diff --git a/gnss-converters.cabal b/gnss-converters.cabal --- a/gnss-converters.cabal +++ b/gnss-converters.cabal @@ -1,5 +1,5 @@ name: gnss-converters -version: 0.1.20 +version: 0.2.0 synopsis: GNSS Converters. description: Haskell bindings for GNSS converters. homepage: http://github.com/swift-nav/gnss-converters @@ -29,7 +29,6 @@ , lens , monad-control , mtl - , random , resourcet , rtcm , sbp diff --git a/src/Data/RTCM3/SBP.hs b/src/Data/RTCM3/SBP.hs --- a/src/Data/RTCM3/SBP.hs +++ b/src/Data/RTCM3/SBP.hs @@ -19,7 +19,6 @@ , toWn , mjdEpoch , updateGpsTime - , updateLock , convert , newStore ) where @@ -36,7 +35,6 @@ import Data.Time import Data.Word import SwiftNav.SBP -import System.Random -------------------------------------------------------------------------------- @@ -173,25 +171,26 @@ fromEcefVal :: Int64 -> Double fromEcefVal x = fromIntegral x / 10000 -newGpsTime :: MonadStore e m => Word32 -> m GpsTime +newGpsTime :: MonadStore e m => Word32 -> m GpsTimeNano newGpsTime tow = do wn <- view storeWn >>= liftIO . readIORef - return GpsTime - { _gpsTime_tow = tow - , _gpsTime_wn = wn + return GpsTimeNano + { _gpsTimeNano_tow = tow + , _gpsTimeNano_ns = 0 + , _gpsTimeNano_wn = wn } -- | If incoming TOW is less than stored TOW, rollover WN. -- -updateGpsTime :: Word32 -> GpsTime -> GpsTime +updateGpsTime :: Word32 -> GpsTimeNano -> GpsTimeNano updateGpsTime tow gpsTime = - gpsTime & gpsTime_tow .~ tow & - if tow >= gpsTime ^. gpsTime_tow then id else - gpsTime_wn %~ (+ 1) + gpsTime & gpsTimeNano_tow .~ tow & + if tow >= gpsTime ^. gpsTimeNano_tow then id else + gpsTimeNano_wn %~ (+ 1) -- | Produce GPS Time from Observation header, handling WN rollover. -- -toGpsTime :: MonadStore e m => GpsObservationHeader -> m GpsTime +toGpsTime :: MonadStore e m => GpsObservationHeader -> m GpsTimeNano toGpsTime hdr = do let tow = hdr ^. gpsObservationHeader_tow station = hdr ^. gpsObservationHeader_station @@ -296,30 +295,37 @@ toCn0_L2 :: GpsL2ExtObservation -> Word8 toCn0_L2 = (^. gpsL2ExtObservation_cnr) -newLock :: IO Lock -newLock = do - counter <- randomIO - return Lock - { _lockTime = 0 - , _lockCounter = counter - } - --- | If incoming time is less than stored time, increment lock counter. --- -updateLock :: Word8 -> Lock -> Lock -updateLock time lock = - lock & lockTime .~ time & - if time >= lock ^. lockTime then id else - lockCounter %~ (+1) - --- | Produce Lock Counter from Lock Time, handling cycle slips. +-- | Convert between DF013 and DF019 lock time to DF402 lock time -- -toLock :: MonadStore e m => Word16 -> GnssSignal -> Word8 -> m Word16 -toLock station sid time = do - lockMap <- view storeLockMap - lock <- liftIO $ newLock - liftIO $ fmap (^. lockCounter) $ - modifyMap lockMap lock (station, sid) $ updateLock time +toLock :: Word8 -> Word8 +toLock t = + if t' < 32 then 0 else + if t' < 64 then 1 else + if t' < 128 then 2 else + if t' < 256 then 3 else + if t' < 512 then 4 else + if t' < 1024 then 5 else + if t' < 2048 then 6 else + if t' < 4096 then 7 else + if