add signs to glonass ksy

selfdrive/locationd/generated/glonass.cpp

@@ -31,6 +31,10 @@ void glonass_t::_read() {
         m_data = new string_3_t(m__io, this, m__root);
         break;
     }
+    case 5: {
+        m_data = new string_5_t(m__io, this, m__root);
+        break;
+    }
     case 2: {
         m_data = new string_2_t(m__io, this, m__root);
         break;
@@ -60,6 +64,8 @@ void glonass_t::_clean_up() {
 glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
+    f_tau_n = false;
+    f_delta_tau_n = false;
 
     try {
         _read();
@@ -70,8 +76,10 @@ glonass_t::string_4_t::string_4_t(kaitai::kstream* p__io, glonass_t* p__parent,
 }
 
 void glonass_t::string_4_t::_read() {
-    m_tau_n = m__io->read_bits_int_be(22);
+    m_tau_n_sign = m__io->read_bits_int_be(1);
-    m_delta_tau_n = m__io->read_bits_int_be(5);
+    m_tau_n_value = m__io->read_bits_int_be(21);
+    m_delta_tau_n_sign = m__io->read_bits_int_be(1);
+    m_delta_tau_n_value = m__io->read_bits_int_be(4);
     m_e_n = m__io->read_bits_int_be(5);
     m_not_used_1 = m__io->read_bits_int_be(14);
     m_p4 = m__io->read_bits_int_be(1);
@@ -89,6 +97,22 @@ glonass_t::string_4_t::~string_4_t() {
 void glonass_t::string_4_t::_clean_up() {
 }
 
+int32_t glonass_t::string_4_t::tau_n() {
+    if (f_tau_n)
+        return m_tau_n;
+    m_tau_n = ((tau_n_sign()) ? ((tau_n_value() - (1 << 21))) : (tau_n_value()));
+    f_tau_n = true;
+    return m_tau_n;
+}
+
+int32_t glonass_t::string_4_t::delta_tau_n() {
+    if (f_delta_tau_n)
+        return m_delta_tau_n;
+    m_delta_tau_n = ((delta_tau_n_sign()) ? ((delta_tau_n_value() - (1 << 4))) : (delta_tau_n_value()));
+    f_delta_tau_n = true;
+    return m_delta_tau_n;
+}
+
 glonass_t::string_non_immediate_t::string_non_immediate_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
@@ -113,9 +137,40 @@ glonass_t::string_non_immediate_t::~string_non_immediate_t() {
 void glonass_t::string_non_immediate_t::_clean_up() {
 }
 
+glonass_t::string_5_t::string_5_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
+    m__parent = p__parent;
+    m__root = p__root;
+
+    try {
+        _read();
+    } catch(...) {
+        _clean_up();
+        throw;
+    }
+}
+
+void glonass_t::string_5_t::_read() {
+    m_n_a = m__io->read_bits_int_be(11);
+    m_tau_e = m__io->read_bits_int_be(32);
+    m_not_used = m__io->read_bits_int_be(1);
+    m_n_4 = m__io->read_bits_int_be(5);
+    m_tau_gps = m__io->read_bits_int_be(22);
+    m_l_n = m__io->read_bits_int_be(1);
+}
+
+glonass_t::string_5_t::~string_5_t() {
+    _clean_up();
+}
+
+void glonass_t::string_5_t::_clean_up() {
+}
+
 glonass_t::string_1_t::string_1_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
+    f_x_vel = false;
+    f_x_accel = false;
+    f_x = false;
 
     try {
         _read();
@@ -129,9 +184,12 @@ void glonass_t::string_1_t::_read() {
     m_not_used = m__io->read_bits_int_be(2);
     m_p1 = m__io->read_bits_int_be(2);
     m_t_k = m__io->read_bits_int_be(12);
-    m_x_vel = m__io->read_bits_int_be(24);
+    m_x_vel_sign = m__io->read_bits_int_be(1);
-    m_x_speedup = m__io->read_bits_int_be(5);
+    m_x_vel_value = m__io->read_bits_int_be(23);
-    m_x = m__io->read_bits_int_be(27);
+    m_x_accel_sign = m__io->read_bits_int_be(1);
+    m_x_accel_value = m__io->read_bits_int_be(4);
+    m_x_sign = m__io->read_bits_int_be(1);
+    m_x_value = m__io->read_bits_int_be(26);
 }
 
 glonass_t::string_1_t::~string_1_t() {
@@ -141,9 +199,36 @@ glonass_t::string_1_t::~string_1_t() {
 void glonass_t::string_1_t::_clean_up() {
 }
 
