Cargo.toml

 [package]
 name = "ham-cats"
-version = "0.2.0"
+version = "0.2.2"
 edition = "2021"
 license = "MIT"
 description = "Reference implementations for CATS, the ham radio protocol"
@@ -14,6 +14,6 @@ bitvec = { version = "1.0.1", default-features = false }
 crc = "3.0.1"
 encoding_rs = { version = "0.8.33", default-features = false }
 half = { version = "2.3.1", default-features = false }
-labrador-ldpc = { git = "https://github.com/adamgreig/labrador-ldpc" }
+labrador-ldpc = "1.2.1"
 paste = "1.0.14"
 snafu = { version = "0.7.5", default-features = false }

src/buffer.rs

@@ -107,7 +107,7 @@ impl<'a, const N: usize, T> From<&'a mut [T; N]> for Buffer<'a, N, T> {
     }
 }
 
-impl<'a, const N: usize, T> Deref for Buffer<'a, N, T> {
+impl<const N: usize, T> Deref for Buffer<'_, N, T> {
     type Target = [T];
 
     fn deref(&self) -> &Self::Target {
@@ -115,7 +115,7 @@ impl<'a, const N: usize, T> Deref for Buffer<'a, N, T> {
     }
 }
 
-impl<'a, const N: usize, T> DerefMut for Buffer<'a, N, T> {
+impl<const N: usize, T> DerefMut for Buffer<'_, N, T> {
     fn deref_mut(&mut self) -> &mut [T] {
         &mut self.data[..self.i]
     }

src/lib.rs

-#![no_std]
+#![cfg_attr(not(test), no_std)]
 
 pub mod buffer;
 pub mod error;

src/packet.rs

@@ -169,7 +169,7 @@ impl<'a, const N: usize> Packet<'a, N> {
 
     /// Encodes packet for transmission on the air.
     /// Includes the data length L, but does not include the preamble or sync word.
-    pub fn fully_encode(self, out: &mut Buffer<N>) -> Result<(), EncodeError> {
+    pub fn fully_encode<const M: usize>(self, out: &mut Buffer<M>) -> Result<(), EncodeError> {
         let mut data = self.semi_encode().map_err(|(err, _)| err)?;
         whitener::whiten(&mut data);
         ldpc::encode(&mut data)?;
@@ -379,7 +379,7 @@ impl<'a, const N: usize> Packet<'a, N> {
     }
 }
 
-impl<'a, const N: usize> Debug for Packet<'a, N> {
+impl<const N: usize> Debug for Packet<'_, N> {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
         f.debug_list()
             .entries(ValidatedWhiskerIter::new(&self.buf))

src/whisker/destination.rs

@@ -36,7 +36,7 @@ impl Destination {
     }
 
     pub fn ack_num(&self) -> u8 {
-        self.ack
+        self.ack & !(1 << 7)
     }
 
     pub fn callsign(&self) -> &str {

src/whisker/gps.rs

+use core::fmt::{Debug, Display};
 use half::f16;
 
-#[derive(Debug, PartialEq, Clone)]
+#[derive(PartialEq, Clone)]
 pub struct Gps {
     latitude: i32,
     longitude: i32,
@@ -100,6 +101,27 @@ impl Gps {
     }
 }
 
+impl Debug for Gps {
+    fn fmt(&self, f: &mut core::fmt::Formatter) -> core::fmt::Result {
+        f.debug_struct("Gps")
+            .field("latitude", &DebugUnits(self.latitude(), "°"))
+            .field("longitude", &DebugUnits(self.longitude(), "°"))
+            .field("altitude", &DebugUnits(self.altitude, " m"))
+            .field("max_error", &DebugUnits(self.max_error, " m"))
+            .field("heading", &DebugUnits(self.heading(), "°"))
+            .field("speed", &DebugUnits(self.speed, " m/s"))
+            .finish()
+    }
+}
+
+struct DebugUnits<'a, T>(T, &'a str);
+
+impl<T: Display> Debug for DebugUnits<'_, T> {
+    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
+        write!(f, "{}{}", self.0, self.1)
+    }
+}
+
 // no-std and it's not worth bringing in a library for this
 fn round(v: f64) -> u32 {
     let floor = v as u32;
@@ -135,4 +157,11 @@ mod tests {
         let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 540.0, f16::from_f32(0.0));
         assert_eq!(gps.heading, 128);
     }
+
+    #[test]
+    fn debug_printing() {
+        let gps = Gps::new(0.0, 0.0, f16::from_f32(0.0), 0, 359.0, f16::from_f32(0.0));
+        let x = format!("{gps:?}");
+        assert_eq!(x,"Gps { latitude: 0°, longitude: 0°, altitude: 0 m, max_error: 0 m, heading: 358.59375°, speed: 0 m/s }")
+    }
 }

src/whisker/mod.rs

@@ -155,7 +155,7 @@ impl<'a> WhiskerIter<'a> {
     }
 }
 
-impl<'a> Iterator for WhiskerIter<'a> {
+impl Iterator for WhiskerIter<'_> {
     type Item = Result<Whisker, DecodeError>;
 
     fn next(&mut self) -> Option<Self::Item> {
@@ -179,7 +179,7 @@ impl<'a> ValidatedWhiskerIter<'a> {
     }
 }
 