t' < 8192 then 8 else + if t' < 16384 then 9 else + if t' < 32768 then 10 else + if t' < 65536 then 11 else + if t' < 131072 then 12 else + if t' < 262144 then 13 else + if t' < 524288 then 14 else + 15 + where + t' :: Word32 + t' = + 1000 * + if t <= 23 then fromIntegral t else + if t <= 47 then fromIntegral t * 2 - 24 else + if t <= 71 then fromIntegral t * 4 - 120 else + if t <= 95 then fromIntegral t * 8 - 408 else + if t <= 119 then fromIntegral t * 16 - 1176 else + if t <= 126 then fromIntegral t * 32 - 3096 else + 937 -- | Construct sequenced SBP observation header -- @@ -327,81 +333,85 @@ => Word8 -- ^ Total messages -> Word8 -- ^ Message in sequence -> GpsObservationHeader -- ^ RTCM observation header - -> m ObservationHeaderDep + -> m ObservationHeader fromGpsObservationHeader totalMsgs n hdr = do t <- toGpsTime hdr - return ObservationHeaderDep - { _observationHeaderDep_t = t + return ObservationHeader + { _observationHeader_t = t -- First nibble is the size of the sequence (n), second nibble is the -- zero-indexed counter (ith packet of n). See observation header packing -- https://github.com/swift-nav/libsbp/blob/master/spec/yaml/swiftnav/sbp/observation.yaml#L63 - , _observationHeaderDep_n_obs = totalMsgs `shiftL` 4 .|. n + , _observationHeader_n_obs = totalMsgs `shiftL` 4 .|. n } -- | Construct an L1 GnssSignal -- -toL1GnssSignal :: Word8 -> GpsL1Observation -> GnssSignal +toL1GnssSignal :: Word8 -> GpsL1Observation -> GnssSignal16 toL1GnssSignal sat l1 = - GnssSignal - { _gnssSignal_sat = fromIntegral $ sat - 1 - , _gnssSignal_code = if l1 ^. gpsL1Observation_code then l1PSidCode else l1CSidCode - , _gnssSignal_reserved = 0 + GnssSignal16 + { _gnssSignal16_sat = sat + , _gnssSignal16_code = if l1 ^. gpsL1Observation_code then l1PSidCode else l1CSidCode } -- | Construct an L1 SBP PackedObsContent an RTCM satellite vehicle observation -- fromL1SatelliteObservation :: MonadStore e m - => Word16 -- ^ Station ID - -> Word8 -- ^ Satellite PRN + => Word8 -- ^ Satellite PRN -> GpsL1Observation -> GpsL1ExtObservation - -> m PackedObsContentDepC -fromL1SatelliteObservation station sat l1 l1e = do + -> m PackedObsContent +fromL1SatelliteObservation sat l1 l1e = do -- Checks GPS L1 code indicator for RTCM message 1002. -- See DF010, pg. 3-17 of the RTCM3 spec. let sid = toL1GnssSignal sat l1 - lock <- toLock station sid $ l1 ^. gpsL1Observation_lockTime - return PackedObsContentDepC - { _packedObsContentDepC_P = toP_L1 l1 l1e - , _packedObsContentDepC_L = toL_L1 l1 l1e - , _packedObsContentDepC_cn0 = toCn0_L1 l1e - , _packedObsContentDepC_lock = lock - , _packedObsContentDepC_sid = sid + return PackedObsContent + { _packedObsContent_P = toP_L1 l1 l1e + , _packedObsContent_L = toL_L1 l1 l1e + , _packedObsContent_D = Doppler 0 0 + , _packedObsContent_cn0 = toCn0_L1 l1e + , _packedObsContent_lock = toLock $ l1 ^. gpsL1Observation_lockTime + , _packedObsContent_sid = sid + , _packedObsContent_flags = 0x7 -- Doppler Invalid + -- 1/2 cycle phase ambiguity resolved + -- carrier valid + -- pseudorange valid } -- | Construct an L2 GnssSignal -- -toL2GnssSignal :: Word8 -> GpsL2Observation -> Maybe GnssSignal +toL2GnssSignal :: Word8 -> GpsL2Observation -> Maybe GnssSignal16 toL2GnssSignal sat l2 = do code <- M.lookup (l2 ^. gpsL2Observation_code) l2codeToSBPSignalCode - return GnssSignal - { _gnssSignal_sat = fromIntegral $ sat - 1 - , _gnssSignal_code = code - , _gnssSignal_reserved = 0 + return GnssSignal16 + { _gnssSignal16_sat = fromIntegral sat + , _gnssSignal16_code = code } -- | Construct an L2 SBP PackedObsContent an RTCM satellite vehicle observation -- fromL2SatelliteObservation :: MonadStore e m - => Word16 -- ^ Station ID - -> Word8 -- ^ Satellite PRN + => Word8 -- ^ Satellite PRN -> GpsL1Observation -> GpsL1ExtObservation -> GpsL2Observation -> GpsL2ExtObservation - -> m (Maybe PackedObsContentDepC) -fromL2SatelliteObservation station sat l1 l1e l2 l2e = + -> m (Maybe PackedObsContent) +fromL2SatelliteObservation sat l1 l1e l2 l2e = -- Checks GPS L2 code indicator. -- See DF016, pg. 3-17 of the RTCM3 spec. maybe' (toL2GnssSignal sat l2) (return Nothing) $ \sid -> do - lock <- toLock station sid $ l2 ^. gpsL2Observation_lockTime - return $ Just PackedObsContentDepC - { _packedObsContentDepC_P = toP_L2 l1 l1e l2 - , _packedObsContentDepC_L = toL_L2 l1 l1e l2 l2e - , _packedObsContentDepC_cn0 = toCn0_L2 l2e - , _packedObsContentDepC_lock = lock - , _packedObsContentDepC_sid = sid - } + return $ Just PackedObsContent + { _packedObsContent_P = toP_L2 l1 l1e l2 + , _packedObsContent_L = toL_L2 l1 l1e l2 l2e + , _packedObsContent_D = Doppler 0 0 + , _packedObsContent_cn0 = toCn0_L2 l2e + , _packedObsContent_lock = toLock $ l2 ^. gpsL2Observation_lockTime + , _packedObsContent_sid = sid + , _packedObsContent_flags = 0x7 -- Doppler Invalid + -- 1/2 cycle phase ambiguity resolved + -- carrier valid + -- pseudorange valid + } -- | Construct SBP GPS observation message (possibly chunked). -- @@ -409,13 +419,13 @@ => GpsObservationHeader -- ^ RTCM observation header -> Word8 -- ^ Total messages -> Word8 -- ^ Message in sequence - -> [PackedObsContentDepC] - -> m MsgObsDepC + -> [PackedObsContent] + -> m MsgObs chunkToMsgObs hdr totalMsgs n packed = do header <- fromGpsObservationHeader totalMsgs n hdr - return MsgObsDepC - { _msgObsDepC_header = header - , _msgObsDepC_obs = packed + return MsgObs + { _msgObs_header = header + , _msgObs_obs = packed } -- | 16 bit SBP Sender Id is 12 bit RTCM Station Id with high nibble or'd in @@ -431,9 +441,9 @@ -- | Construct an L1 SBP PackedObsContent from an RTCM Msg 1002. -- -fromObservation1002 :: MonadStore e m => Word16 -> Observation1002 -> m [PackedObsContentDepC] -fromObservation1002 station obs = do - obs1 <- fromL1SatelliteObservation station sat l1 l1e +fromObservation1002 :: MonadStore e m => Observation1002 -> m [PackedObsContent] +fromObservation1002 obs = do + obs1 <- fromL1SatelliteObservation sat l1 l1e return $ -- Only lower set of PRN numbers (1-32) are supported if sat > maxSats then mempty else @@ -449,21 +459,20 @@ -- -- This chunking takes places because the number of observations in a given 1002 -- may very well exceed the maximum SBP supported payload size of 255 bytes. -fromMsg1002 :: MonadStore e m => Msg1002 -> m [MsgObsDepC] +fromMsg1002 :: MonadStore e m => Msg1002 -> m [MsgObs] fromMsg1002 m = do - let hdr = m ^. msg1002_header - station = hdr ^. gpsObservationHeader_station - obs <- concatMapM (fromObservation1002 station) $ m ^. msg1002_observations + let hdr = m ^. msg1002_header + obs <- concatMapM fromObservation1002 $ m ^. msg1002_observations let chunks = zip [0..] $ chunksOf maxObsPerMessage obs totalMsgs = fromIntegral $ length chunks forM chunks $ uncurry $ chunkToMsgObs hdr totalMsgs -- | Construct an L1/L2 SBP PackedObsContent from an RTCM Msg 1004. -- -fromObservation1004 :: MonadStore e m => Word16 -> Observation1004 -> m [PackedObsContentDepC] -fromObservation1004 station obs = do - obs1 <- fromL1SatelliteObservation station sat l1 l1e - obs2 <- fromL2SatelliteObservation station sat l1 l1e l2 l2e +fromObservation1004 :: MonadStore e m => Observation1004 -> m [PackedObsContent] +fromObservation1004 obs = do + obs1 <- fromL1SatelliteObservation sat l1 l1e + obs2 <- fromL2SatelliteObservation sat l1 l1e l2 l2e return $ -- Only lower set of PRN numbers (1-32) are supported if sat > maxSats then mempty else @@ -483,11 +492,10 @@ -- -- This chunking takes places because the number of observations in a given 1004 -- may very well exceed the maximum SBP supported payload size of 255 bytes. -fromMsg1004 :: MonadStore e m => Msg1004 -> m [MsgObsDepC] +fromMsg1004 :: MonadStore e m => Msg1004 -> m [MsgObs] fromMsg1004 m = do - let hdr = m ^. msg1004_header - station = hdr ^. gpsObservationHeader_station - obs <- concatMapM (fromObservation1004 station) $ m ^. msg1004_observations + let hdr = m ^. msg1004_header + obs <- concatMapM fromObservation1004 $ m ^. msg1004_observations let chunks = zip [0..] $ chunksOf maxObsPerMessage obs totalMsgs = fromIntegral $ length chunks forM chunks $ uncurry $ chunkToMsgObs hdr totalMsgs @@ -519,11 +527,11 @@ (RTCM3Msg1002 m _rtcm3) -> do let sender = m ^. msg1002_header ^. gpsObservationHeader_station m' <- fromMsg1002 m - return $ flip fmap m' $ \x -> SBPMsgObsDepC x $ toSBP x $ toSender sender + return $ flip fmap m' $ \x -> SBPMsgObs x $ toSBP x $ toSender sender (RTCM3Msg1004 m _rtcm3) -> do let sender = m ^. msg1004_header ^. gpsObservationHeader_station m' <- fromMsg1004 m - return $ flip fmap m' $ \x -> SBPMsgObsDepC x $ toSBP x $ toSender sender + return $ flip fmap m' $ \x -> SBPMsgObs x $ toSBP x $ toSender sender (RTCM3Msg1005 m _rtcm3) -> do let sender = m ^. msg1005_reference ^. antennaReference_station m' <- fromMsg1005 m @@ -542,4 +550,4 @@ newStore = do day <- utctDay <$> getCurrentTime let wn = fromIntegral $ div (diffDays day (fromGregorian 1980 1 6)) 7 - Store <$> newIORef wn <*> newIORef mempty <*> newIORef mempty + Store <$> newIORef wn <*> newIORef mempty diff --git a/src/Data/RTCM3/SBP/Types.hs