release: v3.4.2 (#13)

See CHANGELOG.md for changes

CHANGELOG.md

@@ -1,5 +1,9 @@
 # Changelog
 
+## [3.4.2]
+- Fixed a bug where GAD messages had TF009 set to 0. It will now be set to time specified in the STEC/Gridded IE.
+- Fixed a bug where parsing bitfields in UBX-NAV-PVT would not be incorrect.
+
 ## [3.4.1]
 - Fixed a crash due to missing null pointer check in NMEA `ThreadedReceiver`.
 

CMakeLists.txt

@@ -28,7 +28,7 @@ find_package(OpenSSL REQUIRED)
 endif (USE_OPENSSL)
 
 add_definitions(-D_POSIX_C_SOURCE=200809L)
-add_definitions(-DCLIENT_VERSION="3.4.1")
+add_definitions(-DCLIENT_VERSION="3.4.2")
 
 if(${ASN_DEBUG})
    add_definitions(-DASN_EMIT_DEBUG=1)

README.md

@@ -1,6 +1,6 @@
 # SUPL 3GPP LPP client
 
-![version](https://img.shields.io/badge/version-3.4.1-green)
+![version](https://img.shields.io/badge/version-3.4.2-green)
 ![license](https://img.shields.io/badge/license-MXM-blue)
 
 This project is a set of libraries, examples and tools to facilitate the development of 3GPP LPP clients. 

generator/spartn2/data.hpp

@@ -175,6 +175,8 @@ struct CorrectionData {
         return &it->second;
     }
 
+    bool find_gad_epoch_time(long iod, SpartnTime* epoch_time) const;
+
     void add_correction(long gnss_id, GNSS_SSR_OrbitCorrections_r15* orbit);
     void add_correction(long gnss_id, GNSS_SSR_ClockCorrections_r15* clock);
     void add_correction(long gnss_id, GNSS_SSR_CodeBias_r15* code_bias);

generator/spartn2/gad.cpp

@@ -6,7 +6,7 @@
 namespace generator {
 namespace spartn {
 
-void Generator::generate_gad(long iod, long set_id) {
+void Generator::generate_gad(long iod, uint32_t epoch_time, long set_id) {
     auto cps_it = mCorrectionPointSets.find(set_id);
     if (cps_it == mCorrectionPointSets.end()) return;
     auto& correction_point_set = *(cps_it->second.get());
@@ -47,7 +47,7 @@ void Generator::generate_gad(long iod, long set_id) {
     }
 #endif
 
-    MessageBuilder builder{2 /* GAD */, 0, 0};
+    MessageBuilder builder{2 /* GAD */, 0, epoch_time};
     builder.sf005(iod);  // TODO(ewasjon): We could include AIOU in the correction point set, to
                          // handle overflow
     builder.sf068(0);

generator/spartn2/generator.cpp

@@ -67,22 +67,30 @@ std::vector<Message> Generator::generate(const LPP_Message* lpp_message) {
             std::vector<long> set_ids;
             hpac->set_ids(set_ids);
 
-            for (auto set_id : set_ids) {
+            SpartnTime gad_epoch_time{};
+            if (mCorrectionData->find_gad_epoch_time(iod, &gad_epoch_time)) {
+                for (auto set_id : set_ids) {
 #ifdef SPARTN_DEBUG_PRINT
-                printf("GAD: set=%ld, iod=%ld\n", set_id, iod);
+                    printf("GAD: set=%ld, iod=%ld, time=%u\n", set_id, iod,
+                           gad_epoch_time.rounded_seconds);
 #endif
 
-                generate_gad(iod, set_id);
+                    generate_gad(iod, gad_epoch_time.rounded_seconds, set_id);
+                }
+            } else {
+#ifdef SPARTN_DEBUG_PRINT
+                printf("GAD: no epoch time for iod=%ld\n", iod);
+#endif
             }
         }
 
-        if (ocb && mGenerateOcb) {
-            generate_ocb(iod);
-        }
-
         if (hpac && mGenerateHpac) {
             generate_hpac(iod);
         }
+
+        if (ocb && mGenerateOcb) {
+            generate_ocb(iod);
+        }
     }
 
     // Increment generation index
@@ -128,8 +136,10 @@ void Generator::find_correction_point_set(const ProvideAssistanceData_r9_IEs* me
                     bitmask |= static_cast<uint64_t>(array.bitmaskOfGrids_r16->buf[i]);
                 }
                 bitmask >>= array.bitmaskOfGrids_r16->bits_unused;
+#ifdef SPARTN_DEBUG_PRINT
                 printf(" bitmask: %ld bytes, %d bits, 0x%016lX\n", array.bitmaskOfGrids_r16->size,
                        array.bitmaskOfGrids_r16->bits_unused, bitmask);
+#endif
             } else {
                 bitmask = 0xFFFFFFFFFFFFFFFF;
             }

generator/spartn2/hpac.cpp

@@ -123,6 +123,32 @@ std::vector<long> CorrectionData::iods() const {
     return iods;
 }
 
