Add InputDataWrapperMessage.

python/fusion_engine_client/messages/defs.py

@@ -145,6 +145,7 @@ class MessageType(IntEnum):
     IMPORT_DATA = 13110
     EXPORT_DATA = 13111
     PLATFORM_STORAGE_DATA = 13113
+    INPUT_DATA_WRAPPER = 13120
 
     SET_MESSAGE_RATE = 13220
     GET_MESSAGE_RATE = 13221

python/fusion_engine_client/messages/measurements.py

@@ -1,7 +1,7 @@
 import struct
 from typing import Sequence
 
-from construct import Array, Struct, Padding, Float32l, Int16sl, Int32sl
+from construct import Array, BytesInteger, GreedyBytes, Struct, Padding, Float32l, Int16ul, Int16sl, Int32sl
 import numpy as np
 
 from .defs import *
@@ -1390,3 +1390,53 @@ def to_numpy(cls, messages: Sequence['RawHeadingOutput']):
         }
         result.update(MeasurementDetails.to_numpy([m.details for m in messages]))
         return result
+
+
+class InputDataWrapperMessage(MessagePayload):
+    """!
+    @brief Wrapper for arbitrary data packets.
+    """
+    MESSAGE_TYPE = MessageType.INPUT_DATA_WRAPPER
+    MESSAGE_VERSION = 0
+
+    CENTI_NANO_SCALE_FACTOR = 10_000_000
+
+    Construct = Struct(
+        # 5 byte, unsigned, little endian integer
+        "system_time_cs" / BytesInteger(5, swapped=True),
+        Padding(1),
+        "data_type" / Int16ul,
+        # NOTE: Since this message does no capture the expected data size, the Construct relies on the size of the
+        # Python buffer passed to `unpack`` to infer the size of the data. This is the behavior of @ref GreedyBytes.
+        "data" / GreedyBytes
+    )
+
+    def __init__(self):
+        self.system_time_ns = 0
+        self.data_type = 0
+        self.data = bytes()
+
+    def pack(self, buffer: bytes = None, offset: int = 0, return_buffer: bool = True) -> (bytes, int):
+        self.system_time_cs = int(self.system_time_ns / self.CENTI_NANO_SCALE_FACTOR)
+        ret = MessagePayload.pack(self, buffer, offset, return_buffer)
+        del self.__dict__['system_time_cs']
+        return ret
+
+    def unpack(self, buffer: bytes, offset: int = 0, message_version: int = MessagePayload._UNSPECIFIED_VERSION) -> int:
+        ret = MessagePayload.unpack(self, buffer, offset, message_version)
+        self.system_time_ns = self.system_time_cs * self.CENTI_NANO_SCALE_FACTOR
+        del self.__dict__['system_time_cs']
+        return ret
+
+    def __repr__(self):
+        result = super().__repr__()[:-1]
+        result += f', data_type={self.data_type}, data_len={len(self.data)}]'
+        return result
+
+    def __str__(self):
+        return construct_message_to_string(message=self, construct=self.Construct,
+                                           value_to_string={'data': lambda x: f'{len(x)} B payload'},
+                                           title=f'Data Wrapper')
+
+    def calcsize(self) -> int:
+        return len(self.pack())

src/point_one/fusion_engine/messages/defs.h

@@ -95,6 +95,7 @@ enum class MessageType : uint16_t {
   IMPORT_DATA = 13110, ///< @ref ImportDataMessage
   EXPORT_DATA = 13111, ///< @ref ExportDataMessage
   PLATFORM_STORAGE_DATA = 13113, ///< @ref PlatformStorageDataMessage
+  INPUT_DATA_WRAPPER = 13120, ///< @ref InputDataWrapperMessage
 
   SET_MESSAGE_RATE = 13220, ///< @ref SetMessageRate
   GET_MESSAGE_RATE = 13221, ///< @ref GetMessageRate
@@ -266,6 +267,9 @@ P1_CONSTEXPR_FUNC const char* to_string(MessageType type) {
     case MessageType::PLATFORM_STORAGE_DATA:
       return "Platform Data Contents";
 
+    case MessageType::INPUT_DATA_WRAPPER:
+      return "Wrapped Input Data";
+
     case MessageType::LBAND_FRAME:
       return "L-band Frame Contents";
   }
@@ -340,6 +344,7 @@ P1_CONSTEXPR_FUNC bool IsCommand(MessageType message_type) {
     case MessageType::DEVICE_ID:
     case MessageType::CONFIG_RESPONSE:
     case MessageType::PLATFORM_STORAGE_DATA:
+    case MessageType::INPUT_DATA_WRAPPER:
     case MessageType::MESSAGE_RATE_RESPONSE:
     case MessageType::SUPPORTED_IO_INTERFACES:
     case MessageType::LBAND_FRAME:

src/point_one/fusion_engine/messages/measurements.h

@@ -1261,6 +1261,59 @@ struct P1_ALIGNAS(4) RawHeadingOutput : public MessagePayload {
   float baseline_distance_m = NAN;
 };
 
+/**
+ * @brief A packet of data with an external definition. (@ref
+ *        MessageType::INPUT_DATA_WRAPPER).
+ * @ingroup measurement_messages
+ *
+ * This message has the remainder of the payload_size_bytes filled with the
+ * wrapped data.
+ *
+ * ```
+ * {MessageHeader, InputDataWrapperMessage, [wrapped data]}
+ * ```
+ */
+struct P1_ALIGNAS(4) InputDataWrapperMessage {
+  static constexpr MessageType MESSAGE_TYPE = MessageType::INPUT_DATA_WRAPPER;
+  static constexpr uint8_t MESSAGE_VERSION = 0;
+
+// The MSVC compiler does not allow unaligned bit fields:
+// https://stackoverflow.com/questions/4310728/forcing-unaligned-bitfield-packing-in-msvc
+// unlike Clang and GCC. This means that `uint64_t system_time_cs : 40;` is 5
+// bytes in GCC and 8 bytes in MSVC. This means that on MSVC you'd need to cast
+// @ref system_time_cs_bytes to read and write the timestamp.
+#if defined(_MSC_VER)
+  /**
+   * 5 byte system wall-clock timestamp in centiseconds (hundredths of a
+   * second). Set to POSIX time (time since 1/1/1970) where available.
+   */
+  uint8_t system_time_cs_bytes[5] = {0};
+#else
+  // Default member initializers for bit-fields only available with c++20.
+  InputDataWrapperMessage() : system_time_cs(0) {}
+
+  /**
+   * 5 byte system wall-clock timestamp in centiseconds (hundredths of a
+   * second). Set to POSIX time (time since 1/1/1970) where available.
+   */
+  uint64_t system_time_cs : 40;
+#endif
+
+  uint8_t reserved[1] = {0};
+
+  /** Type identifier for the serialized message to follow. */
+  uint16_t data_type = 0;
+
+  /**
+   * The rest of this message contains the wrapped data. The size of the data is
+   * found by subtracting the size of the other fields in this message from the
+   * header `payload_size_bytes`. The data is interpreted based on the value of
+   * `data_type`.
+   */
+};
+static_assert(sizeof(InputDataWrapperMessage) == 8,
+              "InputDataWrapperMessage does not match expected packed size.");
+
 #pragma pack(pop)
 
 } // namespace messages