diff --git a/Makefile b/Makefile index fd7961c079..653367c00a 100644 --- a/Makefile +++ b/Makefile @@ -96,6 +96,8 @@ quicktype-javascript: deps-quicktype-javascript gen-quicktype-javascript test-qu quicktype-elm: deps-quicktype-elm gen-quicktype-elm test-quicktype-elm quicktype: quicktype-typescript quicktype-javascript quicktype-elm +gen-all: gen-c gen-python gen-javascript gen-java gen-haskell gen-rust gen-protobuf gen-kaitai gen-jsonschema gen-quicktype-typescript gen-quicktype-javascript gen-quicktype-elm + # Prerequisite verification verify-prereq-generator: ifeq ($(OS), Windows_NT) diff --git a/c/BUILD.bazel b/c/BUILD.bazel index c49303eb38..dce1d70c66 100644 --- a/c/BUILD.bazel +++ b/c/BUILD.bazel @@ -37,6 +37,7 @@ swift_c_library( "src/observation.c", "src/orientation.c", "src/piksi.c", + "src/profiling.c", "src/sbas.c", "src/settings.c", "src/signing.c", diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index d483412560..d1f78a7009 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -32,6 +32,7 @@ #include #include #include +#include #include #include #include @@ -4241,6 +4242,42 @@ 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..ff67209207 100644 --- a/c/include/libsbp/legacy/cpp/message_traits.h +++ b/c/include/libsbp/legacy/cpp/message_traits.h @@ -28,6 +28,7 @@ #include #include #include +#include #include #include #include @@ -1299,6 +1300,12 @@ struct MessageTraits { }; +template<> +struct MessageTraits { + static constexpr u16 id = 52992; +}; + + template<> struct MessageTraits { static constexpr u16 id = 65280; diff --git a/c/include/libsbp/legacy/profiling.h b/c/include/libsbp/legacy/profiling.h new file mode 100644 index 0000000000..766059d7f5 --- /dev/null +++ b/c/include/libsbp/legacy/profiling.h @@ -0,0 +1,61 @@ +/* + * 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/profiling.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +/** \defgroup profiling Profiling + * + * Standardized profiling messages from Swift Navigation devices. + * \{ */ + +#ifndef LIBSBP_LEGACY_PROFILING_MESSAGES_H +#define LIBSBP_LEGACY_PROFILING_MESSAGES_H + +#include + +SBP_MESSAGE( + "The legacy libsbp API has been deprecated. This file and all symbols " + "contained will " + "be removed in version 6. You should immediately switch over to the modern " + "libsbp API.") + +#include + +SBP_PACK_START + +/** 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 SBP_DEPRECATED { + 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 + +#endif /* LIBSBP_LEGACY_PROFILING_MESSAGES_H */ \ No newline at end of file diff --git a/c/include/libsbp/profiling.h b/c/include/libsbp/profiling.h new file mode 100644 index 0000000000..1aa259fe50 --- /dev/null +++ b/c/include/libsbp/profiling.h @@ -0,0 +1,22 @@ +/* + * 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/profiling.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_V4_PROFILING_MESSAGES_H +#define LIBSBP_V4_PROFILING_MESSAGES_H +#include + +#endif /* LIBSBP_V4_PROFILING_MESSAGES_H */ diff --git a/c/include/libsbp/profiling/MSG_MEASUREMENT_POINT.h b/c/include/libsbp/profiling/MSG_MEASUREMENT_POINT.h new file mode 100644 index 0000000000..c066ff3365 --- /dev/null +++ b/c/include/libsbp/profiling/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/profiling.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_V4_PROFILING_MSG_MEASUREMENT_POINT_H +#define LIBSBP_V4_PROFILING_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_PROFILING_MSG_MEASUREMENT_POINT_H */ diff --git a/c/include/libsbp/profiling_macros.h b/c/include/libsbp/profiling_macros.h new file mode 100644 index 0000000000..fa418c76e0 --- /dev/null +++ b/c/include/libsbp/profiling_macros.h @@ -0,0 +1,44 @@ +/* + * 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/profiling.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_PROFILING_MACROS_H +#define LIBSBP_PROFILING_MACROS_H + +#define SBP_MSG_MEASUREMENT_POINT 0xCF00 +/** + * 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_PROFILING_MACROS_H */ diff --git a/c/include/libsbp/sbp_msg.h b/c/include/libsbp/sbp_msg.h index a060303f9f..cd7b589dd9 100644 --- a/c/include/libsbp/sbp_msg.h +++ b/c/include/libsbp/sbp_msg.h @@ -38,6 +38,7 @@ #include #include #include +#include #include #include #include @@ -176,6 +177,7 @@ 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 +637,9 @@ 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 +1295,9 @@ 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 +1881,8 @@ 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 +2465,9 @@ 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/sbp_msg_type.h b/c/include/libsbp/sbp_msg_type.h index ce77c28ef5..b582a78a9b 100644 --- a/c/include/libsbp/sbp_msg_type.h +++ b/c/include/libsbp/sbp_msg_type.h @@ -34,6 +34,7 @@ #include #include #include +#include #include #include #include @@ -170,6 +171,7 @@ 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 +530,8 @@ 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/v4/profiling.h b/c/include/libsbp/v4/profiling.h new file mode 100644 index 0000000000..3897b5990e --- /dev/null +++ b/c/include/libsbp/v4/profiling.h @@ -0,0 +1,30 @@ +/* + * 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/ + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_PROFILING_MESSAGES_H +#define LIBSBP_PROFILING_MESSAGES_H + +#include + +SBP_MESSAGE( + "SBP message definitions have moved. To continue using these types include " + "`libsbp/profiling.h instead. Access to SBP types via this header file " + " will be removed in version 6.") + +#include + +#endif /* LIBSBP_PROFILING_MESSAGES_H */ \ No newline at end of file diff --git a/c/src/CMakeLists.txt b/c/src/CMakeLists.txt index dc42729978..8408832087 100644 --- a/c/src/CMakeLists.txt +++ b/c/src/CMakeLists.txt @@ -24,6 +24,7 @@ set(libsbp_SRCS observation.c orientation.c piksi.c + profiling.c sbas.c settings.c signing.c diff --git a/c/src/include/libsbp/internal/profiling.h b/c/src/include/libsbp/internal/profiling.h new file mode 100644 index 0000000000..51c02e3918 --- /dev/null +++ b/c/src/include/libsbp/internal/profiling.h @@ -0,0 +1,54 @@ +/* + * 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/profiling.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_INTERNAL_V4_PROFILING_H +#define LIBSBP_INTERNAL_V4_PROFILING_H + +#include + +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/** + * 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 + +#endif /* LIBSBP_INTERNAL_V4_PROFILING_H */ diff --git a/c/src/profiling.c b/c/src/profiling.c new file mode 100644 index 0000000000..89e07fbd89 --- /dev/null +++ b/c/src/profiling.c @@ -0,0 +1,277 @@ +/***************************************************************************** + * Automatically generated from yaml/swiftnav/sbp/profiling.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +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_internal_forward_payload(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); + return ret; +} diff --git a/c/test/auto_check_sbp_profiling_MsgMeasurementPoint.c b/c/test/auto_check_sbp_profiling_MsgMeasurementPoint.c new file mode 100644 index 0000000000..f90f4c642a --- /dev/null +++ b/c/test/auto_check_sbp_profiling_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/profiling/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_profiling_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, 0xCF00, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + + u8 encoded_frame[] = { + 85, 0, 207, 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, 212, 165, + }; + + 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_profiling_MsgMeasurementPoint_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: auto_check_sbp_profiling_MsgMeasurementPoint"); + TCase *tc_acq = tcase_create( + "Automated_Suite_auto_check_sbp_profiling_MsgMeasurementPoint"); + tcase_add_test(tc_acq, test_auto_check_sbp_profiling_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..cc8ec63e00 100644 --- a/c/test/check_main.c +++ b/c/test/check_main.c @@ -202,6 +202,7 @@ int main(void) { srunner_add_suite(sr, auto_check_sbp_piksi_MsgThreadState_suite()); srunner_add_suite(sr, auto_check_sbp_piksi_MsgUartState_suite()); srunner_add_suite(sr, auto_check_sbp_piksi_MsgUartStateDepA_suite()); + srunner_add_suite(sr, auto_check_sbp_profiling_MsgMeasurementPoint_suite()); srunner_add_suite(sr, auto_check_sbp_sbas_MsgSbasRaw_suite()); srunner_add_suite(sr, auto_check_sbp_settings_MsgSettingsReadByIndexDone_suite()); diff --git a/c/test/check_main_legacy.c b/c/test/check_main_legacy.c index f4fb8360da..8dae8e9830 100644 --- a/c/test/check_main_legacy.c +++ b/c/test/check_main_legacy.c @@ -280,6 +280,8 @@ int main(void) { srunner_add_suite(sr, legacy_auto_check_sbp_piksi_MsgThreadState_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_piksi_MsgUartState_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_piksi_MsgUartStateDepA_suite()); + srunner_add_suite( + sr, legacy_auto_check_sbp_profiling_MsgMeasurementPoint_suite()); srunner_add_suite(sr, legacy_auto_check_sbp_sbas_MsgSbasRaw_suite()); srunner_add_suite( sr, legacy_auto_check_sbp_settings_MsgSettingsReadByIndexDone_suite()); diff --git a/c/test/check_suites.h b/c/test/check_suites.h index 46ab46b4da..e712b6f95d 100644 --- a/c/test/check_suites.h +++ b/c/test/check_suites.h @@ -181,6 +181,7 @@ Suite* auto_check_sbp_piksi_MsgSpecanDep_suite(void); Suite* auto_check_sbp_piksi_MsgThreadState_suite(void); Suite* auto_check_sbp_piksi_MsgUartState_suite(void); Suite* auto_check_sbp_piksi_MsgUartStateDepA_suite(void); +Suite* auto_check_sbp_profiling_MsgMeasurementPoint_suite(void); Suite* auto_check_sbp_sbas_MsgSbasRaw_suite(void); Suite* auto_check_sbp_settings_MsgSettingsReadByIndexDone_suite(void); Suite* auto_check_sbp_settings_MsgSettingsReadByIndexReq_suite(void); diff --git a/c/test/check_suites_legacy.h b/c/test/check_suites_legacy.h index 6e091a8f5c..ef78f9cfdd 100644 --- a/c/test/check_suites_legacy.h +++ b/c/test/check_suites_legacy.h @@ -182,6 +182,7 @@ Suite* legacy_auto_check_sbp_piksi_MsgSpecanDep_suite(void); Suite* legacy_auto_check_sbp_piksi_MsgThreadState_suite(void); Suite* legacy_auto_check_sbp_piksi_MsgUartState_suite(void); Suite* legacy_auto_check_sbp_piksi_MsgUartStateDepA_suite(void); +Suite* legacy_auto_check_sbp_profiling_MsgMeasurementPoint_suite(void); Suite* legacy_auto_check_sbp_sbas_MsgSbasRaw_suite(void); Suite* legacy_auto_check_sbp_settings_MsgSettingsReadByIndexDone_suite(void); Suite* legacy_auto_check_sbp_settings_MsgSettingsReadByIndexReq_suite(void); diff --git a/c/test/cpp/auto_check_sbp_profiling_MsgMeasurementPoint.cc b/c/test/cpp/auto_check_sbp_profiling_MsgMeasurementPoint.cc new file mode 100644 index 