Reinstate MSG_EPHEMERIS at 0x001A as MSG_EPHEMERIS_OLD

c/include/libsbp/tracking.h

@@ -50,6 +50,41 @@ typedef struct __attribute__((packed)) {
 } msg_tracking_state_t;
 
 
+/** Deprecated, use MSG_EPHEMERIS (0x0046)
+ *
+ * Deprecated, use MSG_EPHEMERIS (0x0046).
+ */
+#define SBP_MSG_EPHEMERIS_OLD  0x001A
+typedef struct __attribute__((packed)) {
+  double tgd;         /**< Group delay differential between L1 and L2 [s] */
+  double crs;         /**< Amplitude of the sine harmonic correction term to the orbit radius [m] */
+  double crc;         /**< Amplitude of the cosine harmonic correction term to the orbit radius [m] */
+  double cuc;         /**< Amplitude of the cosine harmonic correction term to the argument of latitude [rad] */
+  double cus;         /**< Amplitude of the sine harmonic correction term to the argument of latitude [rad] */
+  double cic;         /**< Amplitude of the cosine harmonic correction term to the angle of inclination [rad] */
+  double cis;         /**< Amplitude of the sine harmonic correction term to the angle of inclination [rad] */
+  double dn;          /**< Mean motion difference [rad/s] */
+  double m0;          /**< Mean anomaly at reference time [radians] */
+  double ecc;         /**< Eccentricity of satellite orbit */
+  double sqrta;       /**< Square root of the semi-major axis of orbit [m^(1/2)] */
+  double omega0;      /**< Longitude of ascending node of orbit plane at weekly epoch [rad] */
+  double omegadot;    /**< Rate of right ascension [rad/s] */
+  double w;           /**< Argument of perigee [rad] */
+  double inc;         /**< Inclination [rad] */
+  double inc_dot;     /**< Inclination first derivative [rad/s] */
+  double af0;         /**< Polynomial clock correction coefficient (clock bias) [s] */
+  double af1;         /**< Polynomial clock correction coefficient (clock drift) [s/s] */
+  double af2;         /**< Polynomial clock correction coefficient (rate of clock drift) [s/s^2] */
+  double toe_tow;     /**< Time of week [s] */
+  u16 toe_wn;      /**< Week number [week] */
+  double toc_tow;     /**< Clock reference time of week [s] */
+  u16 toc_wn;      /**< Clock reference week number [week] */
+  u8 valid;       /**< Is valid? */
+  u8 healthy;     /**< Satellite is healthy? */
+  u8 prn;         /**< PRN being tracked */
+} msg_ephemeris_old_t;
+
+
 /** \} */
 
 #endif /* LIBSBP_TRACKING_MESSAGES_H */

python/sbp/__init__.py

@@ -108,7 +108,7 @@ def unpack(d):
 
   def __repr__(self):
     p = (self.preamble, self.msg_type, self.sender, self.length,
-         self.payload, self.crc)
+         repr(self.payload), self.crc)
     fmt = "<SBP (preamble=0x%X, msg_type=0x%X, sender=%s, length=%d, payload=%s, crc=0x%X)>"
     return fmt % p
 

