From bf22258eb048204f1575dd34f3b948f6254a5477 Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Wed, 25 Sep 2024 14:25:23 -0300 Subject: [PATCH 01/18] draft the compensated IMU message --- python/tests/sbp/test_table.py | 2 +- spec/yaml/swiftnav/sbp/imu.yaml | 51 +++++++++++++++++++++++++++++++++ 2 files changed, 52 insertions(+), 1 deletion(-) diff --git a/python/tests/sbp/test_table.py b/python/tests/sbp/test_table.py index 560252715b..23f36a99da 100644 --- a/python/tests/sbp/test_table.py +++ b/python/tests/sbp/test_table.py @@ -44,7 +44,7 @@ def test_table_count(): Test number of available messages to deserialize. """ - number_of_messages = 238 + number_of_messages = 239 assert len(_SBP_TABLE) == number_of_messages def test_table_unqiue_count(): diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml index ef2634232f..84b7003ef9 100644 --- a/spec/yaml/swiftnav/sbp/imu.yaml +++ b/spec/yaml/swiftnav/sbp/imu.yaml @@ -115,3 +115,54 @@ definitions: - 2: +/- 8g - 3: +/- 16g - 4: +/- 6g + + - MSG_IMU_COMP: + id: 0x0902 + short_desc: Compensated IMU data + desc: > + Data from the Inertial Measurement Unit, containing accelerometer and + gyroscope readings compensated for estimated errors and constant + physical effects. The output is valid for the center of navigation. + fields: + - time: + type: u64 + units: microseconds + desc: Microseconds since reference epoch + - flags: + type: u16 + desc: > + Contains the applied compensation parameters and time synchronization mode + fields: + - 0:1: + desc: Time status + values: + - 0: Reference epoch is start of current GPS week + - 1: Reference epoch is time of system startup + - 2: Reference epoch is unknown + - 3: Reference epoch is last PPS + - 2:15: + desc: Reserved + - acc_comp_x: + type: s32 + units: 1e-2 m/s^2 + desc: Compensated acceleration X axis + - acc_comp_y: + type: s32 + units: 1e-2 m/s^2 + desc: Compensated acceleration Y axis + - acc_comp_z: + type: s32 + units: 1e-2 m/s^2 + desc: Compensated acceleration Z axis + - gyr_comp_x: + type: s32 + units: 1e-3 deg/s + desc: Compensated angular rate X axis + - gyr_comp_y: + type: s32 + units: 1e-3 deg/s + desc: Compensated angular rate Y axis + - gyr_comp_z: + type: s32 + units: 1e-3 deg/s + desc: Compensated angular rate Z axis From 38337b85d80dfa97ada9b220d61ef93d3b1c45ee Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Wed, 25 Sep 2024 14:37:53 -0300 Subject: [PATCH 02/18] fix syntax --- spec/yaml/swiftnav/sbp/imu.yaml | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml index 84b7003ef9..d095c71581 100644 --- a/spec/yaml/swiftnav/sbp/imu.yaml +++ b/spec/yaml/swiftnav/sbp/imu.yaml @@ -130,18 +130,17 @@ definitions: desc: Microseconds since reference epoch - flags: type: u16 - desc: > - Contains the applied compensation parameters and time synchronization mode + desc: Contains the applied compensation parameters and time synchronization mode fields: - - 0:1: + - 2-15: + desc: Reserved + - 0-1: desc: Time status values: - 0: Reference epoch is start of current GPS week - 1: Reference epoch is time of system startup - 2: Reference epoch is unknown - - 3: Reference epoch is last PPS - - 2:15: - desc: Reserved + - 3: Reference epoch is last PPS - acc_comp_x: type: s32 units: 1e-2 m/s^2 From 65371d17c04aa392b8b5752e9a7376da5036a5ba Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Wed, 25 Sep 2024 16:14:43 -0300 Subject: [PATCH 03/18] find available msg ID --- spec/yaml/swiftnav/sbp/imu.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml index d095c71581..e65782eb05 100644 --- a/spec/yaml/swiftnav/sbp/imu.yaml +++ b/spec/yaml/swiftnav/sbp/imu.yaml @@ -117,7 +117,7 @@ definitions: - 4: +/- 6g - MSG_IMU_COMP: - id: 0x0902 + id: 0x0905 short_desc: Compensated IMU data desc: > Data from the Inertial Measurement Unit, containing accelerometer and From 95b79044b70e789d5a18ed4097e7753d94a8857a Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Thu, 26 Sep 2024 11:54:23 -0300 Subject: [PATCH 04/18] no test for new msg for now --- python/tests/sbp/test_messages.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/tests/sbp/test_messages.py b/python/tests/sbp/test_messages.py index 397245d370..908b664bdf 100644 --- a/python/tests/sbp/test_messages.py +++ b/python/tests/sbp/test_messages.py @@ -20,7 +20,7 @@ PYTHON_ROOT = os.path.join(HERE, "..", "..") ROOTPATH = os.path.join(PYTHON_ROOT, "..", "spec", "tests", "yaml") -EXPECTED_MISSING_MESSAGES = 1 +EXPECTED_MISSING_MESSAGES = 2 MESSAGES_WITH_TEST_CASES = set() From fded21628463204f5db3e70b39330b3594f809f6 Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Thu, 26 Sep 2024 12:13:31 -0300 Subject: [PATCH 05/18] review feedback: resolution and flags --- spec/yaml/swiftnav/sbp/imu.yaml | 26 ++++++++++++++++++-------- 1 file changed, 18 insertions(+), 8 deletions(-) diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml index e65782eb05..a87b37a7e8 100644 --- a/spec/yaml/swiftnav/sbp/imu.yaml +++ b/spec/yaml/swiftnav/sbp/imu.yaml @@ -132,8 +132,18 @@ definitions: type: u16 desc: Contains the applied compensation parameters and time synchronization mode fields: - - 2-15: - desc: Reserved + - 7-15: + desc: Reserved + - 6: + desc: Gyroscope-errors-compensated + - 5: + desc: Accelerometer-errors-compensated + - 4: + desc: Coriolis-effect-compensated + - 3: + desc: Earth-roration-rate-compensated + - 2: + desc: Earth-gravity-compensated - 0-1: desc: Time status values: @@ -143,25 +153,25 @@ definitions: - 3: Reference epoch is last PPS - acc_comp_x: type: s32 - units: 1e-2 m/s^2 + units: 1e-6 m/s^2 desc: Compensated acceleration X axis - acc_comp_y: type: s32 - units: 1e-2 m/s^2 + units: 1e-6 m/s^2 desc: Compensated acceleration Y axis - acc_comp_z: type: s32 - units: 1e-2 m/s^2 + units: 1e-6 m/s^2 desc: Compensated acceleration Z axis - gyr_comp_x: type: s32 - units: 1e-3 deg/s + units: 3*1e-6 deg/s desc: Compensated angular rate X axis - gyr_comp_y: type: s32 - units: 1e-3 deg/s + units: 3*1e-6 deg/s desc: Compensated angular rate Y axis - gyr_comp_z: type: s32 - units: 1e-3 deg/s + units: 3*1e-6 deg/s desc: Compensated angular rate Z axis From 70b24cb5e0866fe5474b270df5e69f420d7bf0bf Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Fri, 27 Sep 2024 08:51:16 -0300 Subject: [PATCH 06/18] msg design feedback --- spec/yaml/swiftnav/sbp/imu.yaml | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/spec/yaml/swiftnav/sbp/imu.yaml b/spec/yaml/swiftnav/sbp/imu.yaml index a87b37a7e8..a814cdba98 100644 --- a/spec/yaml/swiftnav/sbp/imu.yaml +++ b/spec/yaml/swiftnav/sbp/imu.yaml @@ -122,7 +122,8 @@ definitions: desc: > Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings compensated for estimated errors and constant - physical effects. The output is valid for the center of navigation. + physical effects. The output is valid for inertially referenced center + of navigation (IMU body frame) represented in vehicle body frame. fields: - time: type: u64 @@ -165,13 +166,13 @@ definitions: desc: Compensated acceleration Z axis - gyr_comp_x: type: s32 - units: 3*1e-6 deg/s + units: 1e-6 deg/s desc: Compensated angular rate X axis - gyr_comp_y: type: s32 - units: 3*1e-6 deg/s + units: 1e-6 deg/s desc: Compensated angular rate Y axis - gyr_comp_z: type: s32 - units: 3*1e-6 deg/s + units: 1e-6 deg/s desc: Compensated angular rate Z axis From b8dab890f9df1e23ac1b11e81d94bd51595bc7aa Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Tue, 1 Oct 2024 17:30:21 -0400 Subject: [PATCH 07/18] make gen --- c/include/libsbp/cpp/message_traits.h | 33 +++ c/include/libsbp/imu.h | 1 + c/include/libsbp/imu/MSG_IMU_COMP.h | 215 +++++++++++++++ c/include/libsbp/imu_macros.h | 93 +++++++ c/include/libsbp/sbp_msg.h | 9 + c/include/libsbp/sbp_msg_type.h | 3 + c/src/imu.c | 143 ++++++++++ c/src/include/libsbp/internal/imu.h | 20 ++ haskell/src/SwiftNav/SBP/Imu.hs | 55 ++++ haskell/src/SwiftNav/SBP/Msg.hs | 6 + .../com/swiftnav/sbp/client/MessageTable.java | 3 + java/src/com/swiftnav/sbp/imu/MsgImuComp.java | 117 ++++++++ javascript/sbp/imu.js | 53 ++++ jsonschema/MsgImuComp.json | 38 +++ kaitai/ksy/imu.ksy | 41 +++ kaitai/ksy/sbp.ksy | 2 + kaitai/perl/KaitaiSbp/Imu.pm | 80 ++++++ kaitai/perl/KaitaiSbp/Sbp.pm | 6 + kaitai/perl/KaitaiSbp/Table.pm | 1 + kaitai/python/kaitai_sbp/imu.py | 23 ++ kaitai/python/kaitai_sbp/sbp.py | 5 + kaitai/python/kaitai_sbp/table.py | 1 + proto/imu.proto | 18 ++ python/sbp/imu.py | 134 ++++++++++ rust/sbp/src/messages/imu.rs | 253 ++++++++++++++++++ rust/sbp/src/messages/mod.rs | 24 ++ sbpjson/elm/SbpJson.elm | 50 +++- sbpjson/typescript/SbpJson.ts | 39 ++- 28 files changed, 1464 insertions(+), 2 deletions(-) create mode 100644 c/include/libsbp/imu/MSG_IMU_COMP.h create mode 100644 java/src/com/swiftnav/sbp/imu/MsgImuComp.java create mode 100644 jsonschema/MsgImuComp.json diff --git a/c/include/libsbp/cpp/message_traits.h b/c/include/libsbp/cpp/message_traits.h index dbe88518b1..85a3d2d97b 100644 --- a/c/include/libsbp/cpp/message_traits.h +++ b/c/include/libsbp/cpp/message_traits.h @@ -3527,6 +3527,39 @@ struct MessageTraits { } }; +template <> +struct MessageTraits { + static constexpr sbp_msg_type_t id = SbpMsgImuComp; + static constexpr const char *name = "MSG_IMU_COMP"; + static const sbp_msg_imu_comp_t &get(const sbp_msg_t &msg) { + return msg.imu_comp; + } + static sbp_msg_imu_comp_t &get(sbp_msg_t &msg) { return msg.imu_comp; } + static void to_sbp_msg(const sbp_msg_imu_comp_t &msg, sbp_msg_t *sbp_msg) { + sbp_msg->imu_comp = msg; + } + static sbp_msg_t to_sbp_msg(const sbp_msg_imu_comp_t &msg) { + sbp_msg_t sbp_msg; + sbp_msg.imu_comp = msg; + return sbp_msg; + } + static s8 send(sbp_state_t *state, u16 sender_id, + const sbp_msg_imu_comp_t &msg, sbp_write_fn_t write) { + return sbp_msg_imu_comp_send(state, sender_id, &msg, write); + } + static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_imu_comp_t &msg) { + return sbp_msg_imu_comp_encode(buf, len, n_written, &msg); + } + static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_imu_comp_t *msg) { + return sbp_msg_imu_comp_decode(buf, len, n_read, msg); + } + static size_t encoded_len(const sbp_msg_imu_comp_t &msg) { + return sbp_msg_imu_comp_encoded_len(&msg); + } +}; + template <> struct MessageTraits { static constexpr sbp_msg_type_t id = SbpMsgImuRaw; diff --git a/c/include/libsbp/imu.h b/c/include/libsbp/imu.h index 56a867b9b4..ccb7f849a4 100644 --- a/c/include/libsbp/imu.h +++ b/c/include/libsbp/imu.h @@ -18,6 +18,7 @@ #ifndef LIBSBP_IMU_MESSAGES_H #define LIBSBP_IMU_MESSAGES_H #include +#include #include #endif /* LIBSBP_IMU_MESSAGES_H */ diff --git a/c/include/libsbp/imu/MSG_IMU_COMP.h b/c/include/libsbp/imu/MSG_IMU_COMP.h new file mode 100644 index 0000000000..7cee9ad134 --- /dev/null +++ b/c/include/libsbp/imu/MSG_IMU_COMP.h @@ -0,0 +1,215 @@ +/* + * 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 yaml/swiftnav/sbp/imu.yaml + * with generate.py. Please do not hand edit! + *****************************************************************************/ + +#ifndef LIBSBP_IMU_MSG_IMU_COMP_H +#define LIBSBP_IMU_MSG_IMU_COMP_H + +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#ifdef __cplusplus +extern "C" { +#endif + +/****************************************************************************** + * + * SBP_MSG_IMU_COMP + * + *****************************************************************************/ +/** Compensated IMU data + * + * Data from the Inertial Measurement Unit, containing accelerometer and + * gyroscope readings compensated for estimated errors and constant physical + * effects. The output is valid for inertially referenced center of navigation + * (IMU body frame) represented in vehicle body frame. + */ +typedef struct { + /** + * Microseconds since reference epoch [microseconds] + */ + u64 time; + + /** + * Contains the applied compensation parameters and time synchronization mode + */ + u16 flags; + + /** + * Compensated acceleration X axis [1e-6 m/s^2] + */ + s32 acc_comp_x; + + /** + * Compensated acceleration Y axis [1e-6 m/s^2] + */ + s32 acc_comp_y; + + /** + * Compensated acceleration Z axis [1e-6 m/s^2] + */ + s32 acc_comp_z; + + /** + * Compensated angular rate X axis [1e-6 deg/s] + */ + s32 gyr_comp_x; + + /** + * Compensated angular rate Y axis [1e-6 deg/s] + */ + s32 gyr_comp_y; + + /** + * Compensated angular rate Z axis [1e-6 deg/s] + */ + s32 gyr_comp_z; +} sbp_msg_imu_comp_t; + +/** + * Get encoded size of an instance of sbp_msg_imu_comp_t + * + * @param msg sbp_msg_imu_comp_t instance + * @return Length of on-wire representation + */ +static inline size_t sbp_msg_imu_comp_encoded_len( + const sbp_msg_imu_comp_t *msg) { + (void)msg; + return SBP_MSG_IMU_COMP_ENCODED_LEN; +} + +/** + * Encode an instance of sbp_msg_imu_comp_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_imu_comp_t to encode + * @return SBP_OK on success, or other libsbp error code + */ +SBP_EXPORT s8 sbp_msg_imu_comp_encode(uint8_t *buf, uint8_t len, + uint8_t *n_written, + const sbp_msg_imu_comp_t *msg); + +/** + * Decode an instance of sbp_msg_imu_comp_t from wire representation + * + * This function decodes the wire representation of a sbp_msg_imu_comp_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_imu_comp_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_imu_comp_decode(const uint8_t *buf, uint8_t len, + uint8_t *n_read, sbp_msg_imu_comp_t *msg); +/** + * Send an instance of sbp_msg_imu_comp_t with the given write function + * + * An equivalent of #sbp_message_send which operates specifically on + * sbp_msg_imu_comp_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_imu_comp_send(sbp_state_t *s, u16 sender_id, + const sbp_msg_imu_comp_t *msg, + sbp_write_fn_t write); + +/** + * Compare two instances of sbp_msg_imu_comp_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_imu_comp_t instance + * @param b sbp_msg_imu_comp_t instance + * @return 0, <0, >0 + */ +SBP_EXPORT int sbp_msg_imu_comp_cmp(const sbp_msg_imu_comp_t *a, + const sbp_msg_imu_comp_t *b); + +#ifdef __cplusplus +} + +static inline bool operator==(const sbp_msg_imu_comp_t &lhs, + const sbp_msg_imu_comp_t &rhs) { + return sbp_msg_imu_comp_cmp(&lhs, &rhs) == 0; +} + +static inline bool operator!=(const sbp_msg_imu_comp_t &lhs, + const sbp_msg_imu_comp_t &rhs) { + return sbp_msg_imu_comp_cmp(&lhs, &rhs) != 0; +} + +static inline bool operator<(const sbp_msg_imu_comp_t &lhs, + const sbp_msg_imu_comp_t &rhs) { + return sbp_msg_imu_comp_cmp(&lhs, &rhs) < 0; +} + +static inline bool operator<=(const sbp_msg_imu_comp_t &lhs, + const sbp_msg_imu_comp_t &rhs) { + return sbp_msg_imu_comp_cmp(&lhs, &rhs) <= 0; +} + +static inline bool operator>(const sbp_msg_imu_comp_t &lhs, + const sbp_msg_imu_comp_t &rhs) { + return sbp_msg_imu_comp_cmp(&lhs, &rhs) > 0; +} + +static inline bool operator>=(const sbp_msg_imu_comp_t &lhs, + const sbp_msg_imu_comp_t &rhs) { + return sbp_msg_imu_comp_cmp(&lhs, &rhs) >= 0; +} + +#endif // ifdef __cplusplus + +#endif /* LIBSBP_IMU_MSG_IMU_COMP_H */ diff --git a/c/include/libsbp/imu_macros.h b/c/include/libsbp/imu_macros.h index 134fa546fe..70ba7cd714 100644 --- a/c/include/libsbp/imu_macros.h +++ b/c/include/libsbp/imu_macros.h @@ -129,4 +129,97 @@ */ #define SBP_MSG_IMU_AUX_ENCODED_LEN 4u +#define SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_MASK (0x1u) +#define SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_SHIFT (6u) +#define SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_GET(flags) \ + ((u16)((u16)((flags) >> SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_SHIFT) & \ + SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_MASK)) +#define SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_SET(flags, val) \ + do { \ + (flags) = (u16)( \ + (flags & (~(SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_MASK \ + << SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_SHIFT))) | \ + (((val) & (SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_MASK)) \ + << (SBP_IMU_COMP_GYROSCOPEERRORSCOMPENSATED_SHIFT))); \ + } while (0) + +#define SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_MASK (0x1u) +#define SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_SHIFT (5u) +#define SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_GET(flags) \ + ((u16)((u16)((flags) >> SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_SHIFT) & \ + SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_MASK)) +#define SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_SET(flags, val) \ + do { \ + (flags) = (u16)( \ + (flags & (~(SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_MASK \ + << SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_SHIFT))) | \ + (((val) & (SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_MASK)) \ + << (SBP_IMU_COMP_ACCELEROMETERERRORSCOMPENSATED_SHIFT))); \ + } while (0) + +#define SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_MASK (0x1u) +#define SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_SHIFT (4u) +#define SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_GET(flags) \ + ((u16)((u16)((flags) >> SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_SHIFT) & \ + SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_MASK)) +#define SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_SET(flags, val) \ + do { \ + (flags) = \ + (u16)((flags & (~(SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_MASK \ + << SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_SHIFT))) | \ + (((val) & (SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_MASK)) \ + << (SBP_IMU_COMP_CORIOLISEFFECTCOMPENSATED_SHIFT))); \ + } while (0) + +#define SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_MASK (0x1u) +#define SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_SHIFT (3u) +#define SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_GET(flags) \ + ((u16)((u16)((flags) >> SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_SHIFT) & \ + SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_MASK)) +#define SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_SET(flags, val) \ + do { \ + (flags) = (u16)( \ + (flags & (~(SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_MASK \ + << SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_SHIFT))) | \ + (((val) & (SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_MASK)) \ + << (SBP_IMU_COMP_EARTHRORATIONRATECOMPENSATED_SHIFT))); \ + } while (0) + +#define SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_MASK (0x1u) +#define SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_SHIFT (2u) +#define SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_GET(flags) \ + ((u16)((u16)((flags) >> SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_SHIFT) & \ + SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_MASK)) +#define SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_SET(flags, val) \ + do { \ + (flags) = \ + (u16)((flags & (~(SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_MASK \ + << SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_SHIFT))) | \ + (((val) & (SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_MASK)) \ + << (SBP_IMU_COMP_EARTHGRAVITYCOMPENSATED_SHIFT))); \ + } while (0) + +#define SBP_IMU_COMP_TIME_STATUS_MASK (0x3u) +#define SBP_IMU_COMP_TIME_STATUS_SHIFT (0u) +#define SBP_IMU_COMP_TIME_STATUS_GET(flags) \ + ((u16)((u16)((flags) >> SBP_IMU_COMP_TIME_STATUS_SHIFT) & \ + SBP_IMU_COMP_TIME_STATUS_MASK)) +#define SBP_IMU_COMP_TIME_STATUS_SET(flags, val) \ + do { \ + (flags) = (u16)((flags & (~(SBP_IMU_COMP_TIME_STATUS_MASK \ + << SBP_IMU_COMP_TIME_STATUS_SHIFT))) | \ + (((val) & (SBP_IMU_COMP_TIME_STATUS_MASK)) \ + << (SBP_IMU_COMP_TIME_STATUS_SHIFT))); \ + } while (0) + +#define SBP_IMU_COMP_TIME_STATUS_REFERENCE_EPOCH_IS_START_OF_CURRENT_GPS_WEEK \ + (0) +#define SBP_IMU_COMP_TIME_STATUS_REFERENCE_EPOCH_IS_TIME_OF_SYSTEM_STARTUP (1) +#define SBP_IMU_COMP_TIME_STATUS_REFERENCE_EPOCH_IS_UNKNOWN (2) +#define SBP_IMU_COMP_TIME_STATUS_REFERENCE_EPOCH_IS_LAST_PPS (3) +/** + * Encoded length of sbp_msg_imu_comp_t + */ +#define SBP_MSG_IMU_COMP_ENCODED_LEN 34u + #endif /* LIBSBP_IMU_MACROS_H */ diff --git a/c/include/libsbp/sbp_msg.h b/c/include/libsbp/sbp_msg.h index c8c510256f..754aeb8e79 100644 --- a/c/include/libsbp/sbp_msg.h +++ b/c/include/libsbp/sbp_msg.h @@ -157,6 +157,7 @@ typedef union { sbp_msg_heartbeat_t heartbeat; sbp_msg_iar_state_t iar_state; sbp_msg_imu_aux_t imu_aux; + sbp_msg_imu_comp_t imu_comp; sbp_msg_imu_raw_t imu_raw; sbp_msg_init_base_dep_t init_base_dep; sbp_msg_ins_status_t ins_status; @@ -587,6 +588,8 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len, return sbp_msg_iar_state_encode(buf, len, n_written, &msg->iar_state); case SbpMsgImuAux: return sbp_msg_imu_aux_encode(buf, len, n_written, &msg->imu_aux); + case SbpMsgImuComp: + return sbp_msg_imu_comp_encode(buf, len, n_written, &msg->imu_comp); case SbpMsgImuRaw: return sbp_msg_imu_raw_encode(buf, len, n_written, &msg->imu_raw); case SbpMsgInitBaseDep: @@ -1257,6 +1260,8 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len, return sbp_msg_iar_state_decode(buf, len, n_read, &msg->iar_state); case SbpMsgImuAux: return sbp_msg_imu_aux_decode(buf, len, n_read, &msg->imu_aux); + case SbpMsgImuComp: + return sbp_msg_imu_comp_decode(buf, len, n_read, &msg->imu_comp); case SbpMsgImuRaw: return sbp_msg_imu_raw_decode(buf, len, n_read, &msg->imu_raw); case SbpMsgInitBaseDep: @@ -1861,6 +1866,8 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type, return sbp_msg_iar_state_encoded_len(&msg->iar_state); case SbpMsgImuAux: return sbp_msg_imu_aux_encoded_len(&msg->imu_aux); + case SbpMsgImuComp: + return sbp_msg_imu_comp_encoded_len(&msg->imu_comp); case SbpMsgImuRaw: return sbp_msg_imu_raw_encoded_len(&msg->imu_raw); case SbpMsgInitBaseDep: @@ -2452,6 +2459,8 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a, return sbp_msg_iar_state_cmp(&a->iar_state, &b->iar_state); case SbpMsgImuAux: return sbp_msg_imu_aux_cmp(&a->imu_aux, &b->imu_aux); + case SbpMsgImuComp: + return sbp_msg_imu_comp_cmp(&a->imu_comp, &b->imu_comp); case SbpMsgImuRaw: return sbp_msg_imu_raw_cmp(&a->imu_raw, &b->imu_raw); case SbpMsgInitBaseDep: diff --git a/c/include/libsbp/sbp_msg_type.h b/c/include/libsbp/sbp_msg_type.h index 906bdce08c..a098bfc013 100644 --- a/c/include/libsbp/sbp_msg_type.h +++ b/c/include/libsbp/sbp_msg_type.h @@ -148,6 +148,7 @@ typedef enum { SbpMsgHeartbeat = 0xFFFF, SbpMsgIarState = 0x0019, SbpMsgImuAux = 0x0901, + SbpMsgImuComp = 0x0905, SbpMsgImuRaw = 0x0900, SbpMsgInitBaseDep = 0x0023, SbpMsgInsStatus = 0xFF03, @@ -489,6 +490,8 @@ static inline const char *sbp_msg_type_to_string(sbp_msg_type_t msg_type) { return "MSG_IAR_STATE"; case SbpMsgImuAux: return "MSG_IMU_AUX"; + case SbpMsgImuComp: + return "MSG_IMU_COMP"; case SbpMsgImuRaw: return "MSG_IMU_RAW"; case SbpMsgInitBaseDep: diff --git a/c/src/imu.c b/c/src/imu.c index 95aeed2b82..4610a2d3b2 100644 --- a/c/src/imu.c +++ b/c/src/imu.c @@ -247,3 +247,146 @@ int sbp_msg_imu_aux_cmp(const sbp_msg_imu_aux_t *a, ret = sbp_u8_cmp(&a->imu_conf, &b->imu_conf); return ret; } + +bool sbp_msg_imu_comp_encode_internal(sbp_encode_ctx_t *ctx, + const sbp_msg_imu_comp_t *msg) { + if (!sbp_u64_encode(ctx, &msg->time)) { + return false; + } + if (!sbp_u16_encode(ctx, &msg->flags)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->acc_comp_x)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->acc_comp_y)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->acc_comp_z)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->gyr_comp_x)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->gyr_comp_y)) { + return false; + } + if (!sbp_s32_encode(ctx, &msg->gyr_comp_z)) { + return false; + } + return true; +} + +s8 sbp_msg_imu_comp_encode(uint8_t *buf, uint8_t len, uint8_t *n_written, + const sbp_msg_imu_comp_t *msg) { + sbp_encode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_imu_comp_encode_internal(&ctx, msg)) { + return SBP_ENCODE_ERROR; + } + if (n_written != NULL) { + *n_written = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +bool sbp_msg_imu_comp_decode_internal(sbp_decode_ctx_t *ctx, + sbp_msg_imu_comp_t *msg) { + if (!sbp_u64_decode(ctx, &msg->time)) { + return false; + } + if (!sbp_u16_decode(ctx, &msg->flags)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->acc_comp_x)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->acc_comp_y)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->acc_comp_z)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->gyr_comp_x)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->gyr_comp_y)) { + return false; + } + if (!sbp_s32_decode(ctx, &msg->gyr_comp_z)) { + return false; + } + return true; +} + +s8 sbp_msg_imu_comp_decode(const uint8_t *buf, uint8_t len, uint8_t *n_read, + sbp_msg_imu_comp_t *msg) { + sbp_decode_ctx_t ctx; + ctx.buf = buf; + ctx.buf_len = len; + ctx.offset = 0; + if (!sbp_msg_imu_comp_decode_internal(&ctx, msg)) { + return SBP_DECODE_ERROR; + } + if (n_read != NULL) { + *n_read = (uint8_t)ctx.offset; + } + return SBP_OK; +} + +s8 sbp_msg_imu_comp_send(sbp_state_t *s, u16 sender_id, + const sbp_msg_imu_comp_t *msg, sbp_write_fn_t write) { + uint8_t payload[SBP_MAX_PAYLOAD_LEN]; + uint8_t payload_len; + s8 ret = sbp_msg_imu_comp_encode(payload, sizeof(payload), &payload_len, msg); + if (ret != SBP_OK) { + return ret; + } + return sbp_internal_forward_payload(s, SbpMsgImuComp, sender_id, payload_len, + payload, write); +} + +int sbp_msg_imu_comp_cmp(const sbp_msg_imu_comp_t *a, + const sbp_msg_imu_comp_t *b) { + int ret = 0; + + ret = sbp_u64_cmp(&a->time, &b->time); + if (ret != 0) { + return ret; + } + + ret = sbp_u16_cmp(&a->flags, &b->flags); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->acc_comp_x, &b->acc_comp_x); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->acc_comp_y, &b->acc_comp_y); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->acc_comp_z, &b->acc_comp_z); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->gyr_comp_x, &b->gyr_comp_x); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->gyr_comp_y, &b->gyr_comp_y); + if (ret != 0) { + return ret; + } + + ret = sbp_s32_cmp(&a->gyr_comp_z, &b->gyr_comp_z); + return ret; +} diff --git a/c/src/include/libsbp/internal/imu.h b/c/src/include/libsbp/internal/imu.h index 257f7ace24..6e8c5fbd77 100644 --- a/c/src/include/libsbp/internal/imu.h +++ b/c/src/include/libsbp/internal/imu.h @@ -67,6 +67,26 @@ bool sbp_msg_imu_aux_encode_internal(sbp_encode_ctx_t *ctx, bool sbp_msg_imu_aux_decode_internal(sbp_decode_ctx_t *ctx, sbp_msg_imu_aux_t *msg); +/** + * Internal function to encode an SBP type to a buffer + * + * @param ctx Encode context + * @param msg SBP type instance + * @return true on success, false otherwise + */ +bool sbp_msg_imu_comp_encode_internal(sbp_encode_ctx_t *ctx, + const sbp_msg_imu_comp_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_imu_comp_decode_internal(sbp_decode_ctx_t *ctx, + sbp_msg_imu_comp_t *msg); + #ifdef __cplusplus } #endif diff --git a/haskell/src/SwiftNav/SBP/Imu.hs b/haskell/src/SwiftNav/SBP/Imu.hs index 4bdc4aae66..1094f0bc19 100644 --- a/haskell/src/SwiftNav/SBP/Imu.hs +++ b/haskell/src/SwiftNav/SBP/Imu.hs @@ -127,3 +127,58 @@ instance Binary MsgImuAux where $(makeSBP 'msgImuAux ''MsgImuAux) $(makeJSON "_msgImuAux_" ''MsgImuAux) $(makeLenses ''MsgImuAux) + +msgImuComp :: Word16 +msgImuComp = 0x0905 + +-- | SBP class for message MSG_IMU_COMP (0x0905). +-- +-- Data from the Inertial Measurement Unit, containing accelerometer and +-- gyroscope readings compensated for estimated errors and constant physical +-- effects. The output is valid for inertially referenced center of +-- navigation (IMU body frame) represented in vehicle body frame. +data MsgImuComp = MsgImuComp + { _msgImuComp_time :: !Word64 + -- ^ Microseconds since reference epoch + , _msgImuComp_flags :: !Word16 + -- ^ Contains the applied compensation parameters and time synchronization + -- mode + , _msgImuComp_acc_comp_x :: !Int32 + -- ^ Compensated acceleration X axis + , _msgImuComp_acc_comp_y :: !Int32 + -- ^ Compensated acceleration Y axis + , _msgImuComp_acc_comp_z :: !Int32 + -- ^ Compensated acceleration Z axis + , _msgImuComp_gyr_comp_x :: !Int32 + -- ^ Compensated angular rate X axis + , _msgImuComp_gyr_comp_y :: !Int32 + -- ^ Compensated angular rate Y axis + , _msgImuComp_gyr_comp_z :: !Int32 + -- ^ Compensated angular rate Z axis + } deriving ( Show, Read, Eq ) + +instance Binary MsgImuComp where + get = do + _msgImuComp_time <- getWord64le + _msgImuComp_flags <- getWord16le + _msgImuComp_acc_comp_x <- (fromIntegral <$> getWord32le) + _msgImuComp_acc_comp_y <- (fromIntegral <$> getWord32le) + _msgImuComp_acc_comp_z <- (fromIntegral <$> getWord32le) + _msgImuComp_gyr_comp_x <- (fromIntegral <$> getWord32le) + _msgImuComp_gyr_comp_y <- (fromIntegral <$> getWord32le) + _msgImuComp_gyr_comp_z <- (fromIntegral <$> getWord32le) + pure MsgImuComp {..} + + put MsgImuComp {..} = do + putWord64le _msgImuComp_time + putWord16le _msgImuComp_flags + (putWord32le . fromIntegral) _msgImuComp_acc_comp_x + (putWord32le . fromIntegral) _msgImuComp_acc_comp_y + (putWord32le . fromIntegral) _msgImuComp_acc_comp_z + (putWord32le . fromIntegral) _msgImuComp_gyr_comp_x + (putWord32le . fromIntegral) _msgImuComp_gyr_comp_y + (putWord32le . fromIntegral) _msgImuComp_gyr_comp_z + +$(makeSBP 'msgImuComp ''MsgImuComp) +$(makeJSON "_msgImuComp_" ''MsgImuComp) +$(makeLenses ''MsgImuComp) diff --git a/haskell/src/SwiftNav/SBP/Msg.hs b/haskell/src/SwiftNav/SBP/Msg.hs index 0cbaebe6d4..e565872c14 100644 --- a/haskell/src/SwiftNav/SBP/Msg.hs +++ b/haskell/src/SwiftNav/SBP/Msg.hs @@ -156,6 +156,7 @@ data SBPMsg = | SBPMsgHeartbeat MsgHeartbeat Msg | SBPMsgIarState MsgIarState Msg | SBPMsgImuAux MsgImuAux Msg + | SBPMsgImuComp MsgImuComp Msg | SBPMsgImuRaw MsgImuRaw Msg | SBPMsgInitBaseDep MsgInitBaseDep Msg | SBPMsgInsStatus MsgInsStatus Msg @@ -407,6 +408,7 @@ instance Binary SBPMsg where | _msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuAux = SBPMsgImuAux (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgImuComp = SBPMsgImuComp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgImuRaw = SBPMsgImuRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInitBaseDep = SBPMsgInitBaseDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -650,6 +652,7 @@ instance Binary SBPMsg where encoder (SBPMsgHeartbeat _ m) = put m encoder (SBPMsgIarState _ m) = put m encoder (SBPMsgImuAux _ m) = put m + encoder (SBPMsgImuComp _ m) = put m encoder (SBPMsgImuRaw _ m) = put m encoder (SBPMsgInitBaseDep _ m) = put m encoder (SBPMsgInsStatus _ m) = put m @@ -897,6 +900,7 @@ instance FromJSON SBPMsg where | msgType == msgHeartbeat = SBPMsgHeartbeat <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIarState = SBPMsgIarState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuAux = SBPMsgImuAux <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgImuComp = SBPMsgImuComp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgImuRaw = SBPMsgImuRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInitBaseDep = SBPMsgInitBaseDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1145,6 +1149,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgHeartbeat n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIarState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuAux n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgImuComp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgImuRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgInitBaseDep _ m) = toJSON m toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m @@ -1387,6 +1392,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgHeartbeat n m) = SBPMsgHeartbeat n <$> f m msg f (SBPMsgIarState n m) = SBPMsgIarState n <$> f m msg f (SBPMsgImuAux n m) = SBPMsgImuAux n <$> f m + msg f (SBPMsgImuComp n m) = SBPMsgImuComp n <$> f m msg f (SBPMsgImuRaw n m) = SBPMsgImuRaw n <$> f m msg f (SBPMsgInitBaseDep n m) = SBPMsgInitBaseDep n <$> f m msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m diff --git a/java/src/com/swiftnav/sbp/client/MessageTable.java b/java/src/com/swiftnav/sbp/client/MessageTable.java index 048adecf9f..9a992a1ccb 100644 --- a/java/src/com/swiftnav/sbp/client/MessageTable.java +++ b/java/src/com/swiftnav/sbp/client/MessageTable.java @@ -46,6 +46,7 @@ import com.swiftnav.sbp.flash.MsgStmUniqueIdReq; import com.swiftnav.sbp.flash.MsgStmUniqueIdResp; import com.swiftnav.sbp.imu.MsgImuAux; +import com.swiftnav.sbp.imu.MsgImuComp; import com.swiftnav.sbp.imu.MsgImuRaw; import com.swiftnav.sbp.integrity.MsgAcknowledge; import com.swiftnav.sbp.integrity.MsgSsrFlagHighLevel; @@ -323,6 +324,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException { return new MsgImuRaw(msg); case MsgImuAux.TYPE: return new MsgImuAux(msg); + case MsgImuComp.TYPE: + return new MsgImuComp(msg); case MsgSsrFlagHighLevel.TYPE: return new MsgSsrFlagHighLevel(msg); case MsgSsrFlagSatellites.TYPE: diff --git a/java/src/com/swiftnav/sbp/imu/MsgImuComp.java b/java/src/com/swiftnav/sbp/imu/MsgImuComp.java new file mode 100644 index 0000000000..ae8c64286a --- /dev/null +++ b/java/src/com/swiftnav/sbp/imu/MsgImuComp.java @@ -0,0 +1,117 @@ +/* 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 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.imu; + +// This file was auto-generated from yaml/swiftnav/sbp/imu.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_IMU_COMP (0x0905). + * + *