0000000000..b9defbb113 --- /dev/null +++ b/c/test/cpp/auto_check_sbp_profiling_MsgMeasurementPoint.cc @@ -0,0 +1,994 @@ +/* + * 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/profiling/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_profiling_MsgMeasurementPoint0 + : public ::testing::Test { + public: + Testauto_check_sbp_profiling_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 = 0xa5d4; + 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, 0, 207, 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, 212, 165, + }; + 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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_MsgMeasurementPoint0, CppTraitsProperties) { + // EXPECT_EQ(sbp::MessageTraits::id, + // SbpMsgMeasurementPoint); + EXPECT_STREQ(sbp::MessageTraits::name, + "MSG_MEASUREMENT_POINT"); +} + +TEST_F(Testauto_check_sbp_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_MsgMeasurementPoint0_func + : public Testauto_check_sbp_profiling_MsgMeasurementPoint0 {}; + +TEST_F(Testauto_check_sbp_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_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_profiling_MsgMeasurementPoint.c b/c/test/legacy/auto_check_sbp_profiling_MsgMeasurementPoint.c new file mode 100644 index 0000000000..daec9dd41e --- /dev/null +++ b/c/test/legacy/auto_check_sbp_profiling_MsgMeasurementPoint.c @@ -0,0 +1,266 @@ +/* + * 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/profiling/test_MsgMeasurementPoint.yaml by +// generate.py. Do not modify by hand! + +#include +#include +#include // for debugging +#include // for malloc + +// Obviously we don't normally want to silence this message, but we also need to +// still test the legacy implementation for as long as it exists. By silencing +// these messages here we can get a less noisy build in libsbp +#ifdef SBP_MESSAGE +#undef SBP_MESSAGE +#define SBP_MESSAGE(x) +#endif +#include +#include +#include + +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_profiling_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, 0xCF00, &msg_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n); + sbp_frame_callback_register(&sbp_state, 0xCF00, &frame_callback, + &DUMMY_MEMORY_FOR_CALLBACKS, &n2); + + u8 encoded_frame[] = { + 85, 0, 207, 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, 212, 165, + }; + + 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, 0xCF00, 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 == 0xCF00, + "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_profiling_MsgMeasurementPoint_suite(void) { + Suite *s = suite_create( + "SBP generated test suite: " + "legacy_auto_check_sbp_profiling_MsgMeasurementPoint"); + TCase *tc_acq = tcase_create( + "Automated_Suite_legacy_auto_check_sbp_profiling_MsgMeasurementPoint"); + tcase_add_test(tc_acq, + test_legacy_auto_check_sbp_profiling_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_profiling_MsgMeasurementPoint.cc b/c/test/legacy/cpp/auto_check_sbp_profiling_MsgMeasurementPoint.cc new file mode 100644 index 0000000000..ec030982eb --- /dev/null +++ b/c/test/legacy/cpp/auto_check_sbp_profiling_MsgMeasurementPoint.cc @@ -0,0 +1,160 @@ +/* + * 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/profiling/test_MsgMeasurementPoint.yaml by +// generate.py. Do not modify by hand! + +#include + +#include + +// Obviously we don't normally want to silence this message, but we also need to +// still test the legacy implementation for as long as it exists. By silencing +// these messages here we can get a less noisy build in libsbp +#ifdef SBP_MESSAGE +#undef SBP_MESSAGE +#define SBP_MESSAGE(x) +#endif +#include +#include +#include +#include +class Test_legacy_auto_check_sbp_profiling_MsgMeasurementPoint0 + : public ::testing::Test, + public sbp::LegacyState, + public sbp::IReader, + public sbp::IWriter, + sbp::PayloadHandler { + public: + Test_legacy_auto_check_sbp_profiling_MsgMeasurementPoint0() + : ::testing::Test(), + sbp::LegacyState(), + 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_profiling_MsgMeasurementPoint0, Test) { + uint8_t encoded_frame[] = { + 85, 0, 207, 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, 212, 165, + }; + + 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(0xCF00, 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 d8562253f6..471e6bf4ac 100644 Binary files a/docs/sbp.pdf and b/docs/sbp.pdf differ diff --git a/haskell/sbp.cabal b/haskell/sbp.cabal index b2a2b42a54..64f6b1eb12 100644 --- a/haskell/sbp.cabal +++ b/haskell/sbp.cabal @@ -41,6 +41,7 @@ library , SwiftNav.SBP.Observation , SwiftNav.SBP.Orientation , SwiftNav.SBP.Piksi + , SwiftNav.SBP.Profiling , SwiftNav.SBP.Sbas , SwiftNav.SBP.Settings , SwiftNav.SBP.Signing diff --git a/haskell/src/SwiftNav/SBP.hs b/haskell/src/SwiftNav/SBP.hs index 33109154b6..da5bf36979 100644 --- a/haskell/src/SwiftNav/SBP.hs +++ b/haskell/src/SwiftNav/SBP.hs @@ -30,6 +30,7 @@ import SwiftNav.SBP.Ndb as Exports import SwiftNav.SBP.Observation as Exports import SwiftNav.SBP.Orientation as Exports import SwiftNav.SBP.Piksi as Exports +import SwiftNav.SBP.Profiling as Exports import SwiftNav.SBP.Sbas as Exports import SwiftNav.SBP.Settings as Exports import SwiftNav.SBP.Signing as Exports diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index 784c40d792..2076678b7d 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -40,6 +40,7 @@ import SwiftNav.SBP.Ndb import SwiftNav.SBP.Observation import SwiftNav.SBP.Orientation import SwiftNav.SBP.Piksi +import SwiftNav.SBP.Profiling import SwiftNav.SBP.Sbas import SwiftNav.SBP.Settings import SwiftNav.SBP.Signing @@ -175,6 +176,7 @@ 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 +423,7 @@ 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 +662,7 @@ 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 +905,7 @@ 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 +1149,7 @@ 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 +1387,7 @@ 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/Profiling.hs b/haskell/src/SwiftNav/SBP/Profiling.hs new file mode 100644 index 0000000000..1b5fea774e --- /dev/null +++ b/haskell/src/SwiftNav/SBP/Profiling.hs @@ -0,0 +1,93 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Profiling +-- Copyright: Copyright (C) 2015-2021 Swift Navigation, Inc. +-- License: MIT +-- Contact: https://support.swiftnav.com +-- Stability: experimental +-- Portability: portable +-- +-- \< Standardized profiling messages from Swift Navigation devices. \> + +module SwiftNav.SBP.Profiling + ( module SwiftNav.SBP.Profiling + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +msgMeasurementPoint :: Word16 +msgMeasurementPoint = 0xCF00 + +-- | SBP class for message MSG_MEASUREMENT_POINT (0xCF00). +-- +-- 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/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index e710975fc4..e3c1a5e8a1 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -178,6 +178,7 @@ import com.swiftnav.sbp.piksi.MsgThreadState; import com.swiftnav.sbp.piksi.MsgUartState; import com.swiftnav.sbp.piksi.MsgUartStateDepa; +import com.swiftnav.sbp.profiling.MsgMeasurementPoint; import com.swiftnav.sbp.sbas.MsgSbasRaw; import com.swiftnav.sbp.settings.MsgSettingsReadByIndexDone; import com.swiftnav.sbp.settings.MsgSettingsReadByIndexReq; @@ -580,6 +581,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgSpecan(msg); case MsgFrontEndGain.TYPE: return new MsgFrontEndGain(msg); + case MsgMeasurementPoint.TYPE: + return new MsgMeasurementPoint(msg); case MsgSbasRaw.TYPE: return new MsgSbasRaw(msg); case MsgSettingsSave.TYPE: diff --git a/java/src/com/swiftnav/sbp/profiling/MsgMeasurementPoint.java b/java/src/com/swiftnav/sbp/profiling/MsgMeasurementPoint.java new file mode 100644 index 0000000000..26cb1d4ae3 --- /dev/null +++ b/java/src/com/swiftnav/sbp/profiling/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.profiling; + +// This file was auto-generated from yaml/swiftnav/sbp/profiling.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 (0xCF00). + * + *

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 = 0xCF00; + + /** 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 52992, 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_profiling_MsgMeasurementPointTest.java b/java/test/auto_check_sbp_profiling_MsgMeasurementPointTest.java new file mode 100644 index 0000000000..bec13a7594 Binary files /dev/null and b/java/test/auto_check_sbp_profiling_MsgMeasurementPointTest.java differ diff --git a/javascript/sbp.bundle.js b/javascript/sbp.bundle.js index 0571d5a49f..7b700a6d67 100644 --- a/javascript/sbp.bundle.js +++ b/javascript/sbp.bundle.js @@ -5,11 +5,11 @@ * @author Feross Aboukhadijeh * @license MIT */ -var r=p(25),o=p(26),i=p(16);function s(){return a.TYPED_ARRAY_SUPPORT?2147483647:1073741823}function n(e,t){if(s()=s())throw new RangeError("Attempt to allocate Buffer larger than maximum size: 0x"+s().toString(16)+" bytes");return 0|e}function h(e,t){if(a.isBuffer(e))return e.length;if("undefined"!=typeof ArrayBuffer&&"function"==typeof ArrayBuffer.isView&&(ArrayBuffer.isView(e)||e instanceof ArrayBuffer))return e.byteLength;"string"!=typeof e&&(e=""+e);var p=e.length;if(0===p)return 0;for(var r=!1;;)switch(t){case"ascii":case"latin1":case"binary":return p;case"utf8":case"utf-8":case void 0:return k(e).length;case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return 2*p;case"hex":return p>>>1;case"base64":return B(e).length;default:if(r)return k(e).length;t=(""+t).toLowerCase(),r=!0}}function d(e,t,p){var r=!1;if((void 0===t||t<0)&&(t=0),t>this.length)return"";if((void 0===p||p>this.length)&&(p=this.length),p<=0)return"";if((p>>>=0)<=(t>>>=0))return"";for(e||(e="utf8");;)switch(e){case"hex":return D(this,t,p);case"utf8":case"utf-8":return v(this,t,p);case"ascii":return U(this,t,p);case"latin1":case"binary":return M(this,t,p);case"base64":return T(this,t,p);case"ucs2":case"ucs-2":case"utf16le":case"utf-16le":return O(this,t,p);default:if(r)throw new TypeError("Unknown encoding: "+e);e=(e+"").toLowerCase(),r=!0}}function _(e,t,p){var r=e[t];e[t]=e[p],e[p]=r}function S(e,t,p,r,o){if(0===e.length)return-1;if("string"==typeof p?(r=p,p=0):p>2147483647?p=2147483647:p<-2147483648&&(p=-2147483648),p=+p,isNaN(p)&&(p=o?0:e.length-1),p<0&&(p=e.length+p),p>=e.length){if(o)return-1;p=e.length-1}else if(p<0){if(!o)return-1;p=0}if("string"==typeof t&&(t=a.from(t,r)),a.isBuffer(t))return 0===t.length?-1:g(e,t,p,r,o);if("number"==typeof t)return t&=255,a.TYPED_ARRAY_SUPPORT&&"function"==typeof Uint8Array.prototype.indexOf?o?Uint8Array.prototype.indexOf.call(e,t,p):Uint8Array.prototype.lastIndexOf.call(e,t,p):g(e,[t],p,r,o);throw new TypeError("val must be string, number or Buffer")}function g(e,t,p,r,o){var i,s=1,n=e.length,a=t.length;if(void 0!