python/sbp/tracking.py

@@ -126,7 +126,172 @@ def to_json_dict(self):
     d.update(j)
     return d
 
+SBP_MSG_EPHEMERIS_OLD = 0x001A
+class MsgEphemerisOld(SBP):
+  """SBP class for message MSG_EPHEMERIS_OLD (0x001A).
+
+  You can have MSG_EPHEMERIS_OLD inherent its fields directly
+  from an inherited SBP object, or construct it inline using a dict
+  of its fields.
+
+
+  Deprecated, use MSG_EPHEMERIS (0x0046).
+
+
+  Parameters
+  ----------
+  sbp : SBP
+    SBP parent object to inherit from.
+  tgd : double
+    Group delay differential between L1 and L2
+  crs : double
+    Amplitude of the sine harmonic correction term to the orbit radius
+  crc : double
+    Amplitude of the cosine harmonic correction term to the orbit radius
+  cuc : double
+    Amplitude of the cosine harmonic correction term to the argument of latitude
+  cus : double
+    Amplitude of the sine harmonic correction term to the argument of latitude
+  cic : double
+    Amplitude of the cosine harmonic correction term to the angle of inclination
+  cis : double
+    Amplitude of the sine harmonic correction term to the angle of inclination
+  dn : double
+    Mean motion difference
+  m0 : double
+    Mean anomaly at reference time
+  ecc : double
+    Eccentricity of satellite orbit
+  sqrta : double
+    Square root of the semi-major axis of orbit
+  omega0 : double
+    Longitude of ascending node of orbit plane at weekly epoch
+  omegadot : double
+    Rate of right ascension
+  w : double
+    Argument of perigee
+  inc : double
+    Inclination
+  inc_dot : double
+    Inclination first derivative
+  af0 : double
+    Polynomial clock correction coefficient (clock bias)
+  af1 : double
+    Polynomial clock correction coefficient (clock drift)
+  af2 : double
+    Polynomial clock correction coefficient (rate of clock drift)
+  toe_tow : double
+    Time of week
+  toe_wn : int
+    Week number
+  toc_tow : double
+    Clock reference time of week
+  toc_wn : int
+    Clock reference week number
+  valid : int
+    Is valid?
+  healthy : int
+    Satellite is healthy?
+  prn : int
+    PRN being tracked
+
+  """
+  _parser = Struct("MsgEphemerisOld",
+                   LFloat64('tgd'),
+                   LFloat64('crs'),
+                   LFloat64('crc'),
+                   LFloat64('cuc'),
+                   LFloat64('cus'),
+                   LFloat64('cic'),
+                   LFloat64('cis'),
+                   LFloat64('dn'),
+                   LFloat64('m0'),
+                   LFloat64('ecc'),
+                   LFloat64('sqrta'),
+                   LFloat64('omega0'),
+                   LFloat64('omegadot'),
+                   LFloat64('w'),
+                   LFloat64('inc'),
+                   LFloat64('inc_dot'),
+                   LFloat64('af0'),
+                   LFloat64('af1'),
+                   LFloat64('af2'),
+                   LFloat64('toe_tow'),
+                   ULInt16('toe_wn'),
+                   LFloat64('toc_tow'),
+                   ULInt16('toc_wn'),
+                   ULInt8('valid'),
+                   ULInt8('healthy'),
+                   ULInt8('prn'),)
+
+  def __init__(self, sbp=None, **kwargs):
+    if sbp:
+      self.__dict__.update(sbp.__dict__)
+      self.from_binary(sbp.payload)
+    else:
+      self.tgd = kwargs.pop('tgd')
+      self.crs = kwargs.pop('crs')
+      self.crc = kwargs.pop('crc')
+      self.cuc = kwargs.pop('cuc')
+      self.cus = kwargs.pop('cus')
+      self.cic = kwargs.pop('cic')
+      self.cis = kwargs.pop('cis')
+      self.dn = kwargs.pop('dn')
+      self.m0 = kwargs.pop('m0')
+      self.ecc = kwargs.pop('ecc')
+      self.sqrta = kwargs.pop('sqrta')
+      self.omega0 = kwargs.pop('omega0')
+      self.omegadot = kwargs.pop('omegadot')
+      self.w = kwargs.pop('w')
+      self.inc = kwargs.pop('inc')
+      self.inc_dot = kwargs.pop('inc_dot')
+      self.af0 = kwargs.pop('af0')
+      self.af1 = kwargs.pop('af1')
+      self.af2 = kwargs.pop('af2')
+      self.toe_tow = kwargs.pop('toe_tow')
+      self.toe_wn = kwargs.pop('toe_wn')
+      self.toc_tow = kwargs.pop('toc_tow')
+      self.toc_wn = kwargs.pop('toc_wn')
+      self.valid = kwargs.pop('valid')
+      self.healthy = kwargs.pop('healthy')
+      self.prn = kwargs.pop('prn')
+
+  def __repr__(self):
+    return fmt_repr(self)
+
+  def from_binary(self, d):
+    """Given a binary payload d, update the appropriate payload fields of
+    the message.
+
+    """
+    p = MsgEphemerisOld._parser.parse(d)
+    self.__dict__.update(dict(p.viewitems()))
+
+  def to_binary(self):
+    """Produce a framed/packed SBP message.
+
+    """
+    c = Container(**exclude_fields(self))
+    self.payload = MsgEphemerisOld._parser.build(c)
+    return self.pack()
+
+  @staticmethod
+  def from_json(s):
+    """Given a JSON-encoded string s, build a message object.
+
+    """
+    d = json.loads(s)
+    sbp = SBP.from_json_dict(d)
+    return MsgEphemerisOld(sbp)
+
+  def to_json_dict(self):
+    d = super( MsgEphemerisOld, self).to_json_dict()
+    j = walk_json_dict(exclude_fields(self))
+    d.update(j)
+    return d
+
 