+bool CorrectionData::find_gad_epoch_time(long iod, SpartnTime* epoch_time) const {
+    SpartnTime time{};
+    bool       found = false;
+
+    auto hpac = mHpacData.find(iod);
+    if (hpac != mHpacData.end()) {
+        auto& hpac_data = hpac->second;
+        for (auto& kvp : hpac_data.mKeyedCorrections) {
+            auto& corrections = kvp.second;
+            // NOTE(ewasjon): The GAD message is constellation-less, thus the epoch time that will
+            // be used should be GPS time.
+            if (corrections.gnss_id != 0) continue;
+            if (!found || corrections.epoch_time > time) {
+                time  = corrections.epoch_time;
+                found = true;
+            }
+        }
+    }
+
+    if (found && epoch_time) {
+        *epoch_time = time;
+    }
+
+    return found;
+}
+
 void CorrectionData::add_correction(long gnss_id, GNSS_SSR_GriddedCorrection_r16* gridded) {
     if (!gridded) return;
     auto  iod  = gridded->iod_ssr_r16;
@@ -533,8 +559,8 @@ void Generator::generate_hpac(long iod) {
 
         MessageBuilder builder{1 /* HPAC */, subtype, epoch_time};
         builder.sf005(iod);
-        builder.sf068(0);  // TODO(ewasjon): [low-priority] We could include AIOU in the correction point set, to
-                           // handle overflow
+        builder.sf068(0);  // TODO(ewasjon): [low-priority] We could include AIOU in the correction
+                           // point set, to handle overflow
         builder.sf069();
         builder.sf030(1);
 

generator/spartn2/include/generator/spartn2/generator.hpp

@@ -79,7 +79,7 @@ class Generator {
     void find_ocb_corrections(const ProvideAssistanceData_r9_IEs* message);
     void find_hpac_corrections(const ProvideAssistanceData_r9_IEs* message);
 
-    void generate_gad(long iod, long set_id);
+    void generate_gad(long iod, uint32_t epoch_time, long set_id);
     void generate_ocb(long iod);
     void generate_hpac(long iod);
 

generator/spartn2/time.cpp

@@ -1,5 +1,6 @@
 #include "time.hpp"
 
+#include <utility/time.h>
 #include "GNSS-SystemTime.h"
 
 static SPARTN_CONSTEXPR uint32_t SECONDS_IN_DAY        = 86400;

generator/spartn2/time.hpp

@@ -6,5 +6,13 @@ struct SpartnTime {
     uint32_t rounded_seconds;
 };
 
+inline bool operator==(const SpartnTime& lhs, const SpartnTime& rhs) {
+    return lhs.seconds == rhs.seconds && lhs.rounded_seconds == rhs.rounded_seconds;
+}
+
+inline bool operator>(const SpartnTime& lhs, const SpartnTime& rhs) {
+    return lhs.seconds > rhs.seconds;
+}
+
 struct GNSS_SystemTime;
 SpartnTime spartn_time_from(const GNSS_SystemTime& epoch_time);

receiver/ublox/ubx_nav_pvt.cpp

@@ -166,25 +166,25 @@ std::unique_ptr<Message> UbxNavPvt::parse(Decoder& decoder) UBLOX_NOEXCEPT {
 
     auto valid                   = decoder.X1();
     payload.valid.valid_date     = (valid >> 0) & 0x01;
-    payload.valid.valid_time     = (valid >> 1) & 0x02;
-    payload.valid.fully_resolved = (valid >> 2) & 0x04;
-    payload.valid.valid_mag      = (valid >> 3) & 0x08;
+    payload.valid.valid_time     = (valid >> 1) & 0x01;
+    payload.valid.fully_resolved = (valid >> 2) & 0x01;
+    payload.valid.valid_mag      = (valid >> 3) & 0x01;
 
     payload.t_acc    = decoder.U4();
     payload.nano     = decoder.I4();
     payload.fix_type = decoder.U1();
 
     auto flags                   = decoder.X1();
     payload.flags.gnss_fix_ok    = (flags >> 0) & 0x01;
-    payload.flags.diff_soln      = (flags >> 1) & 0x02;
+    payload.flags.diff_soln      = (flags >> 1) & 0x01;
     payload.flags.psm_state      = (flags >> 2) & 0x07;
-    payload.flags.head_veh_valid = (flags >> 5) & 0x20;
+    payload.flags.head_veh_valid = (flags >> 5) & 0x01;
     payload.flags.carr_soln      = (flags >> 6) & 0x03;
 
     auto flags2                   = decoder.X1();
-    payload.flags2.confirmed_avai = (flags2 >> 5) & 0x20;
-    payload.flags2.confirmed_date = (flags2 >> 6) & 0x40;
-    payload.flags2.confirmed_time = (flags2 >> 7) & 0x80;
+    payload.flags2.confirmed_avai = (flags2 >> 5) & 0x01;
+    payload.flags2.confirmed_date = (flags2 >> 6) & 0x01;
+    payload.flags2.confirmed_time = (flags2 >> 7) & 0x01;
 
     payload.num_sv   = decoder.U1();
     payload.lon      = decoder.I4();