draft

c/include/libsbp/cpp/message_traits.h

@@ -4241,6 +4241,42 @@ struct MessageTraits<sbp_msg_mask_satellite_t> {
   }
 };
 
+template <>
+struct MessageTraits<sbp_msg_measurement_point_t> {
+  static constexpr sbp_msg_type_t id = SbpMsgMeasurementPoint;
+  static constexpr const char *name = "MSG_MEASUREMENT_POINT";
+  static const sbp_msg_measurement_point_t &get(const sbp_msg_t &msg) {
+    return msg.measurement_point;
+  }
+  static sbp_msg_measurement_point_t &get(sbp_msg_t &msg) {
+    return msg.measurement_point;
+  }
+  static void to_sbp_msg(const sbp_msg_measurement_point_t &msg,
+                         sbp_msg_t *sbp_msg) {
+    sbp_msg->measurement_point = msg;
+  }
+  static sbp_msg_t to_sbp_msg(const sbp_msg_measurement_point_t &msg) {
+    sbp_msg_t sbp_msg;
+    sbp_msg.measurement_point = msg;
+    return sbp_msg;
+  }
+  static s8 send(sbp_state_t *state, u16 sender_id,
+                 const sbp_msg_measurement_point_t &msg, sbp_write_fn_t write) {
+    return sbp_msg_measurement_point_send(state, sender_id, &msg, write);
+  }
+  static s8 encode(uint8_t *buf, uint8_t len, uint8_t *n_written,
+                   const sbp_msg_measurement_point_t &msg) {
+    return sbp_msg_measurement_point_encode(buf, len, n_written, &msg);
+  }
+  static s8 decode(const uint8_t *buf, uint8_t len, uint8_t *n_read,
+                   sbp_msg_measurement_point_t *msg) {
+    return sbp_msg_measurement_point_decode(buf, len, n_read, msg);
+  }
+  static size_t encoded_len(const sbp_msg_measurement_point_t &msg) {
+    return sbp_msg_measurement_point_encoded_len(&msg);
+  }
+};
+
 template <>
 struct MessageTraits<sbp_msg_measurement_state_t> {
   static constexpr sbp_msg_type_t id = SbpMsgMeasurementState;

c/include/libsbp/legacy/cpp/message_traits.h

@@ -1359,6 +1359,12 @@ struct MessageTraits<msg_group_meta_t> {
 };
 
 
+template<>
+struct MessageTraits<msg_measurement_point_t> {
+  static constexpr u16 id = 65291;
+};
+
+
 template<>
 struct MessageTraits<msg_soln_meta_t> {
   static constexpr u16 id = 65294;

c/include/libsbp/legacy/system.h

@@ -262,6 +262,25 @@ typedef struct SBP_ATTR_PACKED {
                           Solution Group, including GROUP_META itself */
 } msg_group_meta_t;
 
+/** Profiling 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.
+ */
+
+typedef struct SBP_ATTR_PACKED {
+  u32 total_time;     /**< Total time spent in measurement point */
+  u16 num_executions; /**< Number of times measurement point has executed */
+  u32 min;            /**< Minimum execution time */
+  u32 max;            /**< Maximum execution time */
+  u64 return_addr;    /**< Return address */
+  u64 id;             /**< Unique ID */
+  u64 slice_time;     /**< CPU slice time */
+  u16 line;           /**< Line number */
+  char func[0];       /**< Function name */
+} msg_measurement_point_t;
+
 /** \} */
 
 SBP_PACK_END

c/include/libsbp/sbp_msg_type.h

@@ -170,6 +170,7 @@ typedef enum {
   SbpMsgMagRaw = SBP_MSG_MAG_RAW,
   SbpMsgMaskSatelliteDep = SBP_MSG_MASK_SATELLITE_DEP,
   SbpMsgMaskSatellite = SBP_MSG_MASK_SATELLITE,
+  SbpMsgMeasurementPoint = SBP_MSG_MEASUREMENT_POINT,
   SbpMsgMeasurementState = SBP_MSG_MEASUREMENT_STATE,
   SbpMsgNapDeviceDnaReq = SBP_MSG_NAP_DEVICE_DNA_REQ,
   SbpMsgNapDeviceDnaResp = SBP_MSG_NAP_DEVICE_DNA_RESP,
@@ -528,6 +529,8 @@ static inline const char *sbp_msg_type_to_string(sbp_msg_type_t msg_type) {
       return "MSG_MASK_SATELLITE_DEP";
     case SbpMsgMaskSatellite:
       return "MSG_MASK_SATELLITE";
+    case SbpMsgMeasurementPoint:
+      return "MSG_MEASUREMENT_POINT";
     case SbpMsgMeasurementState:
       return "MSG_MEASUREMENT_STATE";
     case SbpMsgNapDeviceDnaReq:

