "length": 48, "msg_type": 65291, + "total_time": 2042, "num_executions": 180, "min": 2, "max": 40, + "return_addr": 93877475527042, "id": 2496234002, + "slice_time": 261963842, "line": 18, "func": "route()\u0000", + "payload": "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA" + }' + + raw_packet: VQv/ABAw+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkAnUc= + sbp: + crc: '0x479d' + length: 48 + msg_type: '0xFF0B' + payload: +gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA + preamble: '0x55' + sender: '0x1000' + diff --git a/spec/yaml/swiftnav/sbp/system.yaml b/spec/yaml/swiftnav/sbp/system.yaml index f5bfd4fc45..24198c1fe7 100644 --- a/spec/yaml/swiftnav/sbp/system.yaml +++ b/spec/yaml/swiftnav/sbp/system.yaml @@ -562,3 +562,40 @@ definitions: desc: > An in-order list of message types included in the Solution Group, including GROUP_META itself + + - MSG_MEASUREMENT_POINT: + id: 0xFF0B + short_desc: Profiling Measurement Point + desc: > + Tracks execution time of certain code paths in specially built products. + This message should only be expected and processed on the direction of Swift's + engineering teams. + fields: + - total_time: + type: u32 + desc: Total time spent in measurement point + - num_executions: + type: u16 + desc: Number of times measurement point has executed + - min: + type: u32 + desc: Minimum execution time + - max: + type: u32 + desc: Maximum execution time + - return_addr: + type: u64 + desc: Return address + - id: + type: u64 + desc: Unique ID + - slice_time: + type: u64 + desc: CPU slice time + - line: + type: u16 + desc: Line number + - func: + type: string + encoding: null_terminated + desc: Function name