==r&&("ucs2"===(r=String(r).toLowerCase())||"ucs-2"===r||"utf16le"===r||"utf-16le"===r)){if(e.length<2||t.length<2)return-1;s=2,n/=2,a/=2,p/=2}function l(e,t){return 1===s?e[t]:e.readUInt16BE(t*s)}if(o){var c=-1;for(i=p;in&&(p=n-a),i=p;i>=0;i--){for(var u=!0,y=0;yo&&(r=o):r=o;var i=t.length;if(i%2!=0)throw new TypeError("Invalid hex string");r>i/2&&(r=i/2);for(var s=0;s>8,o=p%256,i.push(o),i.push(r);return i}(t,e.length-p),e,p,r)}function T(e,t,p){return 0===t&&p===e.length?r.fromByteArray(e):r.fromByteArray(e.slice(t,p))}function v(e,t,p){p=Math.min(e.length,p);for(var r=[],o=t;o239?4:l>223?3:l>191?2:1;if(o+u<=p)switch(u){case 1:l<128&&(c=l);break;case 2:128==(192&(i=e[o+1]))&&(a=(31&l)<<6|63&i)>127&&(c=a);break;case 3:i=e[o+1],s=e[o+2],128==(192&i)&&128==(192&s)&&(a=(15&l)<<12|(63&i)<<6|63&s)>2047&&(a<55296||a>57343)&&(c=a);break;case 4:i=e[o+1],s=e[o+2],n=e[o+3],128==(192&i)&&128==(192&s)&&128==(192&n)&&(a=(15&l)<<18|(63&i)<<12|(63&s)<<6|63&n)>65535&&a<1114112&&(c=a)}null===c?(c=65533,u=1):c>65535&&(c-=65536,r.push(c>>>10&1023|55296),c=56320|1023&c),r.push(c),o+=u}return function(e){var t=e.length;if(t<=4096)return String.fromCharCode.apply(String,e);var p="",r=0;for(;r0&&(e=this.toString("hex",0,p).match(/.{2}/g).join(" "),this.length>p&&(e+=" ... 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this.options.formatter&&this.generateFormatter(e,t,this.options.formatter),this.generateNext(e)},e.prototype.generateAssert=function(e){if(this.options.assert){var t=e.generateVariable(this.varName);switch(typeof this.options.assert){case"function":var p=e.addImport(this.options.assert);e.pushCode("if (!"+p+".call(vars, "+t+")) {");break;case"number":e.pushCode("if ("+this.options.assert+" !== "+t+") {");break;case"string":e.pushCode('if ("'+this.options.assert+'" !== '+t+") {");break;default:throw new Error("Assert option supports only strings, numbers and assert functions.")}e.generateError('"Assert error: '+t+' is " + '+this.options.assert),e.pushCode("}")}},e.prototype.generateNext=function(e){return this.next&&(e=this.next.generate(e)),e},e.prototype.generateBit=function(e){var t=JSON.parse(JSON.stringify(this));if(t.varName=e.generateVariable(t.varName),e.bitFields.push(t),!this.next||this.next&&["bit","nest"].indexOf(this.next.type)<0){var 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t=e.generateVariable(this.varName),p=e.generateTmpVariable(),r=this.options.encoding,o="hex"===r.toLowerCase(),i='b => b.toString(16).padStart(2, "0")';if(this.options.length&&this.options.zeroTerminated){var s=this.options.length;e.pushCode("var "+p+" = offset;"),e.pushCode("while(dataView.getUint8(offset++) !== 0 && offset - "+p+" < "+s+");");var n="offset - "+p+" < "+s+" ? offset - 1 : offset";e.pushCode(o?t+" = Array.from(buffer.subarray("+p+", "+n+"), "+i+").join('');":t+" = new TextDecoder('"+r+"').decode(buffer.subarray("+p+", "+n+"));")}else if(this.options.length){s=e.generateOption(this.options.length);e.pushCode(o?t+" = Array.from(buffer.subarray(offset, offset + "+s+"), "+i+").join('');":t+" = new TextDecoder('"+r+"').decode(buffer.subarray(offset, offset + "+s+"));"),e.pushCode("offset += "+s+";")}else this.options.zeroTerminated?(e.pushCode("var "+p+" = offset;"),e.pushCode("while(dataView.getUint8(offset++) !== 0);"),e.pushCode(o?t+" = Array.from(buffer.subarray("+p+", 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___parser_"+a+"(offset);"),t.pushCode("var "+u+" = "+h+".result; offset = "+h+".offset;"),a!==this.alias&&t.addReference(a)}else{var d=s[a],_=n[a];t.pushCode("var "+u+" = dataView.get"+d+"(offset, "+_+");"),t.pushCode("offset += "+i[a]+";")}else a instanceof e&&(t.pushCode("var "+u+" = {};"),t.pushScope(u),a.generate(t),t.popScope());if(f?t.pushCode(c+"["+u+"."+y+"] = "+u+";"):t.pushCode(c+".push("+u+");"),t.pushCode("}"),"function"==typeof this.options.readUntil){var S=this.options.readUntil,g=t.addImport(S);t.pushCode("while (!"+g+".call(this, "+u+", buffer.subarray(offset)));")}},e.prototype.generateChoiceCase=function(t,p,r){if("string"==typeof r){var a=t.generateVariable(this.varName);if(o[r]){var l=t.generateTmpVariable();t.pushCode("var "+l+" = ___parser_"+r+"(offset);"),t.pushCode(a+" = "+l+".result; offset = "+l+".offset;"),r!==this.alias&&t.addReference(r)}else{var c=s[r],u=n[r];t.pushCode(a+" = dataView.get"+c+"(offset, "+u+");"),t.pushCode("offset += "+i[r])}}else r 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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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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 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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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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 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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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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 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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 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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 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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 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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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y=function(e,t){return r.call(this,e),this.messageType="MSG_RESET_DEP",this.fields=t||this.parser.parse(e.payload),this};(y.prototype=Object.create(r.prototype)).messageType="MSG_RESET_DEP",y.prototype.msg_type=178,y.prototype.constructor=y,y.prototype.parser=(new o).endianess("little"),y.prototype.fieldSpec=[];let f=function(e,t){return r.call(this,e),this.messageType="MSG_CW_RESULTS",this.fields=t||this.parser.parse(e.payload),this};(f.prototype=Object.create(r.prototype)).messageType="MSG_CW_RESULTS",f.prototype.msg_type=192,f.prototype.constructor=f,f.prototype.parser=(new o).endianess("little"),f.prototype.fieldSpec=[];let h=function(e,t){return r.call(this,e),this.messageType="MSG_CW_START",this.fields=t||this.parser.parse(e.payload),this};(h.prototype=Object.create(r.prototype)).messageType="MSG_CW_START",h.prototype.msg_type=193,h.prototype.constructor=h,h.prototype.parser=(new o).endianess("little"),h.prototype.fieldSpec=[];let d=function(e,t){return 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r.call(this,e),this.messageType="MSG_COMMAND_OUTPUT",this.fields=t||this.parser.parse(e.payload),this};(D.prototype=Object.create(r.prototype)).messageType="MSG_COMMAND_OUTPUT",D.prototype.msg_type=188,D.prototype.constructor=D,D.prototype.parser=(new o).endianess("little").uint32("sequence").string("line",{greedy:!0}),D.prototype.fieldSpec=[],D.prototype.fieldSpec.push(["sequence","writeUInt32LE",4]),D.prototype.fieldSpec.push(["line","string",null]);let O=function(e,t){return r.call(this,e),this.messageType="MSG_NETWORK_STATE_REQ",this.fields=t||this.parser.parse(e.payload),this};(O.prototype=Object.create(r.prototype)).messageType="MSG_NETWORK_STATE_REQ",O.prototype.msg_type=186,O.prototype.constructor=O,O.prototype.parser=(new o).endianess("little"),O.prototype.fieldSpec=[];let G=function(e,t){return r.call(this,e),this.messageType="MSG_NETWORK_STATE_RESP",this.fields=t||this.parser.parse(e.payload),this};(G.prototype=Object.create(r.prototype)).messageType="MSG_NETWORK_STATE_RESP",G.prototype.msg_type=187,G.prototype.constructor=G,G.prototype.parser=(new o).endianess("little").array("ipv4_address",{length:4,type:"uint8"}).uint8("ipv4_mask_size").array("ipv6_address",{length:16,type:"uint8"}).uint8("ipv6_mask_size").uint32("rx_bytes").uint32("tx_bytes").string("interface_name",{length:16}).uint32("flags"),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["ipv4_address","array","writeUInt8",function(){return 1},4]),G.prototype.fieldSpec.push(["ipv4_mask_size","writeUInt8",1]),G.prototype.fieldSpec.push(["ipv6_address","array","writeUInt8",function(){return 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R=function(e,t){return r.call(this,e),this.messageType="MSG_CELL_MODEM_STATUS",this.fields=t||this.parser.parse(e.payload),this};(R.prototype=Object.create(r.prototype)).messageType="MSG_CELL_MODEM_STATUS",R.prototype.msg_type=190,R.prototype.constructor=R,R.prototype.parser=(new o).endianess("little").int8("signal_strength").floatle("signal_error_rate").array("reserved",{type:"uint8",readUntil:"eof"}),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["signal_strength","writeInt8",1]),R.prototype.fieldSpec.push(["signal_error_rate","writeFloatLE",4]),R.prototype.fieldSpec.push(["reserved","array","writeUInt8",function(){return 1},null]);let P=function(e,t){return r.call(this,e),this.messageType="MSG_SPECAN_DEP",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(r.prototype)).messageType="MSG_SPECAN_DEP",P.prototype.msg_type=80,P.prototype.constructor=P,P.prototype.parser=(new 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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 o).endianess("little").nest("time",{type:s.prototype.parser}).uint8("update_interval").uint8("sol_id").uint8("iod_ssr").array("apc",{type:D.prototype.parser,readUntil:"eof"}),G.prototype.fieldSpec=[],G.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),G.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),G.prototype.fieldSpec.push(["sol_id","writeUInt8",1]),G.prototype.fieldSpec.push(["iod_ssr","writeUInt8",1]),G.prototype.fieldSpec.push(["apc","array",D.prototype.fieldSpec,function(){return this.fields.array.length},null]);let A=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(A.prototype=Object.create(r.prototype)).messageType="MSG_SSR_ORBIT_CLOCK_DEP_A",A.prototype.msg_type=1500,A.prototype.constructor=A,A.prototype.parser=(new 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 o).endianess("little").nest("time",{type:s.prototype.parser}).uint16("num_msgs").uint16("seq_num").uint8("update_interval").uint8("iod_atmo").uint8("tropo_quality_indicator"),R.prototype.fieldSpec=[],R.prototype.fieldSpec.push(["time",s.prototype.fieldSpec]),R.prototype.fieldSpec.push(["num_msgs","writeUInt16LE",2]),R.prototype.fieldSpec.push(["seq_num","writeUInt16LE",2]),R.prototype.fieldSpec.push(["update_interval","writeUInt8",1]),R.prototype.fieldSpec.push(["iod_atmo","writeUInt8",1]),R.prototype.fieldSpec.push(["tropo_quality_indicator","writeUInt8",1]);let P=function(e,t){return r.call(this,e),this.messageType="GridDefinitionHeaderDepA",this.fields=t||this.parser.parse(e.payload),this};(P.prototype=Object.create(r.prototype)).messageType="GridDefinitionHeaderDepA",P.prototype.constructor=P,P.prototype.parser=(new o).endianess("little").uint8("region_size_inverse").uint16("area_width").uint16("lat_nw_corner_enc").uint16("lon_nw_corner_enc").uint8("num_msgs").uint8("seq_num"),P.prototype.fieldSpec=[],P.prototype.fieldSpec.push(["region_size_inverse","writeUInt8",1]),P.prototype.fieldSpec.push(["area_width","writeUInt16LE",2]),P.prototype.fieldSpec.push(["lat_nw_corner_enc","writeUInt16LE",2]),P.prototype.fieldSpec.push(["lon_nw_corner_enc","writeUInt16LE",2]),P.prototype.fieldSpec.push(["num_msgs","writeUInt8",1]),P.prototype.fieldSpec.push(["seq_num","writeUInt8",1]);let N=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_STEC_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(N.prototype=Object.create(r.prototype)).messageType="MSG_SSR_STEC_CORRECTION_DEP_A",N.prototype.msg_type=1515,N.prototype.constructor=N,N.prototype.parser=(new 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 o).endianess("little").nest("header",{type:R.