diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 1.2.2 +version: 1.2.4 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: LGPL-3 @@ -30,7 +30,7 @@ , SwiftNav.SBP.ExtEvents , SwiftNav.SBP.FileIo , SwiftNav.SBP.Flash - , SwiftNav.SBP.GnssSignal + , SwiftNav.SBP.Gnss , SwiftNav.SBP.Logging , SwiftNav.SBP.Navigation , SwiftNav.SBP.Observation diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -16,7 +16,7 @@ , module SwiftNav.SBP.ExtEvents , module SwiftNav.SBP.FileIo , module SwiftNav.SBP.Flash - , module SwiftNav.SBP.GnssSignal + , module SwiftNav.SBP.Gnss , module SwiftNav.SBP.Logging , module SwiftNav.SBP.Navigation , module SwiftNav.SBP.Observation @@ -37,7 +37,7 @@ import SwiftNav.SBP.ExtEvents import SwiftNav.SBP.FileIo import SwiftNav.SBP.Flash -import SwiftNav.SBP.GnssSignal +import SwiftNav.SBP.Gnss import SwiftNav.SBP.Logging import SwiftNav.SBP.Navigation import SwiftNav.SBP.Observation @@ -56,6 +56,7 @@ data SBPMsg = SBPMsgAcqResult MsgAcqResult Msg | SBPMsgAcqResultDepA MsgAcqResultDepA Msg + | SBPMsgAcqResultDepB MsgAcqResultDepB Msg | SBPMsgAcqSvProfile MsgAcqSvProfile Msg | SBPMsgAlmanac MsgAlmanac Msg | SBPMsgBasePosEcef MsgBasePosEcef Msg @@ -129,6 +130,7 @@ | SBPMsgTrackingIq MsgTrackingIq Msg | SBPMsgTrackingState MsgTrackingState Msg | SBPMsgTrackingStateDepA MsgTrackingStateDepA Msg + | SBPMsgTrackingStateDetailed MsgTrackingStateDetailed Msg | SBPMsgTweet MsgTweet Msg | SBPMsgUartState MsgUartState Msg | SBPMsgUartStateDepa MsgUartStateDepa Msg @@ -150,6 +152,7 @@ | checkCrc m /= _msgSBPCrc = SBPMsgBadCrc m | _msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgAcqResultDepB = SBPMsgAcqResultDepB (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAcqSvProfile = SBPMsgAcqSvProfile (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgAlmanac = SBPMsgAlmanac (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgBasePosEcef = SBPMsgBasePosEcef (decode (fromStrict _msgSBPPayload)) m @@ -223,6 +226,7 @@ | _msgSBPType == msgTrackingIq = SBPMsgTrackingIq (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingState = SBPMsgTrackingState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTrackingStateDepA = SBPMsgTrackingStateDepA (decode (fromStrict _msgSBPPayload)) m + | _msgSBPType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgTweet = SBPMsgTweet (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUartState = SBPMsgUartState (decode (fromStrict _msgSBPPayload)) m | _msgSBPType == msgUartStateDepa = SBPMsgUartStateDepa (decode (fromStrict _msgSBPPayload)) m @@ -236,6 +240,7 @@ encode' sm where encode' (SBPMsgAcqResult _ m) = put m encode' (SBPMsgAcqResultDepA _ m) = put m + encode' (SBPMsgAcqResultDepB _ m) = put m encode' (SBPMsgAcqSvProfile _ m) = put m encode' (SBPMsgAlmanac _ m) = put m encode' (SBPMsgBasePosEcef _ m) = put m @@ -309,6 +314,7 @@ encode' (SBPMsgTrackingIq _ m) = put m encode' (SBPMsgTrackingState _ m) = put m encode' (SBPMsgTrackingStateDepA _ m) = put m + encode' (SBPMsgTrackingStateDetailed _ m) = put m encode' (SBPMsgTweet _ m) = put m encode' (SBPMsgUartState _ m) = put m encode' (SBPMsgUartStateDepa _ m) = put m @@ -325,6 +331,7 @@ decode' msgType | msgType == msgAcqResult = SBPMsgAcqResult <$> parseJSON obj <*> parseJSON obj | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> parseJSON obj <*> parseJSON obj + | msgType == msgAcqResultDepB = SBPMsgAcqResultDepB <$> parseJSON obj <*> parseJSON obj | msgType == msgAcqSvProfile = SBPMsgAcqSvProfile <$> parseJSON obj <*> parseJSON obj | msgType == msgAlmanac = SBPMsgAlmanac <$> parseJSON obj <*> parseJSON obj | msgType == msgBasePosEcef = SBPMsgBasePosEcef <$> parseJSON obj <*> parseJSON obj @@ -398,6 +405,7 @@ | msgType == msgTrackingIq = SBPMsgTrackingIq <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingState = SBPMsgTrackingState <$> parseJSON obj <*> parseJSON obj | msgType == msgTrackingStateDepA = SBPMsgTrackingStateDepA <$> parseJSON obj <*> parseJSON obj + | msgType == msgTrackingStateDetailed = SBPMsgTrackingStateDetailed <$> parseJSON obj <*> parseJSON obj | msgType == msgTweet = SBPMsgTweet <$> parseJSON obj <*> parseJSON obj | msgType == msgUartState = SBPMsgUartState <$> parseJSON obj <*> parseJSON obj | msgType == msgUartStateDepa = SBPMsgUartStateDepa <$> parseJSON obj <*> parseJSON obj @@ -416,6 +424,7 @@ instance ToJSON SBPMsg where toJSON (SBPMsgAcqResult n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAcqResultDepA n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgAcqResultDepB n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAcqSvProfile n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgAlmanac n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgBasePosEcef n m) = toJSON n `mergeValues` toJSON m @@ -489,6 +498,7 @@ toJSON (SBPMsgTrackingIq n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingState n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTrackingStateDepA n m) = toJSON n `mergeValues` toJSON m + toJSON (SBPMsgTrackingStateDetailed n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgTweet n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgUartState n m) = toJSON n `mergeValues` toJSON m toJSON (SBPMsgUartStateDepa n m) = toJSON n `mergeValues` toJSON m @@ -501,6 +511,7 @@ instance HasMsg SBPMsg where msg f (SBPMsgAcqResult n m) = SBPMsgAcqResult n <$> f m msg f (SBPMsgAcqResultDepA n m) = SBPMsgAcqResultDepA n <$> f m + msg f (SBPMsgAcqResultDepB n m) = SBPMsgAcqResultDepB n <$> f m msg f (SBPMsgAcqSvProfile n m) = SBPMsgAcqSvProfile n <$> f m msg f (SBPMsgAlmanac n m) = SBPMsgAlmanac n <$> f m msg f (SBPMsgBasePosEcef n m) = SBPMsgBasePosEcef n <$> f m @@ -574,6 +585,7 @@ msg f (SBPMsgTrackingIq n m) = SBPMsgTrackingIq n <$> f m msg f (SBPMsgTrackingState n m) = SBPMsgTrackingState n <$> f m msg f (SBPMsgTrackingStateDepA n m) = SBPMsgTrackingStateDepA n <$> f m + msg