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111 lines
2.9 KiB
111 lines
2.9 KiB
#pragma once
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#include <cassert>
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#include <cstdint>
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#include <memory>
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#include <string>
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#include <unordered_map>
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#include <ctime>
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#include "cereal/messaging/messaging.h"
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#include "selfdrive/common/util.h"
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#include "selfdrive/locationd/generated/gps.h"
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#include "selfdrive/locationd/generated/ubx.h"
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using namespace std::string_literals;
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// protocol constants
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namespace ublox {
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const uint8_t PREAMBLE1 = 0xb5;
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const uint8_t PREAMBLE2 = 0x62;
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const int UBLOX_HEADER_SIZE = 6;
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const int UBLOX_CHECKSUM_SIZE = 2;
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const int UBLOX_MAX_MSG_SIZE = 65536;
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struct ubx_mga_ini_time_utc_t {
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uint8_t type;
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uint8_t version;
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uint8_t ref;
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int8_t leapSecs;
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uint16_t year;
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uint8_t month;
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uint8_t day;
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uint8_t hour;
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uint8_t minute;
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uint8_t second;
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uint8_t reserved1;
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uint32_t ns;
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uint16_t tAccS;
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uint16_t reserved2;
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uint32_t tAccNs;
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} __attribute__((packed));
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inline std::string ubx_add_checksum(const std::string &msg) {
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assert(msg.size() > 2);
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uint8_t ck_a = 0, ck_b = 0;
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for(int i = 2; i < msg.size(); i++) {
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ck_a = (ck_a + msg[i]) & 0xFF;
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ck_b = (ck_b + ck_a) & 0xFF;
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}
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std::string r = msg;
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r.push_back(ck_a);
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r.push_back(ck_b);
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return r;
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}
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inline std::string build_ubx_mga_ini_time_utc(struct tm time) {
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ublox::ubx_mga_ini_time_utc_t payload = {
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.type = 0x10,
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.version = 0x0,
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.ref = 0x0,
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.leapSecs = -128, // Unknown
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.year = (uint16_t)(1900 + time.tm_year),
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.month = (uint8_t)(1 + time.tm_mon),
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.day = (uint8_t)time.tm_mday,
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.hour = (uint8_t)time.tm_hour,
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.minute = (uint8_t)time.tm_min,
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.second = (uint8_t)time.tm_sec,
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.reserved1 = 0x0,
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.ns = 0,
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.tAccS = 30,
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.reserved2 = 0x0,
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.tAccNs = 0,
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};
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assert(sizeof(payload) == 24);
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std::string msg = "\xb5\x62\x13\x40\x18\x00"s;
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msg += std::string((char*)&payload, sizeof(payload));
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return ubx_add_checksum(msg);
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}
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}
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class UbloxMsgParser {
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public:
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bool add_data(const uint8_t *incoming_data, uint32_t incoming_data_len, size_t &bytes_consumed);
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inline void reset() {bytes_in_parse_buf = 0;}
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inline int needed_bytes();
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inline std::string data() {return std::string((const char*)msg_parse_buf, bytes_in_parse_buf);}
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std::pair<std::string, kj::Array<capnp::word>> gen_msg();
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kj::Array<capnp::word> gen_nav_pvt(ubx_t::nav_pvt_t *msg);
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kj::Array<capnp::word> gen_rxm_sfrbx(ubx_t::rxm_sfrbx_t *msg);
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kj::Array<capnp::word> gen_rxm_rawx(ubx_t::rxm_rawx_t *msg);
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kj::Array<capnp::word> gen_mon_hw(ubx_t::mon_hw_t *msg);
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kj::Array<capnp::word> gen_mon_hw2(ubx_t::mon_hw2_t *msg);
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private:
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inline bool valid_cheksum();
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inline bool valid();
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inline bool valid_so_far();
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std::unordered_map<int, std::unordered_map<int, std::string>> gps_subframes;
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size_t bytes_in_parse_buf = 0;
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uint8_t msg_parse_buf[ublox::UBLOX_HEADER_SIZE + ublox::UBLOX_MAX_MSG_SIZE];
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};
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