c/include/libsbp/system_macros.h

@@ -972,4 +972,27 @@
  */
 #define SBP_MSG_GROUP_META_ENCODED_OVERHEAD 3u
 
+#define SBP_MSG_MEASUREMENT_POINT 0xFF0B
+/**
+ * The maximum number of items that can be stored in
+ * sbp_msg_measurement_point_t::func (V4 API) or msg_measurement_point_t::func
+ * (legacy API) before the maximum SBP message size is exceeded
+ */
+#define SBP_MSG_MEASUREMENT_POINT_FUNC_MAX 215u
+
+/**
+ * Encoded length of sbp_msg_measurement_point_t (V4 API) and
+ * msg_measurement_point_t (legacy API)
+ *
+ * This type is not fixed size and an instance of this message may be longer
+ * than the value indicated by this symbol. Users of the V4 API should call
+ * #sbp_msg_measurement_point_encoded_len to determine the actual size of an
+ * instance of this message. Users of the legacy API are required to track the
+ * encoded message length when interacting with the legacy type.
+ *
+ * See the documentation for libsbp for more details regarding the message
+ * structure and its variable length component(s)
+ */
+#define SBP_MSG_MEASUREMENT_POINT_ENCODED_OVERHEAD 40u
+
 #endif /* LIBSBP_SYSTEM_MACROS_H */

c/include/libsbp/v4/sbp_msg.h

@@ -176,6 +176,7 @@ typedef union {
   sbp_msg_mag_raw_t mag_raw;
   sbp_msg_mask_satellite_dep_t mask_satellite_dep;
   sbp_msg_mask_satellite_t mask_satellite;
+  sbp_msg_measurement_point_t measurement_point;
   sbp_msg_measurement_state_t measurement_state;
   sbp_msg_nap_device_dna_req_t nap_device_dna_req;
   sbp_msg_nap_device_dna_resp_t nap_device_dna_resp;
@@ -635,6 +636,9 @@ static inline s8 sbp_message_encode(uint8_t *buf, uint8_t len,
     case SbpMsgMaskSatellite:
       return sbp_msg_mask_satellite_encode(buf, len, n_written,
                                            &msg->mask_satellite);
+    case SbpMsgMeasurementPoint:
+      return sbp_msg_measurement_point_encode(buf, len, n_written,
+                                              &msg->measurement_point);
     case SbpMsgMeasurementState:
       return sbp_msg_measurement_state_encode(buf, len, n_written,
                                               &msg->measurement_state);
@@ -1290,6 +1294,9 @@ static inline s8 sbp_message_decode(const uint8_t *buf, uint8_t len,
     case SbpMsgMaskSatellite:
       return sbp_msg_mask_satellite_decode(buf, len, n_read,
                                            &msg->mask_satellite);
+    case SbpMsgMeasurementPoint:
+      return sbp_msg_measurement_point_decode(buf, len, n_read,
+                                              &msg->measurement_point);
     case SbpMsgMeasurementState:
       return sbp_msg_measurement_state_decode(buf, len, n_read,
                                               &msg->measurement_state);
@@ -1873,6 +1880,8 @@ static inline size_t sbp_message_encoded_len(sbp_msg_type_t msg_type,
       return sbp_msg_mask_satellite_dep_encoded_len(&msg->mask_satellite_dep);
     case SbpMsgMaskSatellite:
       return sbp_msg_mask_satellite_encoded_len(&msg->mask_satellite);
+    case SbpMsgMeasurementPoint:
+      return sbp_msg_measurement_point_encoded_len(&msg->measurement_point);
     case SbpMsgMeasurementState:
       return sbp_msg_measurement_state_encoded_len(&msg->measurement_state);
     case SbpMsgNapDeviceDnaReq:
@@ -2455,6 +2464,9 @@ static inline int sbp_message_cmp(sbp_msg_type_t msg_type, const sbp_msg_t *a,
                                             &b->mask_satellite_dep);
     case SbpMsgMaskSatellite:
       return sbp_msg_mask_satellite_cmp(&a->mask_satellite, &b->mask_satellite);
+    case SbpMsgMeasurementPoint:
+      return sbp_msg_measurement_point_cmp(&a->measurement_point,
+                                           &b->measurement_point);
     case SbpMsgMeasurementState:
       return sbp_msg_measurement_state_cmp(&a->measurement_state,
                                            &b->measurement_state);

c/include/libsbp/v4/system.h

@@ -25,6 +25,7 @@
 #include <libsbp/v4/system/MSG_HEARTBEAT.h>
 #include <libsbp/v4/system/MSG_INS_STATUS.h>
 #include <libsbp/v4/system/MSG_INS_UPDATES.h>
+#include <libsbp/v4/system/MSG_MEASUREMENT_POINT.h>
 #include <libsbp/v4/system/MSG_PPS_TIME.h>
 #include <libsbp/v4/system/MSG_SENSOR_AID_EVENT.h>
 #include <libsbp/v4/system/MSG_STARTUP.h>