+int32_t glonass_t::string_1_t::x_vel() {
+    if (f_x_vel)
+        return m_x_vel;
+    m_x_vel = ((x_vel_sign()) ? ((x_vel_value() - (1 << 23))) : (x_vel_value()));
+    f_x_vel = true;
+    return m_x_vel;
+}
+
+int32_t glonass_t::string_1_t::x_accel() {
+    if (f_x_accel)
+        return m_x_accel;
+    m_x_accel = ((x_accel_sign()) ? ((x_accel_value() - (1 << 4))) : (x_accel_value()));
+    f_x_accel = true;
+    return m_x_accel;
+}
+
+int32_t glonass_t::string_1_t::x() {
+    if (f_x)
+        return m_x;
+    m_x = ((x_sign()) ? ((x_value() - (1 << 26))) : (x_value()));
+    f_x = true;
+    return m_x;
+}
+
 glonass_t::string_2_t::string_2_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
+    f_y_vel = false;
+    f_y_accel = false;
+    f_y = false;
 
     try {
         _read();
@@ -158,9 +243,12 @@ void glonass_t::string_2_t::_read() {
     m_p2 = m__io->read_bits_int_be(1);
     m_t_b = m__io->read_bits_int_be(7);
     m_not_used = m__io->read_bits_int_be(5);
-    m_y_vel = m__io->read_bits_int_be(24);
+    m_y_vel_sign = m__io->read_bits_int_be(1);
-    m_y_speedup = m__io->read_bits_int_be(5);
+    m_y_vel_value = m__io->read_bits_int_be(23);
-    m_y = m__io->read_bits_int_be(27);
+    m_y_accel_sign = m__io->read_bits_int_be(1);
+    m_y_accel_value = m__io->read_bits_int_be(4);
+    m_y_sign = m__io->read_bits_int_be(1);
+    m_y_value = m__io->read_bits_int_be(26);
 }
 
 glonass_t::string_2_t::~string_2_t() {
@@ -170,9 +258,37 @@ glonass_t::string_2_t::~string_2_t() {
 void glonass_t::string_2_t::_clean_up() {
 }
 
+int32_t glonass_t::string_2_t::y_vel() {
+    if (f_y_vel)
+        return m_y_vel;
+    m_y_vel = ((y_vel_sign()) ? ((y_vel_value() - (1 << 23))) : (y_vel_value()));
+    f_y_vel = true;
+    return m_y_vel;
+}
+
+int32_t glonass_t::string_2_t::y_accel() {
+    if (f_y_accel)
+        return m_y_accel;
+    m_y_accel = ((y_accel_sign()) ? ((y_accel_value() - (1 << 4))) : (y_accel_value()));
+    f_y_accel = true;
+    return m_y_accel;
+}
+
+int32_t glonass_t::string_2_t::y() {
+    if (f_y)
+        return m_y;
+    m_y = ((y_sign()) ? ((y_value() - (1 << 26))) : (y_value()));
+    f_y = true;
+    return m_y;
+}
+
 glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent, glonass_t* p__root) : kaitai::kstruct(p__io) {
     m__parent = p__parent;
     m__root = p__root;
+    f_gamma_n = false;
+    f_z_vel = false;
+    f_z_accel = false;
+    f_z = false;
 
     try {
         _read();
@@ -184,13 +300,17 @@ glonass_t::string_3_t::string_3_t(kaitai::kstream* p__io, glonass_t* p__parent,
 
