libsbp bindings for JavaScript. More information here: http://swift-nav.github.io/libsbp/
npm install sbp- Specification and Bindings for Swift Binary Protocol
- Installing sbp2json, json2sbp, json2json and related tools
- Building / installing
- Using Docker
- Fetching the prebuilt image from DockerHub
- Creating your own image
- Using the docker image
- Installing from package managers
- Installing development Python versions
- Adding development version as a pip dependency
- Installing from source
- SBP Development Procedures
- SBP Protocol Specification
- JSON Schema Definitions
- Kaitai Struct Format Descriptions
- Notes on python bindings
- LICENSE
The Swift Navigation Binary Protocol (SBP) is a fast, simple, and minimal
binary protocol for communicating with Swift devices. It is the native binary
protocol used by the Piksi GPS receiver to
transmit solutions, observations, status and debugging messages, as well as
receive messages from the host operating system, such as differential
corrections and the almanac.
This project provides language-agnostic specification and documentation for
messages used with SBP, a compiler for generating message bindings, and client
libraries in a variety of languages. This repository is organized into the
following directory structure:
- docs: Protocol documentation and message definitions.
- spec: Machine readable protocol specification in
YAML.
- generator: Simple, template-based generator for
different languages.
- python: Python client and examples.
- c: C client library and examples.
- haskell: Haskell client and examples.
- java: Java client library and examples.
- javascript: JavaScript client library and examples.
- rust: Rust client library and examples.
- sbpjson: Tools for parsing SBP-JSON.
- kaitai: Kaitai Struct Format Description and generated code.
Except for the generator, all of the above are generated and should not be modified directly.
This repository also provides the following utilities for comprehending and
inspecting SBP data:
- sbp2json: converts SBP binary into a JSON representation, in which field
names and values are expanded into JSON objects, common fields such as
"message type" and "payload" are included as well.
- json2sbp: uses the "message type", "payload" and related fields from an SBP
JSON stream to reconstruct the binary representation.
- json2json: some tools (notably the Swift GUI Console) produce abbreviated
JSON logs with only common fields such as "message type" and "payload", the
json2json tool expands these JSON objects to include fields specific the
individual message.
To install a released version of these tools, visit the releases
page and download an archive for
your platform.
To install from source, you can use Rust's cargo tool (first install
Rust), then run:
``sh`
cargo install --git https://github.com/swift-nav/libsbp.git --bins
There's also a Haskell version available which can be installed by
running stack install in the ./haskell directory of a checkoutsbp_tools_haskell
of this repo (after installing
stack) or by visiting the
releases by and downloading an archive. This variant ofsbp2yaml
the tools predate the Rust and Python versions, and also includes an
tool as well as a tool.
Finally, a Python version of the sbp2json tool exists, which is installable
on any platform that supports Python via pip, e.g.:
`sh`
pip3 install sbp
The tool can then be invoked as follows:
`sh`
python3 -m sbp2json
The performance of the Python version is significantly slower than Rust and Haskell,
but works on all platforms that Python itself supports.
Before you start, run
`sh`
git pull --tags
in you local libsbp repository to pull the tags. This will ensure the correct
version number is generated.
Before you begin, make sure you have Docker installed.
Start Docker desktop.
#### Fetching the prebuilt image from DockerHub
The quickest method to get going is to just pull a prebuilt copy from DockerHub
(no guarantees on freshness) by running the following on your command line:
`sh`
docker run --rm -v $PWD:/mnt/workspace -i -t swiftnav/libsbp-build:2025-02-10 /bin/bash
This will mount your local copy of the libsbp repository onto the image.
Check libsbp-build dockerhub page for newer tags.
Alternatively, you could run
`sh`
docker run --rm -v $PWD:/mnt/workspace -i -t swiftnav/libsbp-build:latest-master /bin/bash
if you are facing issues with compilation and the tags are out of date as well.
#### Creating your own image
Otherwise, the Dockerfile will create a docker image that contains all thedocker build
necessary dependencies to build libsbp. You can make a local image fresh from
this file by running as such:
`sh`
docker build -t libsbp-build -
Reading the Dockerfile from STDIN prevents docker from pulling in the whole
repostory into the build context (which is then immediately discarded anyway).
