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: 0.2.6 +version: 0.2.7 synopsis: GNSS Converters. description: Haskell bindings for GNSS converters. homepage: http://github.com/swift-nav/gnss-converters @@ -36,8 +36,6 @@ , transformers-base , unordered-containers default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings executable sbp2rtcm3 hs-source-dirs: main @@ -47,8 +45,6 @@ , basic-prelude , gnss-converters default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings executable rtcm32sbp hs-source-dirs: main @@ -62,8 +58,6 @@ , gnss-converters , resourcet default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings test-suite test type: exitcode-stdio-1.0 @@ -89,5 +83,3 @@ , unordered-containers ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings diff --git a/main/RTCM32SBP.hs b/main/RTCM32SBP.hs --- a/main/RTCM32SBP.hs +++ b/main/RTCM32SBP.hs @@ -1,3 +1,5 @@ +{-# LANGUAGE NoImplicitPrelude #-} + -- | -- Module: RTCM32SBP -- Copyright: (c) 2015 Mark Fine diff --git a/main/SBP2RTCM3.hs b/main/SBP2RTCM3.hs --- a/main/SBP2RTCM3.hs +++ b/main/SBP2RTCM3.hs @@ -1,3 +1,5 @@ +{-# LANGUAGE NoImplicitPrelude #-} + -- | -- Module: SBP2RTCM3 -- Copyright: (c) 2015 Mark Fine 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 @@ -1,4 +1,5 @@ -{-# LANGUAGE LambdaCase #-} +{-# LANGUAGE LambdaCase #-} +{-# LANGUAGE NoImplicitPrelude #-} -- | -- Module: Data.RTCM3.SBP @@ -447,7 +448,7 @@ toe <- rtcmTimeToGpsTime (m ^. msg1019_ephemeris ^. gpsEphemeris_wn) (m ^. msg1019_ephemeris ^. gpsEphemeris_toe) return EphemerisCommonContent { _ephemerisCommonContent_sid = GnssSignal16 - { _gnssSignal16_sat = m ^. msg1019_header ^. ephemerisHeader_sat + { _gnssSignal16_sat = m ^. msg1019_header ^. gpsEphemerisHeader_sat , _gnssSignal16_code = 0 -- there is an L2P status flag in msg 1019, but I don't think that applies } , _ephemerisCommonContent_toe = toe 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 @@ -3,6 +3,7 @@ {-# LANGUAGE FlexibleInstances #-} {-# LANGUAGE GeneralizedNewtypeDeriving #-} {-# LANGUAGE MultiParamTypeClasses #-} +{-# LANGUAGE NoImplicitPrelude #-} {-# LANGUAGE TemplateHaskell #-} {-# LANGUAGE TypeFamilies #-} {-# LANGUAGE UndecidableInstances #-} diff --git a/src/SwiftNav/SBP/RTCM3.hs b/src/SwiftNav/SBP/RTCM3.hs --- a/src/SwiftNav/SBP/RTCM3.hs +++ b/src/SwiftNav/SBP/RTCM3.hs @@ -1,4 +1,5 @@ -{-# LANGUAGE LambdaCase #-} +{-# LANGUAGE LambdaCase #-} +{-# LANGUAGE NoImplicitPrelude #-} -- | -- Module: SwiftNav.SBP.RTCM3 diff --git a/test/Test.hs b/test/Test.hs --- a/test/Test.hs +++ b/test/Test.hs @@ -1,3 +1,6 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} + -- | -- Module: Test -- Copyright: (c) 2016 Swift Navigation Inc. 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 @@ -1,5 +1,7 @@ -{-# LANGUAGE FlexibleContexts #-} -{-# LANGUAGE LambdaCase #-} +{-# LANGUAGE FlexibleContexts #-} +{-# LANGUAGE LambdaCase #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} -- | -- Module: Test.Data.RTCM3.SBP @@ -233,34 +235,34 @@ -- No values from this set of ephemerides were compared to Piksi. -- Index 0, sat 4 - assertBool "index 0, sat 4, toc" $ (msgs !! 0) ^. msgEphemerisGps_toc ^. gpsTime_tow == 331200 - assertBool "index 0, sat 4, toc" $ (msgs !! 