 void glonass_t::string_3_t::_read() {
     m_p3 = m__io->read_bits_int_be(1);
-    m_gamma_n = m__io->read_bits_int_be(11);
+    m_gamma_n_sign = m__io->read_bits_int_be(1);
+    m_gamma_n_value = m__io->read_bits_int_be(10);
     m_not_used = m__io->read_bits_int_be(1);
     m_p = m__io->read_bits_int_be(2);
     m_l_n = m__io->read_bits_int_be(1);
-    m_z_vel = m__io->read_bits_int_be(24);
+    m_z_vel_sign = m__io->read_bits_int_be(1);
-    m_z_speedup = m__io->read_bits_int_be(5);
+    m_z_vel_value = m__io->read_bits_int_be(23);
-    m_z = m__io->read_bits_int_be(27);
+    m_z_accel_sign = m__io->read_bits_int_be(1);
+    m_z_accel_value = m__io->read_bits_int_be(4);
+    m_z_sign = m__io->read_bits_int_be(1);
+    m_z_value = m__io->read_bits_int_be(26);
 }
 
 glonass_t::string_3_t::~string_3_t() {
@@ -199,3 +319,35 @@ glonass_t::string_3_t::~string_3_t() {
 
 void glonass_t::string_3_t::_clean_up() {
 }
+
+int32_t glonass_t::string_3_t::gamma_n() {
+    if (f_gamma_n)
+        return m_gamma_n;
+    m_gamma_n = ((gamma_n_sign()) ? ((gamma_n_value() - (1 << 10))) : (gamma_n_value()));
+    f_gamma_n = true;
+    return m_gamma_n;
+}
+
+int32_t glonass_t::string_3_t::z_vel() {
+    if (f_z_vel)
+        return m_z_vel;
+    m_z_vel = ((z_vel_sign()) ? ((z_vel_value() - (1 << 23))) : (z_vel_value()));
+    f_z_vel = true;
+    return m_z_vel;
+}
+
+int32_t glonass_t::string_3_t::z_accel() {
+    if (f_z_accel)
+        return m_z_accel;
+    m_z_accel = ((z_accel_sign()) ? ((z_accel_value() - (1 << 4))) : (z_accel_value()));
+    f_z_accel = true;
+    return m_z_accel;
+}
+
+int32_t glonass_t::string_3_t::z() {
+    if (f_z)
+        return m_z;
+    m_z = ((z_sign()) ? ((z_value() - (1 << 26))) : (z_value()));
+    f_z = true;
+    return m_z;
+}

selfdrive/locationd/generated/glonass.h

@@ -15,6 +15,7 @@ class glonass_t : public kaitai::kstruct {
 public:
     class string_4_t;
     class string_non_immediate_t;
+    class string_5_t;
     class string_1_t;
     class string_2_t;
     class string_3_t;
@@ -42,8 +43,24 @@ public:
         ~string_4_t();
 
     private:
-        uint64_t m_tau_n;
+        bool f_tau_n;
-        uint64_t m_delta_tau_n;
+        int32_t m_tau_n;
+
+    public:
+        int32_t tau_n();
+
+    private:
+        bool f_delta_tau_n;
+        int32_t m_delta_tau_n;
+
+    public:
+        int32_t delta_tau_n();
+
+    private:
+        bool m_tau_n_sign;
+        uint64_t m_tau_n_value;
+        bool m_delta_tau_n_sign;
+        uint64_t m_delta_tau_n_value;
         uint64_t m_e_n;
         uint64_t m_not_used_1;
         bool m_p4;
@@ -56,8 +73,10 @@ public:
         glonass_t* m__parent;
 
     public:
-        uint64_t tau_n() const { return m_tau_n; }
+        bool tau_n_sign() const { return m_tau_n_sign; }
-        uint64_t delta_tau_n() const { return m_delta_tau_n; }
+        uint64_t tau_n_value() const { return m_tau_n_value; }
+        bool delta_tau_n_sign() const { return m_delta_tau_n_sign; }
+        uint64_t delta_tau_n_value() const { return m_delta_tau_n_value; }
         uint64_t e_n() const { return m_e_n; }
         uint64_t not_used_1() const { return m_not_used_1; }
         bool p4() const { return m_p4; }
@@ -96,6 +115,40 @@ public:
         glonass_t* _parent() const { return m__parent; }
     };
 