f (SBPMsgTrackingStateDetailed n m) = SBPMsgTrackingStateDetailed n <$> f m msg f (SBPMsgTweet n m) = SBPMsgTweet n <$> f m msg f (SBPMsgUartState n m) = SBPMsgUartState n <$> f m msg f (SBPMsgUartStateDepa n m) = SBPMsgUartStateDepa n <$> f m diff --git a/src/SwiftNav/SBP/Acquisition.hs b/src/SwiftNav/SBP/Acquisition.hs --- a/src/SwiftNav/SBP/Acquisition.hs +++ b/src/SwiftNav/SBP/Acquisition.hs @@ -26,21 +26,20 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types -import SwiftNav.SBP.GnssSignal +import SwiftNav.SBP.Gnss msgAcqResult :: Word16 -msgAcqResult = 0x0014 +msgAcqResult = 0x001F --- | SBP class for message MSG_ACQ_RESULT (0x0014). +-- | SBP class for message MSG_ACQ_RESULT (0x001F). -- -- This message describes the results from an attempted GPS signal acquisition -- search for a satellite PRN over a code phase/carrier frequency range. It -- contains the parameters of the point in the acquisition search space with --- the best signal-to-noise (SNR) ratio. +-- the best carrier-to-noise (CN/0) ratio. data MsgAcqResult = MsgAcqResult - { _msgAcqResult_snr :: Float - -- ^ SNR of best point. Currently in arbitrary SNR points, but will be in - -- units of dB Hz in a later revision of this message. + { _msgAcqResult_cn0 :: Float + -- ^ CN/0 of best point , _msgAcqResult_cp :: Float -- ^ Code phase of best point , _msgAcqResult_cf :: Float @@ -51,14 +50,14 @@ instance Binary MsgAcqResult where get = do - _msgAcqResult_snr <- getFloat32le + _msgAcqResult_cn0 <- getFloat32le _msgAcqResult_cp <- getFloat32le _msgAcqResult_cf <- getFloat32le _msgAcqResult_sid <- get return MsgAcqResult {..} put MsgAcqResult {..} = do - putFloat32le _msgAcqResult_snr + putFloat32le _msgAcqResult_cn0 putFloat32le _msgAcqResult_cp putFloat32le _msgAcqResult_cf put _msgAcqResult_sid @@ -69,6 +68,44 @@ ''MsgAcqResult) $(makeLenses ''MsgAcqResult) +msgAcqResultDepB :: Word16 +msgAcqResultDepB = 0x0014 + +-- | SBP class for message MSG_ACQ_RESULT_DEP_B (0x0014). +-- +-- Deprecated. +data MsgAcqResultDepB = MsgAcqResultDepB + { _msgAcqResultDepB_snr :: Float + -- ^ SNR of best point. Currently in arbitrary SNR points, but will be in + -- units of dB Hz in a later revision of this message. + , _msgAcqResultDepB_cp :: Float + -- ^ Code phase of best point + , _msgAcqResultDepB_cf :: Float + -- ^ Carrier frequency of best point + , _msgAcqResultDepB_sid :: GnssSignal + -- ^ GNSS signal for which acquisition was attempted + } deriving ( Show, Read, Eq ) + +instance Binary MsgAcqResultDepB where + get = do + _msgAcqResultDepB_snr <- getFloat32le + _msgAcqResultDepB_cp <- getFloat32le + _msgAcqResultDepB_cf <- getFloat32le + _msgAcqResultDepB_sid <- get + return MsgAcqResultDepB {..} + + put MsgAcqResultDepB {..} = do + putFloat32le _msgAcqResultDepB_snr + putFloat32le _msgAcqResultDepB_cp + putFloat32le _msgAcqResultDepB_cf + put _msgAcqResultDepB_sid + +$(deriveSBP 'msgAcqResultDepB ''MsgAcqResultDepB) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAcqResultDepB_" . stripPrefix "_msgAcqResultDepB_"} + ''MsgAcqResultDepB) +$(makeLenses ''MsgAcqResultDepB) + msgAcqResultDepA :: Word16 msgAcqResultDepA = 0x0015 @@ -130,11 +167,11 @@ -- ^ Timestamp of the job complete event , _acqSvProfile_time_spent :: Word32 -- ^ Time spent to search for sid.code - , _acqSvProfile_cf_min :: Word32 + , _acqSvProfile_cf_min :: Int32 -- ^ Doppler range lowest frequency - , _acqSvProfile_cf_max :: Word32 + , _acqSvProfile_cf_max :: Int32 -- ^ Doppler range highest frequency - , _acqSvProfile_cf :: Word32 + , _acqSvProfile_cf :: Int32 -- ^ Doppler value of detected peak. Only valid if status is '1' , _acqSvProfile_cp :: Word32 -- ^ Codephase of detected peak. Only valid if status is '1' @@ -150,9 +187,9 @@ _acqSvProfile_bin_width <- getWord16le _acqSvProfile_timestamp <- getWord32le _acqSvProfile_time_spent <- getWord32le - _acqSvProfile_cf_min <- getWord32le - _acqSvProfile_cf_max <- getWord32le - _acqSvProfile_cf <- getWord32le + _acqSvProfile_cf_min <- fromIntegral <$> getWord32le + _acqSvProfile_cf_max <- fromIntegral <$> getWord32le + _acqSvProfile_cf <- fromIntegral <$> getWord32le _acqSvProfile_cp <- getWord32le return AcqSvProfile {..} @@ -165,9 +202,9 @@ putWord16le _acqSvProfile_bin_width putWord32le _acqSvProfile_timestamp putWord32le _acqSvProfile_time_spent - putWord32le _acqSvProfile_cf_min - putWord32le _acqSvProfile_cf_max - putWord32le _acqSvProfile_cf + putWord32le $ fromIntegral _acqSvProfile_cf_min + putWord32le $ fromIntegral _acqSvProfile_cf_max + putWord32le $ fromIntegral _acqSvProfile_cf putWord32le _acqSvProfile_cp $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_acqSvProfile_" . stripPrefix "_acqSvProfile_"} ''AcqSvProfile) @@ -187,7 +224,7 @@ instance Binary MsgAcqSvProfile where get = do - _msgAcqSvProfile_acq_sv_profile <- whileM (liftM not isEmpty) get + _msgAcqSvProfile_acq_sv_profile <- whileM (not <$> isEmpty) get return MsgAcqSvProfile {..} put MsgAcqSvProfile {..} = do 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 @@ -65,19 +65,19 @@ data MsgBootloaderHandshakeResp = MsgBootloaderHandshakeResp { _msgBootloaderHandshakeResp_flags :: Word32 -- ^ Bootloader flags - , _msgBootloaderHandshakeResp_version :: ByteString + , _msgBootloaderHandshakeResp_version :: Text -- ^ Bootloader version number } deriving ( Show, Read, Eq ) instance Binary MsgBootloaderHandshakeResp where get = do _msgBootloaderHandshakeResp_flags <- getWord32le - _msgBootloaderHandshakeResp_version <- liftM toStrict getRemainingLazyByteString + _msgBootloaderHandshakeResp_version <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgBootloaderHandshakeResp {..} put MsgBootloaderHandshakeResp {..