Add support for QZSS constellation [OI-1792] (#1414)

# Description

@swift-nav/devinfra

- Added the `use_qzss_sat` field to the High Level Flag Message which
decreased the amount of reserved fields from 6 to 5.
- The Validation workflow will be disabled before merging this PR. The
reasons about this decision can be found
[here](https://snav.slack.com/archives/C03V0SS40/p1720119701332469?thread_ts=1720096667.884599&cid=C03V0SS40)

# API compatibility

Does this change introduce a API compatibility risk?

Not for now. When using the old version of the message, it is important to ignore the new use_qzss_sat field

## API compatibility plan

Let all parties involved know that older values of the message should not be used for validation of QZSS flags

# JIRA Reference

https://swift-nav.atlassian.net/browse/OI-1792

.github/workflows/c.yaml

@@ -31,6 +31,8 @@ jobs:
 
     runs-on: ubuntu-latest
     container: ubuntu:18.04
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
 
     steps:
 
@@ -80,7 +82,7 @@ jobs:
 
   macos:
     name: macOS
-    runs-on: macos-11
+    runs-on: macos-12
     steps:
       - uses: actions/checkout@v2
         with:

c/include/libsbp/gnss_macros.h

@@ -40,6 +40,9 @@
 #define SBP_GNSSSIGNAL_BDS2_B2 (13)
 #define SBP_GNSSSIGNAL_GAL_E1B (14)
 #define SBP_GNSSSIGNAL_GAL_E7I (20)
+#define SBP_GNSSSIGNAL_QZS_L1CA (31)
+#define SBP_GNSSSIGNAL_QZS_L2CL (36)
+#define SBP_GNSSSIGNAL_QZS_L5Q (39)
 #define SBP_GNSSSIGNAL_BDS3_B2A (47)
 /**
  * Encoded length of sbp_gnss_signal_t
@@ -58,6 +61,7 @@
 
 #define SBP_SVID_GPS (0)
 #define SBP_SVID_BDS (3)
+#define SBP_SVID_QZS (4)
 #define SBP_SVID_GAL (5)
 /**
  * Encoded length of sbp_sv_id_t

c/include/libsbp/integrity/MSG_SSR_FLAG_HIGH_LEVEL.h

@@ -45,7 +45,7 @@ extern "C" {
  * be a satellite, SSR grid point, or SSR tile. A group of aggregated elements
  * being monitored for integrity could refer to:
  *
- * - Satellites in a particular {GPS, GAL, BDS} constellation.
+ * - Satellites in a particular {GPS, GAL, BDS, QZSS} constellation.
  *
  * - Satellites in the line-of-sight of a particular SSR tile.
  *
@@ -111,6 +111,11 @@ typedef struct {
    */
   u8 use_bds_sat;
 
+  /**
+   * Use QZSS satellites.
+   */
+  u8 use_qzss_sat;
+
   /**
    * Reserved
    */

c/include/libsbp/integrity_macros.h

@@ -77,12 +77,30 @@
 #define SBP_SSR_FLAG_HIGH_LEVEL_USE_BDS_SATELLITES_WARNING (1)
 #define SBP_SSR_FLAG_HIGH_LEVEL_USE_BDS_SATELLITES_ALERT (2)
 #define SBP_SSR_FLAG_HIGH_LEVEL_USE_BDS_SATELLITES_NOT_MONITORED (3)
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_MASK (0x7u)
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_SHIFT (0u)
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_GET(flags)               \
+  ((u8)((u8)((flags) >> SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_SHIFT) & \
+        SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_MASK))
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_SET(flags, val)           \
+  do {                                                                        \
+    (flags) = (u8)(                                                           \
+        (flags & (~(SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_MASK          \
+                    << SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_SHIFT))) | \
+        (((val) & (SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_MASK))         \
+         << (SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_SHIFT)));            \
+  } while (0)
+
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_NOMINAL (0)
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_WARNING (1)
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_ALERT (2)
+#define SBP_SSR_FLAG_HIGH_LEVEL_USE_QZSS_SATELLITES_NOT_MONITORED (3)
 /**
  * The maximum number of items that can be stored in
  * sbp_msg_ssr_flag_high_level_t::reserved before the maximum SBP message size
  * is exceeded
  */
-#define SBP_MSG_SSR_FLAG_HIGH_LEVEL_RESERVED_MAX 6u
+#define SBP_MSG_SSR_FLAG_HIGH_LEVEL_RESERVED_MAX 5u
 