-impl<'a> Iterator for ValidatedWhiskerIter<'a> {
+impl Iterator for ValidatedWhiskerIter<'_> {
     type Item = Whisker;
 
     fn next(&mut self) -> Option<Self::Item> {
@@ -496,6 +496,15 @@ mod tests {
         assert_eq!(dest, decoded);
     }
 
+    #[test]
+    fn dest_ack() {
+        let dest = Destination::new(true, 84, "abc", 17).unwrap();
+        assert_eq!(84, dest.ack_num());
+        assert!(dest.is_ack());
+        assert_eq!("abc", dest.callsign());
+        assert_eq!(17, dest.ssid());
+    }
+
     #[test]
     fn arbitrary_e2e() {
         let data = b"Hello world! This is an example comment";

src/whisker/node_info.rs

@@ -9,6 +9,11 @@ pub struct NodeInfo {
     voltage: Option<u8>,
     xcvr_temperature: Option<i8>,
     battery_charge: Option<u8>,
+    altitude: Option<f32>,
+    balloon: bool,
+    ambient_temperature: Option<i8>,
+    ambient_humidity: Option<u8>,
+    ambient_pressure: Option<u16>,
 }
 
 impl NodeInfo {
@@ -59,6 +64,32 @@ impl NodeInfo {
         self.battery_charge.map(|b| b as f64 / 2.55)
     }
 
+    /// Higher precision altitude than what's available in the GPS whisker. Takes precedent if set. Useful for high altitude balloons.
+    /// Meters
+    pub fn altitude(&self) -> Option<f32> {
+        self.altitude
+    }
+
+    /// If true, this whisker was emitted by a high altitude balloon payload
+    pub fn is_balloon(&self) -> bool {
+        self.balloon
+    }
+
+    /// Degrees C
+    pub fn ambient_temperature(&self) -> Option<i8> {
+        self.ambient_temperature
+    }
+
+    /// Relative humidity, percent
+    pub fn ambient_humidity(&self) -> Option<f64> {
+        self.ambient_humidity.map(|x| x as f64 / 2.55)
+    }
+
+    /// Decapascal (daPa)
+    pub fn ambient_pressure(&self) -> Option<u16> {
+        self.ambient_pressure
+    }
+
     pub fn encode<'a>(&self, buf: &'a mut [u8]) -> Option<&'a [u8]> {
         let mut bitmask: u32 = 0;
 
@@ -128,6 +159,38 @@ impl NodeInfo {
             i += 1;
         }
 
+        if let Some(x) = self.altitude {
+            bitmask |= 512;
+
+            buf.get_mut(i..(i + 4))?.copy_from_slice(&x.to_le_bytes());
+            i += 4;
+        }
+
+        if self.balloon {
+            bitmask |= 1024;
+        }
+
+        if let Some(x) = self.ambient_temperature {
+            bitmask |= 2048;
+
+            *buf.get_mut(i)? = x.to_le_bytes()[0];
+            i += 1;
+        }
+
+        if let Some(x) = self.ambient_humidity {
+            bitmask |= 4096;
+
+            *buf.get_mut(i)? = x;
+            i += 1;
+        }
+
+        if let Some(x) = self.ambient_pressure {
+            bitmask |= 8192;
+
+            buf.get_mut(i..(i + 2))?.copy_from_slice(&x.to_le_bytes());
+            i += 2;
+        }
+
         buf[0] = (i - 1).try_into().ok()?;
         buf[1..4].copy_from_slice(&bitmask.to_be_bytes()[1..]);
 
@@ -141,17 +204,17 @@ impl NodeInfo {
         let mut i = 4;
 
         if bitmask & 1 > 0 {
-            builder = builder.hardware_id(u16::from_le_bytes([*data.get(i)?, *data.get(i + 1)?]));
+            builder.hardware_id = Some(u16::from_le_bytes([*data.get(i)?, *data.get(i + 1)?]));
             i += 2;
         }
 
         if bitmask & 2 > 0 {
-            builder = builder.software_id(*data.get(i)?);
+            builder.software_id = Some(*data.get(i)?);
             i += 1;
         }
 
         if bitmask & 4 > 0 {
-            builder = builder.uptime(u32::from_le_bytes([
+            builder.uptime = Some(u32::from_le_bytes([
                 *data.get(i)?,
                 *data.get(i + 1)?,
                 *data.get(i + 2)?,
@@ -162,7 +225,7 @@ impl NodeInfo {
         }
 
         if bitmask & 8 > 0 {
-            builder = builder.antenna_height(*data.get(i)?);
+            builder.antenna_height = Some(*data.get(i)?);
             i += 1;
         }
 