} = do putWord32le _msgBootloaderHandshakeResp_flags - putByteString _msgBootloaderHandshakeResp_version + putByteString $ encodeUtf8 _msgBootloaderHandshakeResp_version $(deriveSBP 'msgBootloaderHandshakeResp ''MsgBootloaderHandshakeResp) @@ -179,7 +179,7 @@ instance Binary MsgBootloaderHandshakeDepA where get = do - _msgBootloaderHandshakeDepA_handshake <- whileM (liftM not isEmpty) getWord8 + _msgBootloaderHandshakeDepA_handshake <- whileM (not <$> isEmpty) getWord8 return MsgBootloaderHandshakeDepA {..} put MsgBootloaderHandshakeDepA {..} = do diff --git a/src/SwiftNav/SBP/ExtEvents.hs b/src/SwiftNav/SBP/ExtEvents.hs --- a/src/SwiftNav/SBP/ExtEvents.hs +++ b/src/SwiftNav/SBP/ExtEvents.hs @@ -53,7 +53,7 @@ get = do _msgExtEvent_wn <- getWord16le _msgExtEvent_tow <- getWord32le - _msgExtEvent_ns <- liftM fromIntegral getWord32le + _msgExtEvent_ns <- fromIntegral <$> getWord32le _msgExtEvent_flags <- getWord8 _msgExtEvent_pin <- getWord8 return MsgExtEvent {..} diff --git a/src/SwiftNav/SBP/FileIo.hs b/src/SwiftNav/SBP/FileIo.hs --- a/src/SwiftNav/SBP/FileIo.hs +++ b/src/SwiftNav/SBP/FileIo.hs @@ -51,7 +51,7 @@ -- ^ File offset , _msgFileioReadReq_chunk_size :: Word8 -- ^ Chunk size to read - , _msgFileioReadReq_filename :: ByteString + , _msgFileioReadReq_filename :: Text -- ^ Name of the file to read from } deriving ( Show, Read, Eq ) @@ -60,14 +60,14 @@ _msgFileioReadReq_sequence <- getWord32le _msgFileioReadReq_offset <- getWord32le _msgFileioReadReq_chunk_size <- getWord8 - _msgFileioReadReq_filename <- liftM toStrict getRemainingLazyByteString + _msgFileioReadReq_filename <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgFileioReadReq {..} put MsgFileioReadReq {..} = do putWord32le _msgFileioReadReq_sequence putWord32le _msgFileioReadReq_offset putWord8 _msgFileioReadReq_chunk_size - putByteString _msgFileioReadReq_filename + putByteString $ encodeUtf8 _msgFileioReadReq_filename $(deriveSBP 'msgFileioReadReq ''MsgFileioReadReq) @@ -94,7 +94,7 @@ instance Binary MsgFileioReadResp where get = do _msgFileioReadResp_sequence <- getWord32le - _msgFileioReadResp_contents <- whileM (liftM not isEmpty) getWord8 + _msgFileioReadResp_contents <- whileM (not <$> isEmpty) getWord8 return MsgFileioReadResp {..} put MsgFileioReadResp {..} = do @@ -125,7 +125,7 @@ -- ^ Read sequence number , _msgFileioReadDirReq_offset :: Word32 -- ^ The offset to skip the first n elements of the file list - , _msgFileioReadDirReq_dirname :: ByteString + , _msgFileioReadDirReq_dirname :: Text -- ^ Name of the directory to list } deriving ( Show, Read, Eq ) @@ -133,13 +133,13 @@ get = do _msgFileioReadDirReq_sequence <- getWord32le _msgFileioReadDirReq_offset <- getWord32le - _msgFileioReadDirReq_dirname <- liftM toStrict getRemainingLazyByteString + _msgFileioReadDirReq_dirname <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgFileioReadDirReq {..} put MsgFileioReadDirReq {..} = do putWord32le _msgFileioReadDirReq_sequence putWord32le _msgFileioReadDirReq_offset - putByteString _msgFileioReadDirReq_dirname + putByteString $ encodeUtf8 _msgFileioReadDirReq_dirname $(deriveSBP 'msgFileioReadDirReq ''MsgFileioReadDirReq) @@ -167,7 +167,7 @@ instance Binary MsgFileioReadDirResp where get = do _msgFileioReadDirResp_sequence <- getWord32le - _msgFileioReadDirResp_contents <- whileM (liftM not isEmpty) getWord8 + _msgFileioReadDirResp_contents <- whileM (not <$> isEmpty) getWord8 return MsgFileioReadDirResp {..} put MsgFileioReadDirResp {..} = do @@ -190,17 +190,17 @@ -- message". A device will only process this message when it is received from -- sender ID 0x42. data MsgFileioRemove = MsgFileioRemove - { _msgFileioRemove_filename :: ByteString + { _msgFileioRemove_filename :: Text -- ^ Name of the file to delete } deriving ( Show, Read, Eq ) instance Binary MsgFileioRemove where get = do - _msgFileioRemove_filename <- liftM toStrict getRemainingLazyByteString + _msgFileioRemove_filename <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgFileioRemove {..} put MsgFileioRemove {..} = do - putByteString _msgFileioRemove_filename + putByteString $ encodeUtf8 _msgFileioRemove_filename $(deriveSBP 'msgFileioRemove ''MsgFileioRemove) @@ -225,7 +225,7 @@ -- ^ Write sequence number , _msgFileioWriteReq_offset :: Word32 -- ^ Offset into the file at which to start writing in bytes - , _msgFileioWriteReq_filename :: ByteString + , _msgFileioWriteReq_filename :: Text -- ^ Name of the file to write to , _msgFileioWriteReq_data :: [Word8] -- ^ Variable-length array of data to write @@ -235,14 +235,14 @@ get = do _msgFileioWriteReq_sequence <- getWord32le _msgFileioWriteReq_offset <- getWord32le - _msgFileioWriteReq_filename <- liftM toStrict getRemainingLazyByteString - _msgFileioWriteReq_data <- whileM (liftM not isEmpty) getWord8 + _msgFileioWriteReq_filename <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + _msgFileioWriteReq_data <- whileM (not <$> isEmpty) getWord8 return MsgFileioWriteReq {..} put MsgFileioWriteReq {..} = do putWord32le _msgFileioWriteReq_sequence putWord32le _msgFileioWriteReq_offset - putByteString _msgFileioWriteReq_filename + putByteString $ encodeUtf8 _msgFileioWriteReq_filename mapM_ putWord8 _msgFileioWriteReq_data $(deriveSBP 'msgFileioWriteReq ''MsgFileioWriteReq) diff --git a/src/SwiftNav/SBP/Flash.hs b/src/SwiftNav/SBP/Flash.hs --- a/src/SwiftNav/SBP/Flash.hs +++ b/src/SwiftNav/SBP/Flash.hs @@ -55,7 +55,7 @@ _msgFlashProgram_target <- getWord8 _msgFlashProgram_addr_start <- replicateM 3 getWord8 _msgFlashProgram_addr_len <- getWord8 - _msgFlashProgram_data <- whileM (liftM not isEmpty) getWord8 + _msgFlashProgram_data <- whileM (not <$> isEmpty) getWord8 return MsgFlashProgram {..} put MsgFlashProgram {..} = do diff --git a/src/SwiftNav/SBP/Gnss.hs b/src/SwiftNav/SBP/Gnss.