gnss-converters 0.3.28 → 0.3.30

raw patch · 3 files changed

+201/−2 lines, 3 filesPVP: major bump suggested

API removals or changes: PVP suggests a major version bump

API changes (from Hackage documentation)

Files

• gnss-converters.cabal +3/−2
• src/Data/RTCM3/SBP.hs +7/−0
• src/Data/RTCM3/SBP/SSR.hs +191/−0

@@ -1,10 +1,10 @@ name:                  gnss-converters-version:               0.3.28+version:               0.3.30 synopsis:              GNSS Converters. description:           Haskell bindings for GNSS converters. homepage:              http://github.com/swift-nav/gnss-converters license:               BSD3-author:                Mark Fine <mark@swiftnav.com>, Joshua Gross <josh@swiftnav.com>+author:                Mark Fine <mark@swiftnav.com> maintainer:            Swift Navigation <dev@swiftnav.com> copyright:             Copyright (C) 2016, 2017 Swift Navigation, Inc. category:              Network@@ -23,6 +23,7 @@                      , Data.RTCM3.SBP.Ephemerides                      , Data.RTCM3.SBP.Observations                      , Data.RTCM3.SBP.Positions+                     , Data.RTCM3.SBP.SSR                      , Data.RTCM3.SBP.Time                      , Data.RTCM3.SBP.Types                      , SwiftNav.SBP.RTCM3

@@ -27,6 +27,7 @@ import qualified Data.RTCM3.SBP.Ephemerides  as Ephemerides import qualified Data.RTCM3.SBP.Observations as Observations import qualified Data.RTCM3.SBP.Positions    as Positions+import qualified Data.RTCM3.SBP.SSR          as SSR import           Data.RTCM3.SBP.Time import           Data.RTCM3.SBP.Types import           SwiftNav.SBP@@ -44,6 +45,12 @@   (RTCM3Msg1019 m _rtcm3) -> Ephemerides.gpsConverter m   (RTCM3Msg1020 m _rtcm3) -> Ephemerides.glonassConverter m   (RTCM3Msg1230 m _rtcm3) -> Biases.converter m+  (RTCM3Msg1060 m _rtcm3) -> SSR.gpsOrbitClockConverter m+  (RTCM3Msg1066 m _rtcm3) -> SSR.glonassOrbitClockConverter m+  (RTCM3Msg1059 m _rtcm3) -> SSR.gpsCodeBiasConverter m+  (RTCM3Msg1065 m _rtcm3) -> SSR.glonassCodeBiasConverter m+  (RTCM3Msg1265 m _rtcm3) -> SSR.gpsPhaseBiasConverter m+  (RTCM3Msg1266 m _rtcm3) -> SSR.glonassPhaseBiasConverter m   _rtcm3Msg               -> mempty  -- | Setup new storage for converter.