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:f.prototype.parser}).array("stec_residuals",{type:d.prototype.parser,readUntil:"eof"}),j.prototype.fieldSpec=[],j.prototype.fieldSpec.push(["header",R.prototype.fieldSpec]),j.prototype.fieldSpec.push(["index","writeUInt16LE",2]),j.prototype.fieldSpec.push(["tropo_delay_correction",f.prototype.fieldSpec]),j.prototype.fieldSpec.push(["stec_residuals","array",d.prototype.fieldSpec,function(){return this.fields.array.length},null]);let x=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(x.prototype=Object.create(r.prototype)).messageType="MSG_SSR_GRIDDED_CORRECTION_DEP_A",x.prototype.msg_type=1530,x.prototype.constructor=x,x.prototype.parser=(new o).endianess("little").nest("header",{type:R.prototype.parser}).uint16("index").nest("tropo_delay_correction",{type:h.prototype.parser}).array("stec_residuals",{type:_.prototype.parser,readUntil:"eof"}),x.prototype.fieldSpec=[],x.prototype.fieldSpec.push(["header",R.prototype.fieldSpec]),x.prototype.fieldSpec.push(["index","writeUInt16LE",2]),x.prototype.fieldSpec.push(["tropo_delay_correction",h.prototype.fieldSpec]),x.prototype.fieldSpec.push(["stec_residuals","array",_.prototype.fieldSpec,function(){return this.fields.array.length},null]);let F=function(e,t){return r.call(this,e),this.messageType="MSG_SSR_GRID_DEFINITION_DEP_A",this.fields=t||this.parser.parse(e.payload),this};(F.prototype=Object.create(r.prototype)).messageType="MSG_SSR_GRID_DEFINITION_DEP_A",F.prototype.msg_type=1525,F.prototype.constructor=F,F.prototype.parser=(new 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 o).endianess("little").uint32("uptime").nest("report",{type:a.prototype.parser}),c.prototype.fieldSpec=[],c.prototype.fieldSpec.push(["uptime","writeUInt32LE",4]),c.prototype.fieldSpec.push(["report",a.prototype.fieldSpec]);let u=function(e,t){return r.call(this,e),this.messageType="MSG_STATUS_JOURNAL",this.fields=t||this.parser.parse(e.payload),this};(u.prototype=Object.create(r.prototype)).messageType="MSG_STATUS_JOURNAL",u.prototype.msg_type=65533,u.prototype.constructor=u,u.prototype.parser=(new 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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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 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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/msg.js b/javascript/sbp/msg.js index a6172bedb8..20c2d6bbdc 100644 --- a/javascript/sbp/msg.js +++ b/javascript/sbp/msg.js @@ -104,6 +104,7 @@ var sbpImports = { observation: require('./observation.js'), orientation: require('./orientation.js'), piksi: require('./piksi.js'), + profiling: require('./profiling.js'), sbas: require('./sbas.js'), settings: require('./settings.js'), signings: require('./signing.js'), diff --git a/javascript/sbp/profiling.js b/javascript/sbp/profiling.js new file mode 100644 index 0000000000..a72ef10128 --- /dev/null +++ b/javascript/sbp/profiling.js @@ -0,0 +1,82 @@ +/** + * 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 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 spec/yaml/swiftnav/sbp/profiling.yaml with generate.py. + * Don't edit this by hand! + ********************** + * Package description: + * + * Standardized profiling messages from Swift Navigation devices. +***********************/ + +let SBP = require('./sbp'); +let Parser = require('./parser'); +let Int64 = require('node-int64'); +let UInt64 = require('cuint').UINT64; + +/** + * SBP class for message MSG_MEASUREMENT_POINT (0xCF00). + * + * 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 = 0xCF00; +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 = { + 0xCF00: 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/kaitai/ksy/profiling.ksy b/kaitai/ksy/profiling.ksy new file mode 100644 index 0000000000..cbcf6c381b --- /dev/null +++ b/kaitai/ksy/profiling.ksy @@ -0,0 +1,67 @@ +# Copyright (C) 2015-2023 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. +# +# Standardized profiling messages from Swift Navigation devices. +# +# Automatically generated from spec/yaml/swiftnav/sbp/profiling.yaml with generate.py. +# Do not modify by hand! + +meta: + id: profiling + endian: le + imports: [ ] + +types: + + msg_measurement_point: + doc: | + 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. + seq: + - id: total_time + doc: | + Total time spent in measurement point + type: u4 + - id: num_executions + doc: | + Number of times measurement point has executed + type: u2 + - id: min + doc: | + Minimum execution time + type: u4 + - id: max + doc: | + Maximum execution time + type: u4 + - id: return_addr + doc: | + Return address + type: u8 + - id: id + doc: | + Unique ID + type: u8 + - id: slice_time + doc: | + CPU slice time + type: u8 + - id: line + doc: | + Line number + type: u2 + - id: func + doc: | + Function name + type: str + encoding: ascii + size-eos: true + \ No newline at end of file diff --git a/kaitai/ksy/sbp.ksy b/kaitai/ksy/sbp.ksy index f1336c243f..35e8bddca2 100644 --- a/kaitai/ksy/sbp.ksy +++ b/kaitai/ksy/sbp.ksy @@ -34,6 +34,7 @@ meta: - observation - orientation - piksi + - profiling - sbas - settings - signing @@ -235,6 +236,8 @@ enums: 81: msg_specan 191: msg_front_end_gain + 52992: msg_measurement_point + 30583: msg_sbas_raw 161: msg_settings_save @@ -512,6 +515,8 @@ types: 81: piksi::msg_specan 191: piksi::msg_front_end_gain + 52992: profiling::msg_measurement_point + 30583: sbas::msg_sbas_raw 161: settings::msg_settings_save diff --git a/kaitai/perl/KaitaiSbp/Profiling.pm b/kaitai/perl/KaitaiSbp/Profiling.pm new file mode 100644 index 0000000000..8fb5c72b46 --- /dev/null +++ b/kaitai/perl/KaitaiSbp/Profiling.pm @@ -0,0 +1,126 @@ +# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +use strict; +use warnings; +use IO::KaitaiStruct 0.009_000; +use Encode; + +######################################################################## +package Profiling; + +our @ISA = 'IO::KaitaiStruct::Struct'; + +sub from_file { + my ($class, $filename) = @_; + my $fd; + + open($fd, '<', $filename) or return undef; + binmode($fd); + return new($class, IO::KaitaiStruct::Stream->new($fd)); +} + +sub new { + my ($class, $_io, $_parent, $_root) = @_; + my $self = IO::KaitaiStruct::Struct->new($_io); + + bless $self, $class; + $self->{_parent} = $_parent; + $self->{_root} = $_root || $self;; + + $self->_read(); + + return $self; +} + +sub _read { + my ($self) = @_; + +} + +######################################################################## +package Profiling::MsgMeasurementPoint; + +our @ISA = 'IO::KaitaiStruct::Struct'; + +sub from_file { + my ($class, $filename) = @_; + my $fd; + + open($fd, '<', $filename) or return undef; + binmode($fd); + return new($class, IO::KaitaiStruct::Stream->new($fd)); +} + +sub new { + my ($class, $_io, $_parent, $_root) = @_; + my $self = IO::KaitaiStruct::Struct->new($_io); + + bless $self, $class; + $self->{_parent} = $_parent; + $self->{_root} = $_root || $self;; + + $self->_read(); + + return $self; +} + +sub _read { + my ($self) = @_; + + $self->{total_time} = $self->{_io}->read_u4le(); + $self->{num_executions} = $self->{_io}->read_u2le(); + $self->{min} = $self->{_io}->read_u4le(); + $self->{max} = $self->{_io}->read_u4le(); + $self->{return_addr} = $self->{_io}->read_u8le(); + $self->{id} = $self->{_io}->read_u8le(); + $self->{slice_time} = $self->{_io}->read_u8le(); + $self->{line} = $self->{_io}->read_u2le(); + $self->{func} = Encode::decode("ascii", $self->{_io}->read_bytes_full()); +} + +sub total_time { + my ($self) = @_; + return $self->{total_time}; +} + +sub num_executions { + my ($self) = @_; + return $self->{num_executions}; +} + +sub min { + my ($self) = @_; + return $self->{min}; +} + +sub max { + my ($self) = @_; + return $self->{max}; +} + +sub return_addr { + my ($self) = @_; + return $self->{return_addr}; +} + +sub id { + my ($self) = @_; + return $self->{id}; +} + +sub slice_time { + my ($self) = @_; + return $self->{slice_time}; +} + +sub line { + my ($self) = @_; + return $self->{line}; +} + +sub func { + my ($self) = @_; + return $self->{func}; +} + +1; diff --git a/kaitai/perl/KaitaiSbp/Sbp.pm b/kaitai/perl/KaitaiSbp/Sbp.pm index c8eacc87fa..15f62cdc37 100644 --- a/kaitai/perl/KaitaiSbp/Sbp.pm +++ b/kaitai/perl/KaitaiSbp/Sbp.pm @@ -15,6 +15,7 @@ use KaitaiSbp::Ndb; use KaitaiSbp::Observation; use KaitaiSbp::Orientation; use KaitaiSbp::Piksi; +use KaitaiSbp::Profiling; use KaitaiSbp::Sbas; use KaitaiSbp::Settings; use KaitaiSbp::Signing; @@ -262,6 +263,7 @@ our $MSG_IDS_MSG_LINUX_PROCESS_FD_SUMMARY = 32519; our $MSG_IDS_MSG_LINUX_CPU_STATE = 32520; our $MSG_IDS_MSG_LINUX_MEM_STATE = 32521; our $MSG_IDS_MSG_LINUX_SYS_STATE = 32522; +our $MSG_IDS_MSG_MEASUREMENT_POINT = 52992; our $MSG_IDS_MSG_STARTUP = 65280; our $MSG_IDS_MSG_DGNSS_STATUS = 65282; our $MSG_IDS_MSG_INS_STATUS = 65283; @@ -625,6 +627,11 @@ sub _read { my $io__raw_payload = IO::KaitaiStruct::Stream->new($self->{_raw_payload}); $self->{payload} = Ssr::MsgSsrCodePhaseBiasesBounds->new($io__raw_payload, $self, $self->{_root}); } + elsif ($_on == 52992) { + $self->{_raw_payload} = $self->{_io}->read_bytes($self->length()); + my $io__raw_payload = IO::KaitaiStruct::Stream->new($self->{_raw_payload}); + $self->{payload} = Profiling::MsgMeasurementPoint->new($io__raw_payload, $self, $self->{_root}); + } elsif ($_on == 150) { $self->{_raw_payload} = $self->{_io}->read_bytes($self->length()); my $io__raw_payload = IO::KaitaiStruct::Stream->new($self->{_raw_payload}); diff --git a/kaitai/perl/KaitaiSbp/Table.pm b/kaitai/perl/KaitaiSbp/Table.pm index 8208dcd8e7..1d892ec392 100644 --- a/kaitai/perl/KaitaiSbp/Table.pm +++ b/kaitai/perl/KaitaiSbp/Table.pm @@ -30,6 +30,7 @@ use KaitaiSbp::Ndb; use KaitaiSbp::Observation; use KaitaiSbp::Orientation; use KaitaiSbp::Piksi; +use KaitaiSbp::Profiling; use KaitaiSbp::Sbas; use KaitaiSbp::Settings; use KaitaiSbp::Signing; @@ -229,6 +230,8 @@ our %TABLE = ( 81 => sub{Piksi::MsgSpecan->new(@_)}, 191 => sub{Piksi::MsgFrontEndGain->new(@_)}, + 52992 => sub{Profiling::MsgMeasurementPoint->new(@_)}, + 30583 => sub{Sbas::MsgSbasRaw->new(@_)}, 161 => sub{Settings::MsgSettingsSave->new(@_)}, diff --git a/kaitai/perl/KaitaiSbp/t/auto_check_sbp_profiling_MsgMeasurementPoint.t b/kaitai/perl/KaitaiSbp/t/auto_check_sbp_profiling_MsgMeasurementPoint.t new file mode 100644 index 0000000000..76053cebc1 --- /dev/null +++ b/kaitai/perl/KaitaiSbp/t/auto_check_sbp_profiling_MsgMeasurementPoint.t @@ -0,0 +1,72 @@ +#!