 msg_classes = {
   0x0016: MsgTrackingState,
+  0x001A: MsgEphemerisOld,
 }

python/tests/sbp/test_table.py

@@ -21,7 +21,7 @@ def test_table_count():
   Test number of available messages to deserialize.
 
   """
-  number_of_messages = 45
+  number_of_messages = 46
   assert len(_SBP_TABLE) == number_of_messages
 
 def test_available_messages():

spec/yaml/swiftnav/sbp/tracking.yaml

@@ -57,3 +57,111 @@ definitions:
           fill: TrackingChannelState
           desc: Satellite tracking channel state
 
+ - MSG_EPHEMERIS_OLD:
+    id: 0x001A
+    public: False
+    short_desc: Deprecated, use MSG_EPHEMERIS (0x0046)
+    desc: |
+      Deprecated, use MSG_EPHEMERIS (0x0046).
+    fields:
+      - tgd:
+          type: double
+          units: s
+          desc: Group delay differential between L1 and L2
+      - crs:
+          type: double
+          units: m
+          desc: Amplitude of the sine harmonic correction term to the orbit radius
+      - crc:
+          type: double
+          units: m
+          desc: Amplitude of the cosine harmonic correction term to the orbit radius
+      - cuc:
+          type: double
+          units: rad
+          desc: Amplitude of the cosine harmonic correction term to the argument of latitude
+      - cus:
+          type: double
+          units: rad
+          desc: Amplitude of the sine harmonic correction term to the argument of latitude
+      - cic:
+          type: double
+          units: rad
+          desc: Amplitude of the cosine harmonic correction term to the angle of inclination
+      - cis:
+          type: double
+          units: rad
+          desc: Amplitude of the sine harmonic correction term to the angle of inclination
+      - dn:
+          type: double
+          units: rad/s
+          desc: Mean motion difference
+      - m0:
+          type: double
+          units: radians
+          desc: Mean anomaly at reference time
+      - ecc:
+          type: double
+          desc: Eccentricity of satellite orbit
+      - sqrta:
+          type: double
+          units: m^(1/2)
+          desc: Square root of the semi-major axis of orbit
+      - omega0:
+          type: double
+          units: rad
+          desc: Longitude of ascending node of orbit plane at weekly epoch
+      - omegadot:
+          type: double
+          units: rad/s
+          desc: Rate of right ascension
+      - w:
+          type: double
+          units: rad
+          desc: Argument of perigee
+      - inc:
+          type: double
+          units: rad
+          desc: Inclination
+      - inc_dot:
+          type: double
+          units: rad/s
+          desc: Inclination first derivative
+      - af0:
+          type: double
+          units: s
+          desc: Polynomial clock correction coefficient (clock bias)
+      - af1:
+          type: double
+          units: s/s
+          desc: Polynomial clock correction coefficient (clock drift)
+      - af2:
+          type: double
+          units: s/s^2
+          desc: Polynomial clock correction coefficient (rate of clock drift)
+      - toe_tow:
+          type: double
+          units: s
+          desc: Time of week
+      - toe_wn:
+          type: u16
+          units: week
+          desc: Week number
+      - toc_tow:
+          type: double
+          units: s
+          desc: Clock reference time of week
+      - toc_wn:
+          type: u16
+          units: week
+          desc: Clock reference week number
+      - valid:
+          type: u8
+          desc: Is valid?
+      - healthy:
+          type: u8
+          desc: Satellite is healthy?
+      - prn:
+          type: u8
+          desc: PRN being tracked
+