 #define SBP_SSR_FLAG_HIGH_LEVEL_USE_TROPO_GRID_POINTS_MASK (0x7u)
 #define SBP_SSR_FLAG_HIGH_LEVEL_USE_TROPO_GRID_POINTS_SHIFT (0u)

c/include/libsbp/ssr_macros.h

@@ -435,6 +435,7 @@
 
 #define SBP_SSR_ORBIT_CLOCK_BOUNDS_GPS (0)
 #define SBP_SSR_ORBIT_CLOCK_BOUNDS_BDS (3)
+#define SBP_SSR_ORBIT_CLOCK_BOUNDS_QZS (4)
 #define SBP_SSR_ORBIT_CLOCK_BOUNDS_GAL (5)
 /**
  * The maximum number of items that can be stored in
@@ -476,6 +477,7 @@
 
 #define SBP_SSR_CODE_PHASE_BIASES_BOUNDS_GPS (0)
 #define SBP_SSR_CODE_PHASE_BIASES_BOUNDS_BDS (3)
+#define SBP_SSR_CODE_PHASE_BIASES_BOUNDS_QZS (4)
 #define SBP_SSR_CODE_PHASE_BIASES_BOUNDS_GAL (5)
 /**
  * The maximum number of items that can be stored in
@@ -518,6 +520,7 @@
 
 #define SBP_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION_GPS (0)
 #define SBP_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION_BDS (3)
+#define SBP_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION_QZS (4)
 #define SBP_SSR_ORBIT_CLOCK_BOUNDS_DEGRADATION_GAL (5)
 /**
  * Encoded length of sbp_msg_ssr_orbit_clock_bounds_degradation_t

c/src/integrity.c

@@ -168,6 +168,9 @@ bool sbp_msg_ssr_flag_high_level_encode_internal(
   if (!sbp_u8_encode(ctx, &msg->use_bds_sat)) {
     return false;
   }
+  if (!sbp_u8_encode(ctx, &msg->use_qzss_sat)) {
+    return false;
+  }
   for (size_t i = 0; i < SBP_MSG_SSR_FLAG_HIGH_LEVEL_RESERVED_MAX; i++) {
     if (!sbp_u8_encode(ctx, &msg->reserved[i])) {
       return false;
@@ -233,6 +236,9 @@ bool sbp_msg_ssr_flag_high_level_decode_internal(
   if (!sbp_u8_decode(ctx, &msg->use_bds_sat)) {
     return false;
   }
+  if (!sbp_u8_decode(ctx, &msg->use_qzss_sat)) {
+    return false;
+  }
   for (uint8_t i = 0; i < SBP_MSG_SSR_FLAG_HIGH_LEVEL_RESERVED_MAX; i++) {
     if (!sbp_u8_decode(ctx, &msg->reserved[i])) {
       return false;
@@ -332,6 +338,11 @@ int sbp_msg_ssr_flag_high_level_cmp(const sbp_msg_ssr_flag_high_level_t *a,
     return ret;
   }
 
