Merge pull request #364 from JoshuaGross/jgross-1.1.0

v1.1.0 release: settings message, javascript message construction

Author: JoshuaGross

RELEASE_NOTES.md

@@ -6,11 +6,17 @@ For a detailed index of changes, please see the
 
 Contents
 --------
+ * [v1.1.0](#v1.1.0)
  * [v1.0.2](#v1.0.2)
  * [v1.0.1](#v1.0.1)
  * [v0.39](#v0.39)
  * [v0.33](#v0.33)
 
+v1.1.0 <a name="v1.1.0"></a>
+--------------------------
+* Added `MSG_SETTINGS_REGISTER` message
+* More improvements to JavaScript to add a `constructMsg` interface (`sbp/construct.js`).
+
 v1.0.2 <a name="v1.0.2"></a>
 --------------------------
 Minor release: changes JavaScript bindings to simplify constructing

c/include/libsbp/settings.h

@@ -120,6 +120,20 @@ typedef struct __attribute__((packed)) {
 #define SBP_MSG_SETTINGS_READ_BY_INDEX_DONE 0x00A6
 
 
+/** Register setting and default value (device => host)
+ *
+ * This message registers the presence and default value of a setting
+ * with a settings daemon.  The host should reply with MSG_SETTINGS_WRITE
+ * for this setting to set the initial value.
+ */
+#define SBP_MSG_SETTINGS_REGISTER           0x00AE
+typedef struct __attribute__((packed)) {
+  char setting[0]; /**< A NULL-terminated and delimited string with contents
+[SECTION_SETTING, SETTING, VALUE].
+ */
+} msg_settings_register_t;
+
+
 /** \} */
 
 #endif /* LIBSBP_SETTINGS_MESSAGES_H */

c/include/libsbp/version.h

@@ -23,7 +23,7 @@
 /** Protocol major version. */
 #define SBP_MAJOR_VERSION 1
 /** Protocol minor version. */
-#define SBP_MINOR_VERSION 0
+#define SBP_MINOR_VERSION 1
 
 /** \} */
 

docs/sbp.pdf

@@ -38,10 +38,10 @@ var (((ident))) = require("./(((file)))").(((ident)));
  *((*- endif *))
  * @param sbp An SBP object with a payload to be decoded.
  */
-var ((( m.identifier | js_classnameify ))) = function (sbp) {
+var ((( m.identifier | js_classnameify ))) = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "(((m.identifier)))";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };

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

@@ -1,5 +1,5 @@
 name:                  sbp
-version:               1.0.2
+version:               1.1.0
 synopsis:              SwiftNav's SBP Library
 homepage:              https://github.com/swift-nav/libsbp
 license:               LGPL-3