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Gnss.hs @@ -0,0 +1,104 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +-- | +-- Module: SwiftNav.SBP.Gnss +-- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Mark Fine +-- Stability: experimental +-- Portability: portable +-- +-- Various structs shared between modules + +module SwiftNav.SBP.Gnss where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Aeson.TH (defaultOptions, deriveJSON, fieldLabelModifier) +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.Encoding +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +-- | GnssSignal. +-- +-- Signal identifier containing constellation, band, and satellite identifier +data GnssSignal = GnssSignal + { _gnssSignal_sat :: Word16 + -- ^ Constellation-specific satellite identifier + , _gnssSignal_code :: Word8 + -- ^ Signal constellation, band and code + , _gnssSignal_reserved :: Word8 + -- ^ Reserved + } deriving ( Show, Read, Eq ) + +instance Binary GnssSignal where + get = do + _gnssSignal_sat <- getWord16le + _gnssSignal_code <- getWord8 + _gnssSignal_reserved <- getWord8 + return GnssSignal {..} + + put GnssSignal {..} = do + putWord16le _gnssSignal_sat + putWord8 _gnssSignal_code + putWord8 _gnssSignal_reserved +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gnssSignal_" . stripPrefix "_gnssSignal_"} + ''GnssSignal) +$(makeLenses ''GnssSignal) + +-- | GPSTime. +-- +-- A wire-appropriate GPS time, defined as the number of milliseconds since +-- beginning of the week on the Saturday/Sunday transition. +data GPSTime = GPSTime + { _gPSTime_tow :: Word32 + -- ^ Milliseconds since start of GPS week + , _gPSTime_wn :: Word16 + -- ^ GPS week number + } deriving ( Show, Read, Eq ) + +instance Binary GPSTime where + get = do + _gPSTime_tow <- getWord32le + _gPSTime_wn <- getWord16le + return GPSTime {..} + + put GPSTime {..} = do + putWord32le _gPSTime_tow + putWord16le _gPSTime_wn +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gPSTime_" . stripPrefix "_gPSTime_"} + ''GPSTime) +$(makeLenses ''GPSTime) + +-- | CarrierPhase. +-- +-- Carrier phase measurement in cycles represented as a 40-bit fixed point +-- number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of +-- fractional cycles. This phase has the same sign as the pseudorange. +data CarrierPhase = CarrierPhase + { _carrierPhase_i :: Int32 + -- ^ Carrier phase whole cycles + , _carrierPhase_f :: Word8 + -- ^ Carrier phase fractional part + } deriving ( Show, Read, Eq ) + +instance Binary CarrierPhase where + get = do + _carrierPhase_i <- fromIntegral <$> getWord32le + _carrierPhase_f <- getWord8 + return CarrierPhase {..} + + put CarrierPhase {..} = do + putWord32le $ fromIntegral _carrierPhase_i + putWord8 _carrierPhase_f +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_carrierPhase_" . stripPrefix "_carrierPhase_"} + ''CarrierPhase) +$(makeLenses ''CarrierPhase) diff --git a/src/SwiftNav/SBP/GnssSignal.hs b/src/SwiftNav/SBP/GnssSignal.hs deleted file mode 100644 --- a/src/SwiftNav/SBP/GnssSignal.hs +++ /dev/null @@ -1,55 +0,0 @@ -{-# OPTIONS_GHC -fno-warn-unused-imports #-} --- | --- Module: SwiftNav.SBP.GnssSignal --- Copyright: Copyright (C) 2015 Swift Navigation, Inc. --- License: LGPL-3 --- Maintainer: Mark Fine --- Stability: experimental --- Portability: portable --- --- Struct to represent a signal (constellation, band, satellite identifier) - -module SwiftNav.SBP.GnssSignal where - -import BasicPrelude -import Control.Lens -import Control.Monad.Loops -import Data.Aeson.TH (defaultOptions, deriveJSON, fieldLabelModifier) -import Data.Binary -import Data.Binary.Get -import Data.Binary.IEEE754 -import Data.Binary.Put -import Data.ByteString -import Data.ByteString.Lazy hiding (ByteString) -import Data.Int -import Data.Word -import SwiftNav.SBP.Encoding -import SwiftNav.SBP.TH -import SwiftNav.SBP.Types - --- | GnssSignal. --- --- Signal identifier containing constellation, band, and satellite identifier -data GnssSignal = GnssSignal - { _gnssSignal_sat :: Word16 - -- ^ Constellation-specific satellite identifier - , _gnssSignal_code :: Word8 - -- ^ Signal constellation, band and code - , _gnssSignal_reserved :: Word8 - -- ^ Reserved - } deriving ( Show, Read, Eq ) - -instance Binary GnssSignal where - get = do - _gnssSignal_sat <- getWord16le - _gnssSignal_code <- getWord8 - _gnssSignal_reserved <- getWord8 - return GnssSignal {..} - - put GnssSignal {..} = do - putWord16le _gnssSignal_sat - putWord8 _gnssSignal_code - putWord8 _gnssSignal_reserved -$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_gnssSignal_" . stripPrefix "_gnssSignal_"} - ''GnssSignal) -$(makeLenses ''GnssSignal) diff --git a/src/SwiftNav/SBP/Logging.hs b/src/SwiftNav/SBP/Logging.hs --- a/src/SwiftNav/SBP/Logging.hs +++ b/src/SwiftNav/SBP/Logging.hs @@ -38,19 +38,19 @@ data MsgLog = MsgLog { _msgLog_level :: Word8 -- ^ Logging level - , _msgLog_text :: ByteString + , _msgLog_text :: Text -- ^ Human-readable string } deriving ( Show, Read, Eq ) instance Binary MsgLog where get = do _msgLog_level <- getWord8 - _msgLog_text <- liftM toStrict getRemainingLazyByteString + _msgLog_text <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgLog {..} put MsgLog {..} = do putWord8 _msgLog_level - putByteString _msgLog_text + putByteString $ encodeUtf8 _msgLog_text $(deriveSBP 'msgLog ''MsgLog) @@ -65,17 +65,17 @@ -- -- All the news fit to tweet. data MsgTweet = MsgTweet - { _msgTweet_tweet :: ByteString + { _msgTweet_tweet :: Text -- ^ Human-readable string } deriving ( Show, Read, Eq ) instance Binary MsgTweet where get = do - _msgTweet_tweet <- getByteString 140 + _msgTweet_tweet <- decodeUtf8 <$> getByteString 140 return MsgTweet {..} put MsgTweet {..} = do - putByteString _msgTweet_tweet + putByteString $ encodeUtf8 _msgTweet_tweet $(deriveSBP 'msgTweet ''MsgTweet) @@ -90,17 +90,17 @@ -- -- Deprecated. data MsgPrintDep = MsgPrintDep - { _msgPrintDep_text :: ByteString + { _msgPrintDep_text :: Text -- ^ Human-readable string } deriving ( Show, Read, Eq ) instance Binary MsgPrintDep where get = do - _msgPrintDep_text <- liftM toStrict getRemainingLazyByteString + _msgPrintDep_text <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgPrintDep {..} put MsgPrintDep {..} = do - putByteString _msgPrintDep_text + putByteString $ encodeUtf8 _msgPrintDep_text $(deriveSBP 'msgPrintDep ''MsgPrintDep) diff --git a/src/SwiftNav/SBP/Navigation.hs b/src/SwiftNav/SBP/Navigation.hs --- a/src/SwiftNav/SBP/Navigation.hs +++ b/src/SwiftNav/SBP/Navigation.hs @@ -65,7 +65,7 @@ get = do _msgGpsTime_wn <- getWord16le _msgGpsTime_tow <- getWord32le - _msgGpsTime_ns <- liftM fromIntegral getWord32le + _msgGpsTime_ns <- fromIntegral <$> getWord32le _msgGpsTime_flags <- getWord8 return MsgGpsTime {..} @@ -270,9 +270,9 @@ instance Binary MsgBaselineEcef where get = do _msgBaselineEcef_tow <- getWord32le - _msgBaselineEcef_x <- liftM fromIntegral getWord32le - _msgBaselineEcef_y <- liftM fromIntegral getWord32le - _msgBaselineEcef_z <- liftM fromIntegral getWord32le + _msgBaselineEcef_x <- fromIntegral <$> getWord32le + _msgBaselineEcef_y <- fromIntegral <$> getWord32le + _msgBaselineEcef_z <- fromIntegral <$> getWord32le _msgBaselineEcef_accuracy <- getWord16le _msgBaselineEcef_n_sats <- getWord8 _msgBaselineEcef_flags <- getWord8 @@ -326,9 +326,9 @@ instance Binary MsgBaselineNed where get = do _msgBaselineNed_tow <- getWord32le - _msgBaselineNed_n <- liftM fromIntegral getWord32le - _msgBaselineNed_e <- liftM fromIntegral getWord32le - _msgBaselineNed_d <- liftM fromIntegral getWord32le + _msgBaselineNed_n <- fromIntegral <$> getWord32le + _msgBaselineNed_e <- fromIntegral <$> getWord32le + _msgBaselineNed_d <- fromIntegral <$> getWord32le _msgBaselineNed_h_accuracy <- getWord16le _msgBaselineNed_v_accuracy <- getWord16le _msgBaselineNed_n_sats <- getWord8 @@ -379,9 +379,9 @@ instance Binary MsgVelEcef where get = do _msgVelEcef_tow <- getWord32le - _msgVelEcef_x <- liftM fromIntegral getWord32le - _msgVelEcef_y <- liftM fromIntegral getWord32le - _msgVelEcef_z <- liftM fromIntegral getWord32le + _msgVelEcef_x <- fromIntegral <$> getWord32le + _msgVelEcef_y <- fromIntegral <$> getWord32le + _msgVelEcef_z <- fromIntegral <$> getWord32le _msgVelEcef_accuracy <- getWord16le _msgVelEcef_n_sats <- getWord8 _msgVelEcef_flags <- getWord8 @@ -433,9 +433,9 @@ instance Binary MsgVelNed where get = do _msgVelNed_tow <- getWord32le - _msgVelNed_n <- liftM fromIntegral getWord32le - _msgVelNed_e <- liftM fromIntegral getWord32le - _msgVelNed_d <- liftM fromIntegral getWord32le + _msgVelNed_n <- fromIntegral <$> getWord32le + _msgVelNed_e <- fromIntegral <$> getWord32le + _msgVelNed_d <- fromIntegral <$> getWord32le _msgVelNed_h_accuracy <- getWord16le _msgVelNed_v_accuracy <- getWord16le _msgVelNed_n_sats <- getWord8 diff --git a/src/SwiftNav/SBP/Observation.hs b/src/SwiftNav/SBP/Observation.hs --- a/src/SwiftNav/SBP/Observation.hs +++ b/src/SwiftNav/SBP/Observation.hs @@ -26,62 +26,13 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types -import SwiftNav.SBP.GnssSignal - --- | ObsGPSTime. --- --- A wire-appropriate GPS time, defined as the number of milliseconds since --- beginning of the week on the Saturday/Sunday transition. -data ObsGPSTime = ObsGPSTime - { _obsGPSTime_tow :: Word32 - -- ^ Milliseconds since start of GPS week - , _obsGPSTime_wn :: Word16 - -- ^ GPS week number - } deriving ( Show, Read, Eq ) - -instance Binary ObsGPSTime where - get = do - _obsGPSTime_tow <- getWord32le - _obsGPSTime_wn <- getWord16le - return ObsGPSTime {..} - - put ObsGPSTime {..} = do - putWord32le _obsGPSTime_tow - putWord16le _obsGPSTime_wn -$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_obsGPSTime_" . stripPrefix "_obsGPSTime_"} - ''ObsGPSTime) -$(makeLenses ''ObsGPSTime) - --- | CarrierPhase. --- --- Carrier phase measurement in cycles represented as a 40-bit fixed point --- number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of --- fractional cycles. This phase has the same sign as the pseudorange. -data CarrierPhase = CarrierPhase - { _carrierPhase_i :: Int32 - -- ^ Carrier phase whole cycles - , _carrierPhase_f :: Word8 - -- ^ Carrier phase fractional part - } deriving ( Show, Read, Eq ) - -instance Binary CarrierPhase where - get = do - _carrierPhase_i <- liftM fromIntegral getWord32le - _carrierPhase_f <- getWord8 - return CarrierPhase {..} - - put CarrierPhase {..} = do - putWord32le $ fromIntegral _carrierPhase_i - putWord8 _carrierPhase_f -$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_carrierPhase_" . stripPrefix "_carrierPhase_"} - ''CarrierPhase) -$(makeLenses ''CarrierPhase) +import SwiftNav.SBP.Gnss -- | ObservationHeader. -- -- Header of a GPS observation message. data ObservationHeader = ObservationHeader - { _observationHeader_t :: ObsGPSTime + { _observationHeader_t :: GPSTime -- ^ GPS time of this observation , _observationHeader_n_obs :: Word8 -- ^ Total number of observations. First nibble is the size of the sequence @@ -104,7 +55,7 @@ -- | PackedObsContent. -- -- Pseudorange and carrier phase observation for a satellite being tracked. The --- observations should be interoperable with 3rd party receivers and conform +-- observations should be interoperable with 3rd party receivers and conform -- with typical RTCMv3 GNSS observations. data PackedObsContent = PackedObsContent { _packedObsContent_P :: Word32 @@ -149,8 +100,8 @@ -- phase observations for the satellites being tracked by the device. Carrier -- phase observation here is represented as a 40-bit fixed point number with -- Q32.8 layout (i.e. 32-bits of whole cycles and 8-bits of fractional cycles). --- The observations should be interoperable with 3rd party receivers and --- conform with typical RTCMv3 GNSS observations. +-- The observations should be interoperable with 3rd party receivers and +-- conform with typical RTCMv3 GNSS observations. data MsgObs = MsgObs { _msgObs_header :: ObservationHeader -- ^ Header of a GPS observation message @@ -161,7 +112,7 @@ instance Binary MsgObs where get = do _msgObs_header <- get - _msgObs_obs <- whileM (liftM not isEmpty) get + _msgObs_obs <- whileM (not <$> isEmpty) get return MsgObs {..