Support 64-bit unsigned ints in the JavaScript version of libsbp. All…

… messages are round-tripped through construction and decoding, even if there aren't any test yaml files for them.

c/include/libsbp/tracking.h

@@ -25,9 +25,48 @@
 
 #include "common.h"
 #include "gnss_signal.h"
+#include "observation.h"
 
 
-/** Satellite tracking channel state
+/** Detailed signal tracking channel states
+ *
+ * The tracking message returns a set tracking channel parameters for a
+ * single tracking channel useful for debugging issues.
+ */
+#define SBP_MSG_TRACKING_STATE_DETAILED 0x0011
+typedef struct __attribute__((packed)) {
+  u64 recv_time;       /**< Receiver clock time. [ns] */
+  obs_gps_time_t tot;             /**< Time of transmission of signal from satellite. */
+  u32 P;               /**< Pseudorange observation. [2 cm] */
+  u16 P_std;           /**< Pseudorange observation standard deviation. [2 cm] */
+  carrier_phase_t L;               /**< Carrier phase observation with typical sign convention. Only valid
+when PLL pessimistic lock is achieved.
+ [cycles] */
+  u8 cn0;             /**< Carrier-to-Noise density [dB Hz * 4] */
+  u16 lock;            /**< Lock indicator. This value changes whenever a satellite
+signal has lost and regained lock, indicating that the
+carrier phase ambiguity may have changed.
+ */
+  sbp_gnss_signal_t sid;             /**< GNSS signal identifier. */
+  s32 doppler;         /**< Carrier Doppler frequency. [Hz * 10] */
+  u16 doppler_std;     /**< Carrier Doppler frequency standard deviation. [Hz * 10] */
+  u32 uptime;          /**< Number of seconds of continuous tracking. Specifies how much time
+signal is in continuous track.
+ [s] */
+  u16 clock_offset;    /**< TCXO clock offset. [ppb * 10] */
+  u16 clock_drift;     /**< TCXO clock drift. [(ppb * 10) / s] */
+  u16 corr_spacing;    /**< Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. [ns] */
+  u8 acceleration;    /**< Acceleration. Valid only when acceleration valid flag is set. [g * 10] */
+  u8 sync_flags;      /**< Synchronization status flags. */
+  u8 tow_flags;       /**< TOW status flags. */
+  u8 track_flags;     /**< Tracking loop status flags. */
+  u8 nav_flags;       /**< Navigation data status flags. */
+  u8 pset_flags;      /**< Parameters sets flags. */
+  u8 misc_flags;      /**< Miscellaneous flags. */
+} msg_tracking_state_detailed_t;
+
+
+/** Signal tracking channel state
  *
  * Tracking channel state for a specific satellite signal and
  * measured signal power.
@@ -39,15 +78,15 @@ typedef struct __attribute__((packed)) {
 } tracking_channel_state_t;
 
 
-/** Satellite tracking channel states
+/** Signal tracking channel states
  *
  * The tracking message returns a variable-length array of tracking
  * channel states. It reports status and carrier-to-noise density
  * measurements for all tracked satellites.
  */
-#define SBP_MSG_TRACKING_STATE       0x0013
+#define SBP_MSG_TRACKING_STATE          0x0013
 typedef struct __attribute__((packed)) {
-  tracking_channel_state_t states[0]; /**< Satellite tracking channel state */
+  tracking_channel_state_t states[0]; /**< Signal tracking channel state */
 } msg_tracking_state_t;
 
 
@@ -66,7 +105,7 @@ typedef struct __attribute__((packed)) {
  * When enabled, a tracking channel can output the correlations at each
  * update interval.
  */
-#define SBP_MSG_TRACKING_IQ          0x001C
+#define SBP_MSG_TRACKING_IQ             0x001C
 typedef struct __attribute__((packed)) {
   u8 channel;    /**< Tracking channel of origin */
   sbp_gnss_signal_t sid;        /**< GNSS signal identifier */
@@ -89,7 +128,7 @@ typedef struct __attribute__((packed)) {
  *
 * Deprecated.
  */
-#define SBP_MSG_TRACKING_STATE_DEP_A 0x0016
+#define SBP_MSG_TRACKING_STATE_DEP_A    0x0016
 typedef struct __attribute__((packed)) {
   tracking_channel_state_dep_a_t states[0]; /**< Satellite tracking channel state */
 } msg_tracking_state_dep_a_t;