+  ret = sbp_u8_cmp(&a->use_qzss_sat, &b->use_qzss_sat);
+  if (ret != 0) {
+    return ret;
+  }
+
   for (uint8_t i = 0; i < SBP_MSG_SSR_FLAG_HIGH_LEVEL_RESERVED_MAX; i++) {
     ret = sbp_u8_cmp(&a->reserved[i], &b->reserved[i]);
     if (ret != 0) {

c/test/auto_check_sbp_integrity_MsgSsrFlagHighLevel.c

@@ -96,7 +96,7 @@ START_TEST(test_auto_check_sbp_integrity_MsgSsrFlagHighLevel) {
     u8 encoded_frame[] = {
         85, 185, 11, 66, 0, 31, 180, 0, 0,  0, 3,  0,   104,
         1,  0,   0,  6,  0, 10, 20,  0, 30, 0, 40, 1,   2,
-        3,  0,   0,  0,  0, 0,  0,   4, 5,  6, 7,  102, 67,
+        3,  4,   0,  0,  0, 0,  0,   5, 6,  7, 8,  105, 3,
     };
 
     dummy_reset();
@@ -124,8 +124,6 @@ START_TEST(test_auto_check_sbp_integrity_MsgSsrFlagHighLevel) {
 
     test_msg.ssr_flag_high_level.reserved[4] = 0;
 
-    test_msg.ssr_flag_high_level.reserved[5] = 0;
-
     test_msg.ssr_flag_high_level.ssr_sol_id = 10;
 
     test_msg.ssr_flag_high_level.tile_id = 30;
@@ -138,13 +136,15 @@ START_TEST(test_auto_check_sbp_integrity_MsgSsrFlagHighLevel) {
 
     test_msg.ssr_flag_high_level.use_gps_sat = 1;
 
-    test_msg.ssr_flag_high_level.use_iono_grid_point_sat_los = 7;
+    test_msg.ssr_flag_high_level.use_iono_grid_point_sat_los = 8;
+
+    test_msg.ssr_flag_high_level.use_iono_grid_points = 6;
 
-    test_msg.ssr_flag_high_level.use_iono_grid_points = 5;
+    test_msg.ssr_flag_high_level.use_iono_tile_sat_los = 7;
 
-    test_msg.ssr_flag_high_level.use_iono_tile_sat_los = 6;
+    test_msg.ssr_flag_high_level.use_qzss_sat = 4;
 
-    test_msg.ssr_flag_high_level.use_tropo_grid_points = 4;
+    test_msg.ssr_flag_high_level.use_tropo_grid_points = 5;
 
     sbp_message_send(&sbp_state, SbpMsgSsrFlagHighLevel, 66, &test_msg,
                      &dummy_write);
@@ -225,11 +225,6 @@ START_TEST(test_auto_check_sbp_integrity_MsgSsrFlagHighLevel) {
         "incorrect value for last_msg.msg.ssr_flag_high_level.reserved[4], "
         "expected 0, is %" PRId64,
         (int64_t)last_msg.msg.ssr_flag_high_level.reserved[4]);
-    ck_assert_msg(
-        last_msg.msg.ssr_flag_high_level.reserved[5] == 0,
-        "incorrect value for last_msg.msg.ssr_flag_high_level.reserved[5], "
-        "expected 0, is %" PRId64,
-        (int64_t)last_msg.msg.ssr_flag_high_level.reserved[5]);
 
     ck_assert_msg(
         last_msg.msg.ssr_flag_high_level.ssr_sol_id == 10,
@@ -268,30 +263,36 @@ START_TEST(test_auto_check_sbp_integrity_MsgSsrFlagHighLevel) {
         (int64_t)last_msg.msg.ssr_flag_high_level.use_gps_sat);
 
     ck_assert_msg(
-        last_msg.msg.ssr_flag_high_level.use_iono_grid_point_sat_los == 7,
+        last_msg.msg.ssr_flag_high_level.use_iono_grid_point_sat_los == 8,
         "incorrect value for "
         "last_msg.msg.ssr_flag_high_level.use_iono_grid_point_sat_los, "
-        "expected 7, is %" PRId64,
+        "expected 8, is %" PRId64,
         (int64_t)last_msg.msg.ssr_flag_high_level.use_iono_grid_point_sat_los);
 