haskell/sbp.cabal

@@ -109,6 +109,7 @@ data SBPMsg =
    | SBPMsgSettingsReadByIndexResp MsgSettingsReadByIndexResp Msg
    | SBPMsgSettingsReadReq MsgSettingsReadReq Msg
    | SBPMsgSettingsReadResp MsgSettingsReadResp Msg
+   | SBPMsgSettingsRegister MsgSettingsRegister Msg
    | SBPMsgSettingsSave MsgSettingsSave Msg
    | SBPMsgSettingsWrite MsgSettingsWrite Msg
    | SBPMsgStartup MsgStartup Msg
@@ -194,6 +195,7 @@ instance Binary SBPMsg where
           | _msgSBPType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict _msgSBPPayload)) m
           | _msgSBPType == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict _msgSBPPayload)) m
           | _msgSBPType == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict _msgSBPPayload)) m
+          | _msgSBPType == msgSettingsRegister = SBPMsgSettingsRegister (decode (fromStrict _msgSBPPayload)) m
           | _msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict _msgSBPPayload)) m
           | _msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict _msgSBPPayload)) m
           | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict _msgSBPPayload)) m
@@ -271,6 +273,7 @@ instance Binary SBPMsg where
       encode' (SBPMsgSettingsReadByIndexResp _ m) = put m
       encode' (SBPMsgSettingsReadReq _ m) = put m
       encode' (SBPMsgSettingsReadResp _ m) = put m
+      encode' (SBPMsgSettingsRegister _ m) = put m
       encode' (SBPMsgSettingsSave _ m) = put m
       encode' (SBPMsgSettingsWrite _ m) = put m
       encode' (SBPMsgStartup _ m) = put m
@@ -351,6 +354,7 @@ instance FromJSON SBPMsg where
         | msgType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp <$> parseJSON obj <*> parseJSON obj
         | msgType == msgSettingsReadReq = SBPMsgSettingsReadReq <$> parseJSON obj <*> parseJSON obj
         | msgType == msgSettingsReadResp = SBPMsgSettingsReadResp <$> parseJSON obj <*> parseJSON obj
+        | msgType == msgSettingsRegister = SBPMsgSettingsRegister <$> parseJSON obj <*> parseJSON obj
         | msgType == msgSettingsSave = SBPMsgSettingsSave <$> parseJSON obj <*> parseJSON obj
         | msgType == msgSettingsWrite = SBPMsgSettingsWrite <$> parseJSON obj <*> parseJSON obj
         | msgType == msgStartup = SBPMsgStartup <$> parseJSON obj <*> parseJSON obj
@@ -433,6 +437,7 @@ instance ToJSON SBPMsg where
   toJSON (SBPMsgSettingsReadByIndexResp n m) = toJSON n `mergeValues` toJSON m
   toJSON (SBPMsgSettingsReadReq n m) = toJSON n `mergeValues` toJSON m
   toJSON (SBPMsgSettingsReadResp n m) = toJSON n `mergeValues` toJSON m
+  toJSON (SBPMsgSettingsRegister n m) = toJSON n `mergeValues` toJSON m
   toJSON (SBPMsgSettingsSave n m) = toJSON n `mergeValues` toJSON m
   toJSON (SBPMsgSettingsWrite n m) = toJSON n `mergeValues` toJSON m
   toJSON (SBPMsgStartup n m) = toJSON n `mergeValues` toJSON m
@@ -509,6 +514,7 @@ instance HasMsg SBPMsg where
   msg f (SBPMsgSettingsReadByIndexResp n m) = SBPMsgSettingsReadByIndexResp n <$> f m
   msg f (SBPMsgSettingsReadReq n m) = SBPMsgSettingsReadReq n <$> f m
   msg f (SBPMsgSettingsReadResp n m) = SBPMsgSettingsReadResp n <$> f m
+  msg f (SBPMsgSettingsRegister n m) = SBPMsgSettingsRegister n <$> f m
   msg f (SBPMsgSettingsSave n m) = SBPMsgSettingsSave n <$> f m
   msg f (SBPMsgSettingsWrite n m) = SBPMsgSettingsWrite n <$> f m
   msg f (SBPMsgStartup n m) = SBPMsgStartup n <$> f m

haskell/src/SwiftNav/SBP.hs

@@ -217,3 +217,31 @@ $(deriveSBP 'msgSettingsReadByIndexDone ''MsgSettingsReadByIndexDone)
 $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgSettingsReadByIndexDone_" . stripPrefix "_msgSettingsReadByIndexDone_"}
              ''MsgSettingsReadByIndexDone)
 $(makeLenses ''MsgSettingsReadByIndexDone)
+
+msgSettingsRegister :: Word16
+msgSettingsRegister = 0x00AE
+
+-- | SBP class for message MSG_SETTINGS_REGISTER (0x00AE).
+--
+-- This message registers the presence and default value of a setting with a
+-- settings daemon.  The host should reply with MSG_SETTINGS_WRITE for this
+-- setting to set the initial value.
+data MsgSettingsRegister = MsgSettingsRegister
+  { _msgSettingsRegister_setting :: ByteString
+    -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING,
+    -- SETTING, VALUE].
+  } deriving ( Show, Read, Eq )
+
+instance Binary MsgSettingsRegister where
+  get = do
+    _msgSettingsRegister_setting <- liftM toStrict getRemainingLazyByteString
+    return MsgSettingsRegister {..}
+
+  put MsgSettingsRegister {..} = do
+    putByteString _msgSettingsRegister_setting
+
+$(deriveSBP 'msgSettingsRegister ''MsgSettingsRegister)
+
+$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgSettingsRegister_" . stripPrefix "_msgSettingsRegister_"}
+             ''MsgSettingsRegister)
+$(makeLenses ''MsgSettingsRegister)