b/src/Data/RTCM3/SBP/Types.hs --- a/src/Data/RTCM3/SBP/Types.hs +++ b/src/Data/RTCM3/SBP/Types.hs @@ -30,15 +30,7 @@ import Data.Word import SwiftNav.SBP -data Lock = Lock - { _lockTime :: Word8 - , _lockCounter :: Word16 - } deriving ( Eq ) - -$(makeLenses ''Lock) - -type GpsTimeMap = HashMap Word16 GpsTime -type LockMap = HashMap (Word16, GnssSignal) Lock +type GpsTimeMap = HashMap Word16 GpsTimeNano instance Hashable GnssSignal where hashWithSalt s g = hashWithSalt s (g ^. gnssSignal_sat, g ^. gnssSignal_code, g ^. gnssSignal_reserved) @@ -74,7 +66,6 @@ data Store = Store { _storeWn :: IORef Word16 - , _storeLockMap :: IORef LockMap , _storeGpsTimeMap :: IORef GpsTimeMap } deriving ( Eq ) diff --git a/test/Test/Data/RTCM3/SBP.hs b/test/Test/Data/RTCM3/SBP.hs --- a/test/Test/Data/RTCM3/SBP.hs +++ b/test/Test/Data/RTCM3/SBP.hs @@ -23,7 +23,6 @@ import Data.IORef import Data.RTCM3.SBP import Data.RTCM3.SBP.Types -import Data.Word import SwiftNav.SBP import Test.HUnit.Approx import Test.Tasty @@ -31,7 +30,7 @@ decodeRTCMFile :: FilePath -> IO [SBPMsg] decodeRTCMFile filename = do - s <- Store <$> newIORef 1906 <*> newIORef mempty <*> newIORef mempty + s <- Store <$> newIORef 1906 <*> newIORef mempty runResourceT $ runConvertT s $ runConduit $ sourceFile filename =$= conduitDecode =$= @@ -44,27 +43,27 @@ , msg' ^. msgBasePosEcef_z ) -isL1 :: PackedObsContentDepC -> Bool -isL1 obs = (obs ^. packedObsContentDepC_sid ^. gnssSignal_code) == l1CSidCode +isL1 :: PackedObsContent -> Bool +isL1 obs = (obs ^. packedObsContent_sid ^. gnssSignal16_code) == l1CSidCode -isL2 :: PackedObsContentDepC -> Bool +isL2 :: PackedObsContent -> Bool isL2 obs = code == l2CMSidCode || code == l2PSidCode where - code = obs ^. packedObsContentDepC_sid ^. gnssSignal_code + code = obs ^. packedObsContent_sid ^. gnssSignal16_code -sat :: PackedObsContentDepC -> Word16 -sat obs = obs ^. packedObsContentDepC_sid ^. gnssSignal_sat +sat :: PackedObsContent -> Word8 +sat obs = obs ^. packedObsContent_sid ^. gnssSignal16_sat -cn0 :: PackedObsContentDepC -> Double -cn0 obs = 0.25 * fromIntegral (obs ^. packedObsContentDepC_cn0) +cn0 :: PackedObsContent -> Double +cn0 obs = 0.25 * fromIntegral (obs ^. packedObsContent_cn0) -pseudorange :: PackedObsContentDepC -> Double -pseudorange obs = fromIntegral (obs ^. packedObsContentDepC_P) / sbpCMinM +pseudorange :: PackedObsContent -> Double +pseudorange obs = fromIntegral (obs ^. packedObsContent_P) / sbpCMinM -carrierPhase :: PackedObsContentDepC -> Double +carrierPhase :: PackedObsContent -> Double carrierPhase obs = whole + fraction where - phase = obs ^. packedObsContentDepC_L + phase = obs ^. packedObsContent_L whole = fromIntegral (phase ^. carrierPhase_i) fraction = fromIntegral (phase ^. carrierPhase_f) / q32Width @@ -73,22 +72,22 @@ assertEqual "Base station position error!" pos $ basePosition posEcef assertExpectedBase _ _ = assertFailure "Invalid message type!" -assertObsHeader :: SBPMsg -> ObservationHeaderDep -> Assertion -assertObsHeader (SBPMsgObsDepC obs _) header = - assertEqual "Observation header is not equal" header $ obs ^. msgObsDepC_header +assertObsHeader :: SBPMsg -> ObservationHeader -> Assertion +assertObsHeader (SBPMsgObs obs _) header = + assertEqual "Observation header is not equal" header $ obs ^. msgObs_header assertObsHeader _ _ = assertFailure "Invalid message type!" -assertObs :: HashMap Word16 (Double, Double, Double) - -> PackedObsContentDepC +assertObs :: HashMap Word8 (Double, Double, Double) + -> PackedObsContent -> Double -- ^ Pseudorange tolerance (meters) -> Double -- ^ Carrier phase tolerance (cycles) -> Word8 -- ^ Satellite band code -> Assertion assertObs truth obs ptol ctol sig = do - let prn = 1 + sat obs + let prn = sat obs def = (0, 0, 0) (p, c, snr) = lookupDefault def prn truth - code = obs ^. packedObsContentDepC_sid ^. gnssSignal_code + code = obs ^. packedObsContent_sid ^. gnssSignal16_code msg' = textToString $ "PRN=" ++ show prn ++ " CODE=" ++ show code -- Pseudorange representation error assertApproxEqual ("Incorrect pseudorange" ++ msg') ptol p $ pseudorange obs @@ -99,11 +98,11 @@ assertEqual ("Incorrect code" ++ msg') sig code assertMsgObs :: SBPMsg -> Assertion -assertMsgObs (SBPMsgObsDepC obs' _) = do +assertMsgObs (SBPMsgObs obs' _) = do let ptol = 0.020 -- 2cm representation errorn ctol_L1 = 0.005 -- carrier phase / L1 wavelength = 0.001m/0.190m cycles ctol_L2 = 0.004 -- carrier phase / L2 wavelength = 0.001m/0.250m cycles - forM_ (obs' ^. msgObsDepC_obs) $ \packed -> + forM_ (obs' ^. msgObs_obs) $ \packed -> case () of _ | isL1 packed -> assertObs testObs_L1 packed ptol ctol_L1 l1CSidCode | isL2 packed -> assertObs testObs_L2 packed ptol ctol_L2 l2PSidCode @@ -111,13 +110,13 @@ assertMsgObs _ = assertFailure "Invalid message type!" assertMsgObsLength :: SBPMsg -> Int -> Assertion -assertMsgObsLength (SBPMsgObsDepC obs' _) len = length (obs' ^. msgObsDepC_obs) @?= len +assertMsgObsLength (SBPMsgObs obs' _) len = length (obs' ^. msgObs_obs) @?= len assertMsgObsLength _ _ = assertFailure "Invalid message type!" -- | L1 observations: PRN => Pseudorange, Carrier Phase, SNR -- -- From fixtures/rinex/ucsf_bard_four_seconds.obs RINEX -testObs_L1 :: HashMap Word16 (Double, Double, Double) +testObs_L1 :: HashMap Word8 (Double, Double, Double) testObs_L1 = fromList [ (5, (20982568.242, 110264218.428, 50.500)) , (31, (24390286.418, 128171817.525, 43.000)) , (25, (20560669.144, 108047101.226, 51.750)) @@ -131,7 +130,7 @@ -- | L2 observations: PRN => Pseudorange, Carrier Phase, SNR -- -- From fixtures/rinex/ucsf_bard_four_seconds.obs RINEX -testObs_L2 :: HashMap Word16 (Double, Double, Double) +testObs_L2 :: HashMap Word8 (Double, Double, Double) testObs_L2 = fromList [ (5, (20982564.742, 85920194.806, 40.000)) , (31, (24390281.338, 99874145.710, 22.750)) , (25, (20560668.244, 84192554.659, 42.750)) @@ -155,41 +154,41 @@ assertExpectedBase (msgs !! 0) expectedBasePos assertExpectedBase (msgs !! 5) expectedBasePos -- Message 1 - assertObsHeader (msgs !! 