[SSR-225] Add Satellite APC message

c/include/libsbp/cpp/message_traits.h

@@ -978,6 +978,12 @@ struct MessageTraits<msg_ssr_gridded_correction_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_ssr_satellite_apc_t> {
+  static constexpr u16 id = 1540;
+};
+
+
 template<>
 struct MessageTraits<msg_osr_t> {
   static constexpr u16 id = 1600;

c/include/libsbp/linux.h

@@ -200,7 +200,7 @@ of the list being 2 NULL terminators in a row.
 typedef struct SBP_ATTR_PACKED {
   u8 index;      /**< sequence of this status message, values from 0-9 */
   u16 pid;        /**< the PID of the process */
-  u8 pcpu;       /**< percent of cpu used, expressed as a fraction of 256 */
+  u8 pcpu;       /**< percent of CPU used, expressed as a fraction of 256 */
   u32 time;       /**< timestamp of message, refer to flags field for how to interpret */
   u8 flags;      /**< flags */
   char tname[15];  /**< fixed length string representing the thread name */
@@ -260,8 +260,8 @@ typedef struct SBP_ATTR_PACKED {
 
 typedef struct SBP_ATTR_PACKED {
   u16 mem_total;         /**< total system memory, in MiB */
-  u8 pcpu;              /**< percent of total cpu currently utilized */
-  u8 pmem;              /**< percent of total memory currently utilized */
+  u8 pcpu;              /**< percent of CPU used, expressed as a fraction of 256 */
+  u8 pmem;              /**< percent of memory used, expressed as a fraction of 256 */
   u16 procs_starting;    /**< number of processes that started during collection phase */
   u16 procs_stopping;    /**< number of processes that stopped during collection phase */
   u16 pid_count;         /**< the count of processes on the system */

c/include/libsbp/observation.h

@@ -17,7 +17,7 @@
 
 /** \defgroup observation Observation
  *
- * * Satellite observation messages from the device.
+ * * Satellite observation messages from the device. The SBP sender ID of 0 indicates remote observations from a GNSS base station, correction network, or Skylark, Swift's cloud GNSS correction product.
  * \{ */
 
 #ifndef LIBSBP_OBSERVATION_MESSAGES_H

c/include/libsbp/ssr.h

@@ -389,6 +389,33 @@ note the definition of the bits is inverted.
 } msg_ssr_tile_definition_t;
 
 
+/** Antenna phase center correction.
+ *
+ * Contains phase center offset and elevation variation corrections for one
+ * signal on a satellite.
+ */
+
+typedef struct SBP_ATTR_PACKED {
+  sbp_gnss_signal_t sid;         /**< GNSS signal identifier (16 bit) */
+  u8 sat_info;    /**< Additional satellite information */
+  u16 svn;         /**< Satellite Code, as defined by IGS. Typically the space vehicle number. */
+  s16 pco[3];      /**< Mean phase center offset, X Y and Z axises. See IGS ANTEX file
+format description for coordinate system definition.
+ [1 mm] */
+  s8 pcv[21];     /**< Elevation dependent phase center variations. First element is 0
+degrees separation from the Z axis, subsequent elements represent
+elevation variations in 1 degree increments.
+ [1 mm] */
+} satellite_apc_t;
+
+
+#define SBP_MSG_SSR_SATELLITE_APC                   0x0604
+
+typedef struct SBP_ATTR_PACKED {
+  satellite_apc_t apc[0]; /**< Satellite antenna phase center corrections */
+} msg_ssr_satellite_apc_t;
+
+
 #define SBP_MSG_SSR_ORBIT_CLOCK_DEP_A               0x05DC
 