0) ^. msgEphemerisGps_toc ^. gpsTime_wn == 1937 - assertBool "index 0, sat 4, sid" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_sid ^. gnssSignal_sat == 4 - assertBool "index 0, sat 4, ura" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_ura == 2 - assertBool "index 0, sat 4, valid" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_valid == 1 - assertBool "index 0, sat 4, fitint" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_fit_interval == 14400 - assertBool "index 0, sat 4, health" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_health_bits == 0 - assertBool "index 0, sat 4, dn" $ (msgs !! 0) ^. msgEphemerisGps_dn == 4.8134147837606336e-9 - assertBool "index 0, sat 4, w" $ (msgs !! 0) ^. msgEphemerisGps_w == 0.5556409483786487 - assertBool "index 0, sat 4, tgd" $ (msgs !! 0) ^. msgEphemerisGps_tgd == -1.0710209608078003e-8 - assertBool "index 0, sat 4, c_rs" $ (msgs !! 0) ^. msgEphemerisGps_c_rs == 11.0625 - assertBool "index 0, sat 4, c_rc" $ (msgs !! 0) ^. msgEphemerisGps_c_rc == 195.6875 - assertBool "index 0, sat 4, c_us" $ (msgs !! 0) ^. msgEphemerisGps_c_us == 9.134411811828613e-6 - assertBool "index 0, sat 4, c_uc" $ (msgs !! 0) ^. msgEphemerisGps_c_uc == 7.040798664093018e-7 - assertBool "index 0, sat 4, c_is" $ (msgs !! 0) ^. msgEphemerisGps_c_is == 2.0489096641540527e-8 - assertBool "index 0, sat 4, c_ic" $ (msgs !! 0) ^. msgEphemerisGps_c_ic == 4.6566128730773926e-8 - assertBool "index 0, sat 4, m0" $ (msgs !! 0) ^. msgEphemerisGps_m0 == -6.1410736472242544e-2 - assertBool "index 0, sat 4, ecc" $ (msgs !! 0) ^. msgEphemerisGps_ecc == 4.897040314972401e-3 - assertBool "index 0, sat 4, sqrta" $ (msgs !! 0) ^. msgEphemerisGps_sqrta == 5153.690675735474 - assertBool "index 0, sat 4, omega0" $ (msgs !! 0) ^. msgEphemerisGps_omega0 == 0.26338009467812684 - assertBool "index 0, sat 4, omegadot" $ (msgs !! 0) ^. msgEphemerisGps_omegadot == -8.164982961456692e-9 - assertBool "index 0, sat 4, inc" $ (msgs !! 0) ^. msgEphemerisGps_inc == 0.9470684719233013 - assertBool "index 0, sat 4, incdot" $ (msgs !! 0) ^. msgEphemerisGps_inc_dot == 5.146642949765581e-10 - assertBool "index 0, sat 4, af0" $ (msgs !! 0) ^. msgEphemerisGps_af0 == -5.923490971326828e-5 - assertBool "index 0, sat 4, af1" $ (msgs !! 0) ^. msgEphemerisGps_af1 == 2.0463630789890885e-12 - assertBool "index 0, sat 4, af2" $ (msgs !! 0) ^. msgEphemerisGps_af2 == 0 - assertBool "index 0, sat 4, iode" $ (msgs !! 0) ^. msgEphemerisGps_iode == 50 - assertBool "index 0, sat 4, iodc" $ (msgs !! 0) ^. msgEphemerisGps_iodc == 50 + assertBool "index 0, sat 4, toc" $ (msgs !! 0) ^. msgEphemerisGps_toc ^. gpsTime_tow == 331200 + assertBool "index 0, sat 4, toc" $ (msgs !! 0) ^. msgEphemerisGps_toc ^. gpsTime_wn == 1937 + assertBool "index 0, sat 4, sid" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_sid ^. gnssSignal16_sat == 5 + assertBool "index 0, sat 4, ura" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_ura == 2 + assertBool "index 0, sat 4, valid" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_valid == 1 + assertBool "index 0, sat 4, fitint" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_fit_interval == 14400 + assertBool "index 0, sat 4, health" $ (msgs !! 0) ^. msgEphemerisGps_common ^. ephemerisCommonContent_health_bits == 0 + assertBool "index 0, sat 4, dn" $ (msgs !! 0) ^. msgEphemerisGps_dn == 4.8134147837606336e-9 + assertBool "index 0, sat 4, w" $ (msgs !! 