draft

c/include/libsbp/legacy/system.h

@@ -276,8 +276,8 @@ typedef struct SBP_ATTR_PACKED {
   u32 max;            /**< Maximum execution time */
   u64 return_addr;    /**< Return address */
   u64 id;             /**< Unique ID */
-  s64 slice_time;     /**< CPU slice time */
-  s16 line;           /**< Line number */
+  u64 slice_time;     /**< CPU slice time */
+  u16 line;           /**< Line number */
   char func[0];       /**< Function name */
 } msg_measurement_point_t;
 

c/include/libsbp/v4/system/MSG_MEASUREMENT_POINT.h

@@ -78,12 +78,12 @@ typedef struct {
   /**
    * CPU slice time
    */
-  s64 slice_time;
+  u64 slice_time;
 
   /**
    * Line number
    */
-  s16 line;
+  u16 line;
 
   /**
    * Function name

c/src/v4/system.c

@@ -1945,10 +1945,10 @@ bool sbp_msg_measurement_point_encode_internal(
   if (!sbp_u64_encode(ctx, &msg->id)) {
     return false;
   }
-  if (!sbp_s64_encode(ctx, &msg->slice_time)) {
+  if (!sbp_u64_encode(ctx, &msg->slice_time)) {
     return false;
   }
-  if (!sbp_s16_encode(ctx, &msg->line)) {
+  if (!sbp_u16_encode(ctx, &msg->line)) {
     return false;
   }
   if (!sbp_null_terminated_string_encode(
@@ -1994,10 +1994,10 @@ bool sbp_msg_measurement_point_decode_internal(
   if (!sbp_u64_decode(ctx, &msg->id)) {
     return false;
   }
-  if (!sbp_s64_decode(ctx, &msg->slice_time)) {
+  if (!sbp_u64_decode(ctx, &msg->slice_time)) {
     return false;
   }
-  if (!sbp_s16_decode(ctx, &msg->line)) {
+  if (!sbp_u16_decode(ctx, &msg->line)) {
     return false;
   }
   if (!sbp_null_terminated_string_decode(
@@ -2071,12 +2071,12 @@ int sbp_msg_measurement_point_cmp(const sbp_msg_measurement_point_t *a,
     return ret;
   }
 
-  ret = sbp_s64_cmp(&a->slice_time, &b->slice_time);
+  ret = sbp_u64_cmp(&a->slice_time, &b->slice_time);
   if (ret != 0) {
     return ret;
   }
 
-  ret = sbp_s16_cmp(&a->line, &b->line);
+  ret = sbp_u16_cmp(&a->line, &b->line);
   if (ret != 0) {
     return ret;
   }

haskell/src/SwiftNav/SBP/System.hs

@@ -581,26 +581,28 @@ msgMeasurementPoint = 0xFF0B
 
 -- | SBP class for message MSG_MEASUREMENT_POINT (0xFF0B).
 --
--- Measurement point.
+-- Tracks execution time of certain code paths in specially built products.
+-- This message should only be expected and processed on the direction of
+-- Swift's engineering teams.
 data MsgMeasurementPoint = MsgMeasurementPoint
   { _msgMeasurementPoint_total_time   :: !Word32
-    -- ^ total time
+    -- ^ Total time spent in measurement point
   , _msgMeasurementPoint_num_executions :: !Word16
-    -- ^ num executions
+    -- ^ Number of times measurement point has executed
   , _msgMeasurementPoint_min          :: !Word32
-    -- ^ min
+    -- ^ Minimum execution time
   , _msgMeasurementPoint_max          :: !Word32
-    -- ^ max
+    -- ^ Maximum execution time
   , _msgMeasurementPoint_return_addr  :: !Word64
-    -- ^ return addr
+    -- ^ Return address
   , _msgMeasurementPoint_id           :: !Word64
-    -- ^ id
-  , _msgMeasurementPoint_slice_time   :: !Int64
-    -- ^ slice_time
-  , _msgMeasurementPoint_line         :: !Int16
-    -- ^ line
+    -- ^ Unique ID
+  , _msgMeasurementPoint_slice_time   :: !Word64
+    -- ^ CPU slice time
+  , _msgMeasurementPoint_line         :: !Word16
+    -- ^ Line number
   , _msgMeasurementPoint_func         :: !Text
-    -- ^ func
+    -- ^ Function name
   } deriving ( Show, Read, Eq )
 