     ck_assert_msg(
-        last_msg.msg.ssr_flag_high_level.use_iono_grid_points == 5,
+        last_msg.msg.ssr_flag_high_level.use_iono_grid_points == 6,
         "incorrect value for "
-        "last_msg.msg.ssr_flag_high_level.use_iono_grid_points, expected 5, is "
+        "last_msg.msg.ssr_flag_high_level.use_iono_grid_points, expected 6, is "
         "%" PRId64,
         (int64_t)last_msg.msg.ssr_flag_high_level.use_iono_grid_points);
 
     ck_assert_msg(
-        last_msg.msg.ssr_flag_high_level.use_iono_tile_sat_los == 6,
+        last_msg.msg.ssr_flag_high_level.use_iono_tile_sat_los == 7,
         "incorrect value for "
-        "last_msg.msg.ssr_flag_high_level.use_iono_tile_sat_los, expected 6, "
+        "last_msg.msg.ssr_flag_high_level.use_iono_tile_sat_los, expected 7, "
         "is %" PRId64,
         (int64_t)last_msg.msg.ssr_flag_high_level.use_iono_tile_sat_los);
 
     ck_assert_msg(
-        last_msg.msg.ssr_flag_high_level.use_tropo_grid_points == 4,
+        last_msg.msg.ssr_flag_high_level.use_qzss_sat == 4,
+        "incorrect value for last_msg.msg.ssr_flag_high_level.use_qzss_sat, "
+        "expected 4, is %" PRId64,
+        (int64_t)last_msg.msg.ssr_flag_high_level.use_qzss_sat);
+
+    ck_assert_msg(
+        last_msg.msg.ssr_flag_high_level.use_tropo_grid_points == 5,
         "incorrect value for "
-        "last_msg.msg.ssr_flag_high_level.use_tropo_grid_points, expected 4, "
+        "last_msg.msg.ssr_flag_high_level.use_tropo_grid_points, expected 5, "
         "is %" PRId64,
         (int64_t)last_msg.msg.ssr_flag_high_level.use_tropo_grid_points);
   }

c/test/cpp/auto_check_sbp_integrity_MsgSsrFlagHighLevel.cc

@@ -45,18 +45,17 @@ class Testauto_check_sbp_integrity_MsgSsrFlagHighLevel0
     assign(test_msg_.reserved[3], 0);
 
     assign(test_msg_.reserved[4], 0);
-
-    assign(test_msg_.reserved[5], 0);
     assign(test_msg_.ssr_sol_id, 10);
     assign(test_msg_.tile_id, 30);
     assign(test_msg_.tile_set_id, 20);
     assign(test_msg_.use_bds_sat, 3);
     assign(test_msg_.use_gal_sat, 2);
     assign(test_msg_.use_gps_sat, 1);
-    assign(test_msg_.use_iono_grid_point_sat_los, 7);
-    assign(test_msg_.use_iono_grid_points, 5);
-    assign(test_msg_.use_iono_tile_sat_los, 6);
-    assign(test_msg_.use_tropo_grid_points, 4);
+    assign(test_msg_.use_iono_grid_point_sat_los, 8);
+    assign(test_msg_.use_iono_grid_points, 6);
+    assign(test_msg_.use_iono_tile_sat_los, 7);
+    assign(test_msg_.use_qzss_sat, 4);
+    assign(test_msg_.use_tropo_grid_points, 5);
   }
 