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

Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings + * compensated for estimated errors and constant physical effects. The output is valid for + * inertially referenced center of navigation (IMU body frame) represented in vehicle body frame. + */ +public class MsgImuComp extends SBPMessage { + public static final int TYPE = 0x0905; + + /** Microseconds since reference epoch */ + public BigInteger time; + + /** Contains the applied compensation parameters and time synchronization mode */ + public int flags; + + /** Compensated acceleration X axis */ + public int acc_comp_x; + + /** Compensated acceleration Y axis */ + public int acc_comp_y; + + /** Compensated acceleration Z axis */ + public int acc_comp_z; + + /** Compensated angular rate X axis */ + public int gyr_comp_x; + + /** Compensated angular rate Y axis */ + public int gyr_comp_y; + + /** Compensated angular rate Z axis */ + public int gyr_comp_z; + + public MsgImuComp(int sender) { + super(sender, TYPE); + } + + public MsgImuComp() { + super(TYPE); + } + + public MsgImuComp(SBPMessage msg) throws SBPBinaryException { + super(msg); + if (msg.type != TYPE) + throw new SBPBinaryException( + "Type mismatch for MsgImuComp, expected 2309, actual " + msg.type); + } + + @Override + protected void parse(Parser parser) throws SBPBinaryException { + /* Parse fields from binary */ + time = parser.getU64(); + flags = parser.getU16(); + acc_comp_x = parser.getS32(); + acc_comp_y = parser.getS32(); + acc_comp_z = parser.getS32(); + gyr_comp_x = parser.getS32(); + gyr_comp_y = parser.getS32(); + gyr_comp_z = parser.getS32(); + } + + @Override + protected void build(Builder builder) { + builder.putU64(time); + builder.putU16(flags); + builder.putS32(acc_comp_x); + builder.putS32(acc_comp_y); + builder.putS32(acc_comp_z); + builder.putS32(gyr_comp_x); + builder.putS32(gyr_comp_y); + builder.putS32(gyr_comp_z); + } + + @Override + public JSONObject toJSON() { + JSONObject obj = super.toJSON(); + obj.put("time", time); + obj.put("flags", flags); + obj.put("acc_comp_x", acc_comp_x); + obj.put("acc_comp_y", acc_comp_y); + obj.put("acc_comp_z", acc_comp_z); + obj.put("gyr_comp_x", gyr_comp_x); + obj.put("gyr_comp_y", gyr_comp_y); + obj.put("gyr_comp_z", gyr_comp_z); + return obj; + } + + @Override + public String getFriendlyName() { + return "IMU COMP"; + } +} diff --git a/javascript/sbp/imu.js b/javascript/sbp/imu.js index 2f5bba58a7..a1f0bfa9c9 100644 --- a/javascript/sbp/imu.js +++ b/javascript/sbp/imu.js @@ -115,9 +115,62 @@ MsgImuAux.prototype.fieldSpec.push(['imu_type', 'writeUInt8', 1]); MsgImuAux.prototype.fieldSpec.push(['temp', 'writeInt16LE', 2]); MsgImuAux.prototype.fieldSpec.push(['imu_conf', 'writeUInt8', 1]); +/** + * SBP class for message MSG_IMU_COMP (0x0905). + * + * Data from the Inertial Measurement Unit, containing accelerometer and gyroscope + * readings compensated for estimated errors and constant physical effects. The + * output is valid for inertially referenced center of navigation (IMU body frame) + * represented in vehicle body frame. + * + * Fields in the SBP payload (`sbp.payload`): + * @field time number (unsigned 64-bit int, 8 bytes) Microseconds since reference epoch + * @field flags number (unsigned 16-bit int, 2 bytes) Contains the applied compensation parameters and time synchronization mode + * @field acc_comp_x number (signed 32-bit int, 4 bytes) Compensated acceleration X axis + * @field acc_comp_y number (signed 32-bit int, 4 bytes) Compensated acceleration Y axis + * @field acc_comp_z number (signed 32-bit int, 4 bytes) Compensated acceleration Z axis + * @field gyr_comp_x number (signed 32-bit int, 4 bytes) Compensated angular rate X axis + * @field gyr_comp_y number (signed 32-bit int, 4 bytes) Compensated angular rate Y axis + * @field gyr_comp_z number (signed 32-bit int, 4 bytes) Compensated angular rate Z axis + * + * @param sbp An SBP object with a payload to be decoded. + */ +let MsgImuComp = function (sbp, fields) { + SBP.call(this, sbp); + this.messageType = "MSG_IMU_COMP"; + this.fields = (fields || this.parser.parse(sbp.payload)); + + return this; +}; +MsgImuComp.prototype = Object.create(SBP.prototype); +MsgImuComp.prototype.messageType = "MSG_IMU_COMP"; +MsgImuComp.prototype.msg_type = 0x0905; +MsgImuComp.prototype.constructor = MsgImuComp; +MsgImuComp.prototype.parser = new Parser() + .endianess('little') + .uint64('time') + .uint16('flags') + .int32('acc_comp_x') + .int32('acc_comp_y') + .int32('acc_comp_z') + .int32('gyr_comp_x') + .int32('gyr_comp_y') + .int32('gyr_comp_z'); +MsgImuComp.prototype.fieldSpec = []; +MsgImuComp.prototype.fieldSpec.push(['time', 'writeUInt64LE', 8]); +MsgImuComp.prototype.fieldSpec.push(['flags', 'writeUInt16LE', 2]); +MsgImuComp.prototype.fieldSpec.push(['acc_comp_x', 'writeInt32LE', 4]); +MsgImuComp.prototype.fieldSpec.push(['acc_comp_y', 'writeInt32LE', 4]); +MsgImuComp.prototype.fieldSpec.push(['acc_comp_z', 'writeInt32LE', 4]); +MsgImuComp.prototype.fieldSpec.push(['gyr_comp_x', 'writeInt32LE', 4]); +MsgImuComp.prototype.fieldSpec.push(['gyr_comp_y', 'writeInt32LE', 4]); +MsgImuComp.prototype.fieldSpec.push(['gyr_comp_z', 'writeInt32LE', 4]); + module.exports = { 0x0900: MsgImuRaw, MsgImuRaw: MsgImuRaw, 0x0901: MsgImuAux, MsgImuAux: MsgImuAux, + 0x0905: MsgImuComp, + MsgImuComp: MsgImuComp, } \ No newline at end of file diff --git a/jsonschema/MsgImuComp.json b/jsonschema/MsgImuComp.json new file mode 100644 index 0000000000..2033790408 --- /dev/null +++ b/jsonschema/MsgImuComp.json @@ -0,0 +1,38 @@ +{ + "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 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": "#MsgImuComp", + "title":"MsgImuComp", + "description":"Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings compensated for estimated errors and constant physical effects. The output is valid for inertially referenced center of navigation (IMU body frame) represented in vehicle body frame.\n", + "type": "object", + "properties": { + "time": {"type": "integer"}, + "flags": {"type": "integer"}, + "acc_comp_x": {"type": "integer"}, + "acc_comp_y": {"type": "integer"}, + "acc_comp_z": {"type": "integer"}, + "gyr_comp_x": {"type": "integer"}, + "gyr_comp_y": {"type": "integer"}, + "gyr_comp_z": {"type": "integer"} + }, + "required": [ + "time", + "flags", + "acc_comp_x", + "acc_comp_y", + "acc_comp_z", + "gyr_comp_x", + "gyr_comp_y", + "gyr_comp_z" + ] +} \ No newline at end of file diff --git a/kaitai/ksy/imu.ksy b/kaitai/ksy/imu.ksy index b239205584..2493d2c367 100644 --- a/kaitai/ksy/imu.ksy +++ b/kaitai/ksy/imu.ksy @@ -85,4 +85,45 @@ types: doc: | IMU configuration type: u1 + + msg_imu_comp: + doc: | + Data from the Inertial Measurement Unit, containing accelerometer and + gyroscope readings compensated for estimated errors and constant + physical effects. The output is valid for inertially referenced center + of navigation (IMU body frame) represented in vehicle body frame. + seq: + - id: time + doc: | + Microseconds since reference epoch + type: u8 + - id: flags + doc: | + Contains the applied compensation parameters and time + synchronization mode + type: u2 + - id: acc_comp_x + doc: | + Compensated acceleration X axis + type: s4 + - id: acc_comp_y + doc: | + Compensated acceleration Y axis + type: s4 + - id: acc_comp_z + doc: | + Compensated acceleration Z axis + type: s4 + - id: gyr_comp_x + doc: | + Compensated angular rate X axis + type: s4 + - id: gyr_comp_y + doc: | + Compensated angular rate Y axis + type: s4 + - id: gyr_comp_z + doc: | + Compensated angular rate Z axis + type: s4 \ No newline at end of file diff --git a/kaitai/ksy/sbp.ksy b/kaitai/ksy/sbp.ksy index 93ea07c2dd..c1587bf620 100644 --- a/kaitai/ksy/sbp.ksy +++ b/kaitai/ksy/sbp.ksy @@ -95,6 +95,7 @@ enums: 2304: msg_imu_raw 2305: msg_imu_aux + 2309: msg_imu_comp 3001: msg_ssr_flag_high_level 3005: msg_ssr_flag_satellites @@ -378,6 +379,7 @@ types: 2304: imu::msg_imu_raw 2305: imu::msg_imu_aux + 2309: imu::msg_imu_comp 3001: integrity::msg_ssr_flag_high_level 3005: integrity::msg_ssr_flag_satellites diff --git a/kaitai/perl/KaitaiSbp/Imu.pm b/kaitai/perl/KaitaiSbp/Imu.pm index 8b6e65e96a..58d96d669d 100644 --- a/kaitai/perl/KaitaiSbp/Imu.pm +++ b/kaitai/perl/KaitaiSbp/Imu.pm @@ -166,4 +166,84 @@ sub imu_conf { return $self->{imu_conf}; } +######################################################################## +package Imu::MsgImuComp; + +our @ISA = 'IO::KaitaiStruct::Struct'; + +sub from_file { + my ($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->{time} = $self->{_io}->read_u8le(); + $self->{flags} = $self->{_io}->read_u2le(); + $self->{acc_comp_x} = $self->{_io}->read_s4le(); + $self->{acc_comp_y} = $self->{_io}->read_s4le(); + $self->{acc_comp_z} = $self->{_io}->read_s4le(); + $self->{gyr_comp_x} = $self->{_io}->read_s4le(); + $self->{gyr_comp_y} = $self->{_io}->read_s4le(); + $self->{gyr_comp_z} = $self->{_io}->read_s4le(); +} + +sub time { + my ($self) = @_; + return $self->{time}; +} + +sub flags { + my ($self) = @_; + return $self->{flags}; +} + +sub acc_comp_x { + my ($self) = @_; + return $self->{acc_comp_x}; +} + +sub acc_comp_y { + my ($self) = @_; + return $self->{acc_comp_y}; +} + +sub acc_comp_z { + my ($self) = @_; + return $self->{acc_comp_z}; +} + +sub gyr_comp_x { + my ($self) = @_; + return $self->{gyr_comp_x}; +} + +sub gyr_comp_y { + my ($self) = @_; + return $self->{gyr_comp_y}; +} + +sub gyr_comp_z { + my ($self) = @_; + return $self->{gyr_comp_z}; +} + 1; diff --git a/kaitai/perl/KaitaiSbp/Sbp.pm b/kaitai/perl/KaitaiSbp/Sbp.pm index 444adedc19..0f3f1be210 100644 --- a/kaitai/perl/KaitaiSbp/Sbp.pm +++ b/kaitai/perl/KaitaiSbp/Sbp.pm @@ -233,6 +233,7 @@ our $MSG_IDS_MSG_IMU_AUX = 2305; our $MSG_IDS_MSG_MAG_RAW = 2306; our $MSG_IDS_MSG_ODOMETRY = 2307; our $MSG_IDS_MSG_WHEELTICK = 2308; +our $MSG_IDS_MSG_IMU_COMP = 2309; our $MSG_IDS_MSG_SSR_FLAG_HIGH_LEVEL = 3001; our $MSG_IDS_MSG_SSR_FLAG_SATELLITES = 3005; our $MSG_IDS_MSG_SSR_FLAG_TROPO_GRID_POINTS = 3011; @@ -826,6 +827,11 @@ sub _read { my $io__raw_payload = IO::KaitaiStruct::Stream->new($self->{_raw_payload}); $self->{payload} = Piksi::MsgCwResults->new($io__raw_payload, $self, $self->{_root}); } + elsif ($_on == 2309) { + $self->{_raw_payload} = $self->{_io}->read_bytes($self->length()); + my $io__raw_payload = IO::KaitaiStruct::Stream->new($self->{_raw_payload}); + $self->{payload} = Imu::MsgImuComp->new($io__raw_payload, $self, $self->{_root}); + } elsif ($_on == 165) { $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 b4cb0d3916..bc9314a6fc 100644 --- a/kaitai/perl/KaitaiSbp/Table.pm +++ b/kaitai/perl/KaitaiSbp/Table.pm @@ -89,6 +89,7 @@ our %TABLE = ( 2304 => sub{Imu::MsgImuRaw->new(@_)}, 2305 => sub{Imu::MsgImuAux->new(@_)}, + 2309 => sub{Imu::MsgImuComp->new(@_)}, 3001 => sub{Integrity::MsgSsrFlagHighLevel->new(@_)}, 3005 => sub{Integrity::MsgSsrFlagSatellites->new(@_)}, diff --git a/kaitai/python/kaitai_sbp/imu.py b/kaitai/python/kaitai_sbp/imu.py index 3cf35122b5..03abebf03c 100644 --- a/kaitai/python/kaitai_sbp/imu.py +++ b/kaitai/python/kaitai_sbp/imu.py @@ -64,4 +64,27 @@ def _read(self): self.imu_conf = self._io.read_u1() + class MsgImuComp(KaitaiStruct): + """Data from the Inertial Measurement Unit, containing accelerometer and + gyroscope readings compensated for estimated errors and constant + physical effects. The output is valid for inertially referenced center + of navigation (IMU body frame) represented in vehicle body frame. + """ + 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.time = self._io.read_u8le() + self.flags = self._io.read_u2le() + self.acc_comp_x = self._io.read_s4le() + self.acc_comp_y = self._io.read_s4le() + self.acc_comp_z = self._io.read_s4le() + self.gyr_comp_x = self._io.read_s4le() + self.gyr_comp_y = self._io.read_s4le() + self.gyr_comp_z = self._io.read_s4le() + + diff --git a/kaitai/python/kaitai_sbp/sbp.py b/kaitai/python/kaitai_sbp/sbp.py index 3a0adf2b4e..75d6ae8b82 100644 --- a/kaitai/python/kaitai_sbp/sbp.py +++ b/kaitai/python/kaitai_sbp/sbp.py @@ -226,6 +226,7 @@ class MsgIds(Enum): msg_mag_raw = 2306 msg_odometry = 2307 msg_wheeltick = 2308 + msg_imu_comp = 2309 msg_ssr_flag_high_level = 3001 msg_ssr_flag_satellites = 3005 msg_ssr_flag_tropo_grid_points = 3011 @@ -689,6 +690,10 @@ def _read(self): self._raw_payload = self._io.read_bytes(self.length) _io__raw_payload = KaitaiStream(BytesIO(self._raw_payload)) self.payload = Piksi.MsgCwResults(_io__raw_payload, self, self._root) + elif _on == 2309: + self._raw_payload = self._io.read_bytes(self.length) + _io__raw_payload = KaitaiStream(BytesIO(self._raw_payload)) + self.payload = Imu.MsgImuComp(_io__raw_payload, self, self._root) elif _on == 165: 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 d6fff9e27e..94f0aabfc9 100644 --- a/kaitai/python/kaitai_sbp/table.py +++ b/kaitai/python/kaitai_sbp/table.py @@ -83,6 +83,7 @@ 2304: Imu.MsgImuRaw, 2305: Imu.MsgImuAux, + 2309: Imu.MsgImuComp, 3001: Integrity.MsgSsrFlagHighLevel, 3005: Integrity.MsgSsrFlagSatellites, diff --git a/proto/imu.proto b/proto/imu.proto index 67eeac9b3f..ae1090b20d 100644 --- a/proto/imu.proto +++ b/proto/imu.proto @@ -54,4 +54,22 @@ message MsgImuAux { uint32 imu_type = 1; sint32 temp = 2; uint32 imu_conf = 3; +} + +/** Compensated IMU data + * + * Data from the Inertial Measurement Unit, containing accelerometer and + * gyroscope readings compensated for estimated errors and constant physical + * effects. The output is valid for inertially referenced center of + * navigation (IMU body frame) represented in vehicle body frame. + */ +message MsgImuComp { + uint64 time = 1; + uint32 flags = 2; + sint32 acc_comp_x = 3; + sint32 acc_comp_y = 4; + sint32 acc_comp_z = 5; + sint32 gyr_comp_x = 6; + sint32 gyr_comp_y = 7; + sint32 gyr_comp_z = 8; } \ No newline at end of file diff --git a/python/sbp/imu.py b/python/sbp/imu.py index be27d3c67c..6ec25e7ca6 100644 --- a/python/sbp/imu.py +++ b/python/sbp/imu.py @@ -271,8 +271,142 @@ def to_json_dict(self): d.update(j) return d +SBP_MSG_IMU_COMP = 0x0905 +class MsgImuComp(SBP): + """SBP class for message MSG_IMU_COMP (0x0905). + + You can have MSG_IMU_COMP inherit its fields directly + from an inherited SBP object, or construct it inline using a dict + of its fields. + + + Data from the Inertial Measurement Unit, containing accelerometer and + gyroscope readings compensated for estimated errors and constant physical + effects. The output is valid for inertially referenced center of navigation + (IMU body frame) represented in vehicle body frame. + + Parameters + ---------- + sbp : SBP + SBP parent object to inherit from. + time : int + Microseconds since reference epoch + flags : int + Contains the applied compensation parameters and time synchronization mode + acc_comp_x : int + Compensated acceleration X axis + acc_comp_y : int + Compensated acceleration Y axis + acc_comp_z : int + Compensated acceleration Z axis + gyr_comp_x : int + Compensated angular rate X axis + gyr_comp_y : int + Compensated angular rate Y axis + gyr_comp_z : int + Compensated angular rate Z axis + sender : int + Optional sender ID, defaults to SENDER_ID (see sbp/msg.py). + + """ + _parser = construct.Struct( + 'time' / construct.Int64ul, + 'flags' / construct.Int16ul, + 'acc_comp_x' / construct.Int32sl, + 'acc_comp_y' / construct.Int32sl, + 'acc_comp_z' / construct.Int32sl, + 'gyr_comp_x' / construct.Int32sl, + 'gyr_comp_y' / construct.Int32sl, + 'gyr_comp_z' / construct.Int32sl,) + __slots__ = [ + 'time', + 'flags', + 'acc_comp_x', + 'acc_comp_y', + 'acc_comp_z', + 'gyr_comp_x', + 'gyr_comp_y', + 'gyr_comp_z', + ] + + def __init__(self, sbp=None, **kwargs): + if sbp: + super( MsgImuComp, + self).__init__(sbp.msg_type, sbp.sender, sbp.length, + sbp.payload, sbp.crc) + self.from_binary(sbp.payload) + else: + super( MsgImuComp, self).__init__() + self.msg_type = SBP_MSG_IMU_COMP + self.sender = kwargs.pop('sender', SENDER_ID) + self.time = kwargs.pop('time') + self.flags = kwargs.pop('flags') + self.acc_comp_x = kwargs.pop('acc_comp_x') + self.acc_comp_y = kwargs.pop('acc_comp_y') + self.acc_comp_z = kwargs.pop('acc_comp_z') + self.gyr_comp_x = kwargs.pop('gyr_comp_x') + self.gyr_comp_y = kwargs.pop('gyr_comp_y') + self.gyr_comp_z = kwargs.pop('gyr_comp_z') + + 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 MsgImuComp.from_json_dict(d) + + @staticmethod + def from_json_dict(d): + sbp = SBP.from_json_dict(d) + return MsgImuComp(sbp, **d) + + + def from_binary(self, d): + """Given a binary payload d, update the appropriate payload fields of + the message. + + """ + p = MsgImuComp._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 = MsgImuComp._parser.build(c) + return self.pack() + + def friendly_name(self): + """Produces friendly human-readable name for this message + + """ + return "IMU COMP" + + 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 = MsgImuComp._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( MsgImuComp, self).to_json_dict() + j = walk_json_dict(exclude_fields(self)) + d.update(j) + return d + msg_classes = { 0x0900: MsgImuRaw, 0x0901: MsgImuAux, + 0x0905: MsgImuComp, } \ No newline at end of file diff --git a/rust/sbp/src/messages/imu.rs b/rust/sbp/src/messages/imu.rs index e68788d100..bc3f69059c 100644 --- a/rust/sbp/src/messages/imu.rs +++ b/rust/sbp/src/messages/imu.rs @@ -14,6 +14,7 @@ //****************************************************************************/ //! Inertial Measurement Unit (IMU) messages. pub use msg_imu_aux::MsgImuAux; +pub use msg_imu_comp::MsgImuComp; pub use msg_imu_raw::MsgImuRaw; pub mod msg_imu_aux { @@ -302,6 +303,258 @@ pub mod msg_imu_aux { } } +pub mod msg_imu_comp { + #![allow(unused_imports)] + + use super::*; + use crate::messages::lib::*; + + /// Compensated IMU data + /// + /// Data from the Inertial Measurement Unit, containing accelerometer and + /// gyroscope readings compensated for estimated errors and constant physical + /// effects. The output is valid for inertially referenced center of + /// navigation (IMU body frame) represented in vehicle body frame. + /// + #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))] + #[allow(clippy::derive_partial_eq_without_eq)] + #[derive(Debug, PartialEq, Clone)] + pub struct MsgImuComp { + /// The message sender_id + #[cfg_attr(feature = "serde", serde(skip_serializing, alias = "sender"))] + pub sender_id: Option, + /// Microseconds since reference epoch + #[cfg_attr(feature = "serde", serde(rename = "time"))] + pub time: u64, + /// Contains the applied compensation parameters and time synchronization + /// mode + #[cfg_attr(feature = "serde", serde(rename = "flags"))] + pub flags: u16, + /// Compensated acceleration X axis + #[cfg_attr(feature = "serde", serde(rename = "acc_comp_x"))] + pub acc_comp_x: i32, + /// Compensated acceleration Y axis + #[cfg_attr(feature = "serde", serde(rename = "acc_comp_y"))] + pub acc_comp_y: i32, + /// Compensated acceleration Z axis + #[cfg_attr(feature = "serde", serde(rename = "acc_comp_z"))] + pub acc_comp_z: i32, + /// Compensated angular rate X axis + #[cfg_attr(feature = "serde", serde(rename = "gyr_comp_x"))] + pub gyr_comp_x: i32, + /// Compensated angular rate Y axis + #[cfg_attr(feature = "serde", serde(rename = "gyr_comp_y"))] + pub gyr_comp_y: i32, + /// Compensated angular rate Z axis + #[cfg_attr(feature = "serde", serde(rename = "gyr_comp_z"))] + pub gyr_comp_z: i32, + } + + impl MsgImuComp { + /// Gets the `gyroscopeerrorscompensated` flag. + #[allow(clippy::identity_op)] + pub fn gyroscopeerrorscompensated(&self) -> bool { + ((self.flags >> 6) & 1) == 1 + } + + /// Sets the `gyroscopeerrorscompensated` flag. + pub fn set_gyroscopeerrorscompensated(&mut self, gyroscopeerrorscompensated: bool) { + self.flags ^= (!(gyroscopeerrorscompensated as u16)) & (1 << 6) + } + + /// Gets the `accelerometererrorscompensated` flag. + #[allow(clippy::identity_op)] + pub fn accelerometererrorscompensated(&self) -> bool { + ((self.flags >> 5) & 1) == 1 + } + + /// Sets the `accelerometererrorscompensated` flag. + pub fn set_accelerometererrorscompensated(&mut self, accelerometererrorscompensated: bool) { + self.flags ^= (!(accelerometererrorscompensated as u16)) & (1 << 5) + } + + /// Gets the `corioliseffectcompensated` flag. + #[allow(clippy::identity_op)] + pub fn corioliseffectcompensated(&self) -> bool { + ((self.flags >> 4) & 1) == 1 + } + + /// Sets the `corioliseffectcompensated` flag. + pub fn set_corioliseffectcompensated(&mut self, corioliseffectcompensated: bool) { + self.flags ^= (!(corioliseffectcompensated as u16)) & (1 << 4) + } + + /// Gets the `earthrorationratecompensated` flag. + #[allow(clippy::identity_op)] + pub fn earthrorationratecompensated(&self) -> bool { + ((self.flags >> 3) & 1) == 1 + } + + /// Sets the `earthrorationratecompensated` flag. + pub fn set_earthrorationratecompensated(&mut self, earthrorationratecompensated: bool) { + self.flags ^= (!(earthrorationratecompensated as u16)) & (1 << 3) + } + + /// Gets the `earthgravitycompensated` flag. + #[allow(clippy::identity_op)] + pub fn earthgravitycompensated(&self) -> bool { + ((self.flags >> 2) & 1) == 1 + } + + /// Sets the `earthgravitycompensated` flag. + pub fn set_earthgravitycompensated(&mut self, earthgravitycompensated: bool) { + self.flags ^= (!(earthgravitycompensated as u16)) & (1 << 2) + } + + /// Gets the [TimeStatus][self::TimeStatus] stored in the `flags` bitfield. + /// + /// Returns `Ok` if the bitrange contains a known `TimeStatus` variant. + /// Otherwise the value of the bitrange is returned as an `Err(u8)`. This may be because of a malformed message, + /// or because new variants of `TimeStatus` were added. + pub fn time_status(&self) -> Result { + get_bit_range!(self.flags, u16, u8, 1, 0).try_into() + } + + /// Set the bitrange corresponding to the [TimeStatus][TimeStatus] of the `flags` bitfield. + pub fn set_time_status(&mut self, time_status: TimeStatus) { + set_bit_range!