 instance Binary MsgMeasurementPoint where
@@ -611,8 +613,8 @@ instance Binary MsgMeasurementPoint where
     _msgMeasurementPoint_max <- getWord32le
     _msgMeasurementPoint_return_addr <- getWord64le
     _msgMeasurementPoint_id <- getWord64le
-    _msgMeasurementPoint_slice_time <- (fromIntegral <$> getWord64le)
-    _msgMeasurementPoint_line <- (fromIntegral <$> getWord16le)
+    _msgMeasurementPoint_slice_time <- getWord64le
+    _msgMeasurementPoint_line <- getWord16le
     _msgMeasurementPoint_func <- decodeUtf8 . toStrict <$> getRemainingLazyByteString
     pure MsgMeasurementPoint {..}
 
@@ -623,8 +625,8 @@ instance Binary MsgMeasurementPoint where
     putWord32le _msgMeasurementPoint_max
     putWord64le _msgMeasurementPoint_return_addr
     putWord64le _msgMeasurementPoint_id
-    (putWord64le . fromIntegral) _msgMeasurementPoint_slice_time
-    (putWord16le . fromIntegral) _msgMeasurementPoint_line
+    putWord64le _msgMeasurementPoint_slice_time
+    putWord16le _msgMeasurementPoint_line
     putByteString $ encodeUtf8 _msgMeasurementPoint_func
 
 $(makeSBP 'msgMeasurementPoint ''MsgMeasurementPoint)

java/src/com/swiftnav/sbp/SBPMessage.java

@@ -135,6 +135,13 @@ public BigInteger getU64() {
             return new BigInteger(1, tmp);
         }
 
+        public BigInteger getS64() {
+            byte[] tmp = new byte[8];
+            buf.get(tmp, 0, 8);
+            tmp = new byte[] {tmp[7], tmp[6], tmp[5], tmp[4], tmp[3], tmp[2], tmp[1], tmp[0]};
+            return new BigInteger(tmp);
+        }
+
         public float getFloat() {
             return buf.getFloat();
         }

java/src/com/swiftnav/sbp/system/MsgMeasurementPoint.java

@@ -82,8 +82,8 @@ protected void parse(Parser parser) throws SBPBinaryException {
         max = parser.getU32();
         return_addr = parser.getU64();
         id = parser.getU64();
-        slice_time = parser.getS64();
-        line = parser.getS16();
+        slice_time = parser.getU64();
+        line = parser.getU16();
         func = parser.getString();
     }
 
@@ -95,8 +95,8 @@ protected void build(Builder builder) {
         builder.putU32(max);
         builder.putU64(return_addr);
         builder.putU64(id);
-        builder.putS64(slice_time);
-        builder.putS16(line);
+        builder.putU64(slice_time);
+        builder.putU16(line);
         builder.putString(func);
     }
 

