diff --git a/README.md b/README.md --- a/README.md +++ b/README.md @@ -10,11 +10,23 @@ Available on [Hackage as `sbp`](http://hackage.haskell.org/package/sbp). -To install from Hackage using `stack`: +The library supports building against Stackage LTS-5, LTS-6, and LTS-8. To +install from Hackage using `stack`: - $ stack install --resolver lts-6.25 sbp - -Note that we explicitly specify the `lts-6.25` resolver, `libsbp` may fail to build with more recent resolvers. + $ stack install --resolver lts-6.35 sbp # (LTS-6) + +or + + $ stack install --resolver lts-8.21 sbp # (LTS-8) + +or + + $ stack install --resolver lts-5.18 sbp # (LTS-5) + +Note that we explicitly specify the resolvers to use, as installing `libsbp` may +fail to build with more recent resolvers. + +Building with cabal is possible but not supported and may fail to build. ## Setup diff --git a/bench/Bench.hs b/bench/Bench.hs deleted file mode 100644 --- a/bench/Bench.hs +++ /dev/null @@ -1,113 +0,0 @@ -import BasicPrelude -import Criterion.Main -import qualified Data.Aeson as A -import qualified Data.Binary as B -import qualified Data.ByteString.Base64 as Base64 -import qualified Data.ByteString.Lazy as LBS -import SwiftNav.SBP - --- | Message length and dispatch overhead for SBP serialization and --- deserialization (on local developer Macbook Pro). --- --- benchmarking JSON encoding/Encode short message (acq) --- time 3.711 μs (3.538 μs .. 4.015 μs) --- benchmarking JSON encoding/Encode wrapped message --- time 7.883 μs (7.607 μs .. 8.135 μs) --- benchmarking JSON encoding/Encode longer message (obs) --- time 15.04 μs (14.59 μs .. 15.45 μs) --- benchmarking JSON encoding/Encode longer wrapped message --- time 20.90 μs (20.49 μs .. 21.40 μs) --- benchmarking JSON encoding/Encode longer message (base) --- time 3.762 μs (3.511 μs .. 4.082 μs) --- benchmarking JSON encoding/Encode longer wrapped message --- time 6.746 μs (6.564 μs .. 7.059 μs) --- benchmarking Binary encoding/Encode short message (acq) --- time 4.913 μs (4.425 μs .. 5.342 μs) --- benchmarking Binary encoding/Encode wrapped message --- time 6.213 μs (5.495 μs .. 7.044 μs) --- benchmarking Binary encoding/Encode longer message (obs) --- time 5.055 μs (4.596 μs .. 5.542 μs) --- benchmarking Binary encoding/Encode longer wrapped message --- time 5.200 μs (4.733 μs .. 5.698 μs) --- benchmarking Binary encoding/Encode longer message (base) --- time 6.353 μs (6.058 μs .. 6.676 μs) --- benchmarking Binary encoding/Encode longer wrapped message --- time 4.585 μs (4.146 μs .. 5.081 μs) --- benchmarking Binary decoding/Decode short message --- time 1.008 μs (976.0 ns .. 1.046 μs) --- benchmarking Binary decoding/Decode longer message --- time 3.211 μs (2.989 μs .. 3.449 μs) - -msgToEncode :: MsgAcqResult -msgToEncode = MsgAcqResult 2 2 2 3 - -msgToEncode' :: SBPMsg -msgToEncode' = SBPMsgAcqResult msgToEncode (toSBP msgToEncode defaultSender) - -msgToEncode1 :: MsgBaselineNed -msgToEncode1 = MsgBaselineNed 100000 1 1 1 1 1 1 1 - -msgToEncode1' :: SBPMsg -msgToEncode1' = SBPMsgBaselineNed msgToEncode1 (toSBP msgToEncode1 defaultSender) - -longMsgToEncode :: MsgObs -longMsgToEncode = MsgObs (ObservationHeader (ObsGPSTime 100000 1024) 4) - [ PackedObsContent 222222 (CarrierPhase 22 22) 2 2 0 - , PackedObsContent 222222 (CarrierPhase 22 22) 2 2 1 - , PackedObsContent 222222 (CarrierPhase 22 22) 2 2 2 - , PackedObsContent 222222 (CarrierPhase 22 22) 2 2 3 - ] - -longMsgToEncode' :: SBPMsg -longMsgToEncode' = SBPMsgObs longMsgToEncode (toSBP longMsgToEncode defaultSender) - -binaryToDecode :: ByteString -binaryToDecode = Base64.decodeLenient "VRUAwwQNzcx0QQAgQ0TkSpRFDhdL" - -longBinaryToDecode :: ByteString -longBinaryToDecode = Base64.decodeLenient "VUYAwwSwAAAAAAAATb4AAAAAAHpTwAAAAAAA6\ - \W5AAAAAAAA8z74AAAAAABzePgAAAAAAgHg+AA\ - \AAAAAAbD4K5reM1uYyPjZWxKT8Cv8/AAAAJPe\ - \/gD8AAKAFwSG0QLqKUYFY7wFAXtJ4qmoZQb5n\ - \1SCb48Lgv5wvaF1lN+8/xFNk/jM2BL4AAAAAM\ - \vI0PwAAAAAAAHK9AAAAAAAAAAAAAAAAgAwZQS\ - \4HAAAAAIAMGUEuBwEBHgCqIQ==" - -jsonEncode :: Benchmark -jsonEncode = do - bgroup "JSON encoding" - [ bench "Encode short message (acq)" $ nf A.encode msgToEncode - , bench "Encode wrapped message" $ nf A.encode msgToEncode' - , bench "Encode longer message (obs)" $ nf A.encode longMsgToEncode - , bench "Encode longer wrapped message" $ nf A.encode longMsgToEncode' - , bench "Encode longer message (base)" $ nf A.encode msgToEncode1 - , bench "Encode longer wrapped message" $ nf A.encode msgToEncode1' - ] - -binaryEncode :: Benchmark -binaryEncode = do - bgroup "Binary encoding" - [ bench "Encode short message (acq)" $ nf B.encode msgToEncode - , bench "Encode wrapped message" $ nf B.encode msgToEncode' - , bench "Encode longer message (obs)" $ nf B.encode longMsgToEncode - , bench "Encode longer wrapped message" $ nf B.encode longMsgToEncode' - , bench "Encode longer message (base)" $ nf B.encode msgToEncode1 - , bench "Encode longer wrapped message" $ nf B.encode msgToEncode1' - ] - -decodeSBP :: LBS.ByteString -> SBPMsg -decodeSBP x = B.decode x - -binaryDecode :: Benchmark -binaryDecode = do - bgroup "Binary decoding" - [ bench "Decode short message" $ whnf decodeSBP (LBS.fromStrict binaryToDecode) - , bench "Decode longer message" $ whnf decodeSBP (LBS.fromStrict longBinaryToDecode) - ] - -main :: IO () -main = do - defaultMain [ jsonEncode - , binaryEncode - , binaryDecode - ] diff --git a/main/JSON2SBP.hs b/main/JSON2SBP.hs --- a/main/JSON2SBP.hs +++ b/main/JSON2SBP.hs @@ -1,3 +1,6 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} + -- | -- Module: JSON2SBP -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. diff --git a/main/SBP2JSON.hs b/main/SBP2JSON.hs --- a/main/SBP2JSON.hs +++ b/main/SBP2JSON.hs @@ -1,3 +1,6 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} + -- | -- Module: SBP2JSON -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -12,8 +15,6 @@ import BasicPrelude import Control.Monad.Trans.Resource import Data.Aeson -import Data.Aeson.Encode -import Data.ByteString.Builder import qualified Data.ByteString.Lazy as BL import Data.Conduit import Data.Conduit.Binary @@ -24,7 +25,7 @@ -- | Encode a SBPMsg to a line of JSON. encodeLine :: SBPMsg -> ByteString -encodeLine v = BL.toStrict $ toLazyByteString $ encodeToBuilder (toJSON v) <> "\n" +encodeLine v = BL.toStrict $ encode v <> "\n" main :: IO () main = diff --git a/main/SBP2YAML.hs b/main/SBP2YAML.hs --- a/main/SBP2YAML.hs +++ b/main/SBP2YAML.hs @@ -1,3 +1,6 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} + -- | -- Module: SBP2YAML -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,157 +1,138 @@ -name: sbp -version: 2.2.6 -synopsis: SwiftNav's SBP Library -homepage: https://github.com/swift-nav/libsbp -license: LGPL-3 -author: Swift Navigation Inc. -maintainer: Mark Fine -copyright: Copyright (C) 2015 Swift Navigation, Inc. -category: Network -build-type: Simple -cabal-version: >= 1.10 -extra-source-files: README.md +name: sbp +version: 2.2.7 +cabal-version: >=1.22 +build-type: Simple +license: LGPL-3 +copyright: Copyright (C) 2015 Swift Navigation, Inc. +maintainer: Mark Fine +homepage: https://github.com/swift-nav/libsbp +synopsis: SwiftNav's SBP Library description: - Haskell bindings for Swift Navigation Binary Protocol (SBP), a fast, - simple, and minimal binary protocol for communicating with Swift - devices. It is the native binary protocol used by the Piksi GPS - receiver to transmit solutions, observations, status and debugging - messages, as well as receive messages from the host operating - system, such as differential corrections and the almanac. + Haskell bindings for Swift Navigation Binary Protocol (SBP), a fast, + simple, and minimal binary protocol for communicating with Swift + devices. It is the native binary protocol used by the Piksi GPS + receiver to transmit solutions, observations, status and debugging + messages, as well as receive messages from the host operating + system, such as differential corrections and the almanac. +category: Network +author: Swift Navigation Inc. +extra-source-files: + README.md source-repository head - type: git - location: git@github.com:swift-nav/libsbp.git + type: git + location: git@github.com:swift-nav/libsbp.git library - exposed-modules: SwiftNav.CRC16 - , SwiftNav.SBP - , SwiftNav.SBP.Msg - , SwiftNav.SBP.Acquisition - , SwiftNav.SBP.Bootload - , SwiftNav.SBP.ExtEvents - , SwiftNav.SBP.FileIo - , SwiftNav.SBP.Flash - , SwiftNav.SBP.Gnss - , SwiftNav.SBP.Imu - , SwiftNav.SBP.Logging - , SwiftNav.SBP.Navigation - , SwiftNav.SBP.Ndb - , SwiftNav.SBP.Observation - , SwiftNav.SBP.Piksi - , SwiftNav.SBP.Settings - , SwiftNav.SBP.System - , SwiftNav.SBP.Tracking - , SwiftNav.SBP.User - , SwiftNav.SBP.Encoding - , SwiftNav.SBP.Types - other-modules: SwiftNav.SBP.TH - default-language: Haskell2010 - hs-source-dirs: src - ghc-options: -Wall -fno-warn-unused-imports -fno-warn-orphans - build-depends: aeson - , array - , base >= 4.7 && < 5 - , base64-bytestring - , basic-prelude - , binary - , bytestring - , data-binary-ieee754 - , lens - , monad-loops - , template-haskell - , text - , unordered-containers - default-extensions: RecordWildCards - TemplateHaskell - NoImplicitPrelude - OverloadedStrings + exposed-modules: + SwiftNav.CRC16 + SwiftNav.SBP + SwiftNav.SBP.Encoding + build-depends: + aeson >=0.9.0.1, + array >=0.5.1.0, + base >=4.8 && <5, + base64-bytestring >=1.0.0.1, + basic-prelude >=0.5.2, + binary >=0.7.5.0, + bytestring >=0.10.6.0, + data-binary-ieee754 >=0.4.4, + lens >=4.13, + monad-loops >=0.4.3, + template-haskell >=2.10.0.0, + text >=1.2.2.1, + unordered-containers >=0.2.5.1 + default-language: Haskell2010 + hs-source-dirs: src + other-modules: + SwiftNav.SBP.Msg + SwiftNav.SBP.TH + SwiftNav.SBP.Types + SwiftNav.SBP.Acquisition + SwiftNav.SBP.Bootload + SwiftNav.SBP.ExtEvents + SwiftNav.SBP.FileIo + SwiftNav.SBP.Flash + SwiftNav.SBP.Gnss + SwiftNav.SBP.Imu + SwiftNav.SBP.Logging + SwiftNav.SBP.Navigation + SwiftNav.SBP.Ndb + SwiftNav.SBP.Observation + SwiftNav.SBP.Piksi + SwiftNav.SBP.Settings + SwiftNav.SBP.System + SwiftNav.SBP.Tracking + SwiftNav.SBP.User + ghc-options: -Wall executable sbp2json - hs-source-dirs: main - main-is: SBP2JSON.hs - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: aeson - , base - , basic-prelude - , binary-conduit - , bytestring - , conduit - , conduit-combinators - , conduit-extra - , resourcet - , sbp - default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings + main-is: SBP2JSON.hs + build-depends: + aeson >=0.9.0.1, + base >=4.8.2.0, + basic-prelude >=0.5.2, + binary-conduit >=1.2.3, + bytestring >=0.10.6.0, + conduit >=1.2.6.6, + conduit-combinators >=1.0.3.1, + conduit-extra >=1.1.13.1, + resourcet >=1.1.7.4, + sbp >=2.2.7 + default-language: Haskell2010 + hs-source-dirs: main + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall executable json2sbp - hs-source-dirs: main - main-is: JSON2SBP.hs - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: aeson - , base - , basic-prelude - , binary-conduit - , bytestring - , conduit - , conduit-combinators - , conduit-extra - , resourcet - , sbp - default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings -executable sbp2yaml - hs-source-dirs: main - main-is: SBP2YAML.hs - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - build-depends: base - , basic-prelude - , binary-conduit - , bytestring - , conduit - , conduit-extra - , resourcet - , sbp - , yaml - default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings + main-is: JSON2SBP.hs + build-depends: + aeson >=0.9.0.1, + base >=4.8.2.0, + basic-prelude >=0.5.2, + binary-conduit >=1.2.3, + bytestring >=0.10.6.0, + conduit >=1.2.6.6, + conduit-combinators >=1.0.3.1, + conduit-extra >=1.1.13.1, + resourcet >=1.1.7.4, + sbp >=2.2.7 + default-language: Haskell2010 + hs-source-dirs: main + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall -benchmark bench - type: exitcode-stdio-1.0 - hs-source-dirs: bench - main-is: Bench.hs - build-depends: aeson - , base - , base64-bytestring - , basic-prelude - , binary - , bytestring - , criterion - , sbp - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings +executable sbp2yaml + main-is: SBP2YAML.hs + build-depends: + base >=4.8.2.0, + basic-prelude >=0.5.2, + binary-conduit >=1.2.3, + bytestring >=0.10.6.0, + conduit >=1.2.6.6, + conduit-extra >=1.1.13.1, + resourcet >=1.1.7.4, + sbp >=2.2.7, + yaml >=0.8.17.1 + default-language: Haskell2010 + hs-source-dirs: main + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall test-suite test - type: exitcode-stdio-1.0 - hs-source-dirs: test - main-is: Test.hs - other-modules: Test.SwiftNav.CRC16 - , Test.SwiftNav.SBP.Encoding - build-depends: aeson - , base - , base64-bytestring - , basic-prelude - , bytestring - , QuickCheck - , sbp - , tasty - , tasty-hunit - , tasty-quickcheck - ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall - default-language: Haskell2010 - default-extensions: NoImplicitPrelude - OverloadedStrings + type: exitcode-stdio-1.0 + main-is: Test.hs + build-depends: + aeson >=0.9.0.1, + base >=4.8.2.0, + base64-bytestring >=1.0.0.1, + basic-prelude >=0.5.2, + bytestring >=0.10.6.0, + QuickCheck >=2.8.1, + sbp >=2.2.7, + tasty >=0.11.0.3, + tasty-hunit >=0.9.2, + tasty-quickcheck >=0.8.4 + default-language: Haskell2010 + hs-source-dirs: test + other-modules: + Test.SwiftNav.CRC16 + Test.SwiftNav.SBP.Encoding + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall diff --git a/src/SwiftNav/CRC16.hs b/src/SwiftNav/CRC16.hs --- a/src/SwiftNav/CRC16.hs +++ b/src/SwiftNav/CRC16.hs @@ -1,3 +1,5 @@ +{-# LANGUAGE NoImplicitPrelude #-} + -- | -- Module: SwiftNav.SBP -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -1,3 +1,5 @@ +{-# LANGUAGE NoImplicitPrelude #-} + -- | -- Module: SwiftNav.SBP -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Acquisition -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -38,13 +42,13 @@ -- contains the parameters of the point in the acquisition search space with -- the best carrier-to-noise (CN/0) ratio. data MsgAcqResult = MsgAcqResult - { _msgAcqResult_cn0 :: Float + { _msgAcqResult_cn0 :: !Float -- ^ CN/0 of best point - , _msgAcqResult_cp :: Float + , _msgAcqResult_cp :: !Float -- ^ Code phase of best point - , _msgAcqResult_cf :: Float + , _msgAcqResult_cf :: !Float -- ^ Carrier frequency of best point - , _msgAcqResult_sid :: GnssSignal + , _msgAcqResult_sid :: !GnssSignal -- ^ GNSS signal for which acquisition was attempted } deriving ( Show, Read, Eq ) @@ -75,14 +79,14 @@ -- -- Deprecated. data MsgAcqResultDepB = MsgAcqResultDepB - { _msgAcqResultDepB_snr :: Float + { _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 + , _msgAcqResultDepB_cp :: !Float -- ^ Code phase of best point - , _msgAcqResultDepB_cf :: Float + , _msgAcqResultDepB_cf :: !Float -- ^ Carrier frequency of best point - , _msgAcqResultDepB_sid :: GnssSignal + , _msgAcqResultDepB_sid :: !GnssSignal -- ^ GNSS signal for which acquisition was attempted } deriving ( Show, Read, Eq ) @@ -113,14 +117,14 @@ -- -- Deprecated. data MsgAcqResultDepA = MsgAcqResultDepA - { _msgAcqResultDepA_snr :: Float + { _msgAcqResultDepA_snr :: !Float -- ^ SNR of best point. Currently dimensonless, but will have units of dB Hz -- in the revision of this message. - , _msgAcqResultDepA_cp :: Float + , _msgAcqResultDepA_cp :: !Float -- ^ Code phase of best point - , _msgAcqResultDepA_cf :: Float + , _msgAcqResultDepA_cf :: !Float -- ^ Carrier frequency of best point - , _msgAcqResultDepA_prn :: Word8 + , _msgAcqResultDepA_prn :: !Word8 -- ^ PRN-1 identifier of the satellite signal for which acquisition was -- attempted } deriving ( Show, Read, Eq ) @@ -151,29 +155,29 @@ -- profile during acquisition time. The message is used to debug and measure -- the performance. data AcqSvProfile = AcqSvProfile - { _acqSvProfile_job_type :: Word8 + { _acqSvProfile_job_type :: !Word8 -- ^ SV search job type (deep, fallback, etc) - , _acqSvProfile_status :: Word8 + , _acqSvProfile_status :: !Word8 -- ^ Acquisition status 1 is Success, 0 is Failure - , _acqSvProfile_cn0 :: Word16 + , _acqSvProfile_cn0 :: !Word16 -- ^ CN0 value. Only valid if status is '1' - , _acqSvProfile_int_time :: Word8 + , _acqSvProfile_int_time :: !Word8 -- ^ Acquisition integration time - , _acqSvProfile_sid :: GnssSignal + , _acqSvProfile_sid :: !GnssSignal -- ^ GNSS signal for which acquisition was attempted - , _acqSvProfile_bin_width :: Word16 + , _acqSvProfile_bin_width :: !Word16 -- ^ Acq frequency bin width - , _acqSvProfile_timestamp :: Word32 + , _acqSvProfile_timestamp :: !Word32 -- ^ Timestamp of the job complete event - , _acqSvProfile_time_spent :: Word32 + , _acqSvProfile_time_spent :: !Word32 -- ^ Time spent to search for sid.code - , _acqSvProfile_cf_min :: Int32 + , _acqSvProfile_cf_min :: !Int32 -- ^ Doppler range lowest frequency - , _acqSvProfile_cf_max :: Int32 + , _acqSvProfile_cf_max :: !Int32 -- ^ Doppler range highest frequency - , _acqSvProfile_cf :: Int32 + , _acqSvProfile_cf :: !Int32 -- ^ Doppler value of detected peak. Only valid if status is '1' - , _acqSvProfile_cp :: Word32 + , _acqSvProfile_cp :: !Word32 -- ^ Codephase of detected peak. Only valid if status is '1' } deriving ( Show, Read, Eq ) @@ -218,7 +222,7 @@ -- The message describes all SV profiles during acquisition time. The message -- is used to debug and measure the performance. data MsgAcqSvProfile = MsgAcqSvProfile - { _msgAcqSvProfile_acq_sv_profile :: [AcqSvProfile] + { _msgAcqSvProfile_acq_sv_profile :: ![AcqSvProfile] -- ^ SV profiles during acquisition time } deriving ( Show, Read, Eq ) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Bootload -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -63,9 +67,9 @@ -- MSG_BOOTLOADER_HANDSHAKE_REQ. The payload contains the bootloader version -- number and the SBP protocol version number. data MsgBootloaderHandshakeResp = MsgBootloaderHandshakeResp - { _msgBootloaderHandshakeResp_flags :: Word32 + { _msgBootloaderHandshakeResp_flags :: !Word32 -- ^ Bootloader flags - , _msgBootloaderHandshakeResp_version :: Text + , _msgBootloaderHandshakeResp_version :: !Text -- ^ Bootloader version number } deriving ( Show, Read, Eq ) @@ -92,7 +96,7 @@ -- -- The host initiates the bootloader to jump to the application. data MsgBootloaderJumpToApp = MsgBootloaderJumpToApp - { _msgBootloaderJumpToApp_jump :: Word8 + { _msgBootloaderJumpToApp_jump :: !Word8 -- ^ Ignored by the device } deriving ( Show, Read, Eq ) @@ -148,7 +152,7 @@ -- that this ID is tied to the FPGA, and not related to the Piksi's serial -- number. data MsgNapDeviceDnaResp = MsgNapDeviceDnaResp - { _msgNapDeviceDnaResp_dna :: [Word8] + { _msgNapDeviceDnaResp_dna :: ![Word8] -- ^ 57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right. } deriving ( Show, Read, Eq ) @@ -173,7 +177,7 @@ -- -- Deprecated. data MsgBootloaderHandshakeDepA = MsgBootloaderHandshakeDepA - { _msgBootloaderHandshakeDepA_handshake :: [Word8] + { _msgBootloaderHandshakeDepA_handshake :: ![Word8] -- ^ Version number string (not NULL terminated) } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Encoding.hs b/src/SwiftNav/SBP/Encoding.hs --- a/src/SwiftNav/SBP/Encoding.hs +++ b/src/SwiftNav/SBP/Encoding.hs @@ -1,4 +1,6 @@ -{-# OPTIONS -fno-warn-orphans #-} +{-# OPTIONS -fno-warn-orphans #-} +{-# LANGUAGE NoImplicitPrelude #-} + -- | -- Module: SwiftNav.SBP.Encoding -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.ExtEvents -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -36,16 +40,16 @@ -- Reports detection of an external event, the GPS time it occurred, which pin -- it was and whether it was rising or falling. data MsgExtEvent = MsgExtEvent - { _msgExtEvent_wn :: Word16 + { _msgExtEvent_wn :: !Word16 -- ^ GPS week number - , _msgExtEvent_tow :: Word32 + , _msgExtEvent_tow :: !Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgExtEvent_ns_residual :: Int32 + , _msgExtEvent_ns_residual :: !Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgExtEvent_flags :: Word8 + , _msgExtEvent_flags :: !Word8 -- ^ Flags - , _msgExtEvent_pin :: Word8 + , _msgExtEvent_pin :: !Word8 -- ^ Pin number. 0..9 = DEBUG0..9. } deriving ( Show, Read, Eq ) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.FileIo -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -45,13 +49,13 @@ -- fileio read message". A device will only respond to this message when it is -- received from sender ID 0x42. data MsgFileioReadReq = MsgFileioReadReq - { _msgFileioReadReq_sequence :: Word32 + { _msgFileioReadReq_sequence :: !Word32 -- ^ Read sequence number - , _msgFileioReadReq_offset :: Word32 + , _msgFileioReadReq_offset :: !Word32 -- ^ File offset - , _msgFileioReadReq_chunk_size :: Word8 + , _msgFileioReadReq_chunk_size :: !Word8 -- ^ Chunk size to read - , _msgFileioReadReq_filename :: Text + , _msgFileioReadReq_filename :: !Text -- ^ Name of the file to read from } deriving ( Show, Read, Eq ) @@ -85,9 +89,9 @@ -- length field indicates how many bytes were succesfully read. The sequence -- number in the response is preserved from the request. data MsgFileioReadResp = MsgFileioReadResp - { _msgFileioReadResp_sequence :: Word32 + { _msgFileioReadResp_sequence :: !Word32 -- ^ Read sequence number - , _msgFileioReadResp_contents :: [Word8] + , _msgFileioReadResp_contents :: ![Word8] -- ^ Contents of read file } deriving ( Show, Read, Eq ) @@ -121,11 +125,11 @@ -- MSG_PRINT message will print "Invalid fileio read message". A device will -- only respond to this message when it is received from sender ID 0x42. data MsgFileioReadDirReq = MsgFileioReadDirReq - { _msgFileioReadDirReq_sequence :: Word32 + { _msgFileioReadDirReq_sequence :: !Word32 -- ^ Read sequence number - , _msgFileioReadDirReq_offset :: Word32 + , _msgFileioReadDirReq_offset :: !Word32 -- ^ The offset to skip the first n elements of the file list - , _msgFileioReadDirReq_dirname :: Text + , _msgFileioReadDirReq_dirname :: !Text -- ^ Name of the directory to list } deriving ( Show, Read, Eq ) @@ -158,9 +162,9 @@ -- of the list is identified by an entry containing just the character 0xFF. -- The sequence number in the response is preserved from the request. data MsgFileioReadDirResp = MsgFileioReadDirResp - { _msgFileioReadDirResp_sequence :: Word32 + { _msgFileioReadDirResp_sequence :: !Word32 -- ^ Read sequence number - , _msgFileioReadDirResp_contents :: [Word8] + , _msgFileioReadDirResp_contents :: ![Word8] -- ^ Contents of read directory } deriving ( Show, Read, Eq ) @@ -190,7 +194,7 @@ -- message". A device will only process this message when it is received from -- sender ID 0x42. data MsgFileioRemove = MsgFileioRemove - { _msgFileioRemove_filename :: Text + { _msgFileioRemove_filename :: !Text -- ^ Name of the file to delete } deriving ( Show, Read, Eq ) @@ -221,13 +225,13 @@ -- message". A device will only process this message when it is received from -- sender ID 0x42. data MsgFileioWriteReq = MsgFileioWriteReq - { _msgFileioWriteReq_sequence :: Word32 + { _msgFileioWriteReq_sequence :: !Word32 -- ^ Write sequence number - , _msgFileioWriteReq_offset :: Word32 + , _msgFileioWriteReq_offset :: !Word32 -- ^ Offset into the file at which to start writing in bytes - , _msgFileioWriteReq_filename :: Text + , _msgFileioWriteReq_filename :: !Text -- ^ Name of the file to write to - , _msgFileioWriteReq_data :: [Word8] + , _msgFileioWriteReq_data :: ![Word8] -- ^ Variable-length array of data to write } deriving ( Show, Read, Eq ) @@ -261,7 +265,7 @@ -- MSG_FILEIO_WRITE_REQ message to check integrity of the write. The sequence -- number in the response is preserved from the request. data MsgFileioWriteResp = MsgFileioWriteResp - { _msgFileioWriteResp_sequence :: Word32 + { _msgFileioWriteResp_sequence :: !Word32 -- ^ Write sequence number } deriving ( Show, Read, Eq ) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Flash -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -41,13 +45,13 @@ -- if the maximum write size is exceeded. Note that the sector-containing -- addresses must be erased before addresses can be programmed. data MsgFlashProgram = MsgFlashProgram - { _msgFlashProgram_target :: Word8 + { _msgFlashProgram_target :: !Word8 -- ^ Target flags - , _msgFlashProgram_addr_start :: [Word8] + , _msgFlashProgram_addr_start :: ![Word8] -- ^ Starting address offset to program - , _msgFlashProgram_addr_len :: Word8 + , _msgFlashProgram_addr_len :: !Word8 -- ^ Length of set of addresses to program, counting up from starting address - , _msgFlashProgram_data :: [Word8] + , _msgFlashProgram_data :: ![Word8] -- ^ Data to program addresses with, with length N=addr_len } deriving ( Show, Read, Eq ) @@ -81,7 +85,7 @@ -- MSG_FLASH_READ_REQ, or MSG_FLASH_PROGRAM, may return this message on -- failure. data MsgFlashDone = MsgFlashDone - { _msgFlashDone_response :: Word8 + { _msgFlashDone_response :: !Word8 -- ^ Response flags } deriving ( Show, Read, Eq ) @@ -111,11 +115,11 @@ -- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed -- range. data MsgFlashReadReq = MsgFlashReadReq - { _msgFlashReadReq_target :: Word8 + { _msgFlashReadReq_target :: !Word8 -- ^ Target flags - , _msgFlashReadReq_addr_start :: [Word8] + , _msgFlashReadReq_addr_start :: ![Word8] -- ^ Starting address offset to read from - , _msgFlashReadReq_addr_len :: Word8 + , _msgFlashReadReq_addr_len :: !Word8 -- ^ Length of set of addresses to read, counting up from starting address } deriving ( Show, Read, Eq ) @@ -149,11 +153,11 @@ -- exceeded or FLASH_INVALID_ADDR (3) if the address is outside of the allowed -- range. data MsgFlashReadResp = MsgFlashReadResp - { _msgFlashReadResp_target :: Word8 + { _msgFlashReadResp_target :: !Word8 -- ^ Target flags - , _msgFlashReadResp_addr_start :: [Word8] + , _msgFlashReadResp_addr_start :: ![Word8] -- ^ Starting address offset to read from - , _msgFlashReadResp_addr_len :: Word8 + , _msgFlashReadResp_addr_len :: !Word8 -- ^ Length of set of addresses to read, counting up from starting address } deriving ( Show, Read, Eq ) @@ -185,9 +189,9 @@ -- message containing the return code - FLASH_OK (0) on success or -- FLASH_INVALID_FLASH (1) if the flash specified is invalid. data MsgFlashErase = MsgFlashErase - { _msgFlashErase_target :: Word8 + { _msgFlashErase_target :: !Word8 -- ^ Target flags - , _msgFlashErase_sector_num :: Word32 + , _msgFlashErase_sector_num :: !Word32 -- ^ Flash sector number to erase (0-11 for the STM, 0-15 for the M25) } deriving ( Show, Read, Eq ) @@ -215,7 +219,7 @@ -- The flash lock message locks a sector of the STM flash memory. The device -- replies with a MSG_FLASH_DONE message. data MsgStmFlashLockSector = MsgStmFlashLockSector - { _msgStmFlashLockSector_sector :: Word32 + { _msgStmFlashLockSector_sector :: !Word32 -- ^ Flash sector number to lock } deriving ( Show, Read, Eq ) @@ -241,7 +245,7 @@ -- The flash unlock message unlocks a sector of the STM flash memory. The -- device replies with a MSG_FLASH_DONE message. data MsgStmFlashUnlockSector = MsgStmFlashUnlockSector - { _msgStmFlashUnlockSector_sector :: Word32 + { _msgStmFlashUnlockSector_sector :: !Word32 -- ^ Flash sector number to unlock } deriving ( Show, Read, Eq ) @@ -292,7 +296,7 @@ -- ID by sending a MSG_STM_UNIQUE_ID_REQ. The device responds with a -- MSG_STM_UNIQUE_ID_RESP with the 12-byte unique ID in the payload.. data MsgStmUniqueIdResp = MsgStmUniqueIdResp - { _msgStmUniqueIdResp_stm_id :: [Word8] + { _msgStmUniqueIdResp_stm_id :: ![Word8] -- ^ Device unique ID } deriving ( Show, Read, Eq ) @@ -318,7 +322,7 @@ -- The flash status message writes to the 8-bit M25 flash status register. The -- device replies with a MSG_FLASH_DONE message. data MsgM25FlashWriteStatus = MsgM25FlashWriteStatus - { _msgM25FlashWriteStatus_status :: [Word8] + { _msgM25FlashWriteStatus_status :: ![Word8] -- ^ Byte to write to the M25 flash status register } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Gnss.hs b/src/SwiftNav/SBP/Gnss.hs --- a/src/SwiftNav/SBP/Gnss.hs +++ b/src/SwiftNav/SBP/Gnss.hs @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Gnss -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -31,9 +35,9 @@ -- -- Signal identifier containing constellation, band, and satellite identifier data GnssSignal16 = GnssSignal16 - { _gnssSignal16_sat :: Word8 + { _gnssSignal16_sat :: !Word8 -- ^ Constellation-specific satellite identifier - , _gnssSignal16_code :: Word8 + , _gnssSignal16_code :: !Word8 -- ^ Signal constellation, band and code } deriving ( Show, Read, Eq ) @@ -54,13 +58,13 @@ -- -- Signal identifier containing constellation, band, and satellite identifier data GnssSignal = GnssSignal - { _gnssSignal_sat :: Word16 + { _gnssSignal_sat :: !Word16 -- ^ Constellation-specific satellite identifier. Note: unlike GnssSignal16, -- GPS satellites are encoded as (PRN - 1). Other constellations do not -- have this offset. - , _gnssSignal_code :: Word8 + , _gnssSignal_code :: !Word8 -- ^ Signal constellation, band and code - , _gnssSignal_reserved :: Word8 + , _gnssSignal_reserved :: !Word8 -- ^ Reserved } deriving ( Show, Read, Eq ) @@ -84,9 +88,9 @@ -- 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 + { _gpsTime_tow :: !Word32 -- ^ Milliseconds since start of GPS week - , _gpsTime_wn :: Word16 + , _gpsTime_wn :: !Word16 -- ^ GPS week number } deriving ( Show, Read, Eq ) @@ -108,9 +112,9 @@ -- A GPS time, defined as the number of seconds since beginning of the week on -- the Saturday/Sunday transition. data GpsTimeSec = GpsTimeSec - { _gpsTimeSec_tow :: Word32 + { _gpsTimeSec_tow :: !Word32 -- ^ Seconds since start of GPS week - , _gpsTimeSec_wn :: Word16 + , _gpsTimeSec_wn :: !Word16 -- ^ GPS week number } deriving ( Show, Read, Eq ) @@ -133,12 +137,12 @@ -- beginning of the week on the Saturday/Sunday transition. In most cases, -- observations are epoch aligned so ns field will be 0. data GpsTimeNano = GpsTimeNano - { _gpsTimeNano_tow :: Word32 + { _gpsTimeNano_tow :: !Word32 -- ^ Milliseconds since start of GPS week - , _gpsTimeNano_ns_residual :: Int32 + , _gpsTimeNano_ns_residual :: !Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _gpsTimeNano_wn :: Word16 + , _gpsTimeNano_wn :: !Word16 -- ^ GPS week number } deriving ( Show, Read, Eq ) @@ -163,9 +167,9 @@ -- 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 + { _carrierPhase_i :: !Int32 -- ^ Carrier phase whole cycles - , _carrierPhase_f :: Word8 + , _carrierPhase_f :: !Word8 -- ^ Carrier phase fractional part } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Imu.hs b/src/SwiftNav/SBP/Imu.hs --- a/src/SwiftNav/SBP/Imu.hs +++ b/src/SwiftNav/SBP/Imu.hs @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Imu -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -35,22 +39,22 @@ -- Raw data from the Inertial Measurement Unit, containing accelerometer and -- gyroscope readings. data MsgImuRaw = MsgImuRaw - { _msgImuRaw_tow :: Word32 + { _msgImuRaw_tow :: !Word32 -- ^ Milliseconds since start of GPS week. If the high bit is set, the time -- is unknown or invalid. - , _msgImuRaw_tow_f :: Word8 + , _msgImuRaw_tow_f :: !Word8 -- ^ Milliseconds since start of GPS week, fractional part - , _msgImuRaw_acc_x :: Int16 + , _msgImuRaw_acc_x :: !Int16 -- ^ Acceleration in the body frame X axis - , _msgImuRaw_acc_y :: Int16 + , _msgImuRaw_acc_y :: !Int16 -- ^ Acceleration in the body frame Y axis - , _msgImuRaw_acc_z :: Int16 + , _msgImuRaw_acc_z :: !Int16 -- ^ Acceleration in the body frame Z axis - , _msgImuRaw_gyr_x :: Int16 + , _msgImuRaw_gyr_x :: !Int16 -- ^ Angular rate around the body frame X axis - , _msgImuRaw_gyr_y :: Int16 + , _msgImuRaw_gyr_y :: !Int16 -- ^ Angular rate around the body frame Y axis - , _msgImuRaw_gyr_z :: Int16 + , _msgImuRaw_gyr_z :: !Int16 -- ^ Angular rate around the body frame Z axis } deriving ( Show, Read, Eq ) @@ -91,11 +95,11 @@ -- always be consistent but the rest of the payload is device specific and -- depends on the value of `imu_type`. data MsgImuAux = MsgImuAux - { _msgImuAux_imu_type :: Word8 + { _msgImuAux_imu_type :: !Word8 -- ^ IMU type - , _msgImuAux_temp :: Int16 + , _msgImuAux_temp :: !Int16 -- ^ Raw IMU temperature - , _msgImuAux_imu_conf :: Word8 + , _msgImuAux_imu_conf :: !Word8 -- ^ IMU configuration } deriving ( Show, Read, Eq ) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Logging -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -36,9 +40,9 @@ -- containing errors, warnings and informational messages at ERROR, WARNING, -- DEBUG, INFO logging levels. data MsgLog = MsgLog - { _msgLog_level :: Word8 + { _msgLog_level :: !Word8 -- ^ Logging level - , _msgLog_text :: Text + , _msgLog_text :: !Text -- ^ Human-readable string } deriving ( Show, Read, Eq ) @@ -71,11 +75,11 @@ -- Protocol 0 represents SBP and the remaining values are implementation -- defined. data MsgFwd = MsgFwd - { _msgFwd_source :: Word8 + { _msgFwd_source :: !Word8 -- ^ source identifier - , _msgFwd_protocol :: Word8 + , _msgFwd_protocol :: !Word8 -- ^ protocol identifier - , _msgFwd_fwd_payload :: Text + , _msgFwd_fwd_payload :: !Text -- ^ variable length wrapped binary message } deriving ( Show, Read, Eq ) @@ -104,7 +108,7 @@ -- -- All the news fit to tweet. data MsgTweet = MsgTweet - { _msgTweet_tweet :: Text + { _msgTweet_tweet :: !Text -- ^ Human-readable string } deriving ( Show, Read, Eq ) @@ -129,7 +133,7 @@ -- -- Deprecated. data MsgPrintDep = MsgPrintDep - { _msgPrintDep_text :: Text + { _msgPrintDep_text :: !Text -- ^ Human-readable string } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Msg.hs b/src/SwiftNav/SBP/Msg.hs --- a/src/SwiftNav/SBP/Msg.hs +++ b/src/SwiftNav/SBP/Msg.hs @@ -1,3 +1,9 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} +{-# LANGUAGE OverloadedStrings #-} + -- | -- Module: SwiftNav.SBP.Msg -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Navigation -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -50,14 +54,14 @@ -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTime = MsgGpsTime - { _msgGpsTime_wn :: Word16 + { _msgGpsTime_wn :: !Word16 -- ^ GPS week number - , _msgGpsTime_tow :: Word32 + , _msgGpsTime_tow :: !Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTime_ns_residual :: Int32 + , _msgGpsTime_ns_residual :: !Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgGpsTime_flags :: Word8 + , _msgGpsTime_flags :: !Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -90,23 +94,23 @@ -- which indicate the source of the UTC offset value and source of the time -- fix. data MsgUtcTime = MsgUtcTime - { _msgUtcTime_flags :: Word8 + { _msgUtcTime_flags :: !Word8 -- ^ Indicates source and time validity - , _msgUtcTime_tow :: Word32 + , _msgUtcTime_tow :: !Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgUtcTime_year :: Word16 + , _msgUtcTime_year :: !Word16 -- ^ Year - , _msgUtcTime_month :: Word8 + , _msgUtcTime_month :: !Word8 -- ^ Month (range 1 .. 12) - , _msgUtcTime_day :: Word8 + , _msgUtcTime_day :: !Word8 -- ^ days in the month (range 1-31) - , _msgUtcTime_hours :: Word8 + , _msgUtcTime_hours :: !Word8 -- ^ hours of day (range 0-23) - , _msgUtcTime_minutes :: Word8 + , _msgUtcTime_minutes :: !Word8 -- ^ minutes of hour (range 0-59) - , _msgUtcTime_seconds :: Word8 + , _msgUtcTime_seconds :: !Word8 -- ^ seconds of minute (range 0-60) rounded down - , _msgUtcTime_ns :: Word32 + , _msgUtcTime_ns :: !Word32 -- ^ nanoseconds of second (range 0-999999999) } deriving ( Show, Read, Eq ) @@ -150,19 +154,19 @@ -- indicated whether the DOP reported corresponds to differential or SPP -- solution. data MsgDops = MsgDops - { _msgDops_tow :: Word32 + { _msgDops_tow :: !Word32 -- ^ GPS Time of Week - , _msgDops_gdop :: Word16 + , _msgDops_gdop :: !Word16 -- ^ Geometric Dilution of Precision - , _msgDops_pdop :: Word16 + , _msgDops_pdop :: !Word16 -- ^ Position Dilution of Precision - , _msgDops_tdop :: Word16 + , _msgDops_tdop :: !Word16 -- ^ Time Dilution of Precision - , _msgDops_hdop :: Word16 + , _msgDops_hdop :: !Word16 -- ^ Horizontal Dilution of Precision - , _msgDops_vdop :: Word16 + , _msgDops_vdop :: !Word16 -- ^ Vertical Dilution of Precision - , _msgDops_flags :: Word8 + , _msgDops_flags :: !Word8 -- ^ Indicates the position solution with which the DOPS message corresponds } deriving ( Show, Read, Eq ) @@ -205,19 +209,19 @@ -- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME -- with the matching time-of-week (tow). data MsgPosEcef = MsgPosEcef - { _msgPosEcef_tow :: Word32 + { _msgPosEcef_tow :: !Word32 -- ^ GPS Time of Week - , _msgPosEcef_x :: Double + , _msgPosEcef_x :: !Double -- ^ ECEF X coordinate - , _msgPosEcef_y :: Double + , _msgPosEcef_y :: !Double -- ^ ECEF Y coordinate - , _msgPosEcef_z :: Double + , _msgPosEcef_z :: !Double -- ^ ECEF Z coordinate - , _msgPosEcef_accuracy :: Word16 + , _msgPosEcef_accuracy :: !Word16 -- ^ Position accuracy estimate. - , _msgPosEcef_n_sats :: Word8 + , _msgPosEcef_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgPosEcef_flags :: Word8 + , _msgPosEcef_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -260,21 +264,21 @@ -- time is given by the preceding MSG_GPS_TIME with the matching time-of-week -- (tow). data MsgPosLlh = MsgPosLlh - { _msgPosLlh_tow :: Word32 + { _msgPosLlh_tow :: !Word32 -- ^ GPS Time of Week - , _msgPosLlh_lat :: Double + , _msgPosLlh_lat :: !Double -- ^ Latitude - , _msgPosLlh_lon :: Double + , _msgPosLlh_lon :: !Double -- ^ Longitude - , _msgPosLlh_height :: Double + , _msgPosLlh_height :: !Double -- ^ Height above WGS84 ellipsoid - , _msgPosLlh_h_accuracy :: Word16 + , _msgPosLlh_h_accuracy :: !Word16 -- ^ Horizontal position accuracy estimate. - , _msgPosLlh_v_accuracy :: Word16 + , _msgPosLlh_v_accuracy :: !Word16 -- ^ Vertical position accuracy estimate. - , _msgPosLlh_n_sats :: Word8 + , _msgPosLlh_n_sats :: !Word8 -- ^ Number of satellites used in solution. - , _msgPosLlh_flags :: Word8 + , _msgPosLlh_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -316,19 +320,19 @@ -- base station to the rover receiver. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineEcef = MsgBaselineEcef - { _msgBaselineEcef_tow :: Word32 + { _msgBaselineEcef_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineEcef_x :: Int32 + , _msgBaselineEcef_x :: !Int32 -- ^ Baseline ECEF X coordinate - , _msgBaselineEcef_y :: Int32 + , _msgBaselineEcef_y :: !Int32 -- ^ Baseline ECEF Y coordinate - , _msgBaselineEcef_z :: Int32 + , _msgBaselineEcef_z :: !Int32 -- ^ Baseline ECEF Z coordinate - , _msgBaselineEcef_accuracy :: Word16 + , _msgBaselineEcef_accuracy :: !Word16 -- ^ Position accuracy estimate - , _msgBaselineEcef_n_sats :: Word8 + , _msgBaselineEcef_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineEcef_flags :: Word8 + , _msgBaselineEcef_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -370,21 +374,21 @@ -- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- -- week (tow). data MsgBaselineNed = MsgBaselineNed - { _msgBaselineNed_tow :: Word32 + { _msgBaselineNed_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineNed_n :: Int32 + , _msgBaselineNed_n :: !Int32 -- ^ Baseline North coordinate - , _msgBaselineNed_e :: Int32 + , _msgBaselineNed_e :: !Int32 -- ^ Baseline East coordinate - , _msgBaselineNed_d :: Int32 + , _msgBaselineNed_d :: !Int32 -- ^ Baseline Down coordinate - , _msgBaselineNed_h_accuracy :: Word16 + , _msgBaselineNed_h_accuracy :: !Word16 -- ^ Horizontal position accuracy estimate - , _msgBaselineNed_v_accuracy :: Word16 + , _msgBaselineNed_v_accuracy :: !Word16 -- ^ Vertical position accuracy estimate - , _msgBaselineNed_n_sats :: Word8 + , _msgBaselineNed_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineNed_flags :: Word8 + , _msgBaselineNed_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -425,19 +429,19 @@ -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). data MsgVelEcef = MsgVelEcef - { _msgVelEcef_tow :: Word32 + { _msgVelEcef_tow :: !Word32 -- ^ GPS Time of Week - , _msgVelEcef_x :: Int32 + , _msgVelEcef_x :: !Int32 -- ^ Velocity ECEF X coordinate - , _msgVelEcef_y :: Int32 + , _msgVelEcef_y :: !Int32 -- ^ Velocity ECEF Y coordinate - , _msgVelEcef_z :: Int32 + , _msgVelEcef_z :: !Int32 -- ^ Velocity ECEF Z coordinate - , _msgVelEcef_accuracy :: Word16 + , _msgVelEcef_accuracy :: !Word16 -- ^ Velocity accuracy estimate - , _msgVelEcef_n_sats :: Word8 + , _msgVelEcef_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgVelEcef_flags :: Word8 + , _msgVelEcef_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -477,21 +481,21 @@ -- plane centered at the current position. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgVelNed = MsgVelNed - { _msgVelNed_tow :: Word32 + { _msgVelNed_tow :: !Word32 -- ^ GPS Time of Week - , _msgVelNed_n :: Int32 + , _msgVelNed_n :: !Int32 -- ^ Velocity North coordinate - , _msgVelNed_e :: Int32 + , _msgVelNed_e :: !Int32 -- ^ Velocity East coordinate - , _msgVelNed_d :: Int32 + , _msgVelNed_d :: !Int32 -- ^ Velocity Down coordinate - , _msgVelNed_h_accuracy :: Word16 + , _msgVelNed_h_accuracy :: !Word16 -- ^ Horizontal velocity accuracy estimate - , _msgVelNed_v_accuracy :: Word16 + , _msgVelNed_v_accuracy :: !Word16 -- ^ Vertical velocity accuracy estimate - , _msgVelNed_n_sats :: Word8 + , _msgVelNed_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgVelNed_flags :: Word8 + , _msgVelNed_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -533,13 +537,13 @@ -- preceding MSG_GPS_TIME with the matching time-of-week (tow). It is intended -- that time-matched RTK mode is used when the base station is moving. data MsgBaselineHeading = MsgBaselineHeading - { _msgBaselineHeading_tow :: Word32 + { _msgBaselineHeading_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineHeading_heading :: Word32 + , _msgBaselineHeading_heading :: !Word32 -- ^ Heading - , _msgBaselineHeading_n_sats :: Word8 + , _msgBaselineHeading_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineHeading_flags :: Word8 + , _msgBaselineHeading_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -571,9 +575,9 @@ -- This message reports the Age of the corrections used for the current -- Differential solution data MsgAgeCorrections = MsgAgeCorrections - { _msgAgeCorrections_tow :: Word32 + { _msgAgeCorrections_tow :: !Word32 -- ^ GPS Time of Week - , _msgAgeCorrections_age :: Word16 + , _msgAgeCorrections_age :: !Word16 -- ^ Age of the corrections (0xFFFF indicates invalid) } deriving ( Show, Read, Eq ) @@ -608,14 +612,14 @@ -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTimeDepA = MsgGpsTimeDepA - { _msgGpsTimeDepA_wn :: Word16 + { _msgGpsTimeDepA_wn :: !Word16 -- ^ GPS week number - , _msgGpsTimeDepA_tow :: Word32 + , _msgGpsTimeDepA_tow :: !Word32 -- ^ GPS time of week rounded to the nearest millisecond - , _msgGpsTimeDepA_ns_residual :: Int32 + , _msgGpsTimeDepA_ns_residual :: !Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) - , _msgGpsTimeDepA_flags :: Word8 + , _msgGpsTimeDepA_flags :: !Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -647,17 +651,17 @@ -- This dilution of precision (DOP) message describes the effect of navigation -- satellite geometry on positional measurement precision. data MsgDopsDepA = MsgDopsDepA - { _msgDopsDepA_tow :: Word32 + { _msgDopsDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgDopsDepA_gdop :: Word16 + , _msgDopsDepA_gdop :: !Word16 -- ^ Geometric Dilution of Precision - , _msgDopsDepA_pdop :: Word16 + , _msgDopsDepA_pdop :: !Word16 -- ^ Position Dilution of Precision - , _msgDopsDepA_tdop :: Word16 + , _msgDopsDepA_tdop :: !Word16 -- ^ Time Dilution of Precision - , _msgDopsDepA_hdop :: Word16 + , _msgDopsDepA_hdop :: !Word16 -- ^ Horizontal Dilution of Precision - , _msgDopsDepA_vdop :: Word16 + , _msgDopsDepA_vdop :: !Word16 -- ^ Vertical Dilution of Precision } deriving ( Show, Read, Eq ) @@ -698,19 +702,19 @@ -- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME -- with the matching time-of-week (tow). data MsgPosEcefDepA = MsgPosEcefDepA - { _msgPosEcefDepA_tow :: Word32 + { _msgPosEcefDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgPosEcefDepA_x :: Double + , _msgPosEcefDepA_x :: !Double -- ^ ECEF X coordinate - , _msgPosEcefDepA_y :: Double + , _msgPosEcefDepA_y :: !Double -- ^ ECEF Y coordinate - , _msgPosEcefDepA_z :: Double + , _msgPosEcefDepA_z :: !Double -- ^ ECEF Z coordinate - , _msgPosEcefDepA_accuracy :: Word16 + , _msgPosEcefDepA_accuracy :: !Word16 -- ^ Position accuracy estimate (not implemented). Defaults to 0. - , _msgPosEcefDepA_n_sats :: Word8 + , _msgPosEcefDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgPosEcefDepA_flags :: Word8 + , _msgPosEcefDepA_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -753,21 +757,21 @@ -- time is given by the preceding MSG_GPS_TIME with the matching time-of-week -- (tow). data MsgPosLlhDepA = MsgPosLlhDepA - { _msgPosLlhDepA_tow :: Word32 + { _msgPosLlhDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgPosLlhDepA_lat :: Double + , _msgPosLlhDepA_lat :: !Double -- ^ Latitude - , _msgPosLlhDepA_lon :: Double + , _msgPosLlhDepA_lon :: !Double -- ^ Longitude - , _msgPosLlhDepA_height :: Double + , _msgPosLlhDepA_height :: !Double -- ^ Height - , _msgPosLlhDepA_h_accuracy :: Word16 + , _msgPosLlhDepA_h_accuracy :: !Word16 -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. - , _msgPosLlhDepA_v_accuracy :: Word16 + , _msgPosLlhDepA_v_accuracy :: !Word16 -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. - , _msgPosLlhDepA_n_sats :: Word8 + , _msgPosLlhDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution. - , _msgPosLlhDepA_flags :: Word8 + , _msgPosLlhDepA_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -809,19 +813,19 @@ -- base station to the rover receiver. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineEcefDepA = MsgBaselineEcefDepA - { _msgBaselineEcefDepA_tow :: Word32 + { _msgBaselineEcefDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineEcefDepA_x :: Int32 + , _msgBaselineEcefDepA_x :: !Int32 -- ^ Baseline ECEF X coordinate - , _msgBaselineEcefDepA_y :: Int32 + , _msgBaselineEcefDepA_y :: !Int32 -- ^ Baseline ECEF Y coordinate - , _msgBaselineEcefDepA_z :: Int32 + , _msgBaselineEcefDepA_z :: !Int32 -- ^ Baseline ECEF Z coordinate - , _msgBaselineEcefDepA_accuracy :: Word16 + , _msgBaselineEcefDepA_accuracy :: !Word16 -- ^ Position accuracy estimate - , _msgBaselineEcefDepA_n_sats :: Word8 + , _msgBaselineEcefDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineEcefDepA_flags :: Word8 + , _msgBaselineEcefDepA_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -863,21 +867,21 @@ -- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- -- week (tow). data MsgBaselineNedDepA = MsgBaselineNedDepA - { _msgBaselineNedDepA_tow :: Word32 + { _msgBaselineNedDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineNedDepA_n :: Int32 + , _msgBaselineNedDepA_n :: !Int32 -- ^ Baseline North coordinate - , _msgBaselineNedDepA_e :: Int32 + , _msgBaselineNedDepA_e :: !Int32 -- ^ Baseline East coordinate - , _msgBaselineNedDepA_d :: Int32 + , _msgBaselineNedDepA_d :: !Int32 -- ^ Baseline Down coordinate - , _msgBaselineNedDepA_h_accuracy :: Word16 + , _msgBaselineNedDepA_h_accuracy :: !Word16 -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. - , _msgBaselineNedDepA_v_accuracy :: Word16 + , _msgBaselineNedDepA_v_accuracy :: !Word16 -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. - , _msgBaselineNedDepA_n_sats :: Word8 + , _msgBaselineNedDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineNedDepA_flags :: Word8 + , _msgBaselineNedDepA_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) @@ -918,19 +922,19 @@ -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). data MsgVelEcefDepA = MsgVelEcefDepA - { _msgVelEcefDepA_tow :: Word32 + { _msgVelEcefDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgVelEcefDepA_x :: Int32 + , _msgVelEcefDepA_x :: !Int32 -- ^ Velocity ECEF X coordinate - , _msgVelEcefDepA_y :: Int32 + , _msgVelEcefDepA_y :: !Int32 -- ^ Velocity ECEF Y coordinate - , _msgVelEcefDepA_z :: Int32 + , _msgVelEcefDepA_z :: !Int32 -- ^ Velocity ECEF Z coordinate - , _msgVelEcefDepA_accuracy :: Word16 + , _msgVelEcefDepA_accuracy :: !Word16 -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelEcefDepA_n_sats :: Word8 + , _msgVelEcefDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgVelEcefDepA_flags :: Word8 + , _msgVelEcefDepA_flags :: !Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -970,21 +974,21 @@ -- plane centered at the current position. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgVelNedDepA = MsgVelNedDepA - { _msgVelNedDepA_tow :: Word32 + { _msgVelNedDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgVelNedDepA_n :: Int32 + , _msgVelNedDepA_n :: !Int32 -- ^ Velocity North coordinate - , _msgVelNedDepA_e :: Int32 + , _msgVelNedDepA_e :: !Int32 -- ^ Velocity East coordinate - , _msgVelNedDepA_d :: Int32 + , _msgVelNedDepA_d :: !Int32 -- ^ Velocity Down coordinate - , _msgVelNedDepA_h_accuracy :: Word16 + , _msgVelNedDepA_h_accuracy :: !Word16 -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelNedDepA_v_accuracy :: Word16 + , _msgVelNedDepA_v_accuracy :: !Word16 -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. - , _msgVelNedDepA_n_sats :: Word8 + , _msgVelNedDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgVelNedDepA_flags :: Word8 + , _msgVelNedDepA_flags :: !Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) @@ -1025,13 +1029,13 @@ -- the rover relative to True North. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineHeadingDepA = MsgBaselineHeadingDepA - { _msgBaselineHeadingDepA_tow :: Word32 + { _msgBaselineHeadingDepA_tow :: !Word32 -- ^ GPS Time of Week - , _msgBaselineHeadingDepA_heading :: Word32 + , _msgBaselineHeadingDepA_heading :: !Word32 -- ^ Heading - , _msgBaselineHeadingDepA_n_sats :: Word8 + , _msgBaselineHeadingDepA_n_sats :: !Word8 -- ^ Number of satellites used in solution - , _msgBaselineHeadingDepA_flags :: Word8 + , _msgBaselineHeadingDepA_flags :: !Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Ndb.hs b/src/SwiftNav/SBP/Ndb.hs --- a/src/SwiftNav/SBP/Ndb.hs +++ b/src/SwiftNav/SBP/Ndb.hs @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Ndb -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -36,25 +40,25 @@ -- This message is sent out when an object is stored into NDB. If needed -- message could also be sent out when fetching an object from NDB. data MsgNdbEvent = MsgNdbEvent - { _msgNdbEvent_recv_time :: Word64 + { _msgNdbEvent_recv_time :: !Word64 -- ^ HW time in milliseconds. - , _msgNdbEvent_event :: Word8 + , _msgNdbEvent_event :: !Word8 -- ^ Event type. - , _msgNdbEvent_object_type :: Word8 + , _msgNdbEvent_object_type :: !Word8 -- ^ Event object type. - , _msgNdbEvent_result :: Word8 + , _msgNdbEvent_result :: !Word8 -- ^ Event result. - , _msgNdbEvent_data_source :: Word8 + , _msgNdbEvent_data_source :: !Word8 -- ^ Data source for STORE event, reserved for other events. - , _msgNdbEvent_object_sid :: GnssSignal16 + , _msgNdbEvent_object_sid :: !GnssSignal16 -- ^ GNSS signal identifier, If object_type is Ephemeris OR Almanac, sid -- indicates for which signal the object belongs to. Reserved in other -- cases. - , _msgNdbEvent_src_sid :: GnssSignal16 + , _msgNdbEvent_src_sid :: !GnssSignal16 -- ^ GNSS signal identifier, If object_type is Almanac, Almanac WN, Iono OR -- L2C capabilities AND data_source is NDB_DS_RECEIVER sid indicates from -- which SV data was decoded. Reserved in other cases. - , _msgNdbEvent_original_sender :: Word16 + , _msgNdbEvent_original_sender :: !Word16 -- ^ A unique identifier of the sending hardware. For v1.0, set to the 2 -- least significant bytes of the device serial number, valid only if -- data_source is NDB_DS_SBP. Reserved in case of other data_source. 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Observation -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -32,9 +36,9 @@ -- -- Header of a GNSS observation message. data ObservationHeader = ObservationHeader - { _observationHeader_t :: GpsTimeNano + { _observationHeader_t :: !GpsTimeNano -- ^ GNSS time of this observation - , _observationHeader_n_obs :: Word8 + , _observationHeader_n_obs :: !Word8 -- ^ Total number of observations. First nibble is the size of the sequence -- (n), second nibble is the zero-indexed counter (ith packet of n) } deriving ( Show, Read, Eq ) @@ -58,9 +62,9 @@ -- Q16.8 layout, i.e. 16-bits of whole doppler and 8-bits of fractional -- doppler. This doppler is defined as positive for approaching satellites. data Doppler = Doppler - { _doppler_i :: Int16 + { _doppler_i :: !Int16 -- ^ Doppler whole Hz - , _doppler_f :: Word8 + , _doppler_f :: !Word8 -- ^ Doppler fractional part } deriving ( Show, Read, Eq ) @@ -83,26 +87,26 @@ -- observations are interoperable with 3rd party receivers and conform with -- typical RTCMv3 GNSS observations. data PackedObsContent = PackedObsContent - { _packedObsContent_P :: Word32 + { _packedObsContent_P :: !Word32 -- ^ Pseudorange observation - , _packedObsContent_L :: CarrierPhase + , _packedObsContent_L :: !CarrierPhase -- ^ Carrier phase observation with typical sign convention. - , _packedObsContent_D :: Doppler + , _packedObsContent_D :: !Doppler -- ^ Doppler observation with typical sign convention. - , _packedObsContent_cn0 :: Word8 + , _packedObsContent_cn0 :: !Word8 -- ^ Carrier-to-Noise density. Zero implies invalid cn0. - , _packedObsContent_lock :: Word8 + , _packedObsContent_lock :: !Word8 -- ^ Lock timer. This value gives an indication of the time for which a -- signal has maintained continuous phase lock. Whenever a signal has lost -- and regained lock, this value is reset to zero. It is encoded according -- to DF402 from the RTCM 10403.2 Amendment 2 specification. Valid values -- range from 0 to 15 and the most significant nibble is reserved for -- future use. - , _packedObsContent_flags :: Word8 + , _packedObsContent_flags :: !Word8 -- ^ Measurement status flags. A bit field of flags providing the status of -- this observation. If this field is 0 it means only the Cn0 estimate for -- the signal is valid. - , _packedObsContent_sid :: GnssSignal16 + , _packedObsContent_sid :: !GnssSignal16 -- ^ GNSS signal identifier (16 bit) } deriving ( Show, Read, Eq ) @@ -141,9 +145,9 @@ -- The observations are be interoperable with 3rd party receivers and conform -- with typical RTCMv3 GNSS observations. data MsgObs = MsgObs - { _msgObs_header :: ObservationHeader + { _msgObs_header :: !ObservationHeader -- ^ Header of a GPS observation message - , _msgObs_obs :: [PackedObsContent] + , _msgObs_obs :: ![PackedObsContent] -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -173,11 +177,11 @@ -- required to be a high-accuracy surveyed location of the base station. Any -- error here will result in an error in the pseudo-absolute position output. data MsgBasePosLlh = MsgBasePosLlh - { _msgBasePosLlh_lat :: Double + { _msgBasePosLlh_lat :: !Double -- ^ Latitude - , _msgBasePosLlh_lon :: Double + , _msgBasePosLlh_lon :: !Double -- ^ Longitude - , _msgBasePosLlh_height :: Double + , _msgBasePosLlh_height :: !Double -- ^ Height } deriving ( Show, Read, Eq ) @@ -210,11 +214,11 @@ -- accuracy surveyed location of the base station. Any error here will result -- in an error in the pseudo-absolute position output. data MsgBasePosEcef = MsgBasePosEcef - { _msgBasePosEcef_x :: Double + { _msgBasePosEcef_x :: !Double -- ^ ECEF X coodinate - , _msgBasePosEcef_y :: Double + , _msgBasePosEcef_y :: !Double -- ^ ECEF Y coordinate - , _msgBasePosEcef_z :: Double + , _msgBasePosEcef_z :: !Double -- ^ ECEF Z coordinate } deriving ( Show, Read, Eq ) @@ -237,17 +241,17 @@ $(makeLenses ''MsgBasePosEcef) data EphemerisCommonContent = EphemerisCommonContent - { _ephemerisCommonContent_sid :: GnssSignal16 + { _ephemerisCommonContent_sid :: !GnssSignal16 -- ^ GNSS signal identifier (16 bit) - , _ephemerisCommonContent_toe :: GpsTimeSec + , _ephemerisCommonContent_toe :: !GpsTimeSec -- ^ Time of Ephemerides - , _ephemerisCommonContent_ura :: Double + , _ephemerisCommonContent_ura :: !Double -- ^ User Range Accuracy - , _ephemerisCommonContent_fit_interval :: Word32 + , _ephemerisCommonContent_fit_interval :: !Word32 -- ^ Curve fit interval - , _ephemerisCommonContent_valid :: Word8 + , _ephemerisCommonContent_valid :: !Word8 -- ^ Status of ephemeris, 1 = valid, 0 = invalid - , _ephemerisCommonContent_health_bits :: Word8 + , _ephemerisCommonContent_health_bits :: !Word8 -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 -- = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid } deriving ( Show, Read, Eq ) @@ -274,17 +278,17 @@ $(makeLenses ''EphemerisCommonContent) data EphemerisCommonContentDepA = EphemerisCommonContentDepA - { _ephemerisCommonContentDepA_sid :: GnssSignal + { _ephemerisCommonContentDepA_sid :: !GnssSignal -- ^ GNSS signal identifier - , _ephemerisCommonContentDepA_toe :: GpsTime + , _ephemerisCommonContentDepA_toe :: !GpsTime -- ^ Time of Ephemerides - , _ephemerisCommonContentDepA_ura :: Double + , _ephemerisCommonContentDepA_ura :: !Double -- ^ User Range Accuracy - , _ephemerisCommonContentDepA_fit_interval :: Word32 + , _ephemerisCommonContentDepA_fit_interval :: !Word32 -- ^ Curve fit interval - , _ephemerisCommonContentDepA_valid :: Word8 + , _ephemerisCommonContentDepA_valid :: !Word8 -- ^ Status of ephemeris, 1 = valid, 0 = invalid - , _ephemerisCommonContentDepA_health_bits :: Word8 + , _ephemerisCommonContentDepA_health_bits :: !Word8 -- ^ Satellite health status. GPS: ICD-GPS-200, chapter 20.3.3.3.1.4 SBAS: 0 -- = valid, non-zero = invalid GLO: 0 = valid, non-zero = invalid } deriving ( Show, Read, Eq ) @@ -320,55 +324,55 @@ -- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, -- Table 20-III) for more details. data MsgEphemerisGpsDepE = MsgEphemerisGpsDepE - { _msgEphemerisGpsDepE_common :: EphemerisCommonContentDepA + { _msgEphemerisGpsDepE_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types - , _msgEphemerisGpsDepE_tgd :: Double + , _msgEphemerisGpsDepE_tgd :: !Double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisGpsDepE_c_rs :: Double + , _msgEphemerisGpsDepE_c_rs :: !Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisGpsDepE_c_rc :: Double + , _msgEphemerisGpsDepE_c_rc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisGpsDepE_c_uc :: Double + , _msgEphemerisGpsDepE_c_uc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisGpsDepE_c_us :: Double + , _msgEphemerisGpsDepE_c_us :: !Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisGpsDepE_c_ic :: Double + , _msgEphemerisGpsDepE_c_ic :: !Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisGpsDepE_c_is :: Double + , _msgEphemerisGpsDepE_c_is :: !Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisGpsDepE_dn :: Double + , _msgEphemerisGpsDepE_dn :: !Double -- ^ Mean motion difference - , _msgEphemerisGpsDepE_m0 :: Double + , _msgEphemerisGpsDepE_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgEphemerisGpsDepE_ecc :: Double + , _msgEphemerisGpsDepE_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgEphemerisGpsDepE_sqrta :: Double + , _msgEphemerisGpsDepE_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisGpsDepE_omega0 :: Double + , _msgEphemerisGpsDepE_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisGpsDepE_omegadot :: Double + , _msgEphemerisGpsDepE_omegadot :: !Double -- ^ Rate of right ascension - , _msgEphemerisGpsDepE_w :: Double + , _msgEphemerisGpsDepE_w :: !Double -- ^ Argument of perigee - , _msgEphemerisGpsDepE_inc :: Double + , _msgEphemerisGpsDepE_inc :: !Double -- ^ Inclination - , _msgEphemerisGpsDepE_inc_dot :: Double + , _msgEphemerisGpsDepE_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisGpsDepE_af0 :: Double + , _msgEphemerisGpsDepE_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisGpsDepE_af1 :: Double + , _msgEphemerisGpsDepE_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisGpsDepE_af2 :: Double + , _msgEphemerisGpsDepE_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisGpsDepE_toc :: GpsTime + , _msgEphemerisGpsDepE_toc :: !GpsTime -- ^ Clock reference - , _msgEphemerisGpsDepE_iode :: Word8 + , _msgEphemerisGpsDepE_iode :: !Word8 -- ^ Issue of ephemeris data - , _msgEphemerisGpsDepE_iodc :: Word16 + , _msgEphemerisGpsDepE_iodc :: !Word16 -- ^ Issue of clock data } deriving ( Show, Read, Eq ) @@ -440,55 +444,55 @@ -- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, -- Table 20-III) for more details. data MsgEphemerisGps = MsgEphemerisGps - { _msgEphemerisGps_common :: EphemerisCommonContent + { _msgEphemerisGps_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGps_tgd :: Double + , _msgEphemerisGps_tgd :: !Double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisGps_c_rs :: Double + , _msgEphemerisGps_c_rs :: !Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisGps_c_rc :: Double + , _msgEphemerisGps_c_rc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisGps_c_uc :: Double + , _msgEphemerisGps_c_uc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisGps_c_us :: Double + , _msgEphemerisGps_c_us :: !Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisGps_c_ic :: Double + , _msgEphemerisGps_c_ic :: !Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisGps_c_is :: Double + , _msgEphemerisGps_c_is :: !Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisGps_dn :: Double + , _msgEphemerisGps_dn :: !Double -- ^ Mean motion difference - , _msgEphemerisGps_m0 :: Double + , _msgEphemerisGps_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgEphemerisGps_ecc :: Double + , _msgEphemerisGps_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgEphemerisGps_sqrta :: Double + , _msgEphemerisGps_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisGps_omega0 :: Double + , _msgEphemerisGps_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisGps_omegadot :: Double + , _msgEphemerisGps_omegadot :: !Double -- ^ Rate of right ascension - , _msgEphemerisGps_w :: Double + , _msgEphemerisGps_w :: !Double -- ^ Argument of perigee - , _msgEphemerisGps_inc :: Double + , _msgEphemerisGps_inc :: !Double -- ^ Inclination - , _msgEphemerisGps_inc_dot :: Double + , _msgEphemerisGps_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisGps_af0 :: Double + , _msgEphemerisGps_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisGps_af1 :: Double + , _msgEphemerisGps_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisGps_af2 :: Double + , _msgEphemerisGps_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisGps_toc :: GpsTimeSec + , _msgEphemerisGps_toc :: !GpsTimeSec -- ^ Clock reference - , _msgEphemerisGps_iode :: Word8 + , _msgEphemerisGps_iode :: !Word8 -- ^ Issue of ephemeris data - , _msgEphemerisGps_iodc :: Word16 + , _msgEphemerisGps_iodc :: !Word16 -- ^ Issue of clock data } deriving ( Show, Read, Eq ) @@ -554,17 +558,17 @@ msgEphemerisSbasDepA = 0x0082 data MsgEphemerisSbasDepA = MsgEphemerisSbasDepA - { _msgEphemerisSbasDepA_common :: EphemerisCommonContentDepA + { _msgEphemerisSbasDepA_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types - , _msgEphemerisSbasDepA_pos :: [Double] + , _msgEphemerisSbasDepA_pos :: ![Double] -- ^ Position of the GEO at time toe - , _msgEphemerisSbasDepA_vel :: [Double] + , _msgEphemerisSbasDepA_vel :: ![Double] -- ^ Velocity of the GEO at time toe - , _msgEphemerisSbasDepA_acc :: [Double] + , _msgEphemerisSbasDepA_acc :: ![Double] -- ^ Acceleration of the GEO at time toe - , _msgEphemerisSbasDepA_a_gf0 :: Double + , _msgEphemerisSbasDepA_a_gf0 :: !Double -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time - , _msgEphemerisSbasDepA_a_gf1 :: Double + , _msgEphemerisSbasDepA_a_gf1 :: !Double -- ^ Drift of the GEO clock w.r.t. SBAS Network Time } deriving ( Show, Read, Eq ) @@ -602,17 +606,17 @@ -- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGloDepA = MsgEphemerisGloDepA - { _msgEphemerisGloDepA_common :: EphemerisCommonContentDepA + { _msgEphemerisGloDepA_common :: !EphemerisCommonContentDepA -- ^ Values common for all ephemeris types - , _msgEphemerisGloDepA_gamma :: Double + , _msgEphemerisGloDepA_gamma :: !Double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGloDepA_tau :: Double + , _msgEphemerisGloDepA_tau :: !Double -- ^ Correction to the SV time - , _msgEphemerisGloDepA_pos :: [Double] + , _msgEphemerisGloDepA_pos :: ![Double] -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepA_vel :: [Double] + , _msgEphemerisGloDepA_vel :: ![Double] -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepA_acc :: [Double] + , _msgEphemerisGloDepA_acc :: ![Double] -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys } deriving ( Show, Read, Eq ) @@ -644,17 +648,17 @@ msgEphemerisSbas = 0x0084 data MsgEphemerisSbas = MsgEphemerisSbas - { _msgEphemerisSbas_common :: EphemerisCommonContent + { _msgEphemerisSbas_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisSbas_pos :: [Double] + , _msgEphemerisSbas_pos :: ![Double] -- ^ Position of the GEO at time toe - , _msgEphemerisSbas_vel :: [Double] + , _msgEphemerisSbas_vel :: ![Double] -- ^ Velocity of the GEO at time toe - , _msgEphemerisSbas_acc :: [Double] + , _msgEphemerisSbas_acc :: ![Double] -- ^ Acceleration of the GEO at time toe - , _msgEphemerisSbas_a_gf0 :: Double + , _msgEphemerisSbas_a_gf0 :: !Double -- ^ Time offset of the GEO clock w.r.t. SBAS Network Time - , _msgEphemerisSbas_a_gf1 :: Double + , _msgEphemerisSbas_a_gf1 :: !Double -- ^ Drift of the GEO clock w.r.t. SBAS Network Time } deriving ( Show, Read, Eq ) @@ -692,17 +696,17 @@ -- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGloDepB = MsgEphemerisGloDepB - { _msgEphemerisGloDepB_common :: EphemerisCommonContent + { _msgEphemerisGloDepB_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGloDepB_gamma :: Double + , _msgEphemerisGloDepB_gamma :: !Double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGloDepB_tau :: Double + , _msgEphemerisGloDepB_tau :: !Double -- ^ Correction to the SV time - , _msgEphemerisGloDepB_pos :: [Double] + , _msgEphemerisGloDepB_pos :: ![Double] -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepB_vel :: [Double] + , _msgEphemerisGloDepB_vel :: ![Double] -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepB_acc :: [Double] + , _msgEphemerisGloDepB_acc :: ![Double] -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys } deriving ( Show, Read, Eq ) @@ -740,21 +744,21 @@ -- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGloDepC = MsgEphemerisGloDepC - { _msgEphemerisGloDepC_common :: EphemerisCommonContent + { _msgEphemerisGloDepC_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGloDepC_gamma :: Double + , _msgEphemerisGloDepC_gamma :: !Double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGloDepC_tau :: Double + , _msgEphemerisGloDepC_tau :: !Double -- ^ Correction to the SV time - , _msgEphemerisGloDepC_d_tau :: Double + , _msgEphemerisGloDepC_d_tau :: !Double -- ^ Equipment delay between L1 and L2 - , _msgEphemerisGloDepC_pos :: [Double] + , _msgEphemerisGloDepC_pos :: ![Double] -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepC_vel :: [Double] + , _msgEphemerisGloDepC_vel :: ![Double] -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGloDepC_acc :: [Double] + , _msgEphemerisGloDepC_acc :: ![Double] -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys - , _msgEphemerisGloDepC_fcn :: Word8 + , _msgEphemerisGloDepC_fcn :: !Word8 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid } deriving ( Show, Read, Eq ) @@ -796,23 +800,23 @@ -- see the GLO ICD 5.1 "Table 4.5 Characteristics of words of immediate -- information (ephemeris parameters)" for more details. data MsgEphemerisGlo = MsgEphemerisGlo - { _msgEphemerisGlo_common :: EphemerisCommonContent + { _msgEphemerisGlo_common :: !EphemerisCommonContent -- ^ Values common for all ephemeris types - , _msgEphemerisGlo_gamma :: Double + , _msgEphemerisGlo_gamma :: !Double -- ^ Relative deviation of predicted carrier frequency from nominal - , _msgEphemerisGlo_tau :: Double + , _msgEphemerisGlo_tau :: !Double -- ^ Correction to the SV time - , _msgEphemerisGlo_d_tau :: Double + , _msgEphemerisGlo_d_tau :: !Double -- ^ Equipment delay between L1 and L2 - , _msgEphemerisGlo_pos :: [Double] + , _msgEphemerisGlo_pos :: ![Double] -- ^ Position of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGlo_vel :: [Double] + , _msgEphemerisGlo_vel :: ![Double] -- ^ Velocity vector of the SV at tb in PZ-90.02 coordinates system - , _msgEphemerisGlo_acc :: [Double] + , _msgEphemerisGlo_acc :: ![Double] -- ^ Acceleration vector of the SV at tb in PZ-90.02 coordinates sys - , _msgEphemerisGlo_fcn :: Word8 + , _msgEphemerisGlo_fcn :: !Word8 -- ^ Frequency slot. FCN+8 (that is [1..14]). 