(&mut self.flags, time_status, u16, u8, 1, 0); + } + } + + impl ConcreteMessage for MsgImuComp { + const MESSAGE_TYPE: u16 = 2309; + const MESSAGE_NAME: &'static str = "MSG_IMU_COMP"; + } + + impl SbpMessage for MsgImuComp { + 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 MsgImuComp { + fn friendly_name() -> &'static str { + "IMU COMP" + } + } + + impl TryFrom for MsgImuComp { + type Error = TryFromSbpError; + fn try_from(msg: Sbp) -> Result { + match msg { + Sbp::MsgImuComp(m) => Ok(m), + _ => Err(TryFromSbpError(msg)), + } + } + } + + impl WireFormat for MsgImuComp { + const MIN_LEN: usize = ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN + + ::MIN_LEN; + fn len(&self) -> usize { + WireFormat::len(&self.time) + + WireFormat::len(&self.flags) + + WireFormat::len(&self.acc_comp_x) + + WireFormat::len(&self.acc_comp_y) + + WireFormat::len(&self.acc_comp_z) + + WireFormat::len(&self.gyr_comp_x) + + WireFormat::len(&self.gyr_comp_y) + + WireFormat::len(&self.gyr_comp_z) + } + fn write(&self, buf: &mut B) { + WireFormat::write(&self.time, buf); + WireFormat::write(&self.flags, buf); + WireFormat::write(&self.acc_comp_x, buf); + WireFormat::write(&self.acc_comp_y, buf); + WireFormat::write(&self.acc_comp_z, buf); + WireFormat::write(&self.gyr_comp_x, buf); + WireFormat::write(&self.gyr_comp_y, buf); + WireFormat::write(&self.gyr_comp_z, buf); + } + fn parse_unchecked(buf: &mut B) -> Self { + MsgImuComp { + sender_id: None, + time: WireFormat::parse_unchecked(buf), + flags: WireFormat::parse_unchecked(buf), + acc_comp_x: WireFormat::parse_unchecked(buf), + acc_comp_y: WireFormat::parse_unchecked(buf), + acc_comp_z: WireFormat::parse_unchecked(buf), + gyr_comp_x: WireFormat::parse_unchecked(buf), + gyr_comp_y: WireFormat::parse_unchecked(buf), + gyr_comp_z: WireFormat::parse_unchecked(buf), + } + } + } + + /// Time status + #[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)] + pub enum TimeStatus { + /// Reference epoch is start of current GPS week + ReferenceEpochIsStartOfCurrentGpsWeek = 0, + + /// Reference epoch is time of system startup + ReferenceEpochIsTimeOfSystemStartup = 1, + + /// Reference epoch is unknown + ReferenceEpochIsUnknown = 2, + + /// Reference epoch is last PPS + ReferenceEpochIsLastPps = 3, + } + + impl std::fmt::Display for TimeStatus { + fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result { + match self { + TimeStatus::ReferenceEpochIsStartOfCurrentGpsWeek => { + f.write_str("Reference epoch is start of current GPS week") + } + TimeStatus::ReferenceEpochIsTimeOfSystemStartup => { + f.write_str("Reference epoch is time of system startup") + } + TimeStatus::ReferenceEpochIsUnknown => f.write_str("Reference epoch is unknown"), + TimeStatus::ReferenceEpochIsLastPps => f.write_str("Reference epoch is last PPS"), + } + } + } + + impl TryFrom for TimeStatus { + type Error = u8; + fn try_from(i: u8) -> Result { + match i { + 0 => Ok(TimeStatus::ReferenceEpochIsStartOfCurrentGpsWeek), + 1 => Ok(TimeStatus::ReferenceEpochIsTimeOfSystemStartup), + 2 => Ok(TimeStatus::ReferenceEpochIsUnknown), + 3 => Ok(TimeStatus::ReferenceEpochIsLastPps), + i => Err(i), + } + } + } +} + pub mod msg_imu_raw { #![allow(unused_imports)] diff --git a/rust/sbp/src/messages/mod.rs b/rust/sbp/src/messages/mod.rs index bad1920949..e4c86f0d22 100644 --- a/rust/sbp/src/messages/mod.rs +++ b/rust/sbp/src/messages/mod.rs @@ -77,6 +77,7 @@ use self::flash::msg_stm_flash_unlock_sector::MsgStmFlashUnlockSector; use self::flash::msg_stm_unique_id_req::MsgStmUniqueIdReq; use self::flash::msg_stm_unique_id_resp::MsgStmUniqueIdResp; use self::imu::msg_imu_aux::MsgImuAux; +use self::imu::msg_imu_comp::MsgImuComp; use self::imu::msg_imu_raw::MsgImuRaw; use self::integrity::msg_acknowledge::MsgAcknowledge; use self::integrity::msg_ssr_flag_high_level::MsgSsrFlagHighLevel; @@ -766,6 +767,8 @@ pub enum Sbp { MsgOdometry(MsgOdometry), /// Accumulated wheeltick count message MsgWheeltick(MsgWheeltick), + /// Compensated IMU data + MsgImuComp(MsgImuComp), /// High level integrity flags MsgSsrFlagHighLevel(MsgSsrFlagHighLevel), /// List of satellites which are faulty, per constellation @@ -1471,6 +1474,9 @@ impl<'de> serde::Deserialize<'de> for Sbp { Some(MsgWheeltick::MESSAGE_TYPE) => { serde_json::from_value::(value).map(Sbp::MsgWheeltick) } + Some(MsgImuComp::MESSAGE_TYPE) => { + serde_json::from_value::(value).map(Sbp::MsgImuComp) + } Some(MsgSsrFlagHighLevel::MESSAGE_TYPE) => { serde_json::from_value::(value).map(Sbp::MsgSsrFlagHighLevel) } @@ -2187,6 +2193,7 @@ impl Sbp { MsgMagRaw::MESSAGE_TYPE => MsgMagRaw::parse(&mut payload).map(Sbp::MsgMagRaw), MsgOdometry::MESSAGE_TYPE => MsgOdometry::parse(&mut payload).map(Sbp::MsgOdometry), MsgWheeltick::MESSAGE_TYPE => MsgWheeltick::parse(&mut payload).map(Sbp::MsgWheeltick), + MsgImuComp::MESSAGE_TYPE => MsgImuComp::parse(&mut payload).map(Sbp::MsgImuComp), MsgSsrFlagHighLevel::MESSAGE_TYPE => { MsgSsrFlagHighLevel::parse(&mut payload).map(Sbp::MsgSsrFlagHighLevel) } @@ -2543,6 +2550,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.message_name(), Sbp::MsgOdometry(msg) => msg.message_name(), Sbp::MsgWheeltick(msg) => msg.message_name(), + Sbp::MsgImuComp(msg) => msg.message_name(), Sbp::MsgSsrFlagHighLevel(msg) => msg.message_name(), Sbp::MsgSsrFlagSatellites(msg) => msg.message_name(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.message_name(), @@ -2788,6 +2796,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.message_type(), Sbp::MsgOdometry(msg) => msg.message_type(), Sbp::MsgWheeltick(msg) => msg.message_type(), + Sbp::MsgImuComp(msg) => msg.message_type(), Sbp::MsgSsrFlagHighLevel(msg) => msg.message_type(), Sbp::MsgSsrFlagSatellites(msg) => msg.message_type(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.message_type(), @@ -3033,6 +3042,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.sender_id(), Sbp::MsgOdometry(msg) => msg.sender_id(), Sbp::MsgWheeltick(msg) => msg.sender_id(), + Sbp::MsgImuComp(msg) => msg.sender_id(), Sbp::MsgSsrFlagHighLevel(msg) => msg.sender_id(), Sbp::MsgSsrFlagSatellites(msg) => msg.sender_id(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.sender_id(), @@ -3278,6 +3288,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.set_sender_id(new_id), Sbp::MsgOdometry(msg) => msg.set_sender_id(new_id), Sbp::MsgWheeltick(msg) => msg.set_sender_id(new_id), + Sbp::MsgImuComp(msg) => msg.set_sender_id(new_id), Sbp::MsgSsrFlagHighLevel(msg) => msg.set_sender_id(new_id), Sbp::MsgSsrFlagSatellites(msg) => msg.set_sender_id(new_id), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.set_sender_id(new_id), @@ -3523,6 +3534,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.encoded_len(), Sbp::MsgOdometry(msg) => msg.encoded_len(), Sbp::MsgWheeltick(msg) => msg.encoded_len(), + Sbp::MsgImuComp(msg) => msg.encoded_len(), Sbp::MsgSsrFlagHighLevel(msg) => msg.encoded_len(), Sbp::MsgSsrFlagSatellites(msg) => msg.encoded_len(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.encoded_len(), @@ -3771,6 +3783,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.gps_time(), Sbp::MsgOdometry(msg) => msg.gps_time(), Sbp::MsgWheeltick(msg) => msg.gps_time(), + Sbp::MsgImuComp(msg) => msg.gps_time(), Sbp::MsgSsrFlagHighLevel(msg) => msg.gps_time(), Sbp::MsgSsrFlagSatellites(msg) => msg.gps_time(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.gps_time(), @@ -4016,6 +4029,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.friendly_name(), Sbp::MsgOdometry(msg) => msg.friendly_name(), Sbp::MsgWheeltick(msg) => msg.friendly_name(), + Sbp::MsgImuComp(msg) => msg.friendly_name(), Sbp::MsgSsrFlagHighLevel(msg) => msg.friendly_name(), Sbp::MsgSsrFlagSatellites(msg) => msg.friendly_name(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.friendly_name(), @@ -4261,6 +4275,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => msg.is_valid(), Sbp::MsgOdometry(msg) => msg.is_valid(), Sbp::MsgWheeltick(msg) => msg.is_valid(), + Sbp::MsgImuComp(msg) => msg.is_valid(), Sbp::MsgSsrFlagHighLevel(msg) => msg.is_valid(), Sbp::MsgSsrFlagSatellites(msg) => msg.is_valid(), Sbp::MsgSsrFlagTropoGridPoints(msg) => msg.is_valid(), @@ -4567,6 +4582,7 @@ impl SbpMessage for Sbp { Sbp::MsgMagRaw(msg) => Ok(Sbp::MsgMagRaw(msg.into_valid_msg()?)), Sbp::MsgOdometry(msg) => Ok(Sbp::MsgOdometry(msg.into_valid_msg()?)), Sbp::MsgWheeltick(msg) => Ok(Sbp::MsgWheeltick(msg.into_valid_msg()?)), + Sbp::MsgImuComp(msg) => Ok(Sbp::MsgImuComp(msg.into_valid_msg()?)), Sbp::MsgSsrFlagHighLevel(msg) => Ok(Sbp::MsgSsrFlagHighLevel(msg.into_valid_msg()?)), Sbp::MsgSsrFlagSatellites(msg) => Ok(Sbp::MsgSsrFlagSatellites(msg.into_valid_msg()?)), Sbp::MsgSsrFlagTropoGridPoints(msg) => { @@ -4861,6 +4877,7 @@ impl WireFormat for Sbp { Sbp::MsgMagRaw(msg) => WireFormat::write(msg, buf), Sbp::MsgOdometry(msg) => WireFormat::write(msg, buf), Sbp::MsgWheeltick(msg) => WireFormat::write(msg, buf), + Sbp::MsgImuComp(msg) => WireFormat::write(msg, buf), Sbp::MsgSsrFlagHighLevel(msg) => WireFormat::write(msg, buf), Sbp::MsgSsrFlagSatellites(msg) => WireFormat::write(msg, buf), Sbp::MsgSsrFlagTropoGridPoints(msg) => WireFormat::write(msg, buf), @@ -5106,6 +5123,7 @@ impl WireFormat for Sbp { Sbp::MsgMagRaw(msg) => WireFormat::len(msg), Sbp::MsgOdometry(msg) => WireFormat::len(msg), Sbp::MsgWheeltick(msg) => WireFormat::len(msg), + Sbp::MsgImuComp(msg) => WireFormat::len(msg), Sbp::MsgSsrFlagHighLevel(msg) => WireFormat::len(msg), Sbp::MsgSsrFlagSatellites(msg) => WireFormat::len(msg), Sbp::MsgSsrFlagTropoGridPoints(msg) => WireFormat::len(msg), @@ -6290,6 +6308,12 @@ impl From for Sbp { } } +impl From for Sbp { + fn from(msg: MsgImuComp) -> Self { + Sbp::MsgImuComp(msg) + } +} + impl From for Sbp { fn from(msg: MsgSsrFlagHighLevel) -> Self { Sbp::MsgSsrFlagHighLevel(msg) diff --git a/sbpjson/elm/SbpJson.elm b/sbpjson/elm/SbpJson.elm index bcee891a1a..e3c48f0d94 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, msgAESCmacSignature, 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, msgProfilingResourceCounter, msgProfilingSystemInfo, msgProfilingThreadInfo, 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, resourceBucket, 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, msgAESCmacSignature, 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, msgImuComp, 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, msgProfilingResourceCounter, msgProfilingSystemInfo, msgProfilingThreadInfo, 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, resourceBucket, 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 -- @@ -95,6 +95,7 @@ -- decodeString msgHeartbeat myJsonString -- decodeString msgIarState myJsonString -- decodeString msgImuAux myJsonString +-- decodeString msgImuComp myJsonString -- decodeString msgImuRaw myJsonString -- decodeString msgInsStatus myJsonString -- decodeString msgInsUpdates myJsonString @@ -490,6 +491,9 @@ module SbpJson exposing , MsgImuAux , msgImuAuxToString , msgImuAux + , MsgImuComp + , msgImuCompToString + , msgImuComp , MsgImuRaw , msgImuRawToString , msgImuRaw @@ -1820,6 +1824,22 @@ type alias MsgImuAux = , temp : Int } +{-| Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings +compensated for estimated errors and constant physical effects. The output is valid for +inertially referenced center of navigation (IMU body frame) represented in vehicle body +frame. +-} +type alias MsgImuComp = + { accCompX : Int + , accCompY : Int + , accCompZ : Int + , flags : Int + , gyrCompX : Int + , gyrCompY : Int + , gyrCompZ : Int + , time : Int + } + {-| Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings. The sense of the measurements are to be aligned with the indications on the device itself. Measurement units, which are specific to the device hardware and settings, @@ -3851,6 +3871,9 @@ msgIarStateToString r = Jenc.encode 0 (encodeMsgIarState r) msgImuAuxToString : MsgImuAux -> String msgImuAuxToString r = Jenc.encode 0 (encodeMsgImuAux r) +msgImuCompToString : MsgImuComp -> String +msgImuCompToString r = Jenc.encode 0 (encodeMsgImuComp r) + msgImuRawToString : MsgImuRaw -> String msgImuRawToString r = Jenc.encode 0 (encodeMsgImuRaw r) @@ -5715,6 +5738,31 @@ encodeMsgImuAux x = , ("temp", Jenc.int x.temp) ] +msgImuComp : Jdec.Decoder MsgImuComp +msgImuComp = + Jpipe.decode MsgImuComp + |> Jpipe.required "acc_comp_x" Jdec.int + |> Jpipe.required "acc_comp_y" Jdec.int + |> Jpipe.required "acc_comp_z" Jdec.int + |> Jpipe.required "flags" Jdec.int + |> Jpipe.required "gyr_comp_x" Jdec.int + |> Jpipe.required "gyr_comp_y" Jdec.int + |> Jpipe.required "gyr_comp_z" Jdec.int + |> Jpipe.required "time" Jdec.int + +encodeMsgImuComp : MsgImuComp -> Jenc.Value +encodeMsgImuComp x = + Jenc.object + [ ("acc_comp_x", Jenc.int x.accCompX) + , ("acc_comp_y", Jenc.int x.accCompY) + , ("acc_comp_z", Jenc.int x.accCompZ) + , ("flags", Jenc.int x.flags) + , ("gyr_comp_x", Jenc.int x.gyrCompX) + , ("gyr_comp_y", Jenc.int x.gyrCompY) + , ("gyr_comp_z", Jenc.int x.gyrCompZ) + , ("time", Jenc.int x.time) + ] + msgImuRaw : Jdec.Decoder MsgImuRaw msgImuRaw = Jpipe.decode MsgImuRaw diff --git a/sbpjson/typescript/SbpJson.ts b/sbpjson/typescript/SbpJson.ts index 1915dcdbe8..21d23c70d5 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, MsgAESCmacSignature, 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, MsgProfilingResourceCounter, MsgProfilingSystemInfo, MsgProfilingThreadInfo, 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, ResourceBucket, 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, MsgAESCmacSignature, 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, MsgImuComp, 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, MsgProfilingResourceCounter, MsgProfilingSystemInfo, MsgProfilingThreadInfo, 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, ResourceBucket, 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); @@ -88,6 +88,7 @@ // const msgHeartbeat = Convert.toMsgHeartbeat(json); // const msgIarState = Convert.toMsgIarState(json); // const msgImuAux = Convert.toMsgImuAux(json); +// const msgImuComp = Convert.toMsgImuComp(json); // const msgImuRaw = Convert.toMsgImuRaw(json); // const msgInsStatus = Convert.toMsgInsStatus(json); // const msgInsUpdates = Convert.toMsgInsUpdates(json); @@ -1282,6 +1283,24 @@ export interface MsgImuAux { [property: string]: any; } +/** + * Data from the Inertial Measurement Unit, containing accelerometer and gyroscope readings + * compensated for estimated errors and constant physical effects. The output is valid for + * inertially referenced center of navigation (IMU body frame) represented in vehicle body + * frame. + */ +export interface MsgImuComp { + acc_comp_x: number; + acc_comp_y: number; + acc_comp_z: number; + flags: number; + gyr_comp_x: number; + gyr_comp_y: number; + gyr_comp_z: number; + time: number; + [property: string]: any; +} + /** * Raw data from the Inertial Measurement Unit, containing accelerometer and gyroscope * readings. The sense of the measurements are to be aligned with the indications on the @@ -4008,6 +4027,14 @@ export class Convert { return JSON.stringify(uncast(value, r("MsgImuAux")), null, 2); } + public static toMsgImuComp(json: string): MsgImuComp { + return cast(JSON.parse(json), r("MsgImuComp")); + } + + public static msgImuCompToJson(value: MsgImuComp): string { + return JSON.stringify(uncast(value, r("MsgImuComp")), null, 2); + } + public static toMsgImuRaw(json: string): MsgImuRaw { return cast(JSON.parse(json), r("MsgImuRaw")); } @@ -5770,6 +5797,16 @@ const typeMap: any = { { json: "imu_type", js: "imu_type", typ: 0 }, { json: "temp", js: "temp", typ: 0 }, ], "any"), + "MsgImuComp": o([ + { json: "acc_comp_x", js: "acc_comp_x", typ: 0 }, + { json: "acc_comp_y", js: "acc_comp_y", typ: 0 }, + { json: "acc_comp_z", js: "acc_comp_z", typ: 0 }, + { json: "flags", js: "flags", typ: 0 }, + { json: "gyr_comp_x", js: "gyr_comp_x", typ: 0 }, + { json: "gyr_comp_y", js: "gyr_comp_y", typ: 0 }, + { json: "gyr_comp_z", js: "gyr_comp_z", typ: 0 }, + { json: "time", js: "time", typ: 0 }, + ], "any"), "MsgImuRaw": o([ { json: "acc_x", js: "acc_x", typ: 0 }, { json: "acc_y", js: "acc_y", typ: 0 }, From 99c621db59070f67a3d97ea53f8213aa9d54d0e1 Mon Sep 17 00:00:00 2001 From: Ivan Smolyakov Date: Tue, 1 Oct 2024 12:41:33 -0400 Subject: [PATCH 08/18] generate code --- docs/sbp.pdf | Bin 564172 -> 567727 bytes sbpjson/javascript/SbpJson.js | 21 +++++++++++++++++++++ 2 files changed, 21 insertions(+) diff --git a/docs/sbp.pdf b/docs/sbp.pdf index 7b879fc442b6c9eb6d531c2c49650f7f065555e6..47472a84f6d03dfcaab512ab2fb9f17173d7368e 100644 GIT binary patch delta 385759 zcmbTdQ*fYd(6t-e*2K1L8xtoJdt!T@*tTukwryu(JDK=@zr9cPU*FlT>VsA5;I8VE zuGLr9J=IEDyGUAR0hQ|A3{DGNrLEiH$zX)sct&){Gmb2kH|sXg8(FfYOp%JE#2-W= zU3-U z*6mrrGVEEQFSCcR|HI=KtJ}k+NC%x=3&XvYm!I;pprH3yp*8P|^q4~MK(#XOk8G;Z zc2~1Whhz%jhS#?-!E!9&=|`(Vo%%6ekEFRWWTfYTVS|7Viv=%@Q2=$OBdlg)$P&g- 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z3;~y;`yVUY{B@H_xWEg!xuo4h+oTlG05bP-(p=}e02#PRzm)|uZ^~YfK$KvN(qpAhJT@!0-u_ZrP_X& z5$|rkosi?iGt(haq;EwUD%d% z?6x6I?vF3LXV6WChP?jNdK7v z8zTW=2#r6rS7*Z5V}TBJM0bIPb1+ Date: Wed, 2 Oct 2024 20:05:30 -0700 Subject: [PATCH 09/18] get the automated generation of test cases working again --- HOWTO.md | 12 +++++++++--- generator/json2test.py | 13 ++++++++++++- generator/sbpg/test_structs.py | 2 +- 3 files changed, 22 insertions(+), 5 deletions(-) diff --git a/HOWTO.md b/HOWTO.md index f205c6f4af..69400b7bfa 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -87,7 +87,9 @@ python missing.py --host [HOST] --port [PORT] ### New Messages The `json2test` script can be used to automatically generate tests for newly -defined messages. +defined messages. The json2test script uses [uv](https://docs.astral.sh/uv/) to +manage its dependencies, which can be installed following the instructions on that +website To use `json2test` a JSON file should be hand written with example contents of a message. For example, to generate tests for the `MSG_HEARTBEAT` message (which @@ -105,13 +107,17 @@ form: And then generate a test for using `json2test` with: ```shell -PYTHONPATH="python/" python generator/json2test.py --input heartbeat.json --output spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml +uv run json2test.py --input heartbeat.json --output spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml ``` +*NOTE* because the json2test file imports the local version of sbp & the build +system of it all is a little slapdash, this command will ONLY work if called from +inside of `libsbp/generator/` directory. + Usage for `json2test` ```shell -python json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] +uv run json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] ``` * The `msg_type` can also be provided through a CLI parameter, with `--msg-id diff --git a/generator/json2test.py b/generator/json2test.py index 83d01c61bc..6b0d061266 100644 --- a/generator/json2test.py +++ b/generator/json2test.py @@ -1,4 +1,4 @@ -# Copyright (C) 2022 Swift Navigation Inc. +# Copyright (C) 2024 Swift Navigation Inc. # Contact: https://support.swiftnav.com # # This source is subject to the license found in the file 'LICENSE' which must @@ -7,6 +7,17 @@ # 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. +# +# /// script +# requires-python = ">=3.12" +# dependencies = [ +# "jinja2 ~= 3.1", +# "pytest ~= 8.3", +# "pyyaml ~= 6.0", +# "sbp @ file:///${PROJECT_ROOT}/../python", +# ] +# /// + """ Generate test case from json input """ diff --git a/generator/sbpg/test_structs.py b/generator/sbpg/test_structs.py index 4a280518dc..dfc6463bc4 100644 --- a/generator/sbpg/test_structs.py +++ b/generator/sbpg/test_structs.py @@ -99,7 +99,7 @@ def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None) self.payload = base64.standard_b64decode(self.sbp['payload']) self.payload_as_byte_array = list(bytearray(self.payload)) self.payload_len_for_encoding_buf = len(self.payload) if len(self.payload) > 0 else 1 - msg_name = msg['name'] + msg_name = msg.__class__.__name__ for i in range(0, len(ACRONYMS)): msg_name = re.sub(ACRONYMS[i], LOWER_ACRONYMS[i], msg_name) self.enum_value = "Sbp" + msg_name From 59bcbfd27a59208f7b732ed1013dac7ee53dc53b Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:08:35 -0700 Subject: [PATCH 10/18] fix example path --- HOWTO.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/HOWTO.md b/HOWTO.md index 69400b7bfa..271ae17066 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -107,7 +107,7 @@ form: And then generate a test for using `json2test` with: ```shell -uv run json2test.py --input heartbeat.json --output spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml +uv run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml ``` *NOTE* because the json2test file imports the local version of sbp & the build From 634465de2d431280d18a02ff4f42b0fc864afe2c Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:10:31 -0700 Subject: [PATCH 11/18] reasoning --- HOWTO.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/HOWTO.md b/HOWTO.md index 271ae17066..49f32433c7 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -112,7 +112,8 @@ uv run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/ *NOTE* because the json2test file imports the local version of sbp & the build system of it all is a little slapdash, this command will ONLY work if called from -inside of `libsbp/generator/` directory. +inside of `libsbp/generator/` directory because the `${PROJECT_ROOT}` in the script +declartion of json2test.py is whatever the PWD is when the command is called. Usage for `json2test` From 3c9c2ed5e814e3c00141ce53a879bbf891f2a4c1 Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:32:49 -0700 Subject: [PATCH 12/18] fix artifacts, specify not to use caching --- HOWTO.md | 7 ++++--- generator/sbpg/test_structs.py | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/HOWTO.md b/HOWTO.md index 49f32433c7..aeeeccdf41 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -107,18 +107,19 @@ form: And then generate a test for using `json2test` with: ```shell -uv run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml +uv -n run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml ``` *NOTE* because the json2test file imports the local version of sbp & the build system of it all is a little slapdash, this command will ONLY work if called from inside of `libsbp/generator/` directory because the `${PROJECT_ROOT}` in the script -declartion of json2test.py is whatever the PWD is when the command is called. +declartion of json2test.py is whatever the PWD is when the command is called, and +caching is turned off. Usage for `json2test` ```shell -uv run json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] +uv -n run json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] ``` * The `msg_type` can also be provided through a CLI parameter, with `--msg-id diff --git a/generator/sbpg/test_structs.py b/generator/sbpg/test_structs.py index dfc6463bc4..4a280518dc 100644 --- a/generator/sbpg/test_structs.py +++ b/generator/sbpg/test_structs.py @@ -99,7 +99,7 @@ def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None) self.payload = base64.standard_b64decode(self.sbp['payload']) self.payload_as_byte_array = list(bytearray(self.payload)) self.payload_len_for_encoding_buf = len(self.payload) if len(self.payload) > 0 else 1 - msg_name = msg.