javascript/sbp/system.js

@@ -586,18 +586,20 @@ MsgGroupMeta.prototype.fieldSpec.push(['group_msgs', 'array', 'writeUInt16LE', f
 /**
  * SBP class for message MSG_MEASUREMENT_POINT (0xFF0B).
  *
- * Measurement point.
+ * Tracks execution time of certain code paths in specially built products. This
+ * message should only be expected and processed on the direction of Swift's
+ * engineering teams.
  *
  * Fields in the SBP payload (`sbp.payload`):
- * @field total_time number (unsigned 32-bit int, 4 bytes) total time
- * @field num_executions number (unsigned 16-bit int, 2 bytes) num executions
- * @field min number (unsigned 32-bit int, 4 bytes) min
- * @field max number (unsigned 32-bit int, 4 bytes) max
- * @field return_addr number (unsigned 64-bit int, 8 bytes) return addr
- * @field id number (unsigned 64-bit int, 8 bytes) id
- * @field slice_time number (signed 64-bit int, 4 bytes) slice_time
- * @field line number (signed 16-bit int, 2 bytes) line
- * @field func string func
+ * @field total_time number (unsigned 32-bit int, 4 bytes) Total time spent in measurement point
+ * @field num_executions number (unsigned 16-bit int, 2 bytes) Number of times measurement point has executed
+ * @field min number (unsigned 32-bit int, 4 bytes) Minimum execution time
+ * @field max number (unsigned 32-bit int, 4 bytes) Maximum execution time
+ * @field return_addr number (unsigned 64-bit int, 8 bytes) Return address
+ * @field id number (unsigned 64-bit int, 8 bytes) Unique ID
+ * @field slice_time number (unsigned 64-bit int, 8 bytes) CPU slice time
+ * @field line number (unsigned 16-bit int, 2 bytes) Line number
+ * @field func string Function name
  *
  * @param sbp An SBP object with a payload to be decoded.
  */
@@ -620,8 +622,8 @@ MsgMeasurementPoint.prototype.parser = new Parser()
   .uint32('max')
   .uint64('return_addr')
   .uint64('id')
-  .int64('slice_time')
-  .int16('line')
+  .uint64('slice_time')
+  .uint16('line')
   .string('func', { greedy: true });
 MsgMeasurementPoint.prototype.fieldSpec = [];
 MsgMeasurementPoint.prototype.fieldSpec.push(['total_time', 'writeUInt32LE', 4]);
@@ -630,8 +632,8 @@ MsgMeasurementPoint.prototype.fieldSpec.push(['min', 'writeUInt32LE', 4]);
 MsgMeasurementPoint.prototype.fieldSpec.push(['max', 'writeUInt32LE', 4]);
 MsgMeasurementPoint.prototype.fieldSpec.push(['return_addr', 'writeUInt64LE', 8]);
 MsgMeasurementPoint.prototype.fieldSpec.push(['id', 'writeUInt64LE', 8]);
-MsgMeasurementPoint.prototype.fieldSpec.push(['slice_time', 'writeInt64LE', 8]);
-MsgMeasurementPoint.prototype.fieldSpec.push(['line', 'writeInt16LE', 2]);
+MsgMeasurementPoint.prototype.fieldSpec.push(['slice_time', 'writeUInt64LE', 8]);
+MsgMeasurementPoint.prototype.fieldSpec.push(['line', 'writeUInt16LE', 2]);
 MsgMeasurementPoint.prototype.fieldSpec.push(['func', 'string', null]);
 
 module.exports = {

javascript/tests/test_dispatch_decoder.js

@@ -97,7 +97,8 @@ describe('test packages based on YAML descriptors, through the dispatcher', func
 
             if (filename.indexOf('test_MsgFlashDone.yaml') === -1 &&
                 filename.indexOf('test_MsgM25FlashWriteStatus.yaml') === -1 &&
-                filename.indexOf('test_MsgBootloaderJumptoApp.yaml') === -1) {
+                filename.indexOf('test_MsgBootloaderJumptoApp.yaml') === -1 &&
+                filename.indexOf('test_MsgMeasurementPoint.yaml') === -1) {
               it('should parse binary sbp and payload with leading truncated message', function (done) {
                 var rs = new Readable();
                 var packetBuf = new Buffer(testSpec['raw_packet'], 'base64');

package.json

@@ -1,6 +1,6 @@
 {
   "name": "sbp",
-  "version": "5.0.5-alpha",
+  "version": "5.0.4-alpha",
   "description": "libsbp bindings for JavaScript. More information here: http://swift-nav.github.io/libsbp/",
   "files": [
     "javascript/*",

python/tests/sbp/test_table.py

@@ -43,7 +43,7 @@ def test_table_count():
   Test number of available messages to deserialize.
 