1) ObservationHeaderDep { - _observationHeaderDep_t = GpsTime 86354000 1906 - , _observationHeaderDep_n_obs = 32 + assertObsHeader (msgs !! 1) ObservationHeader { + _observationHeader_t = GpsTimeNano 86354000 0 1906 + , _observationHeader_n_obs = 32 } assertMsgObsLength (msgs !! 1) 15 assertMsgObs (msgs !! 1) -- Message 2 - assertObsHeader (msgs !! 2) ObservationHeaderDep { - _observationHeaderDep_t = GpsTime 86354000 1906 - , _observationHeaderDep_n_obs = 33 + assertObsHeader (msgs !! 2) ObservationHeader { + _observationHeader_t = GpsTimeNano 86354000 0 1906 + , _observationHeader_n_obs = 33 } assertMsgObs (msgs !! 2) assertMsgObsLength (msgs !! 2) 1 -- Message 3 - assertObsHeader (msgs !! 3) ObservationHeaderDep { - _observationHeaderDep_t = GpsTime 86355000 1906 - , _observationHeaderDep_n_obs = 32 + assertObsHeader (msgs !! 3) ObservationHeader { + _observationHeader_t = GpsTimeNano 86355000 0 1906 + , _observationHeader_n_obs = 32 } assertMsgObsLength (msgs !! 3) 15 -- Message 4 - assertObsHeader (msgs !! 4) ObservationHeaderDep { - _observationHeaderDep_t = GpsTime 86355000 1906 - , _observationHeaderDep_n_obs = 33 + assertObsHeader (msgs !! 4) ObservationHeader { + _observationHeader_t = GpsTimeNano 86355000 0 1906 + , _observationHeader_n_obs = 33 } assertMsgObsLength (msgs !! 4) 1 -- Message 6 - assertObsHeader (msgs !! 6) ObservationHeaderDep { - _observationHeaderDep_t = GpsTime 86356000 1906 - , _observationHeaderDep_n_obs = 32 + assertObsHeader (msgs !! 6) ObservationHeader { + _observationHeader_t = GpsTimeNano 86356000 0 1906 + , _observationHeader_n_obs = 32 } assertMsgObsLength (msgs !! 6) 15 -- Message 7 - assertObsHeader (msgs !! 7) ObservationHeaderDep { - _observationHeaderDep_t = GpsTime 86356000 1906 - , _observationHeaderDep_n_obs = 33 + assertObsHeader (msgs !! 7) ObservationHeader { + _observationHeader_t = GpsTimeNano 86356000 0 1906 + , _observationHeader_n_obs = 33 } assertMsgObsLength (msgs !! 7) 1 ] @@ -215,34 +214,17 @@ testUpdateGpsTime = testGroup "Update GPS Time" [ testCase "old TOW < new TOW" $ do - let old = GpsTime 1 10 + let old = GpsTimeNano 1 0 10 new = updateGpsTime 2 old - new ^. gpsTime_wn @?= 10 + new ^. gpsTimeNano_wn @?= 10 , testCase "old TOW = new TOW" $ do - let old = GpsTime 1 10 + let old = GpsTimeNano 1 0 10 new = updateGpsTime 1 old - new ^. gpsTime_wn @?= 10 + new ^. gpsTimeNano_wn @?= 10 , testCase "old TOW > new TOW" $ do - let old = GpsTime 1 10 + let old = GpsTimeNano 1 0 10 new = updateGpsTime 0 old - new ^. gpsTime_wn @?= 11 - ] - -testUpdateLock :: TestTree -testUpdateLock = - testGroup "Update Lock" - [ testCase "old time < new time" $ do - let old = Lock 1 10 - new = updateLock 2 old - new ^. lockCounter @?= 10 - , testCase "old time = new time" $ do - let old = Lock 1 10 - new = updateLock 1 old - new ^. lockCounter @?= 10 - , testCase "old time > new time" $ do - let old = Lock 1 10 - new = updateLock 0 old - new ^. lockCounter @?= 11 + new ^. gpsTimeNano_wn @?= 11 ] tests :: TestTree @@ -251,5 +233,4 @@ [ testMsg1004 , testToWn , testUpdateGpsTime - , testUpdateLock ]