Program Listing for File ubx_sec_sig.hpp

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// Copyright 2023 Australian Robotics Supplies & Technology
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef UBLOX_DGNSS_NODE__UBX__SEC__UBX_SEC_SIG_HPP_
#define UBLOX_DGNSS_NODE__UBX__SEC__UBX_SEC_SIG_HPP_

#include <unistd.h>
#include <memory>
#include <tuple>
#include <string>
#include <vector>
#include "ublox_dgnss_node/ubx/ubx.hpp"
#include "ublox_dgnss_node/ubx/utils.hpp"

namespace ubx::sec::sig
{

struct jam_flags_t
{
  union {
    x1_t all;
    struct
    {
      u1_t jam_det_enabled : 1;
      u1_t jamming_state : 2;
      u1_t reserved : 5;
    } bits;
  };
};

struct spf_flags_t
{
  union {
    x1_t all;
    struct
    {
      u1_t spf_det_enabled : 1;
      u1_t spoofing_state : 3;
      u1_t reserved : 4;
    } bits;
  };
};

struct sec_sig_flags_t
{
  union {
    x1_t all;
    struct
    {
      u1_t jam_det_enabled : 1;
      u1_t jam_state : 2;
      u1_t spf_det_enabled : 1;
      u1_t spf_state : 3;
      u1_t reserved : 1;
    } bits;
  };
};

struct jam_state_cent_freq_t
{
  union {
    x4_t all;
    struct
    {
      u4_t cent_freq : 24;
      u1_t jammed : 1;
      u1_t reserved : 7;
    } bits;
  };
};

class SecSigPayload : public UBXPayload
{
public:
  static const msg_class_t MSG_CLASS = UBX_SEC;
  static const msg_id_t MSG_ID = UBX_SEC_SIG;

  u1_t version;
  jam_flags_t jam_flags;
  spf_flags_t spf_flags;
  sec_sig_flags_t sec_sig_flags;
  u1_t jam_num_cent_freqs;
  std::vector<jam_state_cent_freq_t> jam_state_cent_freqs;

public:
  SecSigPayload()
  : UBXPayload(MSG_CLASS, MSG_ID)
  {
  }

  SecSigPayload(ch_t * payload_polled, u2_t size)
  : UBXPayload(MSG_CLASS, MSG_ID)
  {
    payload_.clear();
    payload_.reserve(size);
    payload_.resize(size);
    memcpy(payload_.data(), payload_polled, size);

    version = buf_offset<u1_t>(&payload_, 0);
    if (version == 1) {
      jam_flags.all = buf_offset<x1_t>(&payload_, 1);
      spf_flags.all = buf_offset<x1_t>(&payload_, 2);
    } else {
      sec_sig_flags.all = buf_offset<x1_t>(&payload_, 1);
      jam_flags.bits.jam_det_enabled = sec_sig_flags.bits.jam_det_enabled;
      jam_flags.bits.jamming_state = sec_sig_flags.bits.jam_state;
      spf_flags.bits.spf_det_enabled = sec_sig_flags.bits.spf_det_enabled;
      spf_flags.bits.spoofing_state = sec_sig_flags.bits.spf_state;
    }
    jam_state_cent_freqs.clear();
    jam_num_cent_freqs = 0;
    if (version >= 2) {
      jam_num_cent_freqs = buf_offset<u1_t>(&payload_, 3);
      size_t offset = 4;
      for (u1_t i = 0; i < jam_num_cent_freqs; ++i) {
        jam_state_cent_freq_t jam_state_cent_freq;
        jam_state_cent_freq.all = buf_offset<x4_t>(&payload_, offset);
        jam_state_cent_freqs.push_back(jam_state_cent_freq);
        offset += 4;
      }
    }
  }

  std::tuple<u1_t *, size_t> make_poll_payload()
  {
    payload_.clear();
    return std::make_tuple(payload_.data(), payload_.size());
  }

  std::string to_string()
  {
    std::ostringstream oss;
    oss << "version: " << static_cast<int>(version);
    oss << ", jam_flags: {jam_det_enabled: " << static_cast<int>(jam_flags.bits.jam_det_enabled);
    oss << ", jamming_state: " << static_cast<int>(jam_flags.bits.jamming_state) << "}";
    oss << ", spf_flags: {spf_det_enabled: " << static_cast<int>(spf_flags.bits.spf_det_enabled);
    oss << ", spoofing_state: " << static_cast<int>(spf_flags.bits.spoofing_state) << "}";
    if (version >= 2) {
      oss << ", jam_num_cent_freqs: " << static_cast<int>(jam_num_cent_freqs);
      oss << " [";
      for (size_t i = 0; i < jam_state_cent_freqs.size(); ++i) {
        if (i > 1) {
          oss << ", ";
        }
        oss << "{ " << i << ", ";
        oss << static_cast<int64_t>(jam_state_cent_freqs[i].bits.cent_freq) << ", ";
        oss << static_cast<bool>(jam_state_cent_freqs[i].bits.jammed);
        oss << "}";
      }
      oss << "]";
    }
    return oss.str();
  }
};

}  // namespace ubx::sec::sig

#endif  // UBLOX_DGNSS_NODE__UBX__SEC__UBX_SEC_SIG_HPP_