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: 0.3.30 +version: 0.3.31 synopsis: GNSS Converters. description: Haskell bindings for GNSS converters. homepage: http://github.com/swift-nav/gnss-converters @@ -21,6 +21,7 @@ , Data.RTCM3.SBP , Data.RTCM3.SBP.Biases , Data.RTCM3.SBP.Ephemerides + , Data.RTCM3.SBP.Logging , Data.RTCM3.SBP.Observations , Data.RTCM3.SBP.Positions , Data.RTCM3.SBP.SSR diff --git a/src/Data/RTCM3/Replay.hs b/src/Data/RTCM3/Replay.hs --- a/src/Data/RTCM3/Replay.hs +++ b/src/Data/RTCM3/Replay.hs @@ -46,14 +46,14 @@ replay :: MonadIO m => Word32 -> RTCM3Msg -> ConduitM i RTCM3Msg m Word32 replay tow = \case (RTCM3Msg1002 m _rtcm3) -> do - let tow' = m ^. msg1002_header ^. gpsObservationHeader_tow + let tow' = m ^. msg1002_header . gpsObservationHeader_tow delayTow tow tow' tow'' <- currentTow let n = set (msg1002_header . gpsObservationHeader_tow) tow'' m yield (RTCM3Msg1002 n (toRTCM3 n)) pure tow' (RTCM3Msg1004 m _rtcm3) -> do - let tow' = m ^. msg1004_header ^. gpsObservationHeader_tow + let tow' = m ^. msg1004_header . gpsObservationHeader_tow delayTow tow tow' tow'' <- currentTow let n = set (msg1004_header . gpsObservationHeader_tow) tow'' m 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 @@ -25,6 +25,7 @@ import Data.RTCM3 import qualified Data.RTCM3.SBP.Biases as Biases import qualified Data.RTCM3.SBP.Ephemerides as Ephemerides +import qualified Data.RTCM3.SBP.Logging as Logging import qualified Data.RTCM3.SBP.Observations as Observations import qualified Data.RTCM3.SBP.Positions as Positions import qualified Data.RTCM3.SBP.SSR as SSR @@ -44,6 +45,7 @@ (RTCM3Msg1006 m _rtcm3) -> Positions.converter m (RTCM3Msg1019 m _rtcm3) -> Ephemerides.gpsConverter m (RTCM3Msg1020 m _rtcm3) -> Ephemerides.glonassConverter m + (RTCM3Msg1029 m _rtcm3) -> Logging.converter m (RTCM3Msg1230 m _rtcm3) -> Biases.converter m (RTCM3Msg1060 m _rtcm3) -> SSR.gpsOrbitClockConverter m (RTCM3Msg1066 m _rtcm3) -> SSR.glonassOrbitClockConverter m diff --git a/src/Data/RTCM3/SBP/Ephemerides.hs b/src/Data/RTCM3/SBP/Ephemerides.hs --- a/src/Data/RTCM3/SBP/Ephemerides.hs +++ b/src/Data/RTCM3/SBP/Ephemerides.hs @@ -127,34 +127,34 @@ -- toGpsEphemerisCommonContent :: MonadStore e m => Msg1019 -> m EphemerisCommonContent toGpsEphemerisCommonContent m = do - toe <- toGpsTimeSec (m ^. msg1019_ephemeris ^. gpsEphemeris_wn) (m ^. msg1019_ephemeris ^. gpsEphemeris_toe) + toe <- toGpsTimeSec (m ^. msg1019_ephemeris . gpsEphemeris_wn) (m ^. msg1019_ephemeris . gpsEphemeris_toe) pure EphemerisCommonContent { _ephemerisCommonContent_sid = GnssSignal - { _gnssSignal_sat = m ^. msg1019_header ^. gpsEphemerisHeader_sat + { _gnssSignal_sat = m ^. msg1019_header . gpsEphemerisHeader_sat , _gnssSignal_code = 0 -- there is an L2P status flag in msg 1019, but I don't think that applies } , _ephemerisCommonContent_toe = toe - , _ephemerisCommonContent_ura = uriToUra (m ^. msg1019_ephemeris ^. gpsEphemeris_svHealth) - , _ephemerisCommonContent_fit_interval = gpsFitInterval (m ^. msg1019_ephemeris ^. gpsEphemeris_fitInterval) (m ^. msg1019_ephemeris ^. gpsEphemeris_iodc) - , _ephemerisCommonContent_valid = validateIodcIode (m ^. msg1019_ephemeris ^. gpsEphemeris_iodc) (m ^. msg1019_ephemeris ^. gpsEphemeris_iode) - , _ephemerisCommonContent_health_bits = m ^. msg1019_ephemeris ^. gpsEphemeris_svHealth + , _ephemerisCommonContent_ura = uriToUra (m ^. msg1019_ephemeris . gpsEphemeris_svHealth) + , _ephemerisCommonContent_fit_interval = gpsFitInterval (m ^. msg1019_ephemeris . gpsEphemeris_fitInterval) (m ^. msg1019_ephemeris . gpsEphemeris_iodc) + , _ephemerisCommonContent_valid = validateIodcIode (m ^. msg1019_ephemeris . gpsEphemeris_iodc) (m ^. msg1019_ephemeris . gpsEphemeris_iode) + , _ephemerisCommonContent_health_bits = m ^. msg1019_ephemeris . gpsEphemeris_svHealth } -- | Construct an EphemerisCommonContent from an RTCM 1020 message. -- toGlonassEphemerisCommonContent :: MonadStore e m => Msg1020 -> m EphemerisCommonContent toGlonassEphemerisCommonContent m = do - toe <- toGlonassTimeSec (m ^. msg1020_ephemeris ^. glonassEphemeris_tb) + toe <- toGlonassTimeSec (m ^. msg1020_ephemeris . glonassEphemeris_tb) pure EphemerisCommonContent { _ephemerisCommonContent_sid = GnssSignal - { _gnssSignal_sat = m ^. msg1020_header ^. glonassEphemerisHeader_sat + { _gnssSignal_sat = m ^. msg1020_header . glonassEphemerisHeader_sat , _gnssSignal_code = 3 } , _ephemerisCommonContent_toe = toe - , _ephemerisCommonContent_ura = ftToUra (m ^. msg1020_ephemeris ^. glonassEphemeris_mft) - , _ephemerisCommonContent_fit_interval = glonassFitInterval (m ^. msg1020_ephemeris ^. glonassEphemeris_p1) + , _ephemerisCommonContent_ura = ftToUra (m ^. msg1020_ephemeris . glonassEphemeris_mft) + , _ephemerisCommonContent_fit_interval = glonassFitInterval (m ^. msg1020_ephemeris . glonassEphemeris_p1) , _ephemerisCommonContent_valid = 1 - , _ephemerisCommonContent_health_bits = bool 0 1 $ (m ^. msg1020_ephemeris ^. glonassEphemeris_mln5) || (m ^. msg1020_ephemeris ^. glonassEphemeris_mi3) + , _ephemerisCommonContent_health_bits = bool 0 1 $ (m ^. msg1020_ephemeris . glonassEphemeris_mln5) || (m ^. msg1020_ephemeris . glonassEphemeris_mi3) } (##) :: (Floating a1, Integral a2) => a1 -> a2 -> a1 @@ -169,31 +169,31 @@ gpsConverter :: MonadStore e m => Msg1019 -> Conduit i m [SBPMsg] gpsConverter m = do common <- toGpsEphemerisCommonContent m - toc <- toGpsTimeSec (m ^. msg1019_ephemeris ^. gpsEphemeris_wn) (m ^. msg1019_ephemeris ^. gpsEphemeris_toc) + toc <- toGpsTimeSec (m ^. msg1019_ephemeris . gpsEphemeris_wn) (m ^. msg1019_ephemeris . gpsEphemeris_toc) let pi' = 3.1415926535898 m' = MsgEphemerisGps { _msgEphemerisGps_common = common - , _msgEphemerisGps_tgd = (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_tgd) - , _msgEphemerisGps_c_rs = (-5) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_rs) - , _msgEphemerisGps_c_rc = (-5) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_rc) - , _msgEphemerisGps_c_uc = (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_uc) - , _msgEphemerisGps_c_us = (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_us) - , _msgEphemerisGps_c_ic = (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_ic) - , _msgEphemerisGps_c_is = (-29) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_c_is) - , _msgEphemerisGps_dn = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_dn) - , _msgEphemerisGps_m0 = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_m0) - , _msgEphemerisGps_ecc = (-33) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_ecc) - , _msgEphemerisGps_sqrta = (-19) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_sqrta) - , _msgEphemerisGps_omega0 = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_omega0) - , _msgEphemerisGps_omegadot = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_omegadot) - , _msgEphemerisGps_w = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_w) - , _msgEphemerisGps_inc = pi' * (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_i0) - , _msgEphemerisGps_inc_dot = pi' * (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_idot) - , _msgEphemerisGps_af0 = (-31) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af0) - , _msgEphemerisGps_af1 = (-43) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af1) - , _msgEphemerisGps_af2 = (-55) ## (m ^. msg1019_ephemeris ^. gpsEphemeris_af2) - , _msgEphemerisGps_iodc = m ^. msg1019_ephemeris ^. gpsEphemeris_iodc - , _msgEphemerisGps_iode = m ^. msg1019_ephemeris ^. gpsEphemeris_iode + , _msgEphemerisGps_tgd = (-31) ## (m ^. msg1019_ephemeris . gpsEphemeris_tgd) + , _msgEphemerisGps_c_rs = (-5) ## (m ^. msg1019_ephemeris . gpsEphemeris_c_rs) + , _msgEphemerisGps_c_rc = (-5) ## (m ^. msg1019_ephemeris . gpsEphemeris_c_rc) + , _msgEphemerisGps_c_uc = (-29) ## (m ^. msg1019_ephemeris . gpsEphemeris_c_uc) + , _msgEphemerisGps_c_us = (-29) ## (m ^. msg1019_ephemeris . gpsEphemeris_c_us) + , _msgEphemerisGps_c_ic = (-29) ## (m ^. msg1019_ephemeris . gpsEphemeris_c_ic) + , _msgEphemerisGps_c_is = (-29) ## (m ^. msg1019_ephemeris . gpsEphemeris_c_is) + , _msgEphemerisGps_dn = pi' * (-43) ## (m ^. msg1019_ephemeris . gpsEphemeris_dn) + , _msgEphemerisGps_m0 = pi' * (-31) ## (m ^. msg1019_ephemeris . gpsEphemeris_m0) + , _msgEphemerisGps_ecc = (-33) ## (m ^. msg1019_ephemeris . gpsEphemeris_ecc) + , _msgEphemerisGps_sqrta = (-19) ## (m ^. msg1019_ephemeris . gpsEphemeris_sqrta) + , _msgEphemerisGps_omega0 = pi' * (-31) ## (m ^. msg1019_ephemeris . gpsEphemeris_omega0) + , _msgEphemerisGps_omegadot = pi' * (-43) ## (m ^. msg1019_ephemeris . gpsEphemeris_omegadot) + , _msgEphemerisGps_w = pi' * (-31) ## (m ^. msg1019_ephemeris . gpsEphemeris_w) + , _msgEphemerisGps_inc = pi' * (-31) ## (m ^. msg1019_ephemeris . gpsEphemeris_i0) + , _msgEphemerisGps_inc_dot = pi' * (-43) ## (m ^. msg1019_ephemeris . gpsEphemeris_idot) + , _msgEphemerisGps_af0 = (-31) ## (m ^. msg1019_ephemeris . gpsEphemeris_af0) + , _msgEphemerisGps_af1 = (-43) ## (m ^. msg1019_ephemeris . gpsEphemeris_af1) + , _msgEphemerisGps_af2 = (-55) ## (m ^. msg1019_ephemeris . gpsEphemeris_af2) + , _msgEphemerisGps_iodc = m ^. msg1019_ephemeris . gpsEphemeris_iodc + , _msgEphemerisGps_iode = m ^. msg1019_ephemeris . gpsEphemeris_iode , _msgEphemerisGps_toc = toc } yield [SBPMsgEphemerisGps m' $ toSBP m' 61440] @@ -205,25 +205,25 @@ common <- toGlonassEphemerisCommonContent m let m' = MsgEphemerisGlo { _msgEphemerisGlo_common = common - , _msgEphemerisGlo_gamma = (-40) ## (m ^. msg1020_ephemeris ^. glonassEphemeris_gammaN) - , _msgEphemerisGlo_tau = (-30) ## (m ^. msg1020_ephemeris ^. glonassEphemeris_tauN) - , _msgEphemerisGlo_d_tau = (-30) ## (m ^. msg1020_ephemeris ^. glonassEphemeris_mdeltatau) + , _msgEphemerisGlo_gamma = (-40) ## (m ^. msg1020_ephemeris . glonassEphemeris_gammaN) + , _msgEphemerisGlo_tau = (-30) ## (m ^. msg1020_ephemeris . glonassEphemeris_tauN) + , _msgEphemerisGlo_d_tau = (-30) ## (m ^. msg1020_ephemeris . glonassEphemeris_mdeltatau) , _msgEphemerisGlo_pos = (* 1000) . ((-11) ##) <$> - [ m ^. msg1020_ephemeris ^. glonassEphemeris_xn - , m ^. msg1020_ephemeris ^. glonassEphemeris_yn - , m ^. msg1020_ephemeris ^. glonassEphemeris_zn + [ m ^. msg1020_ephemeris . glonassEphemeris_xn + , m ^. msg1020_ephemeris . glonassEphemeris_yn + , m ^. msg1020_ephemeris . glonassEphemeris_zn ] , _msgEphemerisGlo_vel = (* 1000) . ((-20) ##) <$> - [ m ^. msg1020_ephemeris ^. glonassEphemeris_xndot - , m ^. msg1020_ephemeris ^. glonassEphemeris_yndot - , m ^. msg1020_ephemeris ^. glonassEphemeris_zndot + [ m ^. msg1020_ephemeris . glonassEphemeris_xndot + , m ^. msg1020_ephemeris . glonassEphemeris_yndot + , m ^. msg1020_ephemeris . glonassEphemeris_zndot ] , _msgEphemerisGlo_acc = (* 1000) . ((-30) ##) <$> - [ m ^. msg1020_ephemeris ^. glonassEphemeris_xndotdot - , m ^. msg1020_ephemeris ^. glonassEphemeris_yndotdot - , m ^. msg1020_ephemeris ^. glonassEphemeris_zndotdot + [ m ^. msg1020_ephemeris . glonassEphemeris_xndotdot + , m ^. msg1020_ephemeris . glonassEphemeris_yndotdot + , m ^. msg1020_ephemeris . glonassEphemeris_zndotdot ] - , _msgEphemerisGlo_fcn = (m ^. msg1020_header ^. glonassEphemerisHeader_channel) + 1 - , _msgEphemerisGlo_iod = ((m ^. msg1020_ephemeris ^. glonassEphemeris_tb) * 15 * 60) .&. 127 + , _msgEphemerisGlo_fcn = (m ^. msg1020_header . glonassEphemerisHeader_channel) + 1 + , _msgEphemerisGlo_iod = ((m ^. msg1020_ephemeris . glonassEphemeris_tb) * 15 * 60) .&. 127 } yield [SBPMsgEphemerisGlo m' $ toSBP m' 61440] diff --git a/src/Data/RTCM3/SBP/Logging.hs b/src/Data/RTCM3/SBP/Logging.hs new file mode 100644 --- /dev/null +++ b/src/Data/RTCM3/SBP/Logging.hs @@ -0,0 +1,42 @@ +{-# LANGUAGE NoImplicitPrelude #-} + +-- | +-- Module: Data.RTCM3.SBP.Logging +-- Copyright: Copyright (C) 2018 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Swift Navigation +-- Stability: experimental +-- Portability: portable +-- +-- RTCMv3 to SBP Loggings Conversions. + +module Data.RTCM3.SBP.Logging + ( converter + ) where + +import BasicPrelude +import Control.Lens +import Data.Bits +import Data.Conduit +import Data.RTCM3 +import Data.Word +import SwiftNav.SBP + +{-# ANN module ("HLint: ignore Use head"::String) #-} + +-- | Derive sender from station. +-- +toSender :: Word16 -> Word16 +toSender station = station .|. 61440 + +-- | Convert an RTCM 1029 text message into an SBP MsgLog message. +-- +converter :: Monad m => Msg1029 -> Conduit i m [SBPMsg] +converter m = do + let message = m ^. msg1029_message + sender = toSender $ message ^. textMessage_station + m' = MsgLog + { _msgLog_level = 6 + , _msgLog_text = message ^. textMessage_text + } + yield [SBPMsgLog m' $ toSBP m' sender] diff --git a/src/Data/RTCM3/SBP/SSR.hs b/src/Data/RTCM3/SBP/SSR.hs --- a/src/Data/RTCM3/SBP/SSR.hs +++ b/src/Data/RTCM3/SBP/SSR.hs @@ -52,7 +52,7 @@ gpsOrbitClockConverter :: MonadStore e m => Msg1060 -> Conduit i m [SBPMsg] gpsOrbitClockConverter m = do - time <- toGpsTimeSec $ m ^. msg1060_header ^. gpsOrbitClockCorrectionHeader_epochs + time <- toGpsTimeSec $ m ^. msg1060_header . gpsOrbitClockCorrectionHeader_epochs yield $ flip map (m ^. msg1060_corrections) $ \c -> do let m' = MsgSsrOrbitClock { _msgSsrOrbitClock_time = time @@ -60,8 +60,8 @@ { _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_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 @@ -77,7 +77,7 @@ glonassOrbitClockConverter :: MonadStore e m => Msg1066 -> Conduit i m [SBPMsg] glonassOrbitClockConverter m = do - time <- toGlonassTimeSec $ m ^. msg1066_header ^. glonassOrbitClockCorrectionHeader_epochs + time <- toGlonassTimeSec $ m ^. msg1066_header . glonassOrbitClockCorrectionHeader_epochs yield $ flip map (m ^. msg1066_corrections) $ \c -> do let m' = MsgSsrOrbitClock { _msgSsrOrbitClock_time = time @@ -85,8 +85,8 @@ { _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_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 @@ -102,7 +102,7 @@ gpsCodeBiasConverter :: MonadStore e m => Msg1059 -> Conduit i m [SBPMsg] gpsCodeBiasConverter m = do - time <- toGpsTimeSec $ m ^. msg1059_header ^. gpsCodeBiasCorrectionHeader_epochs + time <- toGpsTimeSec $ m ^. msg1059_header . gpsCodeBiasCorrectionHeader_epochs yield $ flip map (m ^. msg1059_corrections) $ \c -> do let m' = MsgSsrCodeBiases { _msgSsrCodeBiases_time = time @@ -110,8 +110,8 @@ { _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_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 @@ -121,7 +121,7 @@ glonassCodeBiasConverter :: MonadStore e m => Msg1065 -> Conduit i m [SBPMsg] glonassCodeBiasConverter m = do - time <- toGlonassTimeSec $ m ^. msg1065_header ^. glonassCodeBiasCorrectionHeader_epochs + time <- toGlonassTimeSec $ m ^. msg1065_header . glonassCodeBiasCorrectionHeader_epochs yield $ flip map (m ^. msg1065_corrections) $ \c -> do let m' = MsgSsrCodeBiases { _msgSsrCodeBiases_time = time @@ -129,8 +129,8 @@ { _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_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 @@ -140,7 +140,7 @@ gpsPhaseBiasConverter :: MonadStore e m => Msg1265 -> Conduit i m [SBPMsg] gpsPhaseBiasConverter m = do - time <- toGpsTimeSec $ m ^. msg1265_header ^. gpsPhaseBiasCorrectionHeader_epochs + time <- toGpsTimeSec $ m ^. msg1265_header . gpsPhaseBiasCorrectionHeader_epochs yield $ flip map (m ^. msg1265_corrections) $ \c -> do let m' = MsgSsrPhaseBiases { _msgSsrPhaseBiases_time = time @@ -148,10 +148,10 @@ { _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_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 @@ -166,7 +166,7 @@ glonassPhaseBiasConverter :: MonadStore e m => Msg1266 -> Conduit i m [SBPMsg] glonassPhaseBiasConverter m = do - time <- toGlonassTimeSec $ m ^. msg1266_header ^. glonassPhaseBiasCorrectionHeader_epochs + time <- toGlonassTimeSec $ m ^. msg1266_header . glonassPhaseBiasCorrectionHeader_epochs yield $ flip map (m ^. msg1266_corrections) $ \c -> do let m' = MsgSsrPhaseBiases { _msgSsrPhaseBiases_time = time @@ -174,10 +174,10 @@ { _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_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