 typedef struct SBP_ATTR_PACKED {

haskell/src/SwiftNav/SBP/Linux.hs

@@ -379,7 +379,7 @@ data MsgLinuxCpuState = MsgLinuxCpuState
   , _msgLinuxCpuState_pid   :: !Word16
     -- ^ the PID of the process
   , _msgLinuxCpuState_pcpu  :: !Word8
-    -- ^ percent of cpu used, expressed as a fraction of 256
+    -- ^ percent of CPU used, expressed as a fraction of 256
   , _msgLinuxCpuState_time  :: !Word32
     -- ^ timestamp of message, refer to flags field for how to interpret
   , _msgLinuxCpuState_flags :: !Word8
@@ -473,9 +473,9 @@ data MsgLinuxSysState = MsgLinuxSysState
   { _msgLinuxSysState_mem_total    :: !Word16
     -- ^ total system memory, in MiB
   , _msgLinuxSysState_pcpu         :: !Word8
-    -- ^ percent of total cpu currently utilized
+    -- ^ percent of CPU used, expressed as a fraction of 256
   , _msgLinuxSysState_pmem         :: !Word8
-    -- ^ percent of total memory currently utilized
+    -- ^ percent of memory used, expressed as a fraction of 256
   , _msgLinuxSysState_procs_starting :: !Word16
     -- ^ number of processes that started during collection phase
   , _msgLinuxSysState_procs_stopping :: !Word16

haskell/src/SwiftNav/SBP/Msg.hs

@@ -216,6 +216,7 @@ data SBPMsg =
    | SBPMsgSsrOrbitClock MsgSsrOrbitClock Msg
    | SBPMsgSsrOrbitClockDepA MsgSsrOrbitClockDepA Msg
    | SBPMsgSsrPhaseBiases MsgSsrPhaseBiases Msg
+   | SBPMsgSsrSatelliteApc MsgSsrSatelliteApc Msg
    | SBPMsgSsrStecCorrection MsgSsrStecCorrection Msg
    | SBPMsgSsrStecCorrectionDepA MsgSsrStecCorrectionDepA Msg
    | SBPMsgSsrTileDefinition MsgSsrTileDefinition Msg
@@ -427,6 +428,7 @@ instance Binary SBPMsg where
           | _msgSBPType == msgSsrOrbitClock = SBPMsgSsrOrbitClock (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases (decode (fromStrict (unBytes _msgSBPPayload))) m
+          | _msgSBPType == msgSsrSatelliteApc = SBPMsgSsrSatelliteApc (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrStecCorrection = SBPMsgSsrStecCorrection (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrStecCorrectionDepA = SBPMsgSsrStecCorrectionDepA (decode (fromStrict (unBytes _msgSBPPayload))) m
           | _msgSBPType == msgSsrTileDefinition = SBPMsgSsrTileDefinition (decode (fromStrict (unBytes _msgSBPPayload))) m
@@ -630,6 +632,7 @@ instance Binary SBPMsg where
       encoder (SBPMsgSsrOrbitClock _ m) = put m
       encoder (SBPMsgSsrOrbitClockDepA _ m) = put m
       encoder (SBPMsgSsrPhaseBiases _ m) = put m
+      encoder (SBPMsgSsrSatelliteApc _ m) = put m
       encoder (SBPMsgSsrStecCorrection _ m) = put m
       encoder (SBPMsgSsrStecCorrectionDepA _ m) = put m
       encoder (SBPMsgSsrTileDefinition _ m) = put m
@@ -837,6 +840,7 @@ instance FromJSON SBPMsg where
         | msgType == msgSsrOrbitClock = SBPMsgSsrOrbitClock <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
+        | msgType == msgSsrSatelliteApc = SBPMsgSsrSatelliteApc <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrStecCorrection = SBPMsgSsrStecCorrection <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrStecCorrectionDepA = SBPMsgSsrStecCorrectionDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
         | msgType == msgSsrTileDefinition = SBPMsgSsrTileDefinition <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj
@@ -1045,6 +1049,7 @@ instance ToJSON SBPMsg where
   toJSON (SBPMsgSsrOrbitClock n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrOrbitClockDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrPhaseBiases n m) = toJSON n <<>> toJSON m
+  toJSON (SBPMsgSsrSatelliteApc n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrStecCorrection n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrStecCorrectionDepA n m) = toJSON n <<>> toJSON m
   toJSON (SBPMsgSsrTileDefinition n m) = toJSON n <<>> toJSON m
@@ -1247,6 +1252,7 @@ instance HasMsg SBPMsg where
   msg f (SBPMsgSsrOrbitClock n m) = SBPMsgSsrOrbitClock n <$> f m
   msg f (SBPMsgSsrOrbitClockDepA n m) = SBPMsgSsrOrbitClockDepA n <$> f m
   msg f (SBPMsgSsrPhaseBiases n m) = SBPMsgSsrPhaseBiases n <$> f m
+  msg f (SBPMsgSsrSatelliteApc n m) = SBPMsgSsrSatelliteApc n <$> f m
   msg f (SBPMsgSsrStecCorrection n m) = SBPMsgSsrStecCorrection n <$> f m
   msg f (SBPMsgSsrStecCorrectionDepA n m) = SBPMsgSsrStecCorrectionDepA n <$> f m
   msg f (SBPMsgSsrTileDefinition n m) = SBPMsgSsrTileDefinition n <$> f m