generator/sbpg/targets/javascript.py

@@ -41,11 +41,11 @@
   'u8': 'writeUInt8',
   'u16': 'writeUInt16LE',
   'u32': 'writeUInt32LE',
-  'u64': 'writeUIntLE', # only supports up to 48 bits of accuracy
+  'u64': 'writeUInt64LE', # only supports up to 48 bits of accuracy
   's8': 'writeInt8',
   's16': 'writeInt16LE',
   's32': 'writeInt32LE',
-  's64': 'writeIntLE', # only supports up to 48 bits of accuracy
+  's64': 'writeInt64LE', # only supports up to 48 bits of accuracy
   'float': 'writeFloatLE',
   'double': 'writeDoubleLE',
 }
@@ -97,6 +97,19 @@ def buffer_size(type_id, type_map=BUFFER_SIZE_MAP):
   else:
     return "this.fields.%s.length" % type_id.identifier
 
+def array_fill_size(f):
+  if builtin_type(f.options['fill'].value):
+    return buffer_size(f.options['fill'].value)
+  else:
+    return buffer_size(f.type_id)
+
+def array_length(f):
+  if 'size' in f.options:
+    return f.options.get('size').value
+  if 'size_fn' in f.options:
+    return "'%s'" % f.options.get('size_fn').value
+  return 'null'
+
 def jsdoc_format(type_id, jsdoc=JSDOC_CODE):
   """
   Formats type for jsdoc.
@@ -151,11 +164,17 @@ def star_wordwrap(s):
 def star_wordwrap_indent(s):
   return "\n *   ".join(textwrap.wrap(' '.join(s.split('\n')), 80))
 
+def islist(x):
+  return isinstance(x, list)
+
 JENV.tests['builtinType'] = builtin_type
+JENV.tests['list'] = islist
 
 JENV.filters['js_classnameify'] = js_classnameify
 JENV.filters['writeBuffer'] = write_buffer
 JENV.filters['bufferSize'] = buffer_size
+JENV.filters['arrayFillSize'] = array_fill_size
+JENV.filters['arrayLength'] = array_length
 JENV.filters['construct_js'] = construct_format
 JENV.filters['jsdoc'] = jsdoc_format
 JENV.filters['starWordWrap'] = star_wordwrap
@@ -171,7 +190,7 @@ def render_source(output_dir, package_spec, jenv=JENV):
   destination_filename = "%s/%s.js" % (directory, name)
   py_template = jenv.get_template(TEMPLATE_NAME)
   module_path = ".".join(package_spec.identifier.split(".")[1:-1])
-  includeMap = {'gnss_signal':'GnssSignal'}
+  includeMap = {'gnss_signal':'GnssSignal', 'observation': ['ObsGPSTime', 'CarrierPhase'] }
   includes = [".".join(i.split(".")[:-1]) for i in package_spec.includes]
   includes = [(i, includeMap.get(i)) for i in includes if i != "types"]
   with open(destination_filename, 'w') as f:

generator/sbpg/targets/resources/sbp_js.js.j2

@@ -19,9 +19,17 @@
 ***********************/
 
 var SBP = require('./sbp');
-var Parser = require('binary-parser').Parser;
+var Parser = require('./parser');
+var Int64 = require('node-int64');
+var UInt64 = require('cuint').UINT64;
 ((*- for (file, ident) in include *))
+((*- if ident is list *))
+((*- for ident2 in ident *))
+var (((ident2))) = require("./(((file)))").(((ident2)));
+((*- endfor *))
+((*- else *))
 var (((ident))) = require("./(((file)))").(((ident)));
+((*- endif *))
 ((*- endfor *))
 