+    class string_5_t : public kaitai::kstruct {
+
+    public:
+
+        string_5_t(kaitai::kstream* p__io, glonass_t* p__parent = 0, glonass_t* p__root = 0);
+
+    private:
+        void _read();
+        void _clean_up();
+
+    public:
+        ~string_5_t();
+
+    private:
+        uint64_t m_n_a;
+        uint64_t m_tau_e;
+        bool m_not_used;
+        uint64_t m_n_4;
+        uint64_t m_tau_gps;
+        bool m_l_n;
+        glonass_t* m__root;
+        glonass_t* m__parent;
+
+    public:
+        uint64_t n_a() const { return m_n_a; }
+        uint64_t tau_e() const { return m_tau_e; }
+        bool not_used() const { return m_not_used; }
+        uint64_t n_4() const { return m_n_4; }
+        uint64_t tau_gps() const { return m_tau_gps; }
+        bool l_n() const { return m_l_n; }
+        glonass_t* _root() const { return m__root; }
+        glonass_t* _parent() const { return m__parent; }
+    };
+
     class string_1_t : public kaitai::kstruct {
 
     public:
@@ -109,13 +162,37 @@ public:
     public:
         ~string_1_t();
 
+    private:
+        bool f_x_vel;
+        int32_t m_x_vel;
+
+    public:
+        int32_t x_vel();
+
+    private:
+        bool f_x_accel;
+        int32_t m_x_accel;
+
+    public:
+        int32_t x_accel();
+
+    private:
+        bool f_x;
+        int32_t m_x;
+
+    public:
+        int32_t x();
+
     private:
         uint64_t m_not_used;
         uint64_t m_p1;
         uint64_t m_t_k;
-        uint64_t m_x_vel;
+        bool m_x_vel_sign;
-        uint64_t m_x_speedup;
+        uint64_t m_x_vel_value;
-        uint64_t m_x;
+        bool m_x_accel_sign;
+        uint64_t m_x_accel_value;
+        bool m_x_sign;
+        uint64_t m_x_value;
         glonass_t* m__root;
         glonass_t* m__parent;
 
@@ -123,9 +200,12 @@ public:
         uint64_t not_used() const { return m_not_used; }
         uint64_t p1() const { return m_p1; }
         uint64_t t_k() const { return m_t_k; }
-        uint64_t x_vel() const { return m_x_vel; }
+        bool x_vel_sign() const { return m_x_vel_sign; }
-        uint64_t x_speedup() const { return m_x_speedup; }
+        uint64_t x_vel_value() const { return m_x_vel_value; }
-        uint64_t x() const { return m_x; }
+        bool x_accel_sign() const { return m_x_accel_sign; }
+        uint64_t x_accel_value() const { return m_x_accel_value; }
+        bool x_sign() const { return m_x_sign; }
+        uint64_t x_value() const { return m_x_value; }
         glonass_t* _root() const { return m__root; }
         glonass_t* _parent() const { return m__parent; }
     };
@@ -143,14 +223,38 @@ public:
     public:
         ~string_2_t();
 
+    private:
+        bool f_y_vel;
+        int32_t m_y_vel;
+
+    public:
+        int32_t y_vel();
+
+    private:
+        bool f_y_accel;
+        int32_t m_y_accel;
+
+    public:
+        int32_t y_accel();
+
+    private:
+        bool f_y;
+        int32_t m_y;
+
+    public:
+        int32_t y();
+
     private:
         uint64_t m_b_n;
         bool m_p2;
         uint64_t m_t_b;
         uint64_t m_not_used;
-        uint64_t m_y_vel;
+        bool m_y_vel_sign;
-        uint64_t m_y_speedup;
+        uint64_t m_y_vel_value;
-        uint64_t m_y;
+        bool m_y_accel_sign;
+        uint64_t m_y_accel_value;
+        bool m_y_sign;
+        uint64_t m_y_value;
         glonass_t* m__root;
         glonass_t* m__parent;
 