/usr/bin/perl -w +# +# Copyright (C) 2015-2023 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. +# +# Test cases automatically generated from spec/tests/yaml/swiftnav/sbp/profiling/test_MsgMeasurementPoint.yaml +# with generate.py. Do not modify by hand! + +use strict; + +BEGIN { + # add grandparent directory to include path + use Cwd qw(realpath); + use File::Basename; + unshift @INC, realpath(dirname($0))."/../../"; +} + +use KaitaiSbp::Sbp; +use KaitaiSbp::ParseUtils; +use IO::KaitaiStruct; +use Test::More; +use JSON::PP; +use MIME::Base64; +sub test_auto_check_sbp_profiling_msg_measurement_point_1() { + my $buf = decode_base64("VQDPABAw+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA1KU="); + my $stream = IO::KaitaiStruct::Stream->new($buf); + my $msg = ParseUtils::get_flattened_msg(Sbp::SbpMessage->new($stream)); + + is($msg->{'crc'}, 0xa5d4, "crc"); + + is($msg->{'length'}, 48, "length"); + + is($msg->{'msg_type'}, 0xCF00, "msg_type"); + + is($msg->{'payload'}, "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA", "payload"); + + is($msg->{'preamble'}, 0x55, "preamble"); + + is($msg->{'sender'}, 0x1000, "sender"); + + my $json = JSON::PP->new->convert_blessed->canonical; + + is($msg->func(), "route()\x00", "func"); + + is($msg->id(), 2496234002, "id"); + + is($msg->line(), 18, "line"); + + is($msg->max(), 40, "max"); + + is($msg->min(), 2, "min"); + + is($msg->num_executions(), 180, "num_executions"); + + is($msg->return_addr(), 93877475527042, "return_addr"); + + is($msg->slice_time(), 261963842, "slice_time"); + + is($msg->total_time(), 2042, "total_time"); + + is($json->encode($msg), $json->encode($json->decode(q{{"crc":42452,"func":"route()\u0000","id":2496234002,"length":48,"line":18,"max":40,"min":2,"msg_type":52992,"num_executions":180,"payload":"+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA","preamble":85,"return_addr":93877475527042,"sender":4096,"slice_time":261963842,"total_time":2042}})), "raw_json"); +} +test_auto_check_sbp_profiling_msg_measurement_point_1(); + +done_testing(); \ No newline at end of file diff --git a/kaitai/python/kaitai_sbp/profiling.py b/kaitai/python/kaitai_sbp/profiling.py new file mode 100644 index 0000000000..a8bef316d4 --- /dev/null +++ b/kaitai/python/kaitai_sbp/profiling.py @@ -0,0 +1,43 @@ +# This is a generated file! Please edit source .ksy file and use kaitai-struct-compiler to rebuild + +import kaitaistruct +from kaitaistruct import KaitaiStruct, KaitaiStream, BytesIO + + +if getattr(kaitaistruct, 'API_VERSION', (0, 9)) < (0, 9): + raise Exception("Incompatible Kaitai Struct Python API: 0.9 or later is required, but you have %s" % (kaitaistruct.__version__)) + +class Profiling(KaitaiStruct): + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + pass + + class MsgMeasurementPoint(KaitaiStruct): + """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. + """ + def __init__(self, _io, _parent=None, _root=None): + self._io = _io + self._parent = _parent + self._root = _root if _root else self + self._read() + + def _read(self): + self.total_time = self._io.read_u4le() + self.num_executions = self._io.read_u2le() + self.min = self._io.read_u4le() + self.max = self._io.read_u4le() + self.return_addr = self._io.read_u8le() + self.id = self._io.read_u8le() + self.slice_time = self._io.read_u8le() + self.line = self._io.read_u2le() + self.func = (self._io.read_bytes_full()).decode(u"ascii") + + + diff --git a/kaitai/python/kaitai_sbp/sbp.py b/kaitai/python/kaitai_sbp/sbp.py index b5c7b28b1e..589c93831b 100644 --- a/kaitai/python/kaitai_sbp/sbp.py +++ b/kaitai/python/kaitai_sbp/sbp.py @@ -15,6 +15,7 @@ from .observation import * from .orientation import * from .piksi import * +from .profiling import * from .sbas import * from .settings import * from .signing import * @@ -255,6 +256,7 @@ class MsgIds(Enum): msg_linux_cpu_state = 32520 msg_linux_mem_state = 32521 msg_linux_sys_state = 32522 + msg_measurement_point = 52992 msg_startup = 65280 msg_dgnss_status = 65282 msg_ins_status = 65283 @@ -527,6 +529,10 @@ def _read(self): self._raw_payload = self._io.read_bytes(self.length) _io__raw_payload = KaitaiStream(BytesIO(self._raw_payload)) self.payload = Ssr.MsgSsrCodePhaseBiasesBounds(_io__raw_payload, self, self._root) + elif _on == 52992: + self._raw_payload = self._io.read_bytes(self.length) + _io__raw_payload = KaitaiStream(BytesIO(self._raw_payload)) + self.payload = Profiling.MsgMeasurementPoint(_io__raw_payload, self, self._root) elif _on == 150: self._raw_payload = self._io.read_bytes(self.length) _io__raw_payload = KaitaiStream(BytesIO(self._raw_payload)) diff --git a/kaitai/python/kaitai_sbp/table.py b/kaitai/python/kaitai_sbp/table.py index a083dea69f..f1a9a37c5e 100644 --- a/kaitai/python/kaitai_sbp/table.py +++ b/kaitai/python/kaitai_sbp/table.py @@ -28,6 +28,7 @@ from .observation import * from .orientation import * from .piksi import * +from .profiling import * from .sbas import * from .settings import * from .signing import * @@ -223,6 +224,8 @@ 81: Piksi.MsgSpecan, 191: Piksi.MsgFrontEndGain, + 52992: Profiling.MsgMeasurementPoint, + 30583: Sbas.MsgSbasRaw, 161: Settings.MsgSettingsSave, diff --git a/kaitai/python/kaitai_sbp/tests/test_auto_check_sbp_profiling_MsgMeasurementPoint.py b/kaitai/python/kaitai_sbp/tests/test_auto_check_sbp_profiling_MsgMeasurementPoint.py new file mode 100644 index 0000000000..3d65713876 --- /dev/null +++ b/kaitai/python/kaitai_sbp/tests/test_auto_check_sbp_profiling_MsgMeasurementPoint.py @@ -0,0 +1,57 @@ +# Copyright (C) 2015-2023 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. +# +# Test cases automatically generated from spec/tests/yaml/swiftnav/sbp/profiling/test_MsgMeasurementPoint.yaml +# with generate.py. Do not modify by hand! + +import kaitai_sbp.sbp as sbp +from kaitai_sbp.parse_utils import get_flattened_msg +from kaitai_sbp.tests.utils import dictify +from kaitaistruct import KaitaiStream +import io +import base64 + +def test_auto_check_sbp_profiling_msg_measurement_point_1(): + buf = base64.standard_b64decode("VQDPABAw+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA1KU=") + + stream = KaitaiStream(io.BytesIO(buf)) + msg = get_flattened_msg(sbp.Sbp.SbpMessage(stream)) + + assert msg.crc == 0xa5d4 + + assert msg.length == 48 + + assert msg.msg_type == 0xCF00 + + assert msg.payload == "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA" + + assert msg.preamble == 0x55 + + assert msg.sender == 0x1000 + + assert dictify(msg.func) == "route()\x00" + + assert dictify(msg.id) == 2496234002 + + assert dictify(msg.line) == 18 + + assert dictify(msg.max) == 40 + + assert dictify(msg.min) == 2 + + assert dictify(msg.num_executions) == 180 + + assert dictify(msg.return_addr) == 93877475527042 + + assert dictify(msg.slice_time) == 261963842 + + assert dictify(msg.total_time) == 2042 + + assert dictify(msg) == {'crc': 42452, 'preamble': 85, 'sender': 4096, 'length': 48, 'msg_type': 52992, 'total_time': 2042, 'num_executions': 180, 'min': 2, 'max': 40, 'return_addr': 93877475527042, 'id': 2496234002, 'slice_time': 261963842, 'line': 18, 'func': 'route()\x00', 'payload': '+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA'} \ No newline at end of file diff --git a/proto/profiling.proto b/proto/profiling.proto new file mode 100644 index 0000000000..fba91fde3d --- /dev/null +++ b/proto/profiling.proto @@ -0,0 +1,39 @@ +/* + * Copyright (C) 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. + */ + +syntax = "proto3"; + +/** Profiling + * + * Standardized profiling messages from Swift Navigation devices. + */ + +package swiftnav.sbp.profiling; + + +/** 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. + */ +message MsgMeasurementPoint { + uint32 total_time = 1; + uint32 num_executions = 2; + uint32 min = 3; + uint32 max = 4; + uint64 return_addr = 5; + uint64 id = 6; + uint64 slice_time = 7; + uint32 line = 8; + string func = 9; +} \ No newline at end of file diff --git a/python/docs/source/spelling_wordlist.txt b/python/docs/source/spelling_wordlist.txt index 141d8a47c2..3b90164009 100644 --- a/python/docs/source/spelling_wordlist.txt +++ b/python/docs/source/spelling_wordlist.txt @@ -167,6 +167,7 @@ utils uuid wheeltick wheelticks +xCF xF xFF xFFFE diff --git a/python/sbp/profiling.py b/python/sbp/profiling.py new file mode 100644 index 0000000000..721352db6a --- /dev/null +++ b/python/sbp/profiling.py @@ -0,0 +1,168 @@ +#!