   class SlowReader final : public sbp::IReader {
@@ -298,7 +297,7 @@ class Testauto_check_sbp_integrity_MsgSsrFlagHighLevel0
     info.msg_type = static_cast<sbp_msg_type_t>(SbpMsgSsrFlagHighLevel);
     info.sender_id = 66;
     info.preamble = 0x55;
-    info.crc = 0x4366;
+    info.crc = 0x0369;
     info.encoded_frame = encoded_frame_;
     info.frame_len = sizeof(encoded_frame_);
     info.encoded_payload = encoded_payload_;
@@ -404,11 +403,11 @@ class Testauto_check_sbp_integrity_MsgSsrFlagHighLevel0
   sbp_msg_ssr_flag_high_level_t test_msg_{};
   uint8_t encoded_frame_[31 + 8] = {
       85, 185, 11, 66, 0, 31, 180, 0, 0, 0, 3, 0, 104, 1, 0, 0, 6, 0,   10, 20,
-      0,  30,  0,  40, 1, 2,  3,   0, 0, 0, 0, 0, 0,   4, 5, 6, 7, 102, 67,
+      0,  30,  0,  40, 1, 2,  3,   4, 0, 0, 0, 0, 0,   5, 6, 7, 8, 105, 3,
   };
   uint8_t encoded_payload_[31] = {
       180, 0,  0, 0, 3, 0, 104, 1, 0, 0, 6, 0, 10, 20, 0, 30,
-      0,   40, 1, 2, 3, 0, 0,   0, 0, 0, 0, 4, 5,  6,  7,
+      0,   40, 1, 2, 3, 4, 0,   0, 0, 0, 0, 5, 6,  7,  8,
   };
 };
 
@@ -726,13 +725,6 @@ TEST_F(Testauto_check_sbp_integrity_MsgSsrFlagHighLevel0, Comparison) {
     make_lesser_greater(lesser.reserved[4], greater.reserved[4]);
     comparison_tests(lesser, greater);
   }
-
-  {
-    sbp_msg_ssr_flag_high_level_t lesser = info.test_msg;
-    sbp_msg_ssr_flag_high_level_t greater = info.test_msg;
-    make_lesser_greater(lesser.reserved[5], greater.reserved[5]);
-    comparison_tests(lesser, greater);
-  }
   {
     sbp_msg_ssr_flag_high_level_t lesser = info.test_msg;
     sbp_msg_ssr_flag_high_level_t greater = info.test_msg;
@@ -790,6 +782,12 @@ TEST_F(Testauto_check_sbp_integrity_MsgSsrFlagHighLevel0, Comparison) {
                         greater.use_iono_tile_sat_los);
     comparison_tests(lesser, greater);
   }
+  {
+    sbp_msg_ssr_flag_high_level_t lesser = info.test_msg;
+    sbp_msg_ssr_flag_high_level_t greater = info.test_msg;
+    make_lesser_greater(lesser.use_qzss_sat, greater.use_qzss_sat);
+    comparison_tests(lesser, greater);
+  }
   {
     sbp_msg_ssr_flag_high_level_t lesser = info.test_msg;
     sbp_msg_ssr_flag_high_level_t greater = info.test_msg;