} put MsgObs {..} = do @@ -250,7 +201,7 @@ data EphemerisCommonContent = EphemerisCommonContent { _ephemerisCommonContent_sid :: GnssSignal -- ^ GNSS signal identifier - , _ephemerisCommonContent_toe :: ObsGPSTime + , _ephemerisCommonContent_toe :: GPSTime -- ^ Time of Ephemerides , _ephemerisCommonContent_ura :: Double -- ^ User Range Accuracy @@ -338,7 +289,7 @@ -- ^ Polynomial clock correction coefficient (clock drift) , _msgEphemerisGps_af2 :: Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisGps_toc :: ObsGPSTime + , _msgEphemerisGps_toc :: GPSTime -- ^ Clock reference , _msgEphemerisGps_iode :: Word8 -- ^ Issue of ephemeris data @@ -1059,7 +1010,7 @@ instance Binary CarrierPhaseDepA where get = do - _carrierPhaseDepA_i <- liftM fromIntegral getWord32le + _carrierPhaseDepA_i <- fromIntegral <$> getWord32le _carrierPhaseDepA_f <- getWord8 return CarrierPhaseDepA {..} @@ -1161,7 +1112,7 @@ instance Binary MsgObsDepA where get = do _msgObsDepA_header <- get - _msgObsDepA_obs <- whileM (liftM not isEmpty) get + _msgObsDepA_obs <- whileM (not <$> isEmpty) get return MsgObsDepA {..} put MsgObsDepA {..} = do @@ -1179,10 +1130,10 @@ -- | SBP class for message MSG_OBS_DEP_B (0x0043). -- --- This observation message has been deprecated in favor of observations that +-- This observation message has been deprecated in favor of observations that -- are more interoperable. This message should be used for observations --- referenced to a nominal pseudorange which are not interoperable with most --- 3rd party GNSS receievers or typical RTCMv3 observations. +-- referenced to a nominal pseudorange which are not interoperable with most +-- 3rd party GNSS receievers or typical RTCMv3 observations. data MsgObsDepB = MsgObsDepB { _msgObsDepB_header :: ObservationHeader -- ^ Header of a GPS observation message @@ -1193,7 +1144,7 @@ instance Binary MsgObsDepB where get = do _msgObsDepB_header <- get - _msgObsDepB_obs <- whileM (liftM not isEmpty) get + _msgObsDepB_obs <- whileM (not <$> isEmpty) get return MsgObsDepB {..} put MsgObsDepB {..} = do @@ -1215,7 +1166,7 @@ -- utilize the ionospheric model for computation of the ionospheric delay. -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.7) for more details. data MsgIono = MsgIono - { _msgIono_t_nmct :: ObsGPSTime + { _msgIono_t_nmct :: GPSTime -- ^ Navigation Message Correction Table Valitidy Time , _msgIono_a0 :: Double , _msgIono_a1 :: Double @@ -1264,7 +1215,7 @@ -- -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. data MsgSvConfigurationGps = MsgSvConfigurationGps - { _msgSvConfigurationGps_t_nmct :: ObsGPSTime + { _msgSvConfigurationGps_t_nmct :: GPSTime -- ^ Navigation Message Correction Table Valitidy Time , _msgSvConfigurationGps_l2c_mask :: Word32 -- ^ L2C capability mask, SV32 bit being MSB, SV1 bit being LSB @@ -1293,7 +1244,7 @@ -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelay = MsgGroupDelay - { _msgGroupDelay_t_op :: ObsGPSTime + { _msgGroupDelay_t_op :: GPSTime -- ^ Data Predict Time of Week , _msgGroupDelay_prn :: Word8 -- ^ Satellite number @@ -1310,9 +1261,9 @@ _msgGroupDelay_t_op <- get _msgGroupDelay_prn <- getWord8 _msgGroupDelay_valid <- getWord8 - _msgGroupDelay_tgd <- liftM fromIntegral getWord16le - _msgGroupDelay_isc_l1ca <- liftM fromIntegral getWord16le - _msgGroupDelay_isc_l2c <- liftM fromIntegral getWord16le + _msgGroupDelay_tgd <- fromIntegral <$> getWord16le + _msgGroupDelay_isc_l1ca <- fromIntegral <$> getWord16le + _msgGroupDelay_isc_l2c <- fromIntegral <$> getWord16le return MsgGroupDelay {..} put MsgGroupDelay {..} = do diff --git a/src/SwiftNav/SBP/Piksi.hs b/src/SwiftNav/SBP/Piksi.hs --- a/src/SwiftNav/SBP/Piksi.hs +++ b/src/SwiftNav/SBP/Piksi.hs @@ -28,7 +28,7 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types -import SwiftNav.SBP.GnssSignal +import SwiftNav.SBP.Gnss msgAlmanac :: Word16 msgAlmanac = 0x0069 @@ -206,7 +206,7 @@ -- (RTOS) thread usage statistics for the named thread. The reported percentage -- values must be normalized. data MsgThreadState = MsgThreadState - { _msgThreadState_name :: ByteString + { _msgThreadState_name :: Text -- ^ Thread name (NULL terminated) , _msgThreadState_cpu :: Word16 -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and needs @@ -217,13 +217,13 @@ instance Binary MsgThreadState where get = do - _msgThreadState_name <- getByteString 20 + _msgThreadState_name <- decodeUtf8 <$> getByteString 20 _msgThreadState_cpu <- getWord16le _msgThreadState_stack_free <- getWord32le return MsgThreadState {..} put MsgThreadState {..} = do - putByteString _msgThreadState_name + putByteString $ encodeUtf8 _msgThreadState_name putWord16le _msgThreadState_cpu putWord32le _msgThreadState_stack_free @@ -293,10 +293,10 @@ instance Binary Period where get = do - _period_avg <- liftM fromIntegral getWord32le - _period_pmin <- liftM fromIntegral getWord32le - _period_pmax <- liftM fromIntegral getWord32le - _period_current <- liftM fromIntegral getWord32le + _period_avg <- fromIntegral <$> getWord32le + _period_pmin <- fromIntegral <$> getWord32le + _period_pmax <- fromIntegral <$> getWord32le + _period_current <- fromIntegral <$> getWord32le return Period {..} put Period {..} = do @@ -327,10 +327,10 @@ instance Binary Latency where get = do - _latency_avg <- liftM fromIntegral getWord32le - _latency_lmin <- liftM fromIntegral getWord32le - _latency_lmax <- liftM fromIntegral getWord32le - _latency_current <- liftM fromIntegral getWord32le + _latency_avg <- fromIntegral <$> getWord32le + _latency_lmin <- fromIntegral <$> getWord32le + _latency_lmax <- fromIntegral <$> getWord32le + _latency_current <- fromIntegral <$> getWord32le return Latency {..} put Latency {..