You can customize the UID of the user that's created with the docker image
by passing the desired UID value to the build:
`sh`
docker build -t libsbp-build --build-arg UID=1234 -
You can then make this image operate on your local workspace like this:
`sh`
docker run --rm -v $PWD:/mnt/workspace -i -t libsbp-build:latest /bin/bash
#### Using the docker image
Once in the image, to overcome issues with git trying to determine ownership of
the repository, run git config --global --add safe.directory /mnt/workspace.make all
Then, simply type to generate all the libsbp bindings.make all
This could take several hours to run. Alternately, the docker image will run
the command by default, so you can kick off the make all process
by simply running the following command:
`sh`
docker run --rm -v $PWD:/mnt/workspace -i -t libsbp-build:2025-02-10
To speed up this process you can attempt to run Python environment tests in
paralell with:
`sh`
docker run --rm -v $PWD:/mnt/workspace -i -t -e SBP_TOX_PARALLEL=auto libsbp-build:2025-02-10
When you are finished, quit Docker so that it would not unnecessarily use up
resources on your machine.
If you run into issues during the generation process, try running make clean.
Alternatively, you could recompile from a clean, newly-cloned libsbp repository
on your machine, which would minimize the chance of running into compilation
issues from an old build.
Some bindings are available on package managers:
- python: available on pip
- haskell: available on Hackage
- javascript: available on NPM
To install the Python binding from source (using pip) run the following command:
`sh`
pip install 'file:///path/to/libsbp#subdirectory=python'
Or via setuptools directly:
`sh`
cd /path/to/libsbp
cd python
python setup.py
Run the following command:
`sh`
pip install "git+https://github.com/swift-nav/libsbp@
Or add this to requirements.txt:
`sh`
git+https://github.com/swift-nav/libsbp@
You can build one binding at a time or update all at once:
`sh`
make python
or
`sh`
make all
are both valid. To see a list of all valid targets, run make help.
Python version notes:
1. By default the Python targets make python and make test-python (as wellmake all
as ) run tests on all Python versions officially supported by *theTOXENV
libsbp Python bindings*, currently 3.6-3.9, skipping any versions not
installed. To run tests on just specific Python version(s), specify the
environment variable, e.g., TOXENV=py37 make python. Travis runsGENENV
Python tests on all supported versions.
2. By default the code generators are run on the system's (or virtual env's)
default Python interpreter. Currently Python versions 2.7, 3.5, and 3.7
are officially supported, other versions may or may not work. The generated
libsbp bindings should be the same on all supported Python versions. To use
a different version than your default Python interpreter, specify the
environment variable, e.g., GENENV=py27 make all (you must haveGENENV=py37 TOXENV=py37 make python
that version of Python installed beforehand).
3. To run both the generator and the Python tests on specific Python versions,
specify both envs, e.g.,
See the "how to" page for instructions on adding new messages,
updating the documentation, and releasing new versions of this
library.
SBP consists of two pieces: (i) an over-the-wire message framing format and
(ii) structured payload definitions. As of Version 1.0, the packet consists of
a 6-byte binary header section, a variable-sized payload field, and a 16-bit
CRC value. SBP uses the CCITT CRC16 (XMODEM implementation) for error
detection.
Please see the docs for a full description of the packet
structure and the message types. Developer documentation for the
language-specific sbp libraries is available at http://swift-nav.github.io/libsbp/.
Please refer to the changelog for more information about the
evolution of the library and its messages.
For web clients processing SBP in JSON form, JSON schema definitions are
provided. Libraries for JavaScript, TypeScript, and Elm generated by the
QuickType tool are provided. See the
HOWTO for instructions on updating these schemas.
Kaitai Struct is a declarative language used to describe
binary data structures. KSY files containing format specifications for all
supported SBP messages can be generated using the kaitai target. Thekaitai/ksy
resulting files can be found in the directory.kaitai/perl
This target also runs the Kaitai Struct compiler to generate bindings for
perl and python. These bindings (along with test cases) can be found in the and kaitai/python subdirectories
respectively.
The Kaitai Struct format description files can also potentially be used to
generate bindings for the following targets:
- graphviz
- csharp
- rust
- java
- go
- cpp_stl
- php
- lua
- nim
- html
- ruby
- construct
- javascript
The python bindings generated by the Kaitai Struct compiler allow for
significantly faster parsing in comparison to the construct-based bindings
included in libsbp. However, due to the nature of Kaitai Struct, these
bindings do not allow for serialisation (i.e. construction of SBP objects).
Serialisation for java and python targets is supported as an experimental
feature in the development version of Kaitai Struct (> 0.10) so this
restriction should hopefully be removed in the future.
It should also be noted that the names used by the KSY bindings are not 1:1
identical to the construct bindings due constraints which Kaitai Struct places
on various token types (e.g. it is forbidden to use upper case characters in
field names). The test cases in the kaitai/ksy/tests directory
(particularly those in test_parsers.py`) can be used as a starting point for
working with these bindings, as well as demonstrating the minor differences
between the output generated by each set of bindings.
Copyright © 2015-2023 Swift Navigation
Distributed under the MIT open source license.