haskell/src/SwiftNav/SBP/Observation.hs

@@ -11,7 +11,9 @@
 -- Stability:   experimental
 -- Portability: portable
 --
--- \<Satellite observation messages from the device.\>
+-- \<Satellite observation messages from the device. The SBP sender ID of 0
+-- indicates remote observations from a GNSS base station, correction network,
+-- or Skylark, Swift's cloud GNSS correction product.\>
 
 module SwiftNav.SBP.Observation
   ( module SwiftNav.SBP.Observation

haskell/src/SwiftNav/SBP/Ssr.hs

@@ -699,6 +699,65 @@ $(makeSBP 'msgSsrTileDefinition ''MsgSsrTileDefinition)
 $(makeJSON "_msgSsrTileDefinition_" ''MsgSsrTileDefinition)
 $(makeLenses ''MsgSsrTileDefinition)
 
+-- | SatelliteAPC.
+--
+-- Contains phase center offset and elevation variation corrections for one
+-- signal on a satellite.
+data SatelliteAPC = SatelliteAPC
+  { _satelliteAPC_sid    :: !GnssSignal
+    -- ^ GNSS signal identifier (16 bit)
+  , _satelliteAPC_sat_info :: !Word8
+    -- ^ Additional satellite information
+  , _satelliteAPC_svn    :: !Word16
+    -- ^ Satellite Code, as defined by IGS. Typically the space vehicle number.
+  , _satelliteAPC_pco    :: ![Int16]
+    -- ^ Mean phase center offset, X Y and Z axises. See IGS ANTEX file format
+    -- description for coordinate system definition.
+  , _satelliteAPC_pcv    :: ![Int8]
+    -- ^ Elevation dependent phase center variations. First element is 0 degrees
+    -- separation from the Z axis, subsequent elements represent elevation
+    -- variations in 1 degree increments.
+  } deriving ( Show, Read, Eq )
+
+instance Binary SatelliteAPC where
+  get = do
+    _satelliteAPC_sid <- get
+    _satelliteAPC_sat_info <- getWord8
+    _satelliteAPC_svn <- getWord16le
+    _satelliteAPC_pco <- replicateM 3 (fromIntegral <$> getWord16le)
+    _satelliteAPC_pcv <- replicateM 21 (fromIntegral <$> getWord8)
+    pure SatelliteAPC {..}
+
+  put SatelliteAPC {..} = do
+    put _satelliteAPC_sid
+    putWord8 _satelliteAPC_sat_info
+    putWord16le _satelliteAPC_svn
+    mapM_ (putWord16le . fromIntegral) _satelliteAPC_pco
+    mapM_ (putWord8 . fromIntegral) _satelliteAPC_pcv
+
+$(makeJSON "_satelliteAPC_" ''SatelliteAPC)
+$(makeLenses ''SatelliteAPC)
+
+msgSsrSatelliteApc :: Word16
+msgSsrSatelliteApc = 0x0604
+
+data MsgSsrSatelliteApc = MsgSsrSatelliteApc
+  { _msgSsrSatelliteApc_apc :: ![SatelliteAPC]
+    -- ^ Satellite antenna phase center corrections
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSsrSatelliteApc where
+  get = do
+    _msgSsrSatelliteApc_apc <- whileM (not <$> isEmpty) get
+    pure MsgSsrSatelliteApc {..}
+
+  put MsgSsrSatelliteApc {..} = do
+    mapM_ put _msgSsrSatelliteApc_apc
+
+$(makeSBP 'msgSsrSatelliteApc ''MsgSsrSatelliteApc)
+$(makeJSON "_msgSsrSatelliteApc_" ''MsgSsrSatelliteApc)
+$(makeLenses ''MsgSsrSatelliteApc)
+
 msgSsrOrbitClockDepA :: Word16
 msgSsrOrbitClockDepA = 0x05DC
 