__class__.__name__ + msg_name = msg['name'] for i in range(0, len(ACRONYMS)): msg_name = re.sub(ACRONYMS[i], LOWER_ACRONYMS[i], msg_name) self.enum_value = "Sbp" + msg_name From 824eca0998a71354d1664683d1641dcdb468fe7c Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:05:30 -0700 Subject: [PATCH 13/18] get the automated generation of test cases working again --- HOWTO.md | 12 +++++++++--- generator/json2test.py | 13 ++++++++++++- generator/sbpg/test_structs.py | 2 +- 3 files changed, 22 insertions(+), 5 deletions(-) diff --git a/HOWTO.md b/HOWTO.md index f205c6f4af..69400b7bfa 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -87,7 +87,9 @@ python missing.py --host [HOST] --port [PORT] ### New Messages The `json2test` script can be used to automatically generate tests for newly -defined messages. +defined messages. The json2test script uses [uv](https://docs.astral.sh/uv/) to +manage its dependencies, which can be installed following the instructions on that +website To use `json2test` a JSON file should be hand written with example contents of a message. For example, to generate tests for the `MSG_HEARTBEAT` message (which @@ -105,13 +107,17 @@ form: And then generate a test for using `json2test` with: ```shell -PYTHONPATH="python/" python generator/json2test.py --input heartbeat.json --output spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml +uv run json2test.py --input heartbeat.json --output spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml ``` +*NOTE* because the json2test file imports the local version of sbp & the build +system of it all is a little slapdash, this command will ONLY work if called from +inside of `libsbp/generator/` directory. + Usage for `json2test` ```shell -python json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] +uv run json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] ``` * The `msg_type` can also be provided through a CLI parameter, with `--msg-id diff --git a/generator/json2test.py b/generator/json2test.py index 83d01c61bc..6b0d061266 100644 --- a/generator/json2test.py +++ b/generator/json2test.py @@ -1,4 +1,4 @@ -# Copyright (C) 2022 Swift Navigation Inc. +# Copyright (C) 2024 Swift Navigation Inc. # Contact: https://support.swiftnav.com # # This source is subject to the license found in the file 'LICENSE' which must @@ -7,6 +7,17 @@ # 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. +# +# /// script +# requires-python = ">=3.12" +# dependencies = [ +# "jinja2 ~= 3.1", +# "pytest ~= 8.3", +# "pyyaml ~= 6.0", +# "sbp @ file:///${PROJECT_ROOT}/../python", +# ] +# /// + """ Generate test case from json input """ diff --git a/generator/sbpg/test_structs.py b/generator/sbpg/test_structs.py index 4a280518dc..dfc6463bc4 100644 --- a/generator/sbpg/test_structs.py +++ b/generator/sbpg/test_structs.py @@ -99,7 +99,7 @@ def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None) self.payload = base64.standard_b64decode(self.sbp['payload']) self.payload_as_byte_array = list(bytearray(self.payload)) self.payload_len_for_encoding_buf = len(self.payload) if len(self.payload) > 0 else 1 - msg_name = msg['name'] + msg_name = msg.__class__.__name__ for i in range(0, len(ACRONYMS)): msg_name = re.sub(ACRONYMS[i], LOWER_ACRONYMS[i], msg_name) self.enum_value = "Sbp" + msg_name From 2727e25f7569abc4a97d660b1628cba7f097945d Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:08:35 -0700 Subject: [PATCH 14/18] fix example path --- HOWTO.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/HOWTO.md b/HOWTO.md index 69400b7bfa..271ae17066 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -107,7 +107,7 @@ form: And then generate a test for using `json2test` with: ```shell -uv run json2test.py --input heartbeat.json --output spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml +uv run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml ``` *NOTE* because the json2test file imports the local version of sbp & the build From e152441f8085a75211edd214a337c6b9885cd792 Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:10:31 -0700 Subject: [PATCH 15/18] reasoning --- HOWTO.md | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/HOWTO.md b/HOWTO.md index 271ae17066..49f32433c7 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -112,7 +112,8 @@ uv run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/ *NOTE* because the json2test file imports the local version of sbp & the build system of it all is a little slapdash, this command will ONLY work if called from -inside of `libsbp/generator/` directory. +inside of `libsbp/generator/` directory because the `${PROJECT_ROOT}` in the script +declartion of json2test.py is whatever the PWD is when the command is called. Usage for `json2test` From a8591fb5687ef07acd0f0e4a923b17b08cfd33ea Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:32:49 -0700 Subject: [PATCH 16/18] fix artifacts, specify not to use caching --- HOWTO.md | 7 ++++--- generator/sbpg/test_structs.py | 2 +- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/HOWTO.md b/HOWTO.md index 49f32433c7..aeeeccdf41 100644 --- a/HOWTO.md +++ b/HOWTO.md @@ -107,18 +107,19 @@ form: And then generate a test for using `json2test` with: ```shell -uv run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml +uv -n run json2test.py --input heartbeat.json --output ../spec/tests/yaml/swiftnav/sbp/system/test_MsgHeartbeat.yaml ``` *NOTE* because the json2test file imports the local version of sbp & the build system of it all is a little slapdash, this command will ONLY work if called from inside of `libsbp/generator/` directory because the `${PROJECT_ROOT}` in the script -declartion of json2test.py is whatever the PWD is when the command is called. +declartion of json2test.py is whatever the PWD is when the command is called, and +caching is turned off. Usage for `json2test` ```shell -uv run json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] +uv -n run json2test --input [PATH_TO_JSON_IN] --output [PATH_TO_YAML_OUT] ``` * The `msg_type` can also be provided through a CLI parameter, with `--msg-id diff --git a/generator/sbpg/test_structs.py b/generator/sbpg/test_structs.py index dfc6463bc4..4a280518dc 100644 --- a/generator/sbpg/test_structs.py +++ b/generator/sbpg/test_structs.py @@ -99,7 +99,7 @@ def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None) self.payload = base64.standard_b64decode(self.sbp['payload']) self.payload_as_byte_array = list(bytearray(self.payload)) self.payload_len_for_encoding_buf = len(self.payload) if len(self.payload) > 0 else 1 - msg_name = msg.__class__.__name__ + msg_name = msg['name'] for i in range(0, len(ACRONYMS)): msg_name = re.sub(ACRONYMS[i], LOWER_ACRONYMS[i], msg_name) self.enum_value = "Sbp" + msg_name From dbde739f530b24fe9eaf2f679f6176f282243bf2 Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Wed, 2 Oct 2024 20:50:00 -0700 Subject: [PATCH 17/18] fix issue with message names being broken in the missing and json2test cases --- generator/json2test.py | 2 +- generator/missing.py | 2 +- generator/sbpg/test_structs.py | 8 +++++--- 3 files changed, 7 insertions(+), 5 deletions(-) diff --git a/generator/json2test.py b/generator/json2test.py index 6b0d061266..1e81f69c04 100644 --- a/generator/json2test.py +++ b/generator/json2test.py @@ -53,7 +53,7 @@ def write_test(msg, output, test_set_name="swiftnav"): module = msg.__class__.__module__ name = msg.__class__.__name__ test_msg_data = msg_reducer(msg) - test_data = TestSpecification.from_msg(msg, test_msg_data) + test_data = TestSpecification.from_msg(msg, test_msg_data, test_msg_data['name']) now_str = datetime.datetime.now().isoformat(" ") test_package = PackageTestSpecification( package=module, diff --git a/generator/missing.py b/generator/missing.py index 2d4a1fc8af..b79ad4461e 100644 --- a/generator/missing.py +++ b/generator/missing.py @@ -62,7 +62,7 @@ def write_test(msg, test_set_name="swiftnav"): ) filename = os.path.join(*path_parts) test_msg_data = msg_reducer(msg) - test_data = TestSpecification.from_msg(msg, test_msg_data) + test_data = TestSpecification.from_msg(msg, test_msg_data, test_msg_data['name']) now_str = datetime.datetime.now().isoformat(" ") test_package = PackageTestSpecification( package=module, diff --git a/generator/sbpg/test_structs.py b/generator/sbpg/test_structs.py index 4a280518dc..6726197ce3 100644 --- a/generator/sbpg/test_structs.py +++ b/generator/sbpg/test_structs.py @@ -86,7 +86,7 @@ class TestSpecification(object): """A message description to generate tests for. """ - def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None): + def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None, msg_name=None): self.raw_packet = raw_packet self.raw_json = raw_json self.raw_json_obj = json.loads(raw_json) @@ -99,7 +99,8 @@ def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None) self.payload = base64.standard_b64decode(self.sbp['payload']) self.payload_as_byte_array = list(bytearray(self.payload)) self.payload_len_for_encoding_buf = len(self.payload) if len(self.payload) > 0 else 1 - msg_name = msg['name'] + if msg_name is None: + msg_name = msg['name'] for i in range(0, len(ACRONYMS)): msg_name = re.sub(ACRONYMS[i], LOWER_ACRONYMS[i], msg_name) self.enum_value = "Sbp" + msg_name @@ -110,7 +111,7 @@ def __init__(self, raw_packet, msg_type, raw_json, msg, sbp, test_msg_data=None) self.fn_prefix = self.struct_name[:-2] @classmethod - def from_msg(cls, msg_instance, test_msg_data): + def from_msg(cls, msg_instance, test_msg_data, name): msg = msg_instance sbp = { "crc": "0x{:X}".format(msg.crc), @@ -127,6 +128,7 @@ def from_msg(cls, msg_instance, test_msg_data): msg, sbp, test_msg_data=test_msg_data, + msg_name=name, ) def __repr__(self): From 9591169fa48739f261a65f12c4d7817c034a0fd1 Mon Sep 17 00:00:00 2001 From: Patrick Crumley Date: Thu, 3 Oct 2024 10:02:22 -0700 Subject: [PATCH 18/18] fix issue with merge --- python/tests/sbp/test_messages.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/python/tests/sbp/test_messages.py b/python/tests/sbp/test_messages.py index 908b664bdf..397245d370 100644 --- a/python/tests/sbp/test_messages.py +++ b/python/tests/sbp/test_messages.py @@ -20,7 +20,7 @@ PYTHON_ROOT = os.path.join(HERE, "..", "..") ROOTPATH = os.path.join(PYTHON_ROOT, "..", "spec", "tests", "yaml") -EXPECTED_MISSING_MESSAGES = 2 +EXPECTED_MISSING_MESSAGES = 1 MESSAGES_WITH_TEST_CASES = set()

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