@@ -159,9 +263,12 @@ public:
         bool p2() const { return m_p2; }
         uint64_t t_b() const { return m_t_b; }
         uint64_t not_used() const { return m_not_used; }
-        uint64_t y_vel() const { return m_y_vel; }
+        bool y_vel_sign() const { return m_y_vel_sign; }
-        uint64_t y_speedup() const { return m_y_speedup; }
+        uint64_t y_vel_value() const { return m_y_vel_value; }
-        uint64_t y() const { return m_y; }
+        bool y_accel_sign() const { return m_y_accel_sign; }
+        uint64_t y_accel_value() const { return m_y_accel_value; }
+        bool y_sign() const { return m_y_sign; }
+        uint64_t y_value() const { return m_y_value; }
         glonass_t* _root() const { return m__root; }
         glonass_t* _parent() const { return m__parent; }
     };
@@ -179,27 +286,63 @@ public:
     public:
         ~string_3_t();
 
+    private:
+        bool f_gamma_n;
+        int32_t m_gamma_n;
+
+    public:
+        int32_t gamma_n();
+
+    private:
+        bool f_z_vel;
+        int32_t m_z_vel;
+
+    public:
+        int32_t z_vel();
+
+    private:
+        bool f_z_accel;
+        int32_t m_z_accel;
+
+    public:
+        int32_t z_accel();
+
+    private:
+        bool f_z;
+        int32_t m_z;
+
+    public:
+        int32_t z();
+
     private:
         bool m_p3;
-        uint64_t m_gamma_n;
+        bool m_gamma_n_sign;
+        uint64_t m_gamma_n_value;
         bool m_not_used;
         uint64_t m_p;
         bool m_l_n;
-        uint64_t m_z_vel;
+        bool m_z_vel_sign;
-        uint64_t m_z_speedup;
+        uint64_t m_z_vel_value;
-        uint64_t m_z;
+        bool m_z_accel_sign;
+        uint64_t m_z_accel_value;
+        bool m_z_sign;
+        uint64_t m_z_value;
         glonass_t* m__root;
         glonass_t* m__parent;
 
     public:
         bool p3() const { return m_p3; }
-        uint64_t gamma_n() const { return m_gamma_n; }
+        bool gamma_n_sign() const { return m_gamma_n_sign; }
+        uint64_t gamma_n_value() const { return m_gamma_n_value; }
         bool not_used() const { return m_not_used; }
         uint64_t p() const { return m_p; }
         bool l_n() const { return m_l_n; }
-        uint64_t z_vel() const { return m_z_vel; }
+        bool z_vel_sign() const { return m_z_vel_sign; }
-        uint64_t z_speedup() const { return m_z_speedup; }
+        uint64_t z_vel_value() const { return m_z_vel_value; }
-        uint64_t z() const { return m_z; }
+        bool z_accel_sign() const { return m_z_accel_sign; }
+        uint64_t z_accel_value() const { return m_z_accel_value; }
+        bool z_sign() const { return m_z_sign; }
+        uint64_t z_value() const { return m_z_value; }
         glonass_t* _root() const { return m__root; }
         glonass_t* _parent() const { return m__parent; }
     };