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

@@ -186,6 +186,7 @@
 import com.swiftnav.sbp.ssr.MsgSsrStecCorrection;
 import com.swiftnav.sbp.ssr.MsgSsrGriddedCorrection;
 import com.swiftnav.sbp.ssr.MsgSsrTileDefinition;
+import com.swiftnav.sbp.ssr.MsgSsrSatelliteApc;
 import com.swiftnav.sbp.ssr.MsgSsrOrbitClockDepA;
 import com.swiftnav.sbp.ssr.MsgSsrStecCorrectionDepA;
 import com.swiftnav.sbp.ssr.MsgSsrGriddedCorrectionNoStdDepA;
@@ -559,6 +560,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException {
                 return new MsgSsrGriddedCorrection(msg);
             case MsgSsrTileDefinition.TYPE:
                 return new MsgSsrTileDefinition(msg);
+            case MsgSsrSatelliteApc.TYPE:
+                return new MsgSsrSatelliteApc(msg);
             case MsgSsrOrbitClockDepA.TYPE:
                 return new MsgSsrOrbitClockDepA(msg);
             case MsgSsrStecCorrectionDepA.TYPE:

java/src/com/swiftnav/sbp/linux/MsgLinuxCpuState.java

@@ -41,7 +41,7 @@ public class MsgLinuxCpuState extends SBPMessage {
     /** the PID of the process */
     public int pid;
 
-    /** percent of cpu used, expressed as a fraction of 256 */
+    /** percent of CPU used, expressed as a fraction of 256 */
     public int pcpu;
 
     /** timestamp of message, refer to flags field for how to interpret */

java/src/com/swiftnav/sbp/linux/MsgLinuxSysState.java

@@ -37,10 +37,10 @@ public class MsgLinuxSysState extends SBPMessage {
     /** total system memory, in MiB */
     public int mem_total;
 
-    /** percent of total cpu currently utilized */
+    /** percent of CPU used, expressed as a fraction of 256 */
     public int pcpu;
 
-    /** percent of total memory currently utilized */
+    /** percent of memory used, expressed as a fraction of 256 */
     public int pmem;
 
     /** number of processes that started during collection phase */

java/src/com/swiftnav/sbp/ssr/MsgSsrSatelliteApc.java

@@ -0,0 +1,59 @@
+/*
+ * Copyright (C) 2015-2018 Swift Navigation Inc.
+ * Contact: https://support.swiftnav.com
+ *
+ * This source is subject to the license found in the file 'LICENSE' which must
+ * be be distributed together with this source. All other rights reserved.
+ *
+ * THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND,
+ * EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED
+ * WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE.
+ */
+
+package com.swiftnav.sbp.ssr;
+
+import java.math.BigInteger;
+
+import com.swiftnav.sbp.SBPMessage;
+import com.swiftnav.sbp.SBPBinaryException;
+import com.swiftnav.sbp.SBPStruct;
+import com.swiftnav.sbp.gnss.*;
+
+import org.json.JSONObject;
+import org.json.JSONArray;
+
+
+
+public class MsgSsrSatelliteApc extends SBPMessage {
+    public static final int TYPE = 0x0604;
+
+
+    /** Satellite antenna phase center corrections */
+    public SatelliteAPC[] apc;
+
+
+    public MsgSsrSatelliteApc (int sender) { super(sender, TYPE); }
+    public MsgSsrSatelliteApc () { super(TYPE); }
+    public MsgSsrSatelliteApc (SBPMessage msg) throws SBPBinaryException {
+        super(msg);
+        assert msg.type != TYPE;
+    }
+
+    @Override
+    protected void parse(Parser parser) throws SBPBinaryException {
+        /* Parse fields from binary */
+        apc = parser.getArray(SatelliteAPC.class);
+    }
+
+    @Override
+    protected void build(Builder builder) {
+        builder.putArray(apc);
+    }
+
+    @Override
+    public JSONObject toJSON() {
+        JSONObject obj = super.toJSON();
+        obj.put("apc", SBPStruct.toJSONArray(apc));
+        return obj;
+    }
+}