 ((*- for m in msgs *))
@@ -60,11 +68,11 @@ var ((( m.identifier | js_classnameify ))) = function (sbp, fields) {
 ((*- if f.type_id is builtinType *))
 ((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', '(((f.type_id | writeBuffer)))', (((f.type_id | bufferSize)))]);
 ((*- elif f.type_id == 'array' and f.options['fill'].value is builtinType *))
-((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', 'array', '(((f.options['fill'].value | writeBuffer)))', function () { return (((f.options['fill'].value | bufferSize))); }]);
+((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', 'array', '(((f.options['fill'].value | writeBuffer)))', function () { return (((f | arrayFillSize))); }, ((( f | arrayLength )))]);
 ((*- elif f.type_id == 'array' *))
-((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', 'array', ((( f.options['fill'].value ))).prototype.fieldSpec, function () { return (((f.type_id | bufferSize))); }]);
+((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', 'array', ((( f.options['fill'].value ))).prototype.fieldSpec, function () { return (((f | arrayFillSize))); }, ((( f | arrayLength )))]);
 ((*- elif f.type_id == 'string' *))
-((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', 'string']);
+((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', 'string', ((( f | arrayLength )))]);
 ((*- else *))
 ((( m.identifier | js_classnameify ))).prototype.fieldSpec.push(['(((f.identifier)))', ((( f.type_id ))).prototype.fieldSpec]);
 ((*- endif *))

javascript/sbp/acquisition.js

@@ -19,7 +19,9 @@
 ***********************/
 
 var SBP = require('./sbp');
-var Parser = require('binary-parser').Parser;
+var Parser = require('./parser');
+var Int64 = require('node-int64');
+var UInt64 = require('cuint').UINT64;
 var GnssSignal = require("./gnss_signal").GnssSignal;
 
 /**
@@ -115,9 +117,9 @@ MsgAcqResultDepA.prototype.fieldSpec.push(['prn', 'writeUInt8', 1]);
  * @field bin_width number (unsigned 16-bit int, 2 bytes) Acq frequency bin width
  * @field timestamp number (unsigned 32-bit int, 4 bytes) Timestamp of the job complete event
  * @field time_spent number (unsigned 32-bit int, 4 bytes) Time spent to search for sid.code
- * @field cf_min number (unsigned 32-bit int, 4 bytes) Doppler range lowest frequency
- * @field cf_max number (unsigned 32-bit int, 4 bytes) Doppler range highest frequency
- * @field cf number (unsigned 32-bit int, 4 bytes) Doppler value of detected peak. Only valid if status is '1'
+ * @field cf_min number (signed 32-bit int, 4 bytes) Doppler range lowest frequency
+ * @field cf_max number (signed 32-bit int, 4 bytes) Doppler range highest frequency
+ * @field cf number (signed 32-bit int, 4 bytes) Doppler value of detected peak. Only valid if status is '1'
  * @field cp number (unsigned 32-bit int, 4 bytes) Codephase of detected peak. Only valid if status is '1'
  *
  * @param sbp An SBP object with a payload to be decoded.
@@ -142,9 +144,9 @@ AcqSvProfile.prototype.parser = new Parser()
   .uint16('bin_width')
   .uint32('timestamp')
   .uint32('time_spent')
-  .uint32('cf_min')
-  .uint32('cf_max')
-  .uint32('cf')
+  .int32('cf_min')
+  .int32('cf_max')
+  .int32('cf')
   .uint32('cp');
 AcqSvProfile.prototype.fieldSpec = [];
 AcqSvProfile.prototype.fieldSpec.push(['job_type', 'writeUInt8', 1]);
@@ -155,9 +157,9 @@ AcqSvProfile.prototype.fieldSpec.push(['sid', GnssSignal.prototype.fieldSpec]);
 AcqSvProfile.prototype.fieldSpec.push(['bin_width', 'writeUInt16LE', 2]);
 AcqSvProfile.prototype.fieldSpec.push(['timestamp', 'writeUInt32LE', 4]);
 AcqSvProfile.prototype.fieldSpec.push(['time_spent', 'writeUInt32LE', 4]);
-AcqSvProfile.prototype.fieldSpec.push(['cf_min', 'writeUInt32LE', 4]);
-AcqSvProfile.prototype.fieldSpec.push(['cf_max', 'writeUInt32LE', 4]);
-AcqSvProfile.prototype.fieldSpec.push(['cf', 'writeUInt32LE', 4]);
+AcqSvProfile.prototype.fieldSpec.push(['cf_min', 'writeInt32LE', 4]);
+AcqSvProfile.prototype.fieldSpec.push(['cf_max', 'writeInt32LE', 4]);
+AcqSvProfile.prototype.fieldSpec.push(['cf', 'writeInt32LE', 4]);
 AcqSvProfile.prototype.fieldSpec.push(['cp', 'writeUInt32LE', 4]);
 