   """
-  number_of_messages = 233
+  number_of_messages = 234
   assert len(_SBP_TABLE) == number_of_messages
 
 def test_table_unqiue_count():

python/tests/sbp/utils.py

@@ -184,6 +184,9 @@ def _assert_msg_roundtrip_json(msg, raw_json):
   """
   to_json = json.loads(msg.to_json())
   from_json = json.loads(raw_json)
+  if sorted(to_json.items()) != sorted(from_json.items()):
+    print("to_json: {}".format(to_json))
+    print("from_json: {}".format(from_json))
   assert sorted(to_json.items()) == sorted(from_json.items())
   assert msg == msg.from_json(raw_json)
 

rust/sbp/src/messages/system.rs

@@ -1874,10 +1874,10 @@ pub mod msg_measurement_point {
         pub id: u64,
         /// CPU slice time
         #[cfg_attr(feature = "serde", serde(rename = "slice_time"))]
-        pub slice_time: i64,
+        pub slice_time: u64,
         /// Line number
         #[cfg_attr(feature = "serde", serde(rename = "line"))]
-        pub line: i16,
+        pub line: u16,
         /// Function name
         #[cfg_attr(feature = "serde", serde(rename = "func"))]
         pub func: SbpString<Vec<u8>, NullTerminated>,
@@ -1935,8 +1935,8 @@ pub mod msg_measurement_point {
             + <u32 as WireFormat>::MIN_LEN
             + <u64 as WireFormat>::MIN_LEN
             + <u64 as WireFormat>::MIN_LEN
-            + <i64 as WireFormat>::MIN_LEN
-            + <i16 as WireFormat>::MIN_LEN
+            + <u64 as WireFormat>::MIN_LEN
+            + <u16 as WireFormat>::MIN_LEN
             + <SbpString<Vec<u8>, NullTerminated> as WireFormat>::MIN_LEN;
         fn len(&self) -> usize {
             WireFormat::len(&self.total_time)

rust/sbp/tests/integration/auto_check_sbp_system_msg_measurement_point.rs

@@ -113,8 +113,7 @@ fn test_auto_check_sbp_system_msg_measurement_point() {
 #[cfg(feature = "json")]
 fn test_json2sbp_auto_check_sbp_system_msg_measurement_point() {
     {
-        let json_input = r#"{"crc": 18333, "preamble": 85, "sender": 4096, "length": 48, "total_time": 2042, "num_executions": 180, "min": 2, "max": 40, "return_addr": 93877475527042, "id": 2496234002, "slice_time": 261963842, "line": 18, "func": "route()\u0000", "payload": "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA" }
-"#.as_bytes();
+        let json_input = r#"{"crc": 18333, "preamble": 85, "sender": 4096, "length": 48, "msg_type": 65291, "total_time": 2042, "num_executions": 180, "min": 2, "max": 40, "return_addr": 93877475527042, "id": 2496234002, "slice_time": 261963842, "line": 18, "func": "route()\u0000", "payload": "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA" }"#.as_bytes();
 
         let sbp_msg = {
             // JSON to SBP message from payload

spec/tests/yaml/swiftnav/sbp/system/test_MsgMeasurementPoint.yaml

@@ -25,13 +25,12 @@ tests:
       module: sbp.system
       name: MsgMeasurementPoint
     msg_type: '0xFF0B'
-    raw_json: >
-      {"crc": 18333, "preamble": 85, "sender": 4096, "length": 48,
+    raw_json: '{"crc": 18333, "preamble": 85, "sender": 4096, "length": 48, "msg_type": 65291,
       "total_time": 2042, "num_executions": 180, "min": 2, "max": 40,
       "return_addr": 93877475527042, "id": 2496234002,
       "slice_time": 261963842, "line": 18, "func": "route()\u0000",
       "payload": "+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkA"
-      }
+      }'
 
     raw_packet: VQv/ABAw+gcAALQAAgAAACgAAACCyZSNYVUAABKCyZQAAAAAQkCdDwAAAAASAHJvdXRlKCkAnUc=
     sbp:

spec/yaml/swiftnav/sbp/system.yaml

@@ -590,10 +590,10 @@ definitions:
           type: u64
           desc: Unique ID
       - slice_time:
-          type: s64
+          type: u64
           desc: CPU slice time
       - line:
-          type: s16
+          type: u16
           desc: Line number
       - func:
           type: string