/usr/bin/env python +# 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. + + +""" +Standardized profiling messages from Swift Navigation devices. +""" + +import json + +import construct + +from sbp.msg import SBP, SENDER_ID +from sbp.utils import fmt_repr, exclude_fields, walk_json_dict, containerize + +# Automatically generated from piksi/yaml/swiftnav/sbp/profiling.yaml with generate.py. +# Please do not hand edit! + + +SBP_MSG_MEASUREMENT_POINT = 0xCF00 +class MsgMeasurementPoint(SBP): + """SBP class for message MSG_MEASUREMENT_POINT (0xCF00). + + 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 = { + 0xCF00: MsgMeasurementPoint, +} \ No newline at end of file diff --git a/python/sbp/table.py b/python/sbp/table.py index e3557ef189..2f9cccafa8 100755 --- a/python/sbp/table.py +++ b/python/sbp/table.py @@ -40,6 +40,7 @@ from . import solution_meta as solmeta from . import signing as signing from . import telemetry as telemetry +from . import profiling as profiling import warnings @@ -68,6 +69,7 @@ + list(solmeta.msg_classes.items()) + list(signing.msg_classes.items()) + list(telemetry.msg_classes.items()) + + list(profiling.msg_classes.items()) ) class InvalidSBPMessageType(NotImplementedError): diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index 9eecdd784f..636bdae92b 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -35,6 +35,7 @@ from sbp import solution_meta as solmeta from sbp import signing as signing from sbp import telemetry as telemetry +from sbp import profiling as profiling import warnings @@ -43,7 +44,7 @@ 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(): @@ -75,6 +76,7 @@ def test_table_unqiue_count(): + len(solmeta.msg_classes) + len(signing.msg_classes) + len(telemetry.msg_classes) + + len(profiling.msg_classes) ) assert len(_SBP_TABLE) == number_of_messages diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index dcaf43ed50..d0bf93f024 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -32,6 +32,7 @@ pub mod ndb; pub mod observation; pub mod orientation; pub mod piksi; +pub mod profiling; pub mod sbas; pub mod settings; pub mod signing; @@ -209,6 +210,7 @@ use self::piksi::msg_specan_dep::MsgSpecanDep; use self::piksi::msg_thread_state::MsgThreadState; use self::piksi::msg_uart_state::MsgUartState; use self::piksi::msg_uart_state_depa::MsgUartStateDepa; +use self::profiling::msg_measurement_point::MsgMeasurementPoint; use self::sbas::msg_sbas_raw::MsgSbasRaw; use self::settings::msg_settings_read_by_index_done::MsgSettingsReadByIndexDone; use self::settings::msg_settings_read_by_index_req::MsgSettingsReadByIndexReq; @@ -820,6 +822,8 @@ pub enum Sbp { MsgLinuxMemState(MsgLinuxMemState), /// CPU, Memory and Process Starts/Stops MsgLinuxSysState(MsgLinuxSysState), + /// Profiling Measurement Point + MsgMeasurementPoint(MsgMeasurementPoint), /// System start-up message MsgStartup(MsgStartup), /// Status of received corrections @@ -1559,6 +1563,9 @@ impl<'de> serde::Deserialize<'de> for Sbp { Some(MsgLinuxSysState::MESSAGE_TYPE) => { serde_json::from_value::(value).map(Sbp::MsgLinuxSysState) } + Some(MsgMeasurementPoint::MESSAGE_TYPE) => { + serde_json::from_value::(value).map(Sbp::MsgMeasurementPoint) + } Some(MsgStartup::MESSAGE_TYPE) => { serde_json::from_value::(value).map(Sbp::MsgStartup) } @@ -2244,6 +2251,9 @@ impl Sbp { MsgLinuxSysState::MESSAGE_TYPE => { MsgLinuxSysState::parse(&mut payload).map(Sbp::MsgLinuxSysState) } + MsgMeasurementPoint::MESSAGE_TYPE => { + MsgMeasurementPoint::parse(&mut payload).map(Sbp::MsgMeasurementPoint) + } MsgStartup::MESSAGE_TYPE => MsgStartup::parse(&mut payload).map(Sbp::MsgStartup), MsgDgnssStatus::MESSAGE_TYPE => { MsgDgnssStatus::parse(&mut payload).map(Sbp::MsgDgnssStatus) @@ -2523,6 +2533,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.message_name(), Sbp::MsgLinuxMemState(msg) => msg.message_name(), Sbp::MsgLinuxSysState(msg) => msg.message_name(), + Sbp::MsgMeasurementPoint(msg) => msg.message_name(), Sbp::MsgStartup(msg) => msg.message_name(), Sbp::MsgDgnssStatus(msg) => msg.message_name(), Sbp::MsgInsStatus(msg) => msg.message_name(), @@ -2763,6 +2774,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.message_type(), Sbp::MsgLinuxMemState(msg) => msg.message_type(), Sbp::MsgLinuxSysState(msg) => msg.message_type(), + Sbp::MsgMeasurementPoint(msg) => msg.message_type(), Sbp::MsgStartup(msg) => msg.message_type(), Sbp::MsgDgnssStatus(msg) => msg.message_type(), Sbp::MsgInsStatus(msg) => msg.message_type(), @@ -3003,6 +3015,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.sender_id(), Sbp::MsgLinuxMemState(msg) => msg.sender_id(), Sbp::MsgLinuxSysState(msg) => msg.sender_id(), + Sbp::MsgMeasurementPoint(msg) => msg.sender_id(), Sbp::MsgStartup(msg) => msg.sender_id(), Sbp::MsgDgnssStatus(msg) => msg.sender_id(), Sbp::MsgInsStatus(msg) => msg.sender_id(), @@ -3243,6 +3256,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.set_sender_id(new_id), Sbp::MsgLinuxMemState(msg) => msg.set_sender_id(new_id), Sbp::MsgLinuxSysState(msg) => msg.set_sender_id(new_id), + Sbp::MsgMeasurementPoint(msg) => msg.set_sender_id(new_id), Sbp::MsgStartup(msg) => msg.set_sender_id(new_id), Sbp::MsgDgnssStatus(msg) => msg.set_sender_id(new_id), Sbp::MsgInsStatus(msg) => msg.set_sender_id(new_id), @@ -3483,6 +3497,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.encoded_len(), Sbp::MsgLinuxMemState(msg) => msg.encoded_len(), Sbp::MsgLinuxSysState(msg) => msg.encoded_len(), + Sbp::MsgMeasurementPoint(msg) => msg.encoded_len(), Sbp::MsgStartup(msg) => msg.encoded_len(), Sbp::MsgDgnssStatus(msg) => msg.encoded_len(), Sbp::MsgInsStatus(msg) => msg.encoded_len(), @@ -3726,6 +3741,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.gps_time(), Sbp::MsgLinuxMemState(msg) => msg.gps_time(), Sbp::MsgLinuxSysState(msg) => msg.gps_time(), + Sbp::MsgMeasurementPoint(msg) => msg.gps_time(), Sbp::MsgStartup(msg) => msg.gps_time(), Sbp::MsgDgnssStatus(msg) => msg.gps_time(), Sbp::MsgInsStatus(msg) => msg.gps_time(), @@ -3966,6 +3982,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.friendly_name(), Sbp::MsgLinuxMemState(msg) => msg.friendly_name(), Sbp::MsgLinuxSysState(msg) => msg.friendly_name(), + Sbp::MsgMeasurementPoint(msg) => msg.friendly_name(), Sbp::MsgStartup(msg) => msg.friendly_name(), Sbp::MsgDgnssStatus(msg) => msg.friendly_name(), Sbp::MsgInsStatus(msg) => msg.friendly_name(), @@ -4206,6 +4223,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => msg.is_valid(), Sbp::MsgLinuxMemState(msg) => msg.is_valid(), Sbp::MsgLinuxSysState(msg) => msg.is_valid(), + Sbp::MsgMeasurementPoint(msg) => msg.is_valid(), Sbp::MsgStartup(msg) => msg.is_valid(), Sbp::MsgDgnssStatus(msg) => msg.is_valid(), Sbp::MsgInsStatus(msg) => msg.is_valid(), @@ -4535,6 +4553,7 @@ impl SbpMessage for Sbp { Sbp::MsgLinuxCpuState(msg) => Ok(Sbp::MsgLinuxCpuState(msg.into_valid_msg()?)), Sbp::MsgLinuxMemState(msg) => Ok(Sbp::MsgLinuxMemState(msg.into_valid_msg()?)), Sbp::MsgLinuxSysState(msg) => Ok(Sbp::MsgLinuxSysState(msg.into_valid_msg()?)), + Sbp::MsgMeasurementPoint(msg) => Ok(Sbp::MsgMeasurementPoint(msg.into_valid_msg()?)), Sbp::MsgStartup(msg) => Ok(Sbp::MsgStartup(msg.into_valid_msg()?)), Sbp::MsgDgnssStatus(msg) => Ok(Sbp::MsgDgnssStatus(msg.into_valid_msg()?)), Sbp::MsgInsStatus(msg) => Ok(Sbp::MsgInsStatus(msg.into_valid_msg()?)), @@ -4790,6 +4809,7 @@ impl WireFormat for Sbp { Sbp::MsgLinuxCpuState(msg) => WireFormat::write(msg, buf), Sbp::MsgLinuxMemState(msg) => WireFormat::write(msg, buf), Sbp::MsgLinuxSysState(msg) => WireFormat::write(msg, buf), + Sbp::MsgMeasurementPoint(msg) => WireFormat::write(msg, buf), Sbp::MsgStartup(msg) => WireFormat::write(msg, buf), Sbp::MsgDgnssStatus(msg) => WireFormat::write(msg, buf), Sbp::MsgInsStatus(msg) => WireFormat::write(msg, buf), @@ -5030,6 +5050,7 @@ impl WireFormat for Sbp { Sbp::MsgLinuxCpuState(msg) => WireFormat::len(msg), Sbp::MsgLinuxMemState(msg) => WireFormat::len(msg), Sbp::MsgLinuxSysState(msg) => WireFormat::len(msg), + Sbp::MsgMeasurementPoint(msg) => WireFormat::len(msg), Sbp::MsgStartup(msg) => WireFormat::len(msg), Sbp::MsgDgnssStatus(msg) => WireFormat::len(msg), Sbp::MsgInsStatus(msg) => WireFormat::len(msg), @@ -6359,6 +6380,12 @@ impl From for Sbp { } } +impl From for Sbp { + fn from(msg: MsgMeasurementPoint) -> Self { + Sbp::MsgMeasurementPoint(msg) + } +} + impl From for Sbp { fn from(msg: MsgStartup) -> Self { Sbp::MsgStartup(msg) diff --git a/rust/sbp/src/messages/profiling.rs b/rust/sbp/src/messages/profiling.rs new file mode 100644 index 0000000000..755a4a2fce --- /dev/null +++ b/rust/sbp/src/messages/profiling.rs @@ -0,0 +1,158 @@ +// 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/profiling.yaml +// with generate.py. Please do not hand edit! +//****************************************************************************/ +//! Standardized profiling messages from Swift Navigation devices. +pub use msg_measurement_point::MsgMeasurementPoint; + +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 = 52992; + 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), + } + } + } +} diff --git a/rust/sbp/tests/integration/auto_check_sbp_profiling_msg_measurement_point.rs b/rust/sbp/tests/integration/auto_check_sbp_profiling_msg_measurement_point.rs new file mode 100644 index 0000000000..1841512638 --- /dev/null +++ b/rust/sbp/tests/integration/auto_check_sbp_profiling_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/profiling/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_profiling_msg_measurement_point() { + { + let mut payload = Cursor::new(vec![ + 85, 0, 207, 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, 212, 165, + ]); + + // 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, 0xCF00, + "Incorrect message type, expected 0xCF00, 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_profiling_msg_measurement_point() { + { + let json_input = r#"{"crc": 42452, "preamble": 85, "sender": 4096, "length": 48, "msg_type": 52992, "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, 0xCF00, + "Incorrect message type, expected 0xCF00, 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_profiling_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_profiling_msg_measurement_point() { + { + let mut payload = Cursor::new(vec![ + 85, 0, 207, 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, 212, 165, + ]); + + // 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, 0xCF00, + "Incorrect message type, expected 0xCF00, 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..c2d30cb5d6 100644 --- a/rust/sbp/tests/integration/main.rs +++ b/rust/sbp/tests/integration/main.rs @@ -175,6 +175,7 @@ mod auto_check_sbp_piksi_msg_specan_dep; mod auto_check_sbp_piksi_msg_thread_state; mod auto_check_sbp_piksi_msg_uart_state; mod auto_check_sbp_piksi_msg_uart_state_dep_a; +mod auto_check_sbp_profiling_msg_measurement_point; mod auto_check_sbp_sbas_msg_sbas_raw; mod auto_check_sbp_settings_msg_settings_read_by_index_done; mod auto_check_sbp_settings_msg_settings_read_by_index_req; diff --git a/sbpjson/elm/SbpJson.elm b/sbpjson/elm/SbpJson.elm index 3cbc8c33e3..db6b665b0b 100644 --- a/sbpjson/elm/SbpJson.elm +++ b/sbpjson/elm/SbpJson.elm @@ -5,7 +5,7 @@ -- add these imports -- -- import Json.Decode exposing (decodeString)`); --- import SbpJson exposing (acqSvProfile, almanacCommonContent, boundsHeader, carrierPhase, codeBiasesContent, codePhaseBiasesSatSig, doppler, ecdsaSignature, ephemerisCommonContent, estimatedHorizontalErrorEllipse, gnssInputType, gnssCapb, gnssSignal, gpsTime, gpsTimeSEC, gridElement, gridElementNoStd, griddedCorrectionHeader, imuInputType, integritySSRHeader, latency, measurementState, msgAcknowledge, msgAcqResult, msgAcqSvProfile, msgAgeCorrections, msgAlmanac, msgAlmanacGPS, msgAlmanacGlo, msgAngularRate, msgBasePosECEF, msgBasePosLLH, msgBaselineECEF, msgBaselineHeading, msgBaselineNED, msgBootloaderHandshakeReq, msgBootloaderHandshakeResp, msgBootloaderJumpToApp, msgCellModemStatus, msgCertificateChain, msgCommandOutput, msgCommandReq, msgCommandResp, msgCsacTelemetry, msgCsacTelemetryLabels, msgCwResults, msgCwStart, msgDeviceMonitor, msgDgnssStatus, msgDops, msgEcdsaCertificate, msgEcdsaSignature, msgEphemerisBds, msgEphemerisGPS, msgEphemerisGal, msgEphemerisGlo, msgEphemerisQzss, msgEphemerisSbas, msgEXTEvent, msgFileioConfigReq, msgFileioConfigResp, msgFileioReadDirReq, msgFileioReadDirResp, msgFileioReadReq, msgFileioReadResp, msgFileioRemove, msgFileioWriteReq, msgFileioWriteResp, msgFlashDone, msgFlashErase, msgFlashProgram, msgFlashReadReq, msgFlashReadResp, msgFrontEndGain, msgFwd, msgGPSTime, msgGPSTimeGnss, msgGloBiases, msgGnssCapb, msgGnssTimeOffset, msgGroupDelay, msgGroupMeta, msgHeartbeat, msgIarState, msgImuAux, msgImuRaw, msgInsStatus, msgInsUpdates, msgIono, msgLinuxCPUState, msgLinuxMemState, msgLinuxProcessFdCount, msgLinuxProcessFdSummary, msgLinuxProcessSocketCounts, msgLinuxProcessSocketQueues, msgLinuxSocketUsage, msgLinuxSysState, msgLog, msgM25FlashWriteStatus, msgMagRaw, msgMaskSatellite, msgMeasurementState, msgNapDeviceDnaReq, msgNapDeviceDnaResp, msgNdbEvent, msgNetworkBandwidthUsage, msgNetworkStateReq, msgNetworkStateResp, msgObs, msgOdometry, msgOrientEuler, msgOrientQuat, msgOsr, msgPosECEF, msgPosECEFCov, msgPosECEFCovGnss, msgPosECEFGnss, msgPosLLH, msgPosLLHAcc, msgPosLLHCov, msgPosLLHCovGnss, msgPosLLHGnss, msgPoseRelative, msgPpsTime, msgProtectionLevel, msgReferenceFrameParam, msgReset, msgResetFilters, msgSbasRaw, msgSensorAidEvent, msgSetTime, msgSettingsReadByIndexDone, msgSettingsReadByIndexReq, msgSettingsReadByIndexResp, msgSettingsReadReq, msgSettingsReadResp, msgSettingsRegister, msgSettingsRegisterResp, msgSettingsSave, msgSettingsWrite, msgSettingsWriteResp, msgSolnMeta, msgSpecan, msgSsrCodeBiases, msgSsrCodePhaseBiasesBounds, msgSsrFlagHighLevel, msgSsrFlagIonoGridPointSatLos, msgSsrFlagIonoGridPoints, msgSsrFlagIonoTileSatLos, msgSsrFlagSatellites, msgSsrFlagTropoGridPoints, msgSsrGriddedCorrection, msgSsrGriddedCorrectionBounds, msgSsrOrbitClock, msgSsrOrbitClockBounds, msgSsrOrbitClockBoundsDegradation, msgSsrPhaseBiases, msgSsrSatelliteApc, msgSsrStecCorrection, msgSsrTileDefinition, msgStartup, msgStatusJournal, msgStatusReport, msgStmFlashLockSector, msgStmFlashUnlockSector, msgStmUniqueIDReq, msgStmUniqueIDResp, msgSvAzEl, msgTelSv, msgThreadState, msgTrackingIq, msgTrackingState, msgUARTState, msgUserData, msgUTCLeapSecond, msgUTCTime, msgUTCTimeGnss, msgVelBody, msgVelCog, msgVelECEF, msgVelECEFCov, msgVelECEFCovGnss, msgVelECEFGnss, msgVelNED, msgVelNEDCov, msgVelNEDCovGnss, msgVelNEDGnss, msgWheeltick, networkUsage, observationHeader, odoInputType, orbitClockBound, orbitClockBoundDegradation, packedObsContent, packedOsrContent, period, phaseBiasesContent, stecHeader, stecResidual, stecResidualNoStd, stecSatElement, stecSatElementIntegrity, satelliteAPC, solutionInputType, statusJournalItem, subSystemReport, svAzEl, svID, telemetrySV, trackingChannelCorrelation, trackingChannelState, troposphericDelayCorrection, troposphericDelayCorrectionNoStd, uartChannel, utcTime) +-- import SbpJson exposing (acqSvProfile, almanacCommonContent, boundsHeader, carrierPhase, codeBiasesContent, codePhaseBiasesSatSig, doppler, ecdsaSignature, ephemerisCommonContent, estimatedHorizontalErrorEllipse, gnssInputType, gnssCapb, gnssSignal, gpsTime, gpsTimeSEC, gridElement, gridElementNoStd, griddedCorrectionHeader, imuInputType, integritySSRHeader, latency, measurementState, msgAcknowledge, msgAcqResult, msgAcqSvProfile, msgAgeCorrections, msgAlmanac, msgAlmanacGPS, msgAlmanacGlo, msgAngularRate, msgBasePosECEF, msgBasePosLLH, msgBaselineECEF, msgBaselineHeading, msgBaselineNED, msgBootloaderHandshakeReq, msgBootloaderHandshakeResp, msgBootloaderJumpToApp, msgCellModemStatus, msgCertificateChain, msgCommandOutput, msgCommandReq, msgCommandResp, msgCsacTelemetry, msgCsacTelemetryLabels, msgCwResults, msgCwStart, msgDeviceMonitor, msgDgnssStatus, msgDops, msgEcdsaCertificate, msgEcdsaSignature, msgEphemerisBds, msgEphemerisGPS, msgEphemerisGal, msgEphemerisGlo, msgEphemerisQzss, msgEphemerisSbas, msgEXTEvent, msgFileioConfigReq, msgFileioConfigResp, msgFileioReadDirReq, msgFileioReadDirResp, msgFileioReadReq, msgFileioReadResp, msgFileioRemove, msgFileioWriteReq, msgFileioWriteResp, msgFlashDone, msgFlashErase, msgFlashProgram, msgFlashReadReq, msgFlashReadResp, msgFrontEndGain, msgFwd, msgGPSTime, msgGPSTimeGnss, msgGloBiases, msgGnssCapb, msgGnssTimeOffset, msgGroupDelay, msgGroupMeta, msgHeartbeat, msgIarState, msgImuAux, msgImuRaw, msgInsStatus, msgInsUpdates, msgIono, msgLinuxCPUState, msgLinuxMemState, msgLinuxProcessFdCount, msgLinuxProcessFdSummary, msgLinuxProcessSocketCounts, msgLinuxProcessSocketQueues, msgLinuxSocketUsage, msgLinuxSysState, msgLog, msgM25FlashWriteStatus, msgMagRaw, msgMaskSatellite, msgMeasurementPoint, msgMeasurementState, msgNapDeviceDnaReq, msgNapDeviceDnaResp, msgNdbEvent, msgNetworkBandwidthUsage, msgNetworkStateReq, msgNetworkStateResp, msgObs, msgOdometry, msgOrientEuler, msgOrientQuat, msgOsr, msgPosECEF, msgPosECEFCov, msgPosECEFCovGnss, msgPosECEFGnss, msgPosLLH, msgPosLLHAcc, msgPosLLHCov, msgPosLLHCovGnss, msgPosLLHGnss, msgPoseRelative, msgPpsTime, msgProtectionLevel, msgReferenceFrameParam, msgReset, msgResetFilters, msgSbasRaw, msgSensorAidEvent, msgSetTime, msgSettingsReadByIndexDone, msgSettingsReadByIndexReq, msgSettingsReadByIndexResp, msgSettingsReadReq, msgSettingsReadResp, msgSettingsRegister, msgSettingsRegisterResp, msgSettingsSave, msgSettingsWrite, msgSettingsWriteResp, msgSolnMeta, msgSpecan, msgSsrCodeBiases, msgSsrCodePhaseBiasesBounds, msgSsrFlagHighLevel, msgSsrFlagIonoGridPointSatLos, msgSsrFlagIonoGridPoints, msgSsrFlagIonoTileSatLos, msgSsrFlagSatellites, msgSsrFlagTropoGridPoints, msgSsrGriddedCorrection, msgSsrGriddedCorrectionBounds, msgSsrOrbitClock, msgSsrOrbitClockBounds, msgSsrOrbitClockBoundsDegradation, msgSsrPhaseBiases, msgSsrSatelliteApc, msgSsrStecCorrection, msgSsrTileDefinition, msgStartup, msgStatusJournal, msgStatusReport, msgStmFlashLockSector, msgStmFlashUnlockSector, msgStmUniqueIDReq, msgStmUniqueIDResp, msgSvAzEl, msgTelSv, msgThreadState, msgTrackingIq, msgTrackingState, msgUARTState, msgUserData, msgUTCLeapSecond, msgUTCTime, msgUTCTimeGnss, msgVelBody, msgVelCog, msgVelECEF, msgVelECEFCov, msgVelECEFCovGnss, msgVelECEFGnss, msgVelNED, msgVelNEDCov, msgVelNEDCovGnss, msgVelNEDGnss, msgWheeltick, networkUsage, observationHeader, odoInputType, orbitClockBound, orbitClockBoundDegradation, packedObsContent, packedOsrContent, period, phaseBiasesContent, stecHeader, stecResidual, stecResidualNoStd, stecSatElement, stecSatElementIntegrity, satelliteAPC, solutionInputType, statusJournalItem, subSystemReport, svAzEl, svID, telemetrySV, trackingChannelCorrelation, trackingChannelState, troposphericDelayCorrection, troposphericDelayCorrectionNoStd, uartChannel, utcTime) -- -- and you're off to the races with -- @@ -110,6 +110,7 @@ -- decodeString msgM25FlashWriteStatus myJsonString -- decodeString msgMagRaw myJsonString -- decodeString msgMaskSatellite myJsonString +-- decodeString msgMeasurementPoint myJsonString -- decodeString msgMeasurementState myJsonString -- decodeString msgNapDeviceDnaReq myJsonString -- decodeString msgNapDeviceDnaResp myJsonString @@ -529,6 +530,9 @@ module SbpJson exposing , MsgMaskSatellite , msgMaskSatelliteToString , msgMaskSatellite + , MsgMeasurementPoint + , msgMeasurementPointToString + , msgMeasurementPoint , MsgMeasurementState , msgMeasurementStateToString , msgMeasurementState @@ -1958,6 +1962,21 @@ type alias MsgMaskSatellite = , sid : GnssSignal } +{-| 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. +-} +type alias MsgMeasurementPoint = + { func : String + , id : Int + , line : Int + , max : Int + , min : Int + , numExecutions : Int + , returnAddr : Int + , sliceTime : Int + , totalTime : Int + } + {-| 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. -} @@ -3798,6 +3817,9 @@ msgMagRawToString r = Jenc.encode 0 (encodeMsgMagRaw r) msgMaskSatelliteToString : MsgMaskSatellite -> String msgMaskSatelliteToString r = Jenc.encode 0 (encodeMsgMaskSatellite r) +msgMeasurementPointToString : MsgMeasurementPoint -> String +msgMeasurementPointToString r = Jenc.encode 0 (encodeMsgMeasurementPoint r) + msgMeasurementStateToString : MsgMeasurementState -> String msgMeasurementStateToString r = Jenc.encode 0 (encodeMsgMeasurementState r) @@ -5884,6 +5906,33 @@ encodeMsgMaskSatellite x = , ("sid", encodeGnssSignal x.sid) ] +msgMeasurementPoint : Jdec.Decoder MsgMeasurementPoint +msgMeasurementPoint = + Jpipe.decode MsgMeasurementPoint + |> Jpipe.required "func" Jdec.string + |> Jpipe.required "id" Jdec.int + |> Jpipe.required "line" Jdec.int + |> Jpipe.required "max" Jdec.int + |> Jpipe.required "min" Jdec.int + |> Jpipe.required "num_executions" Jdec.int + |> Jpipe.required "return_addr" Jdec.int + |> Jpipe.required "slice_time" Jdec.int + |> Jpipe.required "total_time" Jdec.int + +encodeMsgMeasurementPoint : MsgMeasurementPoint -> Jenc.Value +encodeMsgMeasurementPoint x = + Jenc.object + [ ("func", Jenc.string x.func) + , ("id", Jenc.int x.id) + , ("line", Jenc.int x.line) + , ("max", Jenc.int x.max) + , ("min", Jenc.int x.min) + , ("num_executions", Jenc.int x.numExecutions) + , ("return_addr", Jenc.int x.returnAddr) + , ("slice_time", Jenc.int x.sliceTime) + , ("total_time", Jenc.int x.totalTime) + ] + msgMeasurementState : Jdec.Decoder MsgMeasurementState msgMeasurementState = Jpipe.decode MsgMeasurementState diff --git a/sbpjson/javascript/SbpJson.js b/sbpjson/javascript/SbpJson.js index 7825558a43..fd15b5f96b 100644 --- a/sbpjson/javascript/SbpJson.js +++ b/sbpjson/javascript/SbpJson.js @@ -103,6 +103,7 @@ // const msgM25FlashWriteStatus = Convert.toMsgM25FlashWriteStatus(json); // const msgMagRaw = Convert.toMsgMagRaw(json); // const msgMaskSatellite = Convert.toMsgMaskSatellite(json); +// const msgMeasurementPoint = Convert.toMsgMeasurementPoint(json); // const msgMeasurementState = Convert.toMsgMeasurementState(json); // const msgNapDeviceDnaReq = Convert.toMsgNapDeviceDnaReq(json); // const msgNapDeviceDnaResp = Convert.toMsgNapDeviceDnaResp(json); @@ -1031,6 +1032,14 @@ function msgMaskSatelliteToJson(value) { return JSON.stringify(uncast(value, r("MsgMaskSatellite")), null, 2); } +function toMsgMeasurementPoint(json) { + return cast(JSON.parse(json), r("MsgMeasurementPoint")); +} + +function msgMeasurementPointToJson(value) { + return JSON.stringify(uncast(value, r("MsgMeasurementPoint")), null, 2); +} + function toMsgMeasurementState(json) { return cast(JSON.parse(json), r("MsgMeasurementState")); } @@ -2729,6 +2738,17 @@ const typeMap = { { json: "mask", js: "mask", typ: 0 }, { json: "sid", js: "sid", typ: r("GnssSignal") }, ], "any"), + "MsgMeasurementPoint": o([ + { json: "func", js: "func", typ: "" }, + { json: "id", js: "id", typ: 0 }, + { json: "line", js: "line", typ: 0 }, + { json: "max", js: "max", typ: 0 }, + { json: "min", js: "min", typ: 0 }, + { json: "num_executions", js: "num_executions", typ: 0 }, + { json: "return_addr", js: "return_addr", typ: 0 }, + { json: "slice_time", js: "slice_time", typ: 0 }, + { json: "total_time", js: "total_time", typ: 0 }, + ], "any"), "MsgMeasurementState": o([ { json: "states", js: "states", typ: a(r("MeasurementState")) }, ], "any"), @@ -3818,6 +3838,8 @@ module.exports = { "toMsgMagRaw": toMsgMagRaw, "msgMaskSatelliteToJson": msgMaskSatelliteToJson, "toMsgMaskSatellite": toMsgMaskSatellite, + "msgMeasurementPointToJson": msgMeasurementPointToJson, + "toMsgMeasurementPoint": toMsgMeasurementPoint, "msgMeasurementStateToJson": msgMeasurementStateToJson, "toMsgMeasurementState": toMsgMeasurementState, "msgNapDeviceDnaReqToJson": msgNapDeviceDnaReqToJson, diff --git a/sbpjson/typescript/SbpJson.ts b/sbpjson/typescript/SbpJson.ts index 844ef2152f..fb17ed827d 100644 --- a/sbpjson/typescript/SbpJson.ts +++ b/sbpjson/typescript/SbpJson.ts @@ -1,6 +1,6 @@ // To parse this data: // -// import { Convert, AcqSvProfile, AlmanacCommonContent, BoundsHeader, CarrierPhase, CodeBiasesContent, CodePhaseBiasesSatSig, Doppler, ECDSASignature, EphemerisCommonContent, EstimatedHorizontalErrorEllipse, GNSSInputType, GnssCapb, GnssSignal, GpsTime, GpsTimeSEC, GridElement, GridElementNoStd, GriddedCorrectionHeader, IMUInputType, IntegritySSRHeader, Latency, MeasurementState, MsgAcknowledge, MsgAcqResult, MsgAcqSvProfile, MsgAgeCorrections, MsgAlmanacGPS, MsgAlmanacGlo, MsgAngularRate, MsgBasePosECEF, MsgBasePosLLH, MsgBaselineECEF, MsgBaselineHeading, MsgBaselineNED, MsgBootloaderHandshakeResp, MsgBootloaderJumpToApp, MsgCellModemStatus, MsgCertificateChain, MsgCommandOutput, MsgCommandReq, MsgCommandResp, MsgCsacTelemetry, MsgCsacTelemetryLabels, MsgDeviceMonitor, MsgDgnssStatus, MsgDops, MsgEcdsaCertificate, MsgEcdsaSignature, MsgEphemerisBds, MsgEphemerisGPS, MsgEphemerisGal, MsgEphemerisGlo, MsgEphemerisQzss, MsgEphemerisSbas, MsgEXTEvent, MsgFileioConfigReq, MsgFileioConfigResp, MsgFileioReadDirReq, MsgFileioReadDirResp, MsgFileioReadReq, MsgFileioReadResp, MsgFileioRemove, MsgFileioWriteReq, MsgFileioWriteResp, MsgFlashDone, MsgFlashErase, MsgFlashProgram, MsgFlashReadReq, MsgFlashReadResp, MsgFrontEndGain, MsgFwd, MsgGPSTime, MsgGPSTimeGnss, MsgGloBiases, MsgGnssCapb, MsgGnssTimeOffset, MsgGroupDelay, MsgGroupMeta, MsgHeartbeat, MsgIarState, MsgImuAux, MsgImuRaw, MsgInsStatus, MsgInsUpdates, MsgIono, MsgLinuxCPUState, MsgLinuxMemState, MsgLinuxProcessFdCount, MsgLinuxProcessFdSummary, MsgLinuxProcessSocketCounts, MsgLinuxProcessSocketQueues, MsgLinuxSocketUsage, MsgLinuxSysState, MsgLog, MsgM25FlashWriteStatus, MsgMagRaw, MsgMaskSatellite, MsgMeasurementState, MsgNapDeviceDnaResp, MsgNdbEvent, MsgNetworkBandwidthUsage, MsgNetworkStateResp, MsgObs, MsgOdometry, MsgOrientEuler, MsgOrientQuat, MsgOsr, MsgPosECEF, MsgPosECEFCov, MsgPosECEFCovGnss, MsgPosECEFGnss, MsgPosLLH, MsgPosLLHAcc, MsgPosLLHCov, MsgPosLLHCovGnss, MsgPosLLHGnss, MsgPoseRelative, MsgPpsTime, MsgProtectionLevel, MsgReferenceFrameParam, MsgReset, MsgResetFilters, MsgSbasRaw, MsgSensorAidEvent, MsgSettingsReadByIndexReq, MsgSettingsReadByIndexResp, MsgSettingsReadReq, MsgSettingsReadResp, MsgSettingsRegister, MsgSettingsRegisterResp, MsgSettingsWrite, MsgSettingsWriteResp, MsgSolnMeta, MsgSpecan, MsgSsrCodeBiases, MsgSsrCodePhaseBiasesBounds, MsgSsrFlagHighLevel, MsgSsrFlagIonoGridPointSatLos, MsgSsrFlagIonoGridPoints, MsgSsrFlagIonoTileSatLos, MsgSsrFlagSatellites, MsgSsrFlagTropoGridPoints, MsgSsrGriddedCorrection, MsgSsrGriddedCorrectionBounds, MsgSsrOrbitClock, MsgSsrOrbitClockBounds, MsgSsrOrbitClockBoundsDegradation, MsgSsrPhaseBiases, MsgSsrSatelliteApc, MsgSsrStecCorrection, MsgSsrTileDefinition, MsgStartup, MsgStatusJournal, MsgStatusReport, MsgStmFlashLockSector, MsgStmFlashUnlockSector, MsgStmUniqueIDResp, MsgSvAzEl, MsgTelSv, MsgThreadState, MsgTrackingIq, MsgTrackingState, MsgUARTState, MsgUserData, MsgUTCLeapSecond, MsgUTCTime, MsgUTCTimeGnss, MsgVelBody, MsgVelCog, MsgVelECEF, MsgVelECEFCov, MsgVelECEFCovGnss, MsgVelECEFGnss, MsgVelNED, MsgVelNEDCov, MsgVelNEDCovGnss, MsgVelNEDGnss, MsgWheeltick, NetworkUsage, ObservationHeader, OdoInputType, OrbitClockBound, OrbitClockBoundDegradation, PackedObsContent, PackedOsrContent, Period, PhaseBiasesContent, STECHeader, STECResidual, STECResidualNoStd, STECSatElement, STECSatElementIntegrity, SatelliteAPC, SolutionInputType, StatusJournalItem, SubSystemReport, SvAzEl, SvID, TelemetrySV, TrackingChannelCorrelation, TrackingChannelState, TroposphericDelayCorrection, TroposphericDelayCorrectionNoStd, UARTChannel, UTCTime } from "./file"; +// import { Convert, AcqSvProfile, AlmanacCommonContent, BoundsHeader, CarrierPhase, CodeBiasesContent, CodePhaseBiasesSatSig, Doppler, ECDSASignature, EphemerisCommonContent, EstimatedHorizontalErrorEllipse, GNSSInputType, GnssCapb, GnssSignal, GpsTime, GpsTimeSEC, GridElement, GridElementNoStd, GriddedCorrectionHeader, IMUInputType, IntegritySSRHeader, Latency, MeasurementState, MsgAcknowledge, MsgAcqResult, MsgAcqSvProfile, MsgAgeCorrections, MsgAlmanacGPS, MsgAlmanacGlo, MsgAngularRate, MsgBasePosECEF, MsgBasePosLLH, MsgBaselineECEF, MsgBaselineHeading, MsgBaselineNED, MsgBootloaderHandshakeResp, MsgBootloaderJumpToApp, MsgCellModemStatus, MsgCertificateChain, MsgCommandOutput, MsgCommandReq, MsgCommandResp, MsgCsacTelemetry, MsgCsacTelemetryLabels, MsgDeviceMonitor, MsgDgnssStatus, MsgDops, MsgEcdsaCertificate, MsgEcdsaSignature, MsgEphemerisBds, MsgEphemerisGPS, MsgEphemerisGal, MsgEphemerisGlo, MsgEphemerisQzss, MsgEphemerisSbas, MsgEXTEvent, MsgFileioConfigReq, MsgFileioConfigResp, MsgFileioReadDirReq, MsgFileioReadDirResp, MsgFileioReadReq, MsgFileioReadResp, MsgFileioRemove, MsgFileioWriteReq, MsgFileioWriteResp, MsgFlashDone, MsgFlashErase, MsgFlashProgram, MsgFlashReadReq, MsgFlashReadResp, MsgFrontEndGain, MsgFwd, MsgGPSTime, MsgGPSTimeGnss, MsgGloBiases, MsgGnssCapb, MsgGnssTimeOffset, MsgGroupDelay, MsgGroupMeta, MsgHeartbeat, MsgIarState, MsgImuAux, MsgImuRaw, MsgInsStatus, MsgInsUpdates, MsgIono, MsgLinuxCPUState, MsgLinuxMemState, MsgLinuxProcessFdCount, MsgLinuxProcessFdSummary, MsgLinuxProcessSocketCounts, MsgLinuxProcessSocketQueues, MsgLinuxSocketUsage, MsgLinuxSysState, MsgLog, MsgM25FlashWriteStatus, MsgMagRaw, MsgMaskSatellite, MsgMeasurementPoint, MsgMeasurementState, MsgNapDeviceDnaResp, MsgNdbEvent, MsgNetworkBandwidthUsage, MsgNetworkStateResp, MsgObs, MsgOdometry, MsgOrientEuler, MsgOrientQuat, MsgOsr, MsgPosECEF, MsgPosECEFCov, MsgPosECEFCovGnss, MsgPosECEFGnss, MsgPosLLH, MsgPosLLHAcc, MsgPosLLHCov, MsgPosLLHCovGnss, MsgPosLLHGnss, MsgPoseRelative, MsgPpsTime, MsgProtectionLevel, MsgReferenceFrameParam, MsgReset, MsgResetFilters, MsgSbasRaw, MsgSensorAidEvent, MsgSettingsReadByIndexReq, MsgSettingsReadByIndexResp, MsgSettingsReadReq, MsgSettingsReadResp, MsgSettingsRegister, MsgSettingsRegisterResp, MsgSettingsWrite, MsgSettingsWriteResp, MsgSolnMeta, MsgSpecan, MsgSsrCodeBiases, MsgSsrCodePhaseBiasesBounds, MsgSsrFlagHighLevel, MsgSsrFlagIonoGridPointSatLos, MsgSsrFlagIonoGridPoints, MsgSsrFlagIonoTileSatLos, MsgSsrFlagSatellites, MsgSsrFlagTropoGridPoints, MsgSsrGriddedCorrection, MsgSsrGriddedCorrectionBounds, MsgSsrOrbitClock, MsgSsrOrbitClockBounds, MsgSsrOrbitClockBoundsDegradation, MsgSsrPhaseBiases, MsgSsrSatelliteApc, MsgSsrStecCorrection, MsgSsrTileDefinition, MsgStartup, MsgStatusJournal, MsgStatusReport, MsgStmFlashLockSector, MsgStmFlashUnlockSector, MsgStmUniqueIDResp, MsgSvAzEl, MsgTelSv, MsgThreadState, MsgTrackingIq, MsgTrackingState, MsgUARTState, MsgUserData, MsgUTCLeapSecond, MsgUTCTime, MsgUTCTimeGnss, MsgVelBody, MsgVelCog, MsgVelECEF, MsgVelECEFCov, MsgVelECEFCovGnss, MsgVelECEFGnss, MsgVelNED, MsgVelNEDCov, MsgVelNEDCovGnss, MsgVelNEDGnss, MsgWheeltick, NetworkUsage, ObservationHeader, OdoInputType, OrbitClockBound, OrbitClockBoundDegradation, PackedObsContent, PackedOsrContent, Period, PhaseBiasesContent, STECHeader, STECResidual, STECResidualNoStd, STECSatElement, STECSatElementIntegrity, SatelliteAPC, SolutionInputType, StatusJournalItem, SubSystemReport, SvAzEl, SvID, TelemetrySV, TrackingChannelCorrelation, TrackingChannelState, TroposphericDelayCorrection, TroposphericDelayCorrectionNoStd, UARTChannel, UTCTime } from "./file"; // // const acqSvProfile = Convert.toAcqSvProfile(json); // const almanacCommonContent = Convert.toAlmanacCommonContent(json); @@ -103,6 +103,7 @@ // const msgM25FlashWriteStatus = Convert.toMsgM25FlashWriteStatus(json); // const msgMagRaw = Convert.toMsgMagRaw(json); // const msgMaskSatellite = Convert.toMsgMaskSatellite(json); +// const msgMeasurementPoint = Convert.toMsgMeasurementPoint(json); // const msgMeasurementState = Convert.toMsgMeasurementState(json); // const msgNapDeviceDnaReq = Convert.toMsgNapDeviceDnaReq(json); // const msgNapDeviceDnaResp = Convert.toMsgNapDeviceDnaResp(json); @@ -1474,6 +1475,23 @@ export interface MsgMaskSatellite { [property: string]: any; } +/** + * 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. + */ +export interface MsgMeasurementPoint { + func: string; + id: number; + line: number; + max: number; + min: number; + num_executions: number; + return_addr: number; + slice_time: number; + total_time: number; + [property: string]: any; +} + /** * 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. @@ -4035,6 +4053,14 @@ export class Convert { return JSON.stringify(uncast(value, r("MsgMaskSatellite")), null, 2); } + public static toMsgMeasurementPoint(json: string): MsgMeasurementPoint { + return cast(JSON.parse(json), r("MsgMeasurementPoint")); + } + + public static msgMeasurementPointToJson(value: MsgMeasurementPoint): string { + return JSON.stringify(uncast(value, r("MsgMeasurementPoint")), null, 2); + } + public static toMsgMeasurementState(json: string): MsgMeasurementState { return cast(JSON.parse(json), r("MsgMeasurementState")); } @@ -5734,6 +5760,17 @@ const typeMap: any = { { json: "mask", js: "mask", typ: 0 }, { json: "sid", js: "sid", typ: r("GnssSignal") }, ], "any"), + "MsgMeasurementPoint": o([ + { json: "func", js: "func", typ: "" }, + { json: "id", js: "id", typ: 0 }, + { json: "line", js: "line", typ: 0 }, + { json: "max", js: "max", typ: 0 }, + { json: "min", js: "min", typ: 0 }, + { json: "num_executions", js: "num_executions", typ: 0 }, + { json: "return_addr", js: "return_addr", typ: 0 }, + { json: "slice_time", js: "slice_time", typ: 0 }, + { json: "total_time", js: "total_time", typ: 0 }, + ], "any"), "MsgMeasurementState": o([ { json: "states", js: "states", typ: a(r("MeasurementState")) }, ], "any"),