diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 0.50.6 +version: 0.50.7 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 @@ -50,10 +50,13 @@ , bytestring , data-binary-ieee754 , monad-loops + , scientific , text + , unordered-containers default-extensions: RecordWildCards TemplateHaskell NoImplicitPrelude + OverloadedStrings test-suite test type: exitcode-stdio-1.0 diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -5,16 +5,21 @@ -- Maintainer: Mark Fine -- Stability: experimental -- Portability: portable +-- +-- SBP message containers and serialization utilities. module SwiftNav.SBP where -import BasicPrelude +import BasicPrelude hiding (lookup) +import Data.Aeson hiding (decode) import Data.Binary import Data.Binary.Get import Data.Binary.Put import Data.ByteString import Data.ByteString.Lazy hiding (ByteString) import Data.ByteString.Builder +import Data.HashMap.Strict +import Data.Scientific import Data.Word import SwiftNav.CRC16 import SwiftNav.SBP.Acquisition @@ -30,9 +35,14 @@ import SwiftNav.SBP.System import SwiftNav.SBP.Tracking -msgSBPPreamble :: Word8 -msgSBPPreamble = 0x55 +msgPreamble :: Word8 +msgPreamble = 0x55 +-- | Default sender ID. Intended for messages sent from the host to +-- the device. +defaultSenderID :: Word16 +defaultSenderID = 0x42 + data Msg = Msg { msgSBPType :: Word16 , msgSBPSender :: Word16 @@ -65,7 +75,24 @@ word8 msgSBPLen <> byteString msgSBPPayload +instance FromJSON Msg where + parseJSON (Object v) = do + Msg <$> v .: "msg_type" + <*> v .: "sender" + <*> v .: "length" + <*> v .: "payload" + <*> v .: "crc" + parseJSON _ = mzero +instance ToJSON Msg where + toJSON Msg {..} = object [ "preamble" .= msgPreamble + , "msg_type" .= msgSBPType + , "sender" .= msgSBPSender + , "length" .= msgSBPLen + , "payload" .= msgSBPPayload + , "crc" .= msgSBPCrc + ] + data SBPMsg = SBPMsgAcqResult MsgAcqResult Msg | SBPMsgAcqResultDepA MsgAcqResultDepA Msg @@ -140,81 +167,81 @@ instance Binary SBPMsg where get = do preamble <- getWord8 - if preamble /= msgSBPPreamble then get else do + if preamble /= msgPreamble then get else do sbp <- get return $ decode' sbp where - decode' sbp - | checkCrc sbp /= msgSBPCrc sbp = SBPMsgBadCrc sbp - | msgSBPType sbp == msgAcqResult = SBPMsgAcqResult (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgAlmanac = SBPMsgAlmanac (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBasePos = SBPMsgBasePos (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgCwResults = SBPMsgCwResults (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgCwStart = SBPMsgCwStart (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgDops = SBPMsgDops (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgEphemeris = SBPMsgEphemeris (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgExtEvent = SBPMsgExtEvent (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioReadResp = SBPMsgFileioReadResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioRemove = SBPMsgFileioRemove (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioWriteReq = SBPMsgFileioWriteReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFileioWriteResp = SBPMsgFileioWriteResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFlashDone = SBPMsgFlashDone (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFlashErase = SBPMsgFlashErase (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgGpsTime = SBPMsgGpsTime (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgIarState = SBPMsgIarState (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgInitBase = SBPMsgInitBase (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgLog = SBPMsgLog (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgObs = SBPMsgObs (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgObsDepA = SBPMsgObsDepA (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgPosEcef = SBPMsgPosEcef (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgPosLlh = SBPMsgPosLlh (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgReset = SBPMsgReset (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgResetFilters = SBPMsgResetFilters (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSetTime = SBPMsgSetTime (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgStartup = SBPMsgStartup (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgThreadState = SBPMsgThreadState (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgTrackingState = SBPMsgTrackingState (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgTweet = SBPMsgTweet (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgUartState = SBPMsgUartState (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (msgSBPPayload sbp))) sbp - | msgSBPType sbp == msgVelNed = SBPMsgVelNed (decode (fromStrict (msgSBPPayload sbp))) sbp + decode' sbp@Msg {..