 /**
@@ -186,7 +188,7 @@ MsgAcqSvProfile.prototype.parser = new Parser()
   .endianess('little')
   .array('acq_sv_profile', { type: AcqSvProfile.prototype.parser, readUntil: 'eof' });
 MsgAcqSvProfile.prototype.fieldSpec = [];
-MsgAcqSvProfile.prototype.fieldSpec.push(['acq_sv_profile', 'array', AcqSvProfile.prototype.fieldSpec, function () { return this.fields.array.length; }]);
+MsgAcqSvProfile.prototype.fieldSpec.push(['acq_sv_profile', 'array', AcqSvProfile.prototype.fieldSpec, function () { return this.fields.array.length; }, null]);
 
 module.exports = {
   0x0014: MsgAcqResult,

javascript/sbp/bootload.js

@@ -21,7 +21,9 @@
 ***********************/
 
 var SBP = require('./sbp');
-var Parser = require('binary-parser').Parser;
+var Parser = require('./parser');
+var Int64 = require('node-int64');
+var UInt64 = require('cuint').UINT64;
 
 /**
  * SBP class for message MSG_BOOTLOADER_HANDSHAKE_REQ (0x00B3).
@@ -78,7 +80,7 @@ MsgBootloaderHandshakeResp.prototype.parser = new Parser()
   .string('version', { greedy: true });
 MsgBootloaderHandshakeResp.prototype.fieldSpec = [];
 MsgBootloaderHandshakeResp.prototype.fieldSpec.push(['flags', 'writeUInt32LE', 4]);
-MsgBootloaderHandshakeResp.prototype.fieldSpec.push(['version', 'string']);
+MsgBootloaderHandshakeResp.prototype.fieldSpec.push(['version', 'string', null]);
 
 /**
  * SBP class for message MSG_BOOTLOADER_JUMP_TO_APP (0x00B1).
@@ -162,7 +164,7 @@ MsgNapDeviceDnaResp.prototype.parser = new Parser()
   .endianess('little')
   .array('dna', { length: 8, type: 'uint8' });
 MsgNapDeviceDnaResp.prototype.fieldSpec = [];
-MsgNapDeviceDnaResp.prototype.fieldSpec.push(['dna', 'array', 'writeUInt8', function () { return 1; }]);
+MsgNapDeviceDnaResp.prototype.fieldSpec.push(['dna', 'array', 'writeUInt8', function () { return 1; }, 8]);
 
 /**
  * SBP class for message MSG_BOOTLOADER_HANDSHAKE_DEP_A (0x00B0).
@@ -189,7 +191,7 @@ MsgBootloaderHandshakeDepA.prototype.parser = new Parser()
   .endianess('little')
   .array('handshake', { type: 'uint8', readUntil: 'eof' });
 MsgBootloaderHandshakeDepA.prototype.fieldSpec = [];
-MsgBootloaderHandshakeDepA.prototype.fieldSpec.push(['handshake', 'array', 'writeUInt8', function () { return 1; }]);
+MsgBootloaderHandshakeDepA.prototype.fieldSpec.push(['handshake', 'array', 'writeUInt8', function () { return 1; }, null]);
 
 module.exports = {
   0x00B3: MsgBootloaderHandshakeReq,

javascript/sbp/ext_events.js

@@ -20,7 +20,9 @@
 ***********************/
 
 var SBP = require('./sbp');
-var Parser = require('binary-parser').Parser;
+var Parser = require('./parser');
+var Int64 = require('node-int64');
+var UInt64 = require('cuint').UINT64;
 
 /**
  * SBP class for message MSG_EXT_EVENT (0x0101).

javascript/sbp/file_io.js

@@ -24,7 +24,9 @@
 ***********************/
 
 var SBP = require('./sbp');
-var Parser = require('binary-parser').Parser;
+var Parser = require('./parser');
+var Int64 = require('node-int64');
+var UInt64 = require('cuint').UINT64;
 