@@ -0,0 +1,191 @@+{-# LANGUAGE NoImplicitPrelude #-}++-- |+-- Module:      Data.RTCM3.SBP.SSR+-- Copyright:   Copyright (C) 2017 Swift Navigation, Inc.+-- License:     LGPL-3+-- Maintainer:  Swift Navigation <dev@swiftnav.com>+-- Stability:   experimental+-- Portability: portable+--+-- RTCMv3 to SBP Biases Conversions.++module Data.RTCM3.SBP.SSR+  ( gpsOrbitClockConverter+  , glonassOrbitClockConverter+  , gpsCodeBiasConverter+  , glonassCodeBiasConverter+  , gpsPhaseBiasConverter+  , glonassPhaseBiasConverter+  ) where++import BasicPrelude+import Control.Lens+import Data.Conduit+import Data.RTCM3+import Data.RTCM3.SBP.Time+import Data.RTCM3.SBP.Types+import SwiftNav.SBP++toGpsTimeSec :: MonadStore e m => Word32 -> m GpsTimeSec+toGpsTimeSec epochs = do+  time <- view storeCurrentGpsTime+  wn   <- view gpsTime_wn <$> liftIO time+  pure GpsTimeSec+    { _gpsTimeSec_tow = epochs+    , _gpsTimeSec_wn  = wn+    }++toGlonassTimeSec :: MonadStore e m => Word32 -> m GpsTimeSec+toGlonassTimeSec epochs = do+  time <- view storeCurrentGpsTime+  t    <- liftIO time+  let epochs' = fromIntegral epochs * 1000 - 3 * hourMillis + gpsLeapMillis+      epochs''+        | epochs' < 0 = epochs' + dayMillis+        | otherwise = epochs'+      dow = fromIntegral (t ^. gpsTime_tow) `div` dayMillis+  pure GpsTimeSec+    { _gpsTimeSec_tow = fromIntegral $ (dow * dayMillis + epochs'') `div` 1000+    , _gpsTimeSec_wn  = t ^. gpsTime_wn+    }++gpsOrbitClockConverter :: MonadStore e m => Msg1060 -> Conduit i m [SBPMsg]+gpsOrbitClockConverter m = do+  time <- toGpsTimeSec $ m ^. msg1060_header ^. gpsOrbitClockCorrectionHeader_epochs+  yield $ flip map (m ^. msg1060_corrections) $ \c -> do+    let m' = MsgSsrOrbitClock+             { _msgSsrOrbitClock_time            = time+             , _msgSsrOrbitClock_sid             = GnssSignal+               { _gnssSignal_sat  = c ^. gpsOrbitClockCorrection_sat+               , _gnssSignal_code = 0+               }+             , _msgSsrOrbitClock_update_interval = m ^. msg1060_header ^. gpsOrbitClockCorrectionHeader_updateInterval+             , _msgSsrOrbitClock_iod_ssr         = m ^. msg1060_header ^. gpsOrbitClockCorrectionHeader_iod+             , _msgSsrOrbitClock_iod             = c ^. gpsOrbitClockCorrection_iode+             , _msgSsrOrbitClock_radial          = c ^. gpsOrbitClockCorrection_deltaRadial+             , _msgSsrOrbitClock_along           = c ^. gpsOrbitClockCorrection_deltaAlongTrack+             , _msgSsrOrbitClock_cross           = c ^. gpsOrbitClockCorrection_deltaCrossTrack+             , _msgSsrOrbitClock_dot_radial      = c ^. gpsOrbitClockCorrection_dotDeltaRadial+             , _msgSsrOrbitClock_dot_along       = c ^. gpsOrbitClockCorrection_dotDeltaAlongTrack+             , _msgSsrOrbitClock_dot_cross       = c ^. gpsOrbitClockCorrection_dotDeltaCrossTrack+             , _msgSsrOrbitClock_c0              = c ^. gpsOrbitClockCorrection_deltaClockC0+             , _msgSsrOrbitClock_c1              = c ^. gpsOrbitClockCorrection_deltaClockC1+             , _msgSsrOrbitClock_c2              = c ^. gpsOrbitClockCorrection_deltaClockC2+             }+    SBPMsgSsrOrbitClock m' $ toSBP m' 61440++glonassOrbitClockConverter :: MonadStore e m => Msg1066 -> Conduit i m [SBPMsg]+glonassOrbitClockConverter m = do+  time <- toGlonassTimeSec $ m ^. msg1066_header ^. glonassOrbitClockCorrectionHeader_epochs+  yield $ flip map (m ^. msg1066_corrections) $ \c -> do+    let m' = MsgSsrOrbitClock+             { _msgSsrOrbitClock_time            = time+             , _msgSsrOrbitClock_sid             = GnssSignal+               { _gnssSignal_sat  = c ^. glonassOrbitClockCorrection_sat+               , _gnssSignal_code = 3+                 }+             , _msgSsrOrbitClock_update_interval = m ^. msg1066_header ^. glonassOrbitClockCorrectionHeader_updateInterval+             , _msgSsrOrbitClock_iod_ssr         = m ^. msg1066_header ^. glonassOrbitClockCorrectionHeader_iod+             , _msgSsrOrbitClock_iod             = c ^. glonassOrbitClockCorrection_iode+             , _msgSsrOrbitClock_radial          = c ^. glonassOrbitClockCorrection_deltaRadial+             , _msgSsrOrbitClock_along           = c ^. glonassOrbitClockCorrection_deltaAlongTrack+             , _msgSsrOrbitClock_cross           = c ^. glonassOrbitClockCorrection_deltaCrossTrack+             , _msgSsrOrbitClock_dot_radial      = c ^. glonassOrbitClockCorrection_dotDeltaRadial+             , _msgSsrOrbitClock_dot_along       = c ^. glonassOrbitClockCorrection_dotDeltaAlongTrack+             , _msgSsrOrbitClock_dot_cross       = c ^. glonassOrbitClockCorrection_dotDeltaCrossTrack+             , _msgSsrOrbitClock_c0              = c ^. glonassOrbitClockCorrection_deltaClockC0+             , _msgSsrOrbitClock_c1              = c ^. glonassOrbitClockCorrection_deltaClockC1+             , _msgSsrOrbitClock_c2              = c ^. glonassOrbitClockCorrection_deltaClockC2+             }+    SBPMsgSsrOrbitClock m' $ toSBP m' 61440++gpsCodeBiasConverter :: MonadStore e m => Msg1059 -> Conduit i m [SBPMsg]+gpsCodeBiasConverter m = do+  time <- toGpsTimeSec $ m ^. msg1059_header ^. gpsCodeBiasCorrectionHeader_epochs+  yield $ flip map (m ^. msg1059_corrections) $ \c -> do+    let m' = MsgSsrCodeBiases+             { _msgSsrCodeBiases_time            = time+             , _msgSsrCodeBiases_sid             = GnssSignal+               { _gnssSignal_sat  = c ^. gpsCodeBiasCorrection_sat+               , _gnssSignal_code = 0+               }+             , _msgSsrCodeBiases_update_interval = m ^. msg1059_header ^. gpsCodeBiasCorrectionHeader_updateInterval+             , _msgSsrCodeBiases_iod_ssr         = m ^. msg1059_header ^. gpsCodeBiasCorrectionHeader_iod+             , _msgSsrCodeBiases_biases          = flip map (c ^. gpsCodeBiasCorrection_codeBiases) $ \b -> CodeBiasesContent+               { _codeBiasesContent_code  = b ^. gpsCodeBias_signal+               , _codeBiasesContent_value = b ^. gpsCodeBias_codeBias+               }+             }+    SBPMsgSsrCodeBiases m' $ toSBP m' 61440++glonassCodeBiasConverter :: MonadStore e m => Msg1065 -> Conduit i m [SBPMsg]+glonassCodeBiasConverter m = do+  time <- toGlonassTimeSec $ m ^. msg1065_header ^. glonassCodeBiasCorrectionHeader_epochs+  yield $ flip map (m ^. msg1065_corrections) $ \c -> do+    let m' = MsgSsrCodeBiases+             { _msgSsrCodeBiases_time            = time+             , _msgSsrCodeBiases_sid             = GnssSignal+               { _gnssSignal_sat  = c ^. glonassCodeBiasCorrection_sat+               , _gnssSignal_code = 3+               }+             , _msgSsrCodeBiases_update_interval = m ^. msg1065_header ^. glonassCodeBiasCorrectionHeader_updateInterval+             , _msgSsrCodeBiases_iod_ssr         = m ^. msg1065_header ^. glonassCodeBiasCorrectionHeader_iod+             , _msgSsrCodeBiases_biases          = flip map (c ^. glonassCodeBiasCorrection_codeBiases) $ \b -> CodeBiasesContent+               { _codeBiasesContent_code  = b ^. glonassCodeBias_signal+               , _codeBiasesContent_value = b ^. glonassCodeBias_codeBias+               }+             }+    SBPMsgSsrCodeBiases m' $ toSBP m' 61440++gpsPhaseBiasConverter :: MonadStore e m => Msg1265 -> Conduit i m [SBPMsg]+gpsPhaseBiasConverter m = do+  time <- toGpsTimeSec $ m ^. msg1265_header ^. gpsPhaseBiasCorrectionHeader_epochs+  yield $ flip map (m ^. msg1265_corrections) $ \c -> do+    let m' = MsgSsrPhaseBiases+             { _msgSsrPhaseBiases_time            = time+             , _msgSsrPhaseBiases_sid             = GnssSignal+               { _gnssSignal_sat  = c ^. gpsPhaseBiasCorrection_sat+               , _gnssSignal_code = 0+               }+             , _msgSsrPhaseBiases_update_interval = m ^. msg1265_header ^. gpsPhaseBiasCorrectionHeader_updateInterval+             , _msgSsrPhaseBiases_iod_ssr         = m ^. msg1265_header ^. gpsPhaseBiasCorrectionHeader_iod+             , _msgSsrPhaseBiases_dispersive_bias = bool 0 1 $ m ^. msg1265_header ^. gpsPhaseBiasCorrectionHeader_dispersive+             , _msgSsrPhaseBiases_mw_consistency  = bool 0 1 $ m ^. msg1265_header ^. gpsPhaseBiasCorrectionHeader_mw+             , _msgSsrPhaseBiases_yaw             = c ^. gpsPhaseBiasCorrection_yawAngle+             , _msgSsrPhaseBiases_yaw_rate        = c ^. gpsPhaseBiasCorrection_yawRate+             , _msgSsrPhaseBiases_biases          = flip map (c ^. gpsPhaseBiasCorrection_phaseBiases) $ \b -> PhaseBiasesContent+               { _phaseBiasesContent_code                       = b ^. gpsPhaseBias_signal+               , _phaseBiasesContent_integer_indicator          = bool 0 1 $ b ^. gpsPhaseBias_integer+               , _phaseBiasesContent_widelane_integer_indicator = b ^. gpsPhaseBias_wideLaneInteger+               , _phaseBiasesContent_discontinuity_counter      = b ^. gpsPhaseBias_discontinuityCounter+               , _phaseBiasesContent_bias                       = b ^. gpsPhaseBias_phaseBias+               }+             }+    SBPMsgSsrPhaseBiases m' $ toSBP m' 61440++glonassPhaseBiasConverter :: MonadStore e m => Msg1266 -> Conduit i m [SBPMsg]+glonassPhaseBiasConverter m = do+  time <- toGlonassTimeSec $ m ^. msg1266_header ^. glonassPhaseBiasCorrectionHeader_epochs+  yield $ flip map (m ^. msg1266_corrections) $ \c -> do+    let m' = MsgSsrPhaseBiases+             { _msgSsrPhaseBiases_time            = time+             , _msgSsrPhaseBiases_sid             = GnssSignal+               { _gnssSignal_sat  = c ^. glonassPhaseBiasCorrection_sat+               , _gnssSignal_code = 3+               }+             , _msgSsrPhaseBiases_update_interval = m ^. msg1266_header ^. glonassPhaseBiasCorrectionHeader_updateInterval+             , _msgSsrPhaseBiases_iod_ssr         = m ^. msg1266_header ^. glonassPhaseBiasCorrectionHeader_iod+             , _msgSsrPhaseBiases_dispersive_bias = bool 0 1 $ m ^. msg1266_header ^. glonassPhaseBiasCorrectionHeader_dispersive+             , _msgSsrPhaseBiases_mw_consistency  = bool 0 1 $ m ^. msg1266_header ^. glonassPhaseBiasCorrectionHeader_mw+             , _msgSsrPhaseBiases_yaw             = c ^. glonassPhaseBiasCorrection_yawAngle+             , _msgSsrPhaseBiases_yaw_rate        = c ^. glonassPhaseBiasCorrection_yawRate+             , _msgSsrPhaseBiases_biases          = flip map (c ^. glonassPhaseBiasCorrection_phaseBiases) $ \b -> PhaseBiasesContent+               { _phaseBiasesContent_code                       = b ^. glonassPhaseBias_signal+               , _phaseBiasesContent_integer_indicator          = bool 0 1 $ b ^. glonassPhaseBias_integer+               , _phaseBiasesContent_widelane_integer_indicator = b ^. glonassPhaseBias_wideLaneInteger+               , _phaseBiasesContent_discontinuity_counter      = b ^. glonassPhaseBias_discontinuityCounter+               , _phaseBiasesContent_bias                       = b ^. glonassPhaseBias_phaseBias+               }+             }+    SBPMsgSsrPhaseBiases m' $ toSBP m' 61440