} + | checkCrc sbp /= msgSBPCrc = SBPMsgBadCrc sbp + | msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBasePos = SBPMsgBasePos (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBaselineEcef = SBPMsgBaselineEcef (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBaselineNed = SBPMsgBaselineNed (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgDops = SBPMsgDops (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgEphemeris = SBPMsgEphemeris (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgExtEvent = SBPMsgExtEvent (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioReadDirReq = SBPMsgFileioReadDirReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioReadDirResp = SBPMsgFileioReadDirResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioReadReq = SBPMsgFileioReadReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioReadResp = SBPMsgFileioReadResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioRemove = SBPMsgFileioRemove (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioWriteReq = SBPMsgFileioWriteReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFileioWriteResp = SBPMsgFileioWriteResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFlashDone = SBPMsgFlashDone (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFlashErase = SBPMsgFlashErase (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFlashProgram = SBPMsgFlashProgram (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFlashReadReq = SBPMsgFlashReadReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgFlashReadResp = SBPMsgFlashReadResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgGpsTime = SBPMsgGpsTime (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgHeartbeat = SBPMsgHeartbeat (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgIarState = SBPMsgIarState (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgLog = SBPMsgLog (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgObs = SBPMsgObs (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgObsDepA = SBPMsgObsDepA (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgPosEcef = SBPMsgPosEcef (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgPosLlh = SBPMsgPosLlh (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgReset = SBPMsgReset (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgResetFilters = SBPMsgResetFilters (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSetTime = SBPMsgSetTime (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsReadReq = SBPMsgSettingsReadReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsReadResp = SBPMsgSettingsReadResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsSave = SBPMsgSettingsSave (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgSettingsWrite = SBPMsgSettingsWrite (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgThreadState = SBPMsgThreadState (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict msgSBPPayload)) sbp + | msgSBPType == msgVelNed = SBPMsgVelNed (decode (fromStrict msgSBPPayload)) sbp | otherwise = SBPMsgUnknown sbp put msg = do - putWord8 msgSBPPreamble + putWord8 msgPreamble put $ encode' msg where encode' (SBPMsgAcqResult _ sbp) = sbp @@ -284,3 +311,154 @@ encode' (SBPMsgVelEcef _ sbp) = sbp encode' (SBPMsgVelNed _ sbp) = sbp encode' (SBPMsgUnknown sbp) = sbp + encode' (SBPMsgBadCrc sbp) = sbp + +instance FromJSON SBPMsg where + parseJSON (Object o) = case lookup "msg_type" o of + Nothing -> mzero + Just (Number msgType) -> decode' (toBoundedInteger msgType) where + decode' Nothing = mzero + decode' (Just t) + | t == msgAcqResult = SBPMsgAcqResult <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgAcqResultDepA = SBPMsgAcqResultDepA <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgAlmanac = SBPMsgAlmanac <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBasePos = SBPMsgBasePos <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBaselineEcef = SBPMsgBaselineEcef <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBaselineNed = SBPMsgBaselineNed <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBootloaderHandshakeDepA = SBPMsgBootloaderHandshakeDepA <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBootloaderHandshakeReq = SBPMsgBootloaderHandshakeReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBootloaderHandshakeResp = SBPMsgBootloaderHandshakeResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgBootloaderJumpToApp = SBPMsgBootloaderJumpToApp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgCwResults = SBPMsgCwResults <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgCwStart = SBPMsgCwStart <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgDops = SBPMsgDops <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgEphemeris = SBPMsgEphemeris <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgEphemerisDepA = SBPMsgEphemerisDepA <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgEphemerisDepB = SBPMsgEphemerisDepB <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgExtEvent = SBPMsgExtEvent <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioReadDirReq = SBPMsgFileioReadDirReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioReadDirResp = SBPMsgFileioReadDirResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioReadReq = SBPMsgFileioReadReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioReadResp = SBPMsgFileioReadResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioRemove = SBPMsgFileioRemove <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioWriteReq = SBPMsgFileioWriteReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFileioWriteResp = SBPMsgFileioWriteResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFlashDone = SBPMsgFlashDone <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFlashErase = SBPMsgFlashErase <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFlashProgram = SBPMsgFlashProgram <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFlashReadReq = SBPMsgFlashReadReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgFlashReadResp = SBPMsgFlashReadResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgGpsTime = SBPMsgGpsTime <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgHeartbeat = SBPMsgHeartbeat <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgIarState = SBPMsgIarState <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgInitBase = SBPMsgInitBase <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgLog = SBPMsgLog <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgMaskSatellite = SBPMsgMaskSatellite <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgObs = SBPMsgObs <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgObsDepA = SBPMsgObsDepA <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgPosEcef = SBPMsgPosEcef <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgPosLlh = SBPMsgPosLlh <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgPrintDep = SBPMsgPrintDep <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgReset = SBPMsgReset <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgResetFilters = SBPMsgResetFilters <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSetTime = SBPMsgSetTime <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsReadByIndexDone = SBPMsgSettingsReadByIndexDone <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsReadByIndexReq = SBPMsgSettingsReadByIndexReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsReadByIndexResp = SBPMsgSettingsReadByIndexResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsReadReq = SBPMsgSettingsReadReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsReadResp = SBPMsgSettingsReadResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsSave = SBPMsgSettingsSave <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgSettingsWrite = SBPMsgSettingsWrite <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgStartup = SBPMsgStartup <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgStmFlashUnlockSector = SBPMsgStmFlashUnlockSector <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgStmUniqueIdReq = SBPMsgStmUniqueIdReq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgStmUniqueIdResp = SBPMsgStmUniqueIdResp <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgThreadState = SBPMsgThreadState <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgTrackingIq = SBPMsgTrackingIq <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgTrackingState = SBPMsgTrackingState <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgTweet = SBPMsgTweet <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgUartState = SBPMsgUartState <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgVelEcef = SBPMsgVelEcef <$> parseJSON (Object o) <*> parseJSON (Object o) + | t == msgVelNed = SBPMsgVelNed <$> parseJSON (Object o) <*> parseJSON (Object o) + | otherwise = SBPMsgUnknown <$> parseJSON (Object o) + Just _ -> mzero + parseJSON (_) = mzero + +merge :: Value -> Value -> Value +merge (Object one) (Object two) = Object $ one <> two +merge _ _ = undefined + +instance ToJSON SBPMsg where + toJSON (SBPMsgAcqResult msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgAcqResultDepA msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgAlmanac msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBasePos msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBaselineEcef msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBaselineNed msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBootloaderHandshakeDepA msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBootloaderHandshakeReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBootloaderHandshakeResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBootloaderJumpToApp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgCwResults msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgCwStart msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgDops msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgEphemeris msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgEphemerisDepA msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgEphemerisDepB msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgExtEvent msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioReadDirReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioReadDirResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioReadReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioReadResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioRemove msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioWriteReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFileioWriteResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFlashDone msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFlashErase msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFlashProgram msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFlashReadReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgFlashReadResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgGpsTime msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgHeartbeat msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgIarState msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgInitBase msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgLog msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgM25FlashWriteStatus msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgMaskSatellite msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgNapDeviceDnaReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgNapDeviceDnaResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgObs msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgObsDepA msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgPosEcef msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgPosLlh msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgPrintDep msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgReset msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgResetFilters msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSetTime msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsReadByIndexDone msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsReadByIndexReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsReadByIndexResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsReadReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsReadResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsSave msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgSettingsWrite msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgStartup msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgStmFlashLockSector msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgStmFlashUnlockSector msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgStmUniqueIdReq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgStmUniqueIdResp msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgThreadState msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgTrackingIq msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgTrackingState msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgTrackingStateDepA msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgTweet msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgUartState msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgVelEcef msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgVelNed msg sbp) = merge (toJSON msg) (toJSON sbp) + toJSON (SBPMsgBadCrc sbp) = toJSON sbp + toJSON (SBPMsgUnknown sbp) = toJSON sbp diff --git a/src/SwiftNav/SBP/Bootload.hs b/src/SwiftNav/SBP/Bootload.hs --- a/src/SwiftNav/SBP/Bootload.hs +++ b/src/SwiftNav/SBP/Bootload.hs @@ -45,6 +45,9 @@ put MsgBootloaderHandshakeReq = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgBootloaderHandshakeReq_" . stripPrefix "msgBootloaderHandshakeReq_"} + ''MsgBootloaderHandshakeReq) + msgBootloaderHandshakeResp :: Word16 msgBootloaderHandshakeResp = 0x00B4 @@ -115,6 +118,9 @@ put MsgNapDeviceDnaReq = return () + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgNapDeviceDnaReq_" . stripPrefix "msgNapDeviceDnaReq_"} + ''MsgNapDeviceDnaReq) msgNapDeviceDnaResp :: Word16 msgNapDeviceDnaResp = 0x00DD diff --git a/src/SwiftNav/SBP/Flash.hs b/src/SwiftNav/SBP/Flash.hs --- a/src/SwiftNav/SBP/Flash.hs +++ b/src/SwiftNav/SBP/Flash.hs @@ -254,6 +254,9 @@ put MsgStmUniqueIdReq = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgStmUniqueIdReq_" . stripPrefix "msgStmUniqueIdReq_"} + ''MsgStmUniqueIdReq) + msgStmUniqueIdResp :: Word16 msgStmUniqueIdResp = 0x00E5 diff --git a/src/SwiftNav/SBP/Piksi.hs b/src/SwiftNav/SBP/Piksi.hs --- a/src/SwiftNav/SBP/Piksi.hs +++ b/src/SwiftNav/SBP/Piksi.hs @@ -44,6 +44,9 @@ put MsgAlmanac = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgAlmanac_" . stripPrefix "msgAlmanac_"} + ''MsgAlmanac) + msgSetTime :: Word16 msgSetTime = 0x0068 @@ -61,6 +64,9 @@ put MsgSetTime = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgSetTime_" . stripPrefix "msgSetTime_"} + ''MsgSetTime) + msgReset :: Word16 msgReset = 0x00B2 @@ -77,6 +83,9 @@ put MsgReset = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgReset_" . stripPrefix "msgReset_"} + ''MsgReset) + msgCwResults :: Word16 msgCwResults = 0x00C0 @@ -95,6 +104,9 @@ put MsgCwResults = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgCwResults_" . stripPrefix "msgCwResults_"} + ''MsgCwResults) + msgCwStart :: Word16 msgCwStart = 0x00C1 @@ -113,6 +125,9 @@ put MsgCwStart = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgCwStart_" . stripPrefix "msgCwStart_"} + ''MsgCwStart) + msgResetFilters :: Word16 msgResetFilters = 0x0022 @@ -154,6 +169,9 @@ put MsgInitBase = return () + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgInitBase_" . stripPrefix "msgInitBase_"} + ''MsgInitBase) msgThreadState :: Word16 msgThreadState = 0x0017 diff --git a/src/SwiftNav/SBP/Settings.hs b/src/SwiftNav/SBP/Settings.hs --- a/src/SwiftNav/SBP/Settings.hs +++ b/src/SwiftNav/SBP/Settings.hs @@ -46,6 +46,9 @@ put MsgSettingsSave = return () +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgSettingsSave_" . stripPrefix "msgSettingsSave_"} + ''MsgSettingsSave) + msgSettingsWrite :: Word16 msgSettingsWrite = 0x00A0 @@ -185,3 +188,6 @@ put MsgSettingsReadByIndexDone = return () + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "msgSettingsReadByIndexDone_" . stripPrefix "msgSettingsReadByIndexDone_"} + ''MsgSettingsReadByIndexDone)