} = do @@ -507,11 +507,11 @@ instance Binary MsgDeviceMonitor where get = do - _msgDeviceMonitor_dev_vin <- liftM fromIntegral getWord16le - _msgDeviceMonitor_cpu_vint <- liftM fromIntegral getWord16le - _msgDeviceMonitor_cpu_vaux <- liftM fromIntegral getWord16le - _msgDeviceMonitor_cpu_temperature <- liftM fromIntegral getWord16le - _msgDeviceMonitor_fe_temperature <- liftM fromIntegral getWord16le + _msgDeviceMonitor_dev_vin <- fromIntegral <$> getWord16le + _msgDeviceMonitor_cpu_vint <- fromIntegral <$> getWord16le + _msgDeviceMonitor_cpu_vaux <- fromIntegral <$> getWord16le + _msgDeviceMonitor_cpu_temperature <- fromIntegral <$> getWord16le + _msgDeviceMonitor_fe_temperature <- fromIntegral <$> getWord16le return MsgDeviceMonitor {..} put MsgDeviceMonitor {..} = do diff --git a/src/SwiftNav/SBP/Settings.hs b/src/SwiftNav/SBP/Settings.hs --- a/src/SwiftNav/SBP/Settings.hs +++ b/src/SwiftNav/SBP/Settings.hs @@ -61,7 +61,7 @@ -- -- The setting message writes the device configuration. data MsgSettingsWrite = MsgSettingsWrite - { _msgSettingsWrite_setting :: ByteString + { _msgSettingsWrite_setting :: Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. A device will only process to this message when it is -- received from sender ID 0x42. @@ -69,11 +69,11 @@ instance Binary MsgSettingsWrite where get = do - _msgSettingsWrite_setting <- liftM toStrict getRemainingLazyByteString + _msgSettingsWrite_setting <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgSettingsWrite {..} put MsgSettingsWrite {..} = do - putByteString _msgSettingsWrite_setting + putByteString $ encodeUtf8 _msgSettingsWrite_setting $(deriveSBP 'msgSettingsWrite ''MsgSettingsWrite) @@ -88,7 +88,7 @@ -- -- The setting message reads the device configuration. data MsgSettingsReadReq = MsgSettingsReadReq - { _msgSettingsReadReq_setting :: ByteString + { _msgSettingsReadReq_setting :: Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING]. A device will only respond to this message when it is received -- from sender ID 0x42. @@ -96,11 +96,11 @@ instance Binary MsgSettingsReadReq where get = do - _msgSettingsReadReq_setting <- liftM toStrict getRemainingLazyByteString + _msgSettingsReadReq_setting <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgSettingsReadReq {..} put MsgSettingsReadReq {..} = do - putByteString _msgSettingsReadReq_setting + putByteString $ encodeUtf8 _msgSettingsReadReq_setting $(deriveSBP 'msgSettingsReadReq ''MsgSettingsReadReq) @@ -115,18 +115,18 @@ -- -- The setting message reads the device configuration. data MsgSettingsReadResp = MsgSettingsReadResp - { _msgSettingsReadResp_setting :: ByteString + { _msgSettingsReadResp_setting :: Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. } deriving ( Show, Read, Eq ) instance Binary MsgSettingsReadResp where get = do - _msgSettingsReadResp_setting <- liftM toStrict getRemainingLazyByteString + _msgSettingsReadResp_setting <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgSettingsReadResp {..} put MsgSettingsReadResp {..} = do - putByteString _msgSettingsReadResp_setting + putByteString $ encodeUtf8 _msgSettingsReadResp_setting $(deriveSBP 'msgSettingsReadResp ''MsgSettingsReadResp) @@ -175,7 +175,7 @@ { _msgSettingsReadByIndexResp_index :: Word16 -- ^ An index into the device settings, with values ranging from 0 to -- length(settings) - , _msgSettingsReadByIndexResp_setting :: ByteString + , _msgSettingsReadByIndexResp_setting :: Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. } deriving ( Show, Read, Eq ) @@ -183,12 +183,12 @@ instance Binary MsgSettingsReadByIndexResp where get = do _msgSettingsReadByIndexResp_index <- getWord16le - _msgSettingsReadByIndexResp_setting <- liftM toStrict getRemainingLazyByteString + _msgSettingsReadByIndexResp_setting <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgSettingsReadByIndexResp {..} put MsgSettingsReadByIndexResp {..} = do putWord16le _msgSettingsReadByIndexResp_index - putByteString _msgSettingsReadByIndexResp_setting + putByteString $ encodeUtf8 _msgSettingsReadByIndexResp_setting $(deriveSBP 'msgSettingsReadByIndexResp ''MsgSettingsReadByIndexResp) @@ -227,18 +227,18 @@ -- settings daemon. The host should reply with MSG_SETTINGS_WRITE for this -- setting to set the initial value. data MsgSettingsRegister = MsgSettingsRegister - { _msgSettingsRegister_setting :: ByteString + { _msgSettingsRegister_setting :: Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. } deriving ( Show, Read, Eq ) instance Binary MsgSettingsRegister where get = do - _msgSettingsRegister_setting <- liftM toStrict getRemainingLazyByteString + _msgSettingsRegister_setting <- decodeUtf8 . toStrict <$> getRemainingLazyByteString return MsgSettingsRegister {..} put MsgSettingsRegister {..} = do - putByteString _msgSettingsRegister_setting + putByteString $ encodeUtf8 _msgSettingsRegister_setting $(deriveSBP 'msgSettingsRegister ''MsgSettingsRegister) diff --git a/src/SwiftNav/SBP/Tracking.hs b/src/SwiftNav/SBP/Tracking.hs --- a/src/SwiftNav/SBP/Tracking.hs +++ b/src/SwiftNav/SBP/Tracking.hs @@ -26,8 +26,118 @@ import SwiftNav.SBP.Encoding import SwiftNav.SBP.TH import SwiftNav.SBP.Types -import SwiftNav.SBP.GnssSignal +import SwiftNav.SBP.Gnss +msgTrackingStateDetailed :: Word16 +msgTrackingStateDetailed = 0x0011 + +-- | SBP class for message MSG_TRACKING_STATE_DETAILED (0x0011). +-- +-- The tracking message returns a set tracking channel parameters for a single +-- tracking channel useful for debugging issues. +data MsgTrackingStateDetailed = MsgTrackingStateDetailed + { _msgTrackingStateDetailed_recv_time :: Word64 + -- ^ Receiver clock time. + , _msgTrackingStateDetailed_tot :: GPSTime + -- ^ Time of transmission of signal from satellite. + , _msgTrackingStateDetailed_P :: Word32 + -- ^ Pseudorange observation. + , _msgTrackingStateDetailed_P_std :: Word16 + -- ^ Pseudorange observation standard