0 or 0xFF for invalid - , _msgEphemerisGlo_iod :: Word8 + , _msgEphemerisGlo_iod :: !Word8 -- ^ Issue of ephemeris data } deriving ( Show, Read, Eq ) @@ -856,67 +860,67 @@ -- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, -- Table 20-III) for more details. data MsgEphemerisDepD = MsgEphemerisDepD - { _msgEphemerisDepD_tgd :: Double + { _msgEphemerisDepD_tgd :: !Double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepD_c_rs :: Double + , _msgEphemerisDepD_c_rs :: !Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepD_c_rc :: Double + , _msgEphemerisDepD_c_rc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepD_c_uc :: Double + , _msgEphemerisDepD_c_uc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepD_c_us :: Double + , _msgEphemerisDepD_c_us :: !Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepD_c_ic :: Double + , _msgEphemerisDepD_c_ic :: !Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepD_c_is :: Double + , _msgEphemerisDepD_c_is :: !Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepD_dn :: Double + , _msgEphemerisDepD_dn :: !Double -- ^ Mean motion difference - , _msgEphemerisDepD_m0 :: Double + , _msgEphemerisDepD_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgEphemerisDepD_ecc :: Double + , _msgEphemerisDepD_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepD_sqrta :: Double + , _msgEphemerisDepD_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepD_omega0 :: Double + , _msgEphemerisDepD_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepD_omegadot :: Double + , _msgEphemerisDepD_omegadot :: !Double -- ^ Rate of right ascension - , _msgEphemerisDepD_w :: Double + , _msgEphemerisDepD_w :: !Double -- ^ Argument of perigee - , _msgEphemerisDepD_inc :: Double + , _msgEphemerisDepD_inc :: !Double -- ^ Inclination - , _msgEphemerisDepD_inc_dot :: Double + , _msgEphemerisDepD_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisDepD_af0 :: Double + , _msgEphemerisDepD_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepD_af1 :: Double + , _msgEphemerisDepD_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepD_af2 :: Double + , _msgEphemerisDepD_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepD_toe_tow :: Double + , _msgEphemerisDepD_toe_tow :: !Double -- ^ Time of week - , _msgEphemerisDepD_toe_wn :: Word16 + , _msgEphemerisDepD_toe_wn :: !Word16 -- ^ Week number - , _msgEphemerisDepD_toc_tow :: Double + , _msgEphemerisDepD_toc_tow :: !Double -- ^ Clock reference time of week - , _msgEphemerisDepD_toc_wn :: Word16 + , _msgEphemerisDepD_toc_wn :: !Word16 -- ^ Clock reference week number - , _msgEphemerisDepD_valid :: Word8 + , _msgEphemerisDepD_valid :: !Word8 -- ^ Is valid? - , _msgEphemerisDepD_healthy :: Word8 + , _msgEphemerisDepD_healthy :: !Word8 -- ^ Satellite is healthy? - , _msgEphemerisDepD_sid :: GnssSignal + , _msgEphemerisDepD_sid :: !GnssSignal -- ^ GNSS signal identifier - , _msgEphemerisDepD_iode :: Word8 + , _msgEphemerisDepD_iode :: !Word8 -- ^ Issue of ephemeris data - , _msgEphemerisDepD_iodc :: Word16 + , _msgEphemerisDepD_iodc :: !Word16 -- ^ Issue of clock data - , _msgEphemerisDepD_reserved :: Word32 + , _msgEphemerisDepD_reserved :: !Word32 -- ^ Reserved field } deriving ( Show, Read, Eq ) @@ -997,61 +1001,61 @@ -- -- Deprecated. data MsgEphemerisDepA = MsgEphemerisDepA - { _msgEphemerisDepA_tgd :: Double + { _msgEphemerisDepA_tgd :: !Double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepA_c_rs :: Double + , _msgEphemerisDepA_c_rs :: !Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepA_c_rc :: Double + , _msgEphemerisDepA_c_rc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepA_c_uc :: Double + , _msgEphemerisDepA_c_uc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepA_c_us :: Double + , _msgEphemerisDepA_c_us :: !Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepA_c_ic :: Double + , _msgEphemerisDepA_c_ic :: !Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepA_c_is :: Double + , _msgEphemerisDepA_c_is :: !Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepA_dn :: Double + , _msgEphemerisDepA_dn :: !Double -- ^ Mean motion difference - , _msgEphemerisDepA_m0 :: Double + , _msgEphemerisDepA_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgEphemerisDepA_ecc :: Double + , _msgEphemerisDepA_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepA_sqrta :: Double + , _msgEphemerisDepA_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepA_omega0 :: Double + , _msgEphemerisDepA_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepA_omegadot :: Double + , _msgEphemerisDepA_omegadot :: !Double -- ^ Rate of right ascension - , _msgEphemerisDepA_w :: Double + , _msgEphemerisDepA_w :: !Double -- ^ Argument of perigee - , _msgEphemerisDepA_inc :: Double + , _msgEphemerisDepA_inc :: !Double -- ^ Inclination - , _msgEphemerisDepA_inc_dot :: Double + , _msgEphemerisDepA_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisDepA_af0 :: Double + , _msgEphemerisDepA_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepA_af1 :: Double + , _msgEphemerisDepA_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepA_af2 :: Double + , _msgEphemerisDepA_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepA_toe_tow :: Double + , _msgEphemerisDepA_toe_tow :: !Double -- ^ Time of week - , _msgEphemerisDepA_toe_wn :: Word16 + , _msgEphemerisDepA_toe_wn :: !Word16 -- ^ Week number - , _msgEphemerisDepA_toc_tow :: Double + , _msgEphemerisDepA_toc_tow :: !Double -- ^ Clock reference time of week - , _msgEphemerisDepA_toc_wn :: Word16 + , _msgEphemerisDepA_toc_wn :: !Word16 -- ^ Clock reference week number - , _msgEphemerisDepA_valid :: Word8 + , _msgEphemerisDepA_valid :: !Word8 -- ^ Is valid? - , _msgEphemerisDepA_healthy :: Word8 + , _msgEphemerisDepA_healthy :: !Word8 -- ^ Satellite is healthy? - , _msgEphemerisDepA_prn :: Word8 + , _msgEphemerisDepA_prn :: !Word8 -- ^ PRN being tracked } deriving ( Show, Read, Eq ) @@ -1126,63 +1130,63 @@ -- -- Deprecated. data MsgEphemerisDepB = MsgEphemerisDepB - { _msgEphemerisDepB_tgd :: Double + { _msgEphemerisDepB_tgd :: !Double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepB_c_rs :: Double + , _msgEphemerisDepB_c_rs :: !Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepB_c_rc :: Double + , _msgEphemerisDepB_c_rc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepB_c_uc :: Double + , _msgEphemerisDepB_c_uc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepB_c_us :: Double + , _msgEphemerisDepB_c_us :: !Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepB_c_ic :: Double + , _msgEphemerisDepB_c_ic :: !Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepB_c_is :: Double + , _msgEphemerisDepB_c_is :: !Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepB_dn :: Double + , _msgEphemerisDepB_dn :: !Double -- ^ Mean motion difference - , _msgEphemerisDepB_m0 :: Double + , _msgEphemerisDepB_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgEphemerisDepB_ecc :: Double + , _msgEphemerisDepB_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepB_sqrta :: Double + , _msgEphemerisDepB_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepB_omega0 :: Double + , _msgEphemerisDepB_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepB_omegadot :: Double + , _msgEphemerisDepB_omegadot :: !Double -- ^ Rate of right ascension - , _msgEphemerisDepB_w :: Double + , _msgEphemerisDepB_w :: !Double -- ^ Argument of perigee - , _msgEphemerisDepB_inc :: Double + , _msgEphemerisDepB_inc :: !Double -- ^ Inclination - , _msgEphemerisDepB_inc_dot :: Double + , _msgEphemerisDepB_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisDepB_af0 :: Double + , _msgEphemerisDepB_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepB_af1 :: Double + , _msgEphemerisDepB_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepB_af2 :: Double + , _msgEphemerisDepB_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepB_toe_tow :: Double + , _msgEphemerisDepB_toe_tow :: !Double -- ^ Time of week - , _msgEphemerisDepB_toe_wn :: Word16 + , _msgEphemerisDepB_toe_wn :: !Word16 -- ^ Week number - , _msgEphemerisDepB_toc_tow :: Double + , _msgEphemerisDepB_toc_tow :: !Double -- ^ Clock reference time of week - , _msgEphemerisDepB_toc_wn :: Word16 + , _msgEphemerisDepB_toc_wn :: !Word16 -- ^ Clock reference week number - , _msgEphemerisDepB_valid :: Word8 + , _msgEphemerisDepB_valid :: !Word8 -- ^ Is valid? - , _msgEphemerisDepB_healthy :: Word8 + , _msgEphemerisDepB_healthy :: !Word8 -- ^ Satellite is healthy? - , _msgEphemerisDepB_prn :: Word8 + , _msgEphemerisDepB_prn :: !Word8 -- ^ PRN being tracked - , _msgEphemerisDepB_iode :: Word8 + , _msgEphemerisDepB_iode :: !Word8 -- ^ Issue of ephemeris data } deriving ( Show, Read, Eq ) @@ -1262,67 +1266,67 @@ -- see the Navstar GPS Space Segment/Navigation user interfaces (ICD-GPS-200, -- Table 20-III) for more details. data MsgEphemerisDepC = MsgEphemerisDepC - { _msgEphemerisDepC_tgd :: Double + { _msgEphemerisDepC_tgd :: !Double -- ^ Group delay differential between L1 and L2 - , _msgEphemerisDepC_c_rs :: Double + , _msgEphemerisDepC_c_rs :: !Double -- ^ Amplitude of the sine harmonic correction term to the orbit radius - , _msgEphemerisDepC_c_rc :: Double + , _msgEphemerisDepC_c_rc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the orbit radius - , _msgEphemerisDepC_c_uc :: Double + , _msgEphemerisDepC_c_uc :: !Double -- ^ Amplitude of the cosine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepC_c_us :: Double + , _msgEphemerisDepC_c_us :: !Double -- ^ Amplitude of the sine harmonic correction term to the argument of -- latitude - , _msgEphemerisDepC_c_ic :: Double + , _msgEphemerisDepC_c_ic :: !Double -- ^ Amplitude of the cosine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepC_c_is :: Double + , _msgEphemerisDepC_c_is :: !Double -- ^ Amplitude of the sine harmonic correction term to the angle of -- inclination - , _msgEphemerisDepC_dn :: Double + , _msgEphemerisDepC_dn :: !Double -- ^ Mean motion difference - , _msgEphemerisDepC_m0 :: Double + , _msgEphemerisDepC_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgEphemerisDepC_ecc :: Double + , _msgEphemerisDepC_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgEphemerisDepC_sqrta :: Double + , _msgEphemerisDepC_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgEphemerisDepC_omega0 :: Double + , _msgEphemerisDepC_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgEphemerisDepC_omegadot :: Double + , _msgEphemerisDepC_omegadot :: !Double -- ^ Rate of right ascension - , _msgEphemerisDepC_w :: Double + , _msgEphemerisDepC_w :: !Double -- ^ Argument of perigee - , _msgEphemerisDepC_inc :: Double + , _msgEphemerisDepC_inc :: !Double -- ^ Inclination - , _msgEphemerisDepC_inc_dot :: Double + , _msgEphemerisDepC_inc_dot :: !Double -- ^ Inclination first derivative - , _msgEphemerisDepC_af0 :: Double + , _msgEphemerisDepC_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgEphemerisDepC_af1 :: Double + , _msgEphemerisDepC_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) - , _msgEphemerisDepC_af2 :: Double + , _msgEphemerisDepC_af2 :: !Double -- ^ Polynomial clock correction coefficient (rate of clock drift) - , _msgEphemerisDepC_toe_tow :: Double + , _msgEphemerisDepC_toe_tow :: !Double -- ^ Time of week - , _msgEphemerisDepC_toe_wn :: Word16 + , _msgEphemerisDepC_toe_wn :: !Word16 -- ^ Week number - , _msgEphemerisDepC_toc_tow :: Double + , _msgEphemerisDepC_toc_tow :: !Double -- ^ Clock reference time of week - , _msgEphemerisDepC_toc_wn :: Word16 + , _msgEphemerisDepC_toc_wn :: !Word16 -- ^ Clock reference week number - , _msgEphemerisDepC_valid :: Word8 + , _msgEphemerisDepC_valid :: !Word8 -- ^ Is valid? - , _msgEphemerisDepC_healthy :: Word8 + , _msgEphemerisDepC_healthy :: !Word8 -- ^ Satellite is healthy? - , _msgEphemerisDepC_sid :: GnssSignal + , _msgEphemerisDepC_sid :: !GnssSignal -- ^ GNSS signal identifier - , _msgEphemerisDepC_iode :: Word8 + , _msgEphemerisDepC_iode :: !Word8 -- ^ Issue of ephemeris data - , _msgEphemerisDepC_iodc :: Word16 + , _msgEphemerisDepC_iodc :: !Word16 -- ^ Issue of clock data - , _msgEphemerisDepC_reserved :: Word32 + , _msgEphemerisDepC_reserved :: !Word32 -- ^ Reserved field } deriving ( Show, Read, Eq ) @@ -1400,9 +1404,9 @@ -- -- Header of a GPS observation message. data ObservationHeaderDep = ObservationHeaderDep - { _observationHeaderDep_t :: GpsTime + { _observationHeaderDep_t :: !GpsTime -- ^ GPS time of this observation - , _observationHeaderDep_n_obs :: Word8 + , _observationHeaderDep_n_obs :: !Word8 -- ^ Total number of observations. First nibble is the size of the sequence -- (n), second nibble is the zero-indexed counter (ith packet of n) } deriving ( Show, Read, Eq ) @@ -1427,9 +1431,9 @@ -- fractional cycles. This has the opposite sign convention than a typical GPS -- receiver and the phase has the opposite sign as the pseudorange. data CarrierPhaseDepA = CarrierPhaseDepA - { _carrierPhaseDepA_i :: Int32 + { _carrierPhaseDepA_i :: !Int32 -- ^ Carrier phase whole cycles - , _carrierPhaseDepA_f :: Word8 + , _carrierPhaseDepA_f :: !Word8 -- ^ Carrier phase fractional part } deriving ( Show, Read, Eq ) @@ -1450,17 +1454,17 @@ -- -- Deprecated. data PackedObsContentDepA = PackedObsContentDepA - { _packedObsContentDepA_P :: Word32 + { _packedObsContentDepA_P :: !Word32 -- ^ Pseudorange observation - , _packedObsContentDepA_L :: CarrierPhaseDepA + , _packedObsContentDepA_L :: !CarrierPhaseDepA -- ^ Carrier phase observation with opposite sign from typical convention - , _packedObsContentDepA_cn0 :: Word8 + , _packedObsContentDepA_cn0 :: !Word8 -- ^ Carrier-to-Noise density - , _packedObsContentDepA_lock :: Word16 + , _packedObsContentDepA_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. - , _packedObsContentDepA_prn :: Word8 + , _packedObsContentDepA_prn :: !Word8 -- ^ PRN-1 identifier of the satellite signal } deriving ( Show, Read, Eq ) @@ -1488,17 +1492,17 @@ -- Pseudorange and carrier phase observation for a satellite being tracked. -- Pseudoranges are referenced to a nominal pseudorange. data PackedObsContentDepB = PackedObsContentDepB - { _packedObsContentDepB_P :: Word32 + { _packedObsContentDepB_P :: !Word32 -- ^ Pseudorange observation - , _packedObsContentDepB_L :: CarrierPhaseDepA + , _packedObsContentDepB_L :: !CarrierPhaseDepA -- ^ Carrier phase observation with opposite sign from typical convention. - , _packedObsContentDepB_cn0 :: Word8 + , _packedObsContentDepB_cn0 :: !Word8 -- ^ Carrier-to-Noise density - , _packedObsContentDepB_lock :: Word16 + , _packedObsContentDepB_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. - , _packedObsContentDepB_sid :: GnssSignal + , _packedObsContentDepB_sid :: !GnssSignal -- ^ GNSS signal identifier } deriving ( Show, Read, Eq ) @@ -1527,17 +1531,17 @@ -- observations are be interoperable with 3rd party receivers and conform with -- typical RTCMv3 GNSS observations. data PackedObsContentDepC = PackedObsContentDepC - { _packedObsContentDepC_P :: Word32 + { _packedObsContentDepC_P :: !Word32 -- ^ Pseudorange observation - , _packedObsContentDepC_L :: CarrierPhase + , _packedObsContentDepC_L :: !CarrierPhase -- ^ Carrier phase observation with typical sign convention. - , _packedObsContentDepC_cn0 :: Word8 + , _packedObsContentDepC_cn0 :: !Word8 -- ^ Carrier-to-Noise density - , _packedObsContentDepC_lock :: Word16 + , _packedObsContentDepC_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. - , _packedObsContentDepC_sid :: GnssSignal + , _packedObsContentDepC_sid :: !GnssSignal -- ^ GNSS signal identifier } deriving ( Show, Read, Eq ) @@ -1567,9 +1571,9 @@ -- -- Deprecated. data MsgObsDepA = MsgObsDepA - { _msgObsDepA_header :: ObservationHeaderDep + { _msgObsDepA_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message - , _msgObsDepA_obs :: [PackedObsContentDepA] + , _msgObsDepA_obs :: ![PackedObsContentDepA] -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -1599,9 +1603,9 @@ -- referenced to a nominal pseudorange which are not interoperable with most -- 3rd party GNSS receievers or typical RTCMv3 observations. data MsgObsDepB = MsgObsDepB - { _msgObsDepB_header :: ObservationHeaderDep + { _msgObsDepB_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message - , _msgObsDepB_obs :: [PackedObsContentDepB] + , _msgObsDepB_obs :: ![PackedObsContentDepB] -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -1633,9 +1637,9 @@ -- The observations are interoperable with 3rd party receivers and conform with -- typical RTCMv3 GNSS observations. data MsgObsDepC = MsgObsDepC - { _msgObsDepC_header :: ObservationHeaderDep + { _msgObsDepC_header :: !ObservationHeaderDep -- ^ Header of a GPS observation message - , _msgObsDepC_obs :: [PackedObsContentDepC] + , _msgObsDepC_obs :: ![PackedObsContentDepC] -- ^ Pseudorange and carrier phase observation for a satellite being tracked. } deriving ( Show, Read, Eq ) @@ -1664,16 +1668,16 @@ -- 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 :: GpsTimeSec + { _msgIono_t_nmct :: !GpsTimeSec -- ^ Navigation Message Correction Table Valitidy Time - , _msgIono_a0 :: Double - , _msgIono_a1 :: Double - , _msgIono_a2 :: Double - , _msgIono_a3 :: Double - , _msgIono_b0 :: Double - , _msgIono_b1 :: Double - , _msgIono_b2 :: Double - , _msgIono_b3 :: Double + , _msgIono_a0 :: !Double + , _msgIono_a1 :: !Double + , _msgIono_a2 :: !Double + , _msgIono_a3 :: !Double + , _msgIono_b0 :: !Double + , _msgIono_b1 :: !Double + , _msgIono_b2 :: !Double + , _msgIono_b3 :: !Double } deriving ( Show, Read, Eq ) instance Binary MsgIono where @@ -1713,9 +1717,9 @@ -- -- Please see ICD-GPS-200 (Chapter 20.3.3.5.1.4) for more details. data MsgSvConfigurationGps = MsgSvConfigurationGps - { _msgSvConfigurationGps_t_nmct :: GpsTimeSec + { _msgSvConfigurationGps_t_nmct :: !GpsTimeSec -- ^ Navigation Message Correction Table Valitidy Time - , _msgSvConfigurationGps_l2c_mask :: Word32 + , _msgSvConfigurationGps_l2c_mask :: !Word32 -- ^ L2C capability mask, SV32 bit being MSB, SV1 bit being LSB } deriving ( Show, Read, Eq ) @@ -1742,16 +1746,16 @@ -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelayDepA = MsgGroupDelayDepA - { _msgGroupDelayDepA_t_op :: GpsTime + { _msgGroupDelayDepA_t_op :: !GpsTime -- ^ Data Predict Time of Week - , _msgGroupDelayDepA_prn :: Word8 + , _msgGroupDelayDepA_prn :: !Word8 -- ^ Satellite number - , _msgGroupDelayDepA_valid :: Word8 + , _msgGroupDelayDepA_valid :: !Word8 -- ^ bit-field indicating validity of the values, LSB indicating tgd validity -- etc. 1 = value is valid, 0 = value is not valid. - , _msgGroupDelayDepA_tgd :: Int16 - , _msgGroupDelayDepA_isc_l1ca :: Int16 - , _msgGroupDelayDepA_isc_l2c :: Int16 + , _msgGroupDelayDepA_tgd :: !Int16 + , _msgGroupDelayDepA_isc_l1ca :: !Int16 + , _msgGroupDelayDepA_isc_l2c :: !Int16 } deriving ( Show, Read, Eq ) instance Binary MsgGroupDelayDepA where @@ -1785,16 +1789,16 @@ -- -- Please see ICD-GPS-200 (30.3.3.3.1.1) for more details. data MsgGroupDelay = MsgGroupDelay - { _msgGroupDelay_t_op :: GpsTimeSec + { _msgGroupDelay_t_op :: !GpsTimeSec -- ^ Data Predict Time of Week - , _msgGroupDelay_sid :: GnssSignal + , _msgGroupDelay_sid :: !GnssSignal -- ^ GNSS signal identifier - , _msgGroupDelay_valid :: Word8 + , _msgGroupDelay_valid :: !Word8 -- ^ bit-field indicating validity of the values, LSB indicating tgd validity -- etc. 1 = value is valid, 0 = value is not valid. - , _msgGroupDelay_tgd :: Int16 - , _msgGroupDelay_isc_l1ca :: Int16 - , _msgGroupDelay_isc_l2c :: Int16 + , _msgGroupDelay_tgd :: !Int16 + , _msgGroupDelay_isc_l1ca :: !Int16 + , _msgGroupDelay_isc_l2c :: !Int16 } deriving ( Show, Read, Eq ) instance Binary MsgGroupDelay where @@ -1822,17 +1826,17 @@ $(makeLenses ''MsgGroupDelay) data AlmanacCommonContent = AlmanacCommonContent - { _almanacCommonContent_sid :: GnssSignal + { _almanacCommonContent_sid :: !GnssSignal -- ^ GNSS signal identifier - , _almanacCommonContent_toa :: GpsTimeSec + , _almanacCommonContent_toa :: !GpsTimeSec -- ^ Reference time of almanac - , _almanacCommonContent_ura :: Double + , _almanacCommonContent_ura :: !Double -- ^ User Range Accuracy - , _almanacCommonContent_fit_interval :: Word32 + , _almanacCommonContent_fit_interval :: !Word32 -- ^ Curve fit interval - , _almanacCommonContent_valid :: Word8 + , _almanacCommonContent_valid :: !Word8 -- ^ Status of almanac, 1 = valid, 0 = invalid - , _almanacCommonContent_health_bits :: Word8 + , _almanacCommonContent_health_bits :: !Word8 -- ^ Satellite health status for GPS: - bits 5-7: NAV data health status. -- See IS-GPS-200H Table 20-VII: NAV Data Health Indications. - bits -- 0-4: Signal health status. See IS-GPS-200H Table 20-VIII. Codes for @@ -1876,25 +1880,25 @@ -- Please see the Navstar GPS Space Segment/Navigation user interfaces (ICD- -- GPS-200, Chapter 20.3.3.5.1.2 Almanac Data) for more details. data MsgAlmanacGps = MsgAlmanacGps - { _msgAlmanacGps_common :: AlmanacCommonContent + { _msgAlmanacGps_common :: !AlmanacCommonContent -- ^ Values common for all almanac types - , _msgAlmanacGps_m0 :: Double + , _msgAlmanacGps_m0 :: !Double -- ^ Mean anomaly at reference time - , _msgAlmanacGps_ecc :: Double + , _msgAlmanacGps_ecc :: !Double -- ^ Eccentricity of satellite orbit - , _msgAlmanacGps_sqrta :: Double + , _msgAlmanacGps_sqrta :: !Double -- ^ Square root of the semi-major axis of orbit - , _msgAlmanacGps_omega0 :: Double + , _msgAlmanacGps_omega0 :: !Double -- ^ Longitude of ascending node of orbit plane at weekly epoch - , _msgAlmanacGps_omegadot :: Double + , _msgAlmanacGps_omegadot :: !Double -- ^ Rate of right ascension - , _msgAlmanacGps_w :: Double + , _msgAlmanacGps_w :: !Double -- ^ Argument of perigee - , _msgAlmanacGps_inc :: Double + , _msgAlmanacGps_inc :: !Double -- ^ Inclination - , _msgAlmanacGps_af0 :: Double + , _msgAlmanacGps_af0 :: !Double -- ^ Polynomial clock correction coefficient (clock bias) - , _msgAlmanacGps_af1 :: Double + , _msgAlmanacGps_af1 :: !Double -- ^ Polynomial clock correction coefficient (clock drift) } deriving ( Show, Read, Eq ) @@ -1940,22 +1944,22 @@