selfdrive/locationd/glonass.ksy

@@ -1,4 +1,6 @@
 # http://gauss.gge.unb.ca/GLONASS.ICD.pdf
+# some variables are misprinted but good in the old doc
+# https://www.unavco.org/help/glossary/docs/ICD_GLONASS_4.0_(1998)_en.pdf
 meta:
   id: glonass
   endian: be
@@ -16,6 +18,7 @@ seq:
         2: string_2
         3: string_3
         4: string_4
+        5: string_5
         _: string_non_immediate
   - id: hamming_code
     type: b8
@@ -37,12 +40,25 @@ types:
         type: b2
       - id: t_k
         type: b12
-      - id: x_vel
+      - id: x_vel_sign
-        type: b24
+        type: b1
-      - id: x_speedup
+      - id: x_vel_value
-        type: b5
+        type: b23
-      - id: x
+      - id: x_accel_sign
-        type: b27
+        type: b1
+      - id: x_accel_value
+        type: b4
+      - id: x_sign
+        type: b1
+      - id: x_value
+        type: b26
+    instances:
+      x_vel:
+        value: 'x_vel_sign ? (x_vel_value - (1 << 23)) : x_vel_value'
+      x_accel:
+        value: 'x_accel_sign ? (x_accel_value - (1 << 4)) : x_accel_value'
+      x:
+        value: 'x_sign ? (x_value - (1 << 26)) : x_value'
   string_2:
     seq:
       - id: b_n
@@ -53,36 +69,70 @@ types:
         type: b7
       - id: not_used
         type: b5
-      - id: y_vel
+      - id: y_vel_sign
-        type: b24
+        type: b1
-      - id: y_speedup
+      - id: y_vel_value
-        type: b5
+        type: b23
-      - id: y
+      - id: y_accel_sign
-        type: b27
+        type: b1
+      - id: y_accel_value
+        type: b4
+      - id: y_sign
+        type: b1
+      - id: y_value
+        type: b26
+    instances:
+      y_vel:
+        value: 'y_vel_sign ? (y_vel_value - (1 << 23)) : y_vel_value'
+      y_accel:
+        value: 'y_accel_sign ? (y_accel_value - (1 << 4)) : y_accel_value'
+      y:
+        value: 'y_sign ? (y_value - (1 << 26)) : y_value'
   string_3:
     seq:
       - id: p3
         type: b1
-      - id: gamma_n
+      - id: gamma_n_sign
-        type: b11
+        type: b1
+      - id: gamma_n_value
+        type: b10
       - id: not_used
         type: b1
       - id: p
         type: b2
       - id: l_n
         type: b1
-      - id: z_vel
+      - id: z_vel_sign
-        type: b24
+        type: b1
-      - id: z_speedup
+      - id: z_vel_value
-        type: b5
+        type: b23
-      - id: z
+      - id: z_accel_sign
-        type: b27
+        type: b1
+      - id: z_accel_value
+        type: b4
+      - id: z_sign
+        type: b1
+      - id: z_value
+        type: b26
+    instances:
+      gamma_n:
+        value: 'gamma_n_sign ? (gamma_n_value - (1 << 10)) : gamma_n_value'
+      z_vel:
+        value: 'z_vel_sign ? (z_vel_value - (1 << 23)) : z_vel_value'
+      z_accel:
+        value: 'z_accel_sign ? (z_accel_value - (1 << 4)) : z_accel_value'
+      z:
+        value: 'z_sign ? (z_value - (1 << 26)) : z_value'
   string_4:
     seq:
-      - id: tau_n
+      - id: tau_n_sign
-        type: b22
+        type: b1
-      - id: delta_tau_n
+      - id: tau_n_value
-        type: b5
+        type: b21
+      - id: delta_tau_n_sign
+        type: b1
+      - id: delta_tau_n_value
+        type: b4
       - id: e_n
         type: b5
       - id: not_used_1
@@ -99,9 +149,28 @@ types:
         type: b5
       - id: m
         type: b2
+    instances:
+      tau_n:
+        value: 'tau_n_sign ? (tau_n_value - (1 << 21)) : tau_n_value'
+      delta_tau_n:
+        value: 'delta_tau_n_sign ? (delta_tau_n_value - (1 << 4)) : delta_tau_n_value'
+  string_5:
+    seq:
+      - id: n_a
+        type: b11
+      - id: tau_e
+        type: b32
+      - id: not_used
+        type: b1
+      - id: n_4
+        type: b5
+      - id: tau_gps
+        type: b22
+      - id: l_n
+        type: b1
   string_non_immediate:
     seq:
       - id: data_1
         type: b64
       - id: data_2
-        type: b8
+        type: b8