deviation. + , _msgTrackingStateDetailed_L :: CarrierPhase + -- ^ Carrier phase observation with typical sign convention. Only valid when + -- PLL pessimistic lock is achieved. + , _msgTrackingStateDetailed_cn0 :: Word8 + -- ^ Carrier-to-Noise density + , _msgTrackingStateDetailed_lock :: Word16 + -- ^ Lock indicator. This value changes whenever a satellite signal has lost + -- and regained lock, indicating that the carrier phase ambiguity may have + -- changed. + , _msgTrackingStateDetailed_sid :: GnssSignal + -- ^ GNSS signal identifier. + , _msgTrackingStateDetailed_doppler :: Int32 + -- ^ Carrier Doppler frequency. + , _msgTrackingStateDetailed_doppler_std :: Word16 + -- ^ Carrier Doppler frequency standard deviation. + , _msgTrackingStateDetailed_uptime :: Word32 + -- ^ Number of seconds of continuous tracking. Specifies how much time signal + -- is in continuous track. + , _msgTrackingStateDetailed_clock_offset :: Word16 + -- ^ TCXO clock offset. + , _msgTrackingStateDetailed_clock_drift :: Word16 + -- ^ TCXO clock drift. + , _msgTrackingStateDetailed_corr_spacing :: Word16 + -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. + , _msgTrackingStateDetailed_acceleration :: Word8 + -- ^ Acceleration. Valid only when acceleration valid flag is set. + , _msgTrackingStateDetailed_sync_flags :: Word8 + -- ^ Synchronization status flags. + , _msgTrackingStateDetailed_tow_flags :: Word8 + -- ^ TOW status flags. + , _msgTrackingStateDetailed_track_flags :: Word8 + -- ^ Tracking loop status flags. + , _msgTrackingStateDetailed_nav_flags :: Word8 + -- ^ Navigation data status flags. + , _msgTrackingStateDetailed_pset_flags :: Word8 + -- ^ Parameters sets flags. + , _msgTrackingStateDetailed_misc_flags :: Word8 + -- ^ Miscellaneous flags. + } deriving ( Show, Read, Eq ) + +instance Binary MsgTrackingStateDetailed where + get = do + _msgTrackingStateDetailed_recv_time <- getWord64le + _msgTrackingStateDetailed_tot <- get + _msgTrackingStateDetailed_P <- getWord32le + _msgTrackingStateDetailed_P_std <- getWord16le + _msgTrackingStateDetailed_L <- get + _msgTrackingStateDetailed_cn0 <- getWord8 + _msgTrackingStateDetailed_lock <- getWord16le + _msgTrackingStateDetailed_sid <- get + _msgTrackingStateDetailed_doppler <- fromIntegral <$> getWord32le + _msgTrackingStateDetailed_doppler_std <- getWord16le + _msgTrackingStateDetailed_uptime <- getWord32le + _msgTrackingStateDetailed_clock_offset <- getWord16le + _msgTrackingStateDetailed_clock_drift <- getWord16le + _msgTrackingStateDetailed_corr_spacing <- getWord16le + _msgTrackingStateDetailed_acceleration <- getWord8 + _msgTrackingStateDetailed_sync_flags <- getWord8 + _msgTrackingStateDetailed_tow_flags <- getWord8 + _msgTrackingStateDetailed_track_flags <- getWord8 + _msgTrackingStateDetailed_nav_flags <- getWord8 + _msgTrackingStateDetailed_pset_flags <- getWord8 + _msgTrackingStateDetailed_misc_flags <- getWord8 + return MsgTrackingStateDetailed {..} + + put MsgTrackingStateDetailed {..} = do + putWord64le _msgTrackingStateDetailed_recv_time + put _msgTrackingStateDetailed_tot + putWord32le _msgTrackingStateDetailed_P + putWord16le _msgTrackingStateDetailed_P_std + put _msgTrackingStateDetailed_L + putWord8 _msgTrackingStateDetailed_cn0 + putWord16le _msgTrackingStateDetailed_lock + put _msgTrackingStateDetailed_sid + putWord32le $ fromIntegral _msgTrackingStateDetailed_doppler + putWord16le _msgTrackingStateDetailed_doppler_std + putWord32le _msgTrackingStateDetailed_uptime + putWord16le _msgTrackingStateDetailed_clock_offset + putWord16le _msgTrackingStateDetailed_clock_drift + putWord16le _msgTrackingStateDetailed_corr_spacing + putWord8 _msgTrackingStateDetailed_acceleration + putWord8 _msgTrackingStateDetailed_sync_flags + putWord8 _msgTrackingStateDetailed_tow_flags + putWord8 _msgTrackingStateDetailed_track_flags + putWord8 _msgTrackingStateDetailed_nav_flags + putWord8 _msgTrackingStateDetailed_pset_flags + putWord8 _msgTrackingStateDetailed_misc_flags + +$(deriveSBP 'msgTrackingStateDetailed ''MsgTrackingStateDetailed) + +$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgTrackingStateDetailed_" . stripPrefix "_msgTrackingStateDetailed_"} + ''MsgTrackingStateDetailed) +$(makeLenses ''MsgTrackingStateDetailed) + -- | TrackingChannelState. -- -- Tracking channel state for a specific satellite signal and measured signal @@ -66,12 +176,12 @@ -- tracked satellites. data MsgTrackingState = MsgTrackingState { _msgTrackingState_states :: [TrackingChannelState] - -- ^ Satellite tracking channel state + -- ^ Signal tracking channel state } deriving ( Show, Read, Eq ) instance Binary MsgTrackingState where get = do - _msgTrackingState_states <- whileM (liftM not isEmpty) get + _msgTrackingState_states <- whileM (not <$> isEmpty) get return MsgTrackingState {..} put MsgTrackingState {..} = do @@ -95,8 +205,8 @@ instance Binary TrackingChannelCorrelation where get = do - _trackingChannelCorrelation_I <- liftM fromIntegral getWord32le - _trackingChannelCorrelation_Q <- liftM fromIntegral getWord32le + _trackingChannelCorrelation_I <- fromIntegral <$> getWord32le + _trackingChannelCorrelation_Q <- fromIntegral <$> getWord32le return TrackingChannelCorrelation {..} put TrackingChannelCorrelation {..} = do @@ -180,7 +290,7 @@ instance Binary MsgTrackingStateDepA where get = do - _msgTrackingStateDepA_states <- whileM (liftM not isEmpty) get + _msgTrackingStateDepA_states <- whileM (not <$> isEmpty) get return MsgTrackingStateDepA {..} put MsgTrackingStateDepA {..} = do diff --git a/src/SwiftNav/SBP/User.hs b/src/SwiftNav/SBP/User.hs --- a/src/SwiftNav/SBP/User.hs +++ b/src/SwiftNav/SBP/User.hs @@ -41,7 +41,7 @@ instance Binary MsgUserData where get = do - _msgUserData_contents <- whileM (liftM not isEmpty) getWord8 + _msgUserData_contents <- whileM (not <$> isEmpty) getWord8 return MsgUserData {..} put MsgUserData {..} = do