 /**
  * SBP class for message MSG_FILEIO_READ_REQ (0x00A8).
@@ -66,7 +68,7 @@ MsgFileioReadReq.prototype.fieldSpec = [];
 MsgFileioReadReq.prototype.fieldSpec.push(['sequence', 'writeUInt32LE', 4]);
 MsgFileioReadReq.prototype.fieldSpec.push(['offset', 'writeUInt32LE', 4]);
 MsgFileioReadReq.prototype.fieldSpec.push(['chunk_size', 'writeUInt8', 1]);
-MsgFileioReadReq.prototype.fieldSpec.push(['filename', 'string']);
+MsgFileioReadReq.prototype.fieldSpec.push(['filename', 'string', null]);
 
 /**
  * SBP class for message MSG_FILEIO_READ_RESP (0x00A3).
@@ -99,7 +101,7 @@ MsgFileioReadResp.prototype.parser = new Parser()
   .array('contents', { type: 'uint8', readUntil: 'eof' });
 MsgFileioReadResp.prototype.fieldSpec = [];
 MsgFileioReadResp.prototype.fieldSpec.push(['sequence', 'writeUInt32LE', 4]);
-MsgFileioReadResp.prototype.fieldSpec.push(['contents', 'array', 'writeUInt8', function () { return 1; }]);
+MsgFileioReadResp.prototype.fieldSpec.push(['contents', 'array', 'writeUInt8', function () { return 1; }, null]);
 
 /**
  * SBP class for message MSG_FILEIO_READ_DIR_REQ (0x00A9).
@@ -139,7 +141,7 @@ MsgFileioReadDirReq.prototype.parser = new Parser()
 MsgFileioReadDirReq.prototype.fieldSpec = [];
 MsgFileioReadDirReq.prototype.fieldSpec.push(['sequence', 'writeUInt32LE', 4]);
 MsgFileioReadDirReq.prototype.fieldSpec.push(['offset', 'writeUInt32LE', 4]);
-MsgFileioReadDirReq.prototype.fieldSpec.push(['dirname', 'string']);
+MsgFileioReadDirReq.prototype.fieldSpec.push(['dirname', 'string', null]);
 
 /**
  * SBP class for message MSG_FILEIO_READ_DIR_RESP (0x00AA).
@@ -173,7 +175,7 @@ MsgFileioReadDirResp.prototype.parser = new Parser()
   .array('contents', { type: 'uint8', readUntil: 'eof' });
 MsgFileioReadDirResp.prototype.fieldSpec = [];
 MsgFileioReadDirResp.prototype.fieldSpec.push(['sequence', 'writeUInt32LE', 4]);
-MsgFileioReadDirResp.prototype.fieldSpec.push(['contents', 'array', 'writeUInt8', function () { return 1; }]);
+MsgFileioReadDirResp.prototype.fieldSpec.push(['contents', 'array', 'writeUInt8', function () { return 1; }, null]);
 
 /**
  * SBP class for message MSG_FILEIO_REMOVE (0x00AC).
@@ -203,7 +205,7 @@ MsgFileioRemove.prototype.parser = new Parser()
   .endianess('little')
   .string('filename', { greedy: true });
 MsgFileioRemove.prototype.fieldSpec = [];
-MsgFileioRemove.prototype.fieldSpec.push(['filename', 'string']);
+MsgFileioRemove.prototype.fieldSpec.push(['filename', 'string', null]);
 
 /**
  * SBP class for message MSG_FILEIO_WRITE_REQ (0x00AD).
@@ -243,8 +245,8 @@ MsgFileioWriteReq.prototype.parser = new Parser()
 MsgFileioWriteReq.prototype.fieldSpec = [];
 MsgFileioWriteReq.prototype.fieldSpec.push(['sequence', 'writeUInt32LE', 4]);
 MsgFileioWriteReq.prototype.fieldSpec.push(['offset', 'writeUInt32LE', 4]);
-MsgFileioWriteReq.prototype.fieldSpec.push(['filename', 'string']);
-MsgFileioWriteReq.prototype.fieldSpec.push(['data', 'array', 'writeUInt8', function () { return 1; }]);
+MsgFileioWriteReq.prototype.fieldSpec.push(['filename', 'string', null]);
+MsgFileioWriteReq.prototype.fieldSpec.push(['data', 'array', 'writeUInt8', function () { return 1; }, null]);
 
 /**
  * SBP class for message MSG_FILEIO_WRITE_RESP (0x00AB).