0) ^. msgEphemerisGps_w == 0.5556409483786487 + assertBool "index 0, sat 4, tgd" $ (msgs !! 0) ^. msgEphemerisGps_tgd == -1.0710209608078003e-8 + assertBool "index 0, sat 4, c_rs" $ (msgs !! 0) ^. msgEphemerisGps_c_rs == 11.0625 + assertBool "index 0, sat 4, c_rc" $ (msgs !! 0) ^. msgEphemerisGps_c_rc == 195.6875 + assertBool "index 0, sat 4, c_us" $ (msgs !! 0) ^. msgEphemerisGps_c_us == 9.134411811828613e-6 + assertBool "index 0, sat 4, c_uc" $ (msgs !! 0) ^. msgEphemerisGps_c_uc == 7.040798664093018e-7 + assertBool "index 0, sat 4, c_is" $ (msgs !! 0) ^. msgEphemerisGps_c_is == 2.0489096641540527e-8 + assertBool "index 0, sat 4, c_ic" $ (msgs !! 0) ^. msgEphemerisGps_c_ic == 4.6566128730773926e-8 + assertBool "index 0, sat 4, m0" $ (msgs !! 0) ^. msgEphemerisGps_m0 == -6.1410736472242544e-2 + assertBool "index 0, sat 4, ecc" $ (msgs !! 0) ^. msgEphemerisGps_ecc == 4.897040314972401e-3 + assertBool "index 0, sat 4, sqrta" $ (msgs !! 0) ^. msgEphemerisGps_sqrta == 5153.690675735474 + assertBool "index 0, sat 4, omega0" $ (msgs !! 0) ^. msgEphemerisGps_omega0 == 0.26338009467812684 + assertBool "index 0, sat 4, omegadot" $ (msgs !! 0) ^. msgEphemerisGps_omegadot == -8.164982961456692e-9 + assertBool "index 0, sat 4, inc" $ (msgs !! 0) ^. msgEphemerisGps_inc == 0.9470684719233013 + assertBool "index 0, sat 4, incdot" $ (msgs !! 0) ^. msgEphemerisGps_inc_dot == 5.146642949765581e-10 + assertBool "index 0, sat 4, af0" $ (msgs !! 0) ^. msgEphemerisGps_af0 == -5.923490971326828e-5 + assertBool "index 0, sat 4, af1" $ (msgs !! 0) ^. msgEphemerisGps_af1 == 2.0463630789890885e-12 + assertBool "index 0, sat 4, af2" $ (msgs !! 0) ^. msgEphemerisGps_af2 == 0 + assertBool "index 0, sat 4, iode" $ (msgs !! 0) ^. msgEphemerisGps_iode == 50 + assertBool "index 0, sat 4, iodc" $ (msgs !! 0) ^. msgEphemerisGps_iodc == 50 , testCase "Compare RTCM from ephemeris service and SBP messages from Piksi" $ do -- Loop through all the decoded RTCM ephemerides, find the corresponding SBP @@ -273,15 +275,15 @@ let msgs2_sbp = messagesToGpsEphemeris msgs2_sbp' flip BasicPrelude.mapM_ msgs2_converted $ \m' -> - let sid = m' ^. msgEphemerisGps_common ^. ephemerisCommonContent_sid ^. gnssSignal_sat in + let sid = m' ^. msgEphemerisGps_common ^. ephemerisCommonContent_sid ^. gnssSignal16_sat in let toc = m' ^. msgEphemerisGps_toc ^. gpsTime_tow in - let ms = filter ((== sid) . _gnssSignal_sat . _ephemerisCommonContent_sid . _msgEphemerisGps_common) msgs2_sbp in + let ms = filter ((== sid) . _gnssSignal16_sat . _ephemerisCommonContent_sid . _msgEphemerisGps_common) msgs2_sbp in let ms' = filter ((== toc) . _gpsTime_tow . _msgEphemerisGps_toc) ms in if length ms' == 0 then return () else let m = head ms' in do compareFieldsWithAccessor "toc" m m' (_gpsTime_tow . _msgEphemerisGps_toc) compareFieldsWithAccessor "wn" m m' (_gpsTime_wn . _msgEphemerisGps_toc) - compareFieldsWithAccessor "sid" m m' (_gnssSignal_sat . _ephemerisCommonContent_sid . _msgEphemerisGps_common) + compareFieldsWithAccessor "sid" m m' (_gnssSignal16_sat . _ephemerisCommonContent_sid . _msgEphemerisGps_common) -- Does not always match the values coming out of a Piksi. I have reason to believe -- that the Piksi might be the problem. --compareFieldsWithAccessor "ura" m m' (_ephemerisCommonContent_ura . _msgEphemerisGps_common)