@@ -182,14 +245,44 @@ impl NodeInfo {
         }
 
         if bitmask & 128 > 0 {
-            builder = builder.xcvr_temperature(i8::from_le_bytes([*data.get(i)?]));
+            builder.xcvr_temperature = Some(i8::from_le_bytes([*data.get(i)?]));
             i += 1;
         }
 
         if bitmask & 256 > 0 {
             builder.battery_charge = Some(*data.get(i)?);
+            i += 1;
         }
 
+        if bitmask & 512 > 0 {
+            builder.altitude = Some(f32::from_le_bytes(
+                data.get(i..(i + 4))?.try_into().unwrap(),
+            ));
+            i += 4;
+        }
+
+        builder.balloon = bitmask & 1024 > 0;
+
+        if bitmask & 2048 > 0 {
+            builder.ambient_temperature = Some(i8::from_le_bytes([*data.get(i)?]));
+            i += 1;
+        }
+
+        if bitmask & 4096 > 0 {
+            builder.ambient_humidity = Some(*data.get(i)?);
+            i += 1;
+        }
+
+        if bitmask & 8192 > 0 {
+            builder.ambient_pressure = Some(u16::from_le_bytes(
+                data.get(i..(i + 2))?.try_into().unwrap(),
+            ));
+            i += 2;
+        }
+
+        // prevent unused variable warning
+        let _ = i;
+
         Some(builder.build())
     }
 }
@@ -205,6 +298,11 @@ pub struct NodeInfoBuilder {
     voltage: Option<u8>,
     xcvr_temperature: Option<i8>,
     battery_charge: Option<u8>,
+    altitude: Option<f32>,
+    balloon: bool,
+    ambient_temperature: Option<i8>,
+    ambient_humidity: Option<u8>,
+    ambient_pressure: Option<u16>,
 }
 
 impl NodeInfoBuilder {
@@ -219,6 +317,11 @@ impl NodeInfoBuilder {
             voltage,
             xcvr_temperature,
             battery_charge,
+            altitude,
+            balloon,
+            ambient_temperature,
+            ambient_humidity,
+            ambient_pressure,
         } = self;
 
         NodeInfo {
@@ -231,6 +334,11 @@ impl NodeInfoBuilder {
             voltage,
             xcvr_temperature,
             battery_charge,
+            altitude,
+            balloon,
+            ambient_temperature,
+            ambient_humidity,
+            ambient_pressure,
         }
     }
 
@@ -294,6 +402,43 @@ impl NodeInfoBuilder {
 
         self
     }
+
+    /// Higher precision altitude than what's available in the GPS whisker. Takes precedent if set. Useful for high altitude balloons.
+    /// Meters
+    pub fn altitude(mut self, val: f32) -> Self {
+        self.altitude = Some(val);
+
+        self
+    }
+
+    /// If true, this whisker was emitted by a high altitude balloon payload
+    /// Please only set this on actual balloon payloads. Otherwise it can cause issues for downstream users!
+    pub fn set_balloon(mut self) -> Self {
+        self.balloon = true;
+
+        self
+    }
+
+    /// Degrees C
+    pub fn ambient_temperature(mut self, val: i8) -> Self {
+        self.ambient_temperature = Some(val);
+
+        self
+    }
+
+    /// Relative humidity, percent
+    pub fn ambient_humidity(mut self, val: f64) -> Self {
+        self.ambient_humidity = Some((val * 2.55).min(255.0) as u8);
+
+        self
+    }
+
+    /// Decapascal (daPa)
+    pub fn ambient_pressure(mut self, val: u16) -> Self {
+        self.ambient_pressure = Some(val);
+
+        self
+    }
 }
 
 #[cfg(test)]

src/whisker/route.rs

@@ -232,7 +232,7 @@ impl<'a> PastHop<'a> {
     }
 }
 
-#[derive(Debug)]
+#[derive(Debug, Clone)]
 struct UntrustedRouteIter<'a> {
     route: &'a Route,
     i: usize,
@@ -312,6 +312,7 @@ impl<'a> Iterator for UntrustedRouteIter<'a> {
     }
 }
 
+#[derive(Clone)]
 pub struct RouteIter<'a> {
     iter: UntrustedRouteIter<'a>,
 }