haskell/src/SwiftNav/SBP/Settings.hs

@@ -55,6 +55,7 @@
 import com.swiftnav.sbp.settings.MsgSettingsReadByIndexReq;
 import com.swiftnav.sbp.settings.MsgSettingsReadByIndexResp;
 import com.swiftnav.sbp.settings.MsgSettingsReadByIndexDone;
+import com.swiftnav.sbp.settings.MsgSettingsRegister;
 import com.swiftnav.sbp.navigation.MsgGPSTime;
 import com.swiftnav.sbp.navigation.MsgDops;
 import com.swiftnav.sbp.navigation.MsgPosECEF;
@@ -171,6 +172,8 @@ static SBPMessage dispatch(SBPMessage msg) throws SBPBinaryException {
                 return new MsgSettingsReadByIndexResp(msg);
             case MsgSettingsReadByIndexDone.TYPE:
                 return new MsgSettingsReadByIndexDone(msg);
+            case MsgSettingsRegister.TYPE:
+                return new MsgSettingsRegister(msg);
             case MsgGPSTime.TYPE:
                 return new MsgGPSTime(msg);
             case MsgDops.TYPE:

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

@@ -0,0 +1,68 @@
+/*
+ * Copyright (C) 2015 Swift Navigation Inc.
+ * Contact: Gareth McMullin <[email protected]>
+ * Contact: Bhaskar Mookerji <[email protected]>
+ *
+ * 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.settings;
+
+import com.swiftnav.sbp.SBPMessage;
+import com.swiftnav.sbp.SBPBinaryException;
+import com.swiftnav.sbp.SBPStruct;
+
+import org.json.JSONObject;
+import org.json.JSONArray;
+
+
+/** SBP class for message MSG_SETTINGS_REGISTER (0x00AE).
+ *
+ * You can have MSG_SETTINGS_REGISTER inherent its fields directly from
+ * an inherited SBP object, or construct it inline using a dict of its
+ * fields.
+ *
+ * This message registers the presence and default value of a setting
+ * with a settings daemon.  The host should reply with MSG_SETTINGS_WRITE
+ * for this setting to set the initial value. */
+
+public class MsgSettingsRegister extends SBPMessage {
+    public static final int TYPE = 0x00AE;
+
+    
+    /** A NULL-terminated and delimited string with contents
+[SECTION_SETTING, SETTING, VALUE].
+ */
+    public String setting;
+    
+
+    public MsgSettingsRegister (int sender) { super(sender, TYPE); }
+    public MsgSettingsRegister () { super(TYPE); }
+    public MsgSettingsRegister (SBPMessage msg) throws SBPBinaryException {
+        super(msg);
+        assert msg.type != TYPE;
+    }
+
+    @Override
+    protected void parse(Parser parser) throws SBPBinaryException {
+        /* Parse fields from binary */
+        setting = parser.getString();
+    }
+
+    @Override
+    protected void build(Builder builder) {
+        builder.putString(setting);
+    }
+
+    @Override
+    public JSONObject toJSON() {
+        JSONObject obj = super.toJSON();
+        obj.put("setting", setting);
+        return obj;
+    }
+}

java/src/com/swiftnav/sbp/settings/MsgSettingsRegister.java

@@ -39,10 +39,10 @@ var GnssSignal = require("./gnss_signal").GnssSignal;
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgAcqResult = function (sbp) {
+var MsgAcqResult = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_ACQ_RESULT";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };
@@ -75,10 +75,10 @@ MsgAcqResult.prototype.fieldSpec.push(['sid', GnssSignal.prototype.fieldSpec]);
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgAcqResultDepA = function (sbp) {
+var MsgAcqResultDepA = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_ACQ_RESULT_DEP_A";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };

javascript/sbp/acquisition.js

@@ -32,10 +32,10 @@ var Parser = require('binary-parser').Parser;
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgBootloaderHandshakeReq = function (sbp) {
+var MsgBootloaderHandshakeReq = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_BOOTLOADER_HANDSHAKE_REQ";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };
@@ -60,10 +60,10 @@ MsgBootloaderHandshakeReq.prototype.fieldSpec = [];
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgBootloaderHandshakeResp = function (sbp) {
+var MsgBootloaderHandshakeResp = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_BOOTLOADER_HANDSHAKE_RESP";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };
@@ -88,10 +88,10 @@ MsgBootloaderHandshakeResp.prototype.fieldSpec.push(['version', 'string']);
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgBootloaderJumpToApp = function (sbp) {
+var MsgBootloaderJumpToApp = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_BOOTLOADER_JUMP_TO_APP";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };
@@ -115,10 +115,10 @@ MsgBootloaderJumpToApp.prototype.fieldSpec.push(['jump', 'writeUInt8', 1]);
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgNapDeviceDnaReq = function (sbp) {
+var MsgNapDeviceDnaReq = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_NAP_DEVICE_DNA_REQ";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };
@@ -143,10 +143,10 @@ MsgNapDeviceDnaReq.prototype.fieldSpec = [];
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgNapDeviceDnaResp = function (sbp) {
+var MsgNapDeviceDnaResp = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_NAP_DEVICE_DNA_RESP";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };
@@ -169,10 +169,10 @@ MsgNapDeviceDnaResp.prototype.fieldSpec.push(['dna', 'array', 'writeUInt8', func
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
-var MsgBootloaderHandshakeDepA = function (sbp) {
+var MsgBootloaderHandshakeDepA = function (sbp, fields) {
   SBP.call(this, sbp);
   this.messageType = "MSG_BOOTLOADER_HANDSHAKE_DEP_A";
-  this.fields = this.parser.parse(sbp.payload);
+  this.fields = (fields || this.parser.parse(sbp.payload));
 
   return this;
 };

javascript/sbp/bootload.js

@@ -0,0 +1,54 @@
+/**
+ * Copyright (C) 2015 Swift Navigation Inc.
+ * Contact: Joshua Gross <[email protected]>
+ * 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.
+ *
+ * This module is for constructing arbitrary SBP messages.
+ */
+
+var sbp = require('./index.js');
+var SBP = require('./sbp.js');
+var crc = sbp.crc16;
+
+/**
+ * Construct a full SBP message, including the message envelope
+ *  and internal fields. Also calculates the CRC for you.
+ *
+ * @param MsgType {Function} The message type you want to construct.
+ * @param fields {Object} Optional key-value pairs of message fields.
+ */
+module.exports = function constructMsg (MsgType, fields) {
+  if (typeof MsgType !== 'function') {
+    throw new Error('The MsgType parameter must be a valid SBP message type constructor.');
+  }
+
+  if (typeof MsgType.prototype.msg_type !== 'number') {
+    throw new Error('The MsgType must have a valid `msg_type` field.');
+  }
+
+  fields = fields || {};
+
+  // Msg envelope
+  var msgEnvelope = new SBP({});
+
+  // Message
+  var msg = new MsgType(msgEnvelope, fields);
+  msgEnvelope.payload = msg.payloadToBuffer();
+
+  // Construct message envelope
+  msgEnvelope.preamble = sbp.preambleByte;
+  msgEnvelope.msg_type = MsgType.prototype.msg_type;
+  msgEnvelope.sender = 0; // see SBP.pdf documentation
+  msgEnvelope.length = msgEnvelope.payload.length;
+  msgEnvelope.crc = crc(msgEnvelope.payload,
+                      crc(msgEnvelope.getLengthBuffer(),
+                        crc(msgEnvelope.getSenderBuffer(),
+                          crc(msgEnvelope.getMsgTypeBuffer()))));
+
+  return msgEnvelope;
+};