haskell/src/SwiftNav/SBP/Integrity.hs

@@ -85,7 +85,7 @@ msgSsrFlagHighLevel = 0x0BB9
 -- could be a satellite, SSR grid point, or SSR tile. A group of aggregated
 -- elements being monitored for integrity could refer to:
 --
--- - Satellites in a particular {GPS, GAL, BDS} constellation.
+-- - Satellites in a particular {GPS, GAL, BDS, QZSS} constellation.
 --
 -- - Satellites in the line-of-sight of a particular SSR tile.
 --
@@ -125,6 +125,8 @@ data MsgSsrFlagHighLevel = MsgSsrFlagHighLevel
     -- ^ Use GAL satellites.
   , _msgSsrFlagHighLevel_use_bds_sat               :: !Word8
     -- ^ Use BDS satellites.
+  , _msgSsrFlagHighLevel_use_qzss_sat              :: !Word8
+    -- ^ Use QZSS satellites.
   , _msgSsrFlagHighLevel_reserved                  :: ![Word8]
     -- ^ Reserved
   , _msgSsrFlagHighLevel_use_tropo_grid_points     :: !Word8
@@ -148,7 +150,8 @@ instance Binary MsgSsrFlagHighLevel where
     _msgSsrFlagHighLevel_use_gps_sat <- getWord8
     _msgSsrFlagHighLevel_use_gal_sat <- getWord8
     _msgSsrFlagHighLevel_use_bds_sat <- getWord8
-    _msgSsrFlagHighLevel_reserved <- replicateM 6 getWord8
+    _msgSsrFlagHighLevel_use_qzss_sat <- getWord8
+    _msgSsrFlagHighLevel_reserved <- replicateM 5 getWord8
     _msgSsrFlagHighLevel_use_tropo_grid_points <- getWord8
     _msgSsrFlagHighLevel_use_iono_grid_points <- getWord8
     _msgSsrFlagHighLevel_use_iono_tile_sat_los <- getWord8
@@ -165,6 +168,7 @@ instance Binary MsgSsrFlagHighLevel where
     putWord8 _msgSsrFlagHighLevel_use_gps_sat
     putWord8 _msgSsrFlagHighLevel_use_gal_sat
     putWord8 _msgSsrFlagHighLevel_use_bds_sat
+    putWord8 _msgSsrFlagHighLevel_use_qzss_sat
     mapM_ putWord8 _msgSsrFlagHighLevel_reserved
     putWord8 _msgSsrFlagHighLevel_use_tropo_grid_points
     putWord8 _msgSsrFlagHighLevel_use_iono_grid_points

java/src/com/swiftnav/sbp/integrity/MsgSsrFlagHighLevel.java

@@ -30,7 +30,7 @@
  * SSR grid point, or SSR tile. A group of aggregated elements being monitored for integrity could
  * refer to:
  *
- * <p>- Satellites in a particular {GPS, GAL, BDS} constellation.
+ * <p>- Satellites in a particular {GPS, GAL, BDS, QZSS} constellation.
  *
  * <p>- Satellites in the line-of-sight of a particular SSR tile.
  *
@@ -81,6 +81,9 @@ public class MsgSsrFlagHighLevel extends SBPMessage {
     /** Use BDS satellites. */
     public int use_bds_sat;
 
+    /** Use QZSS satellites. */
+    public int use_qzss_sat;
+
     /** Reserved */
     public int[] reserved;
 
@@ -123,7 +126,8 @@ protected void parse(Parser parser) throws SBPBinaryException {
         use_gps_sat = parser.getU8();
         use_gal_sat = parser.getU8();
         use_bds_sat = parser.getU8();
-        reserved = parser.getArrayofU8(6);
+        use_qzss_sat = parser.getU8();
+        reserved = parser.getArrayofU8(5);
         use_tropo_grid_points = parser.getU8();
         use_iono_grid_points = parser.getU8();
         use_iono_tile_sat_los = parser.getU8();
@@ -141,7 +145,8 @@ protected void build(Builder builder) {
         builder.putU8(use_gps_sat);
         builder.putU8(use_gal_sat);
         builder.putU8(use_bds_sat);
-        builder.putArrayofU8(reserved, 6);
+        builder.putU8(use_qzss_sat);
+        builder.putArrayofU8(reserved, 5);
         builder.putU8(use_tropo_grid_points);
         builder.putU8(use_iono_grid_points);
         builder.putU8(use_iono_tile_sat_los);
@@ -160,6 +165,7 @@ public JSONObject toJSON() {
         obj.put("use_gps_sat", use_gps_sat);
         obj.put("use_gal_sat", use_gal_sat);
         obj.put("use_bds_sat", use_bds_sat);
+        obj.put("use_qzss_sat", use_qzss_sat);
         obj.put("reserved", new JSONArray(reserved));
         obj.put("use_tropo_grid_points", use_tropo_grid_points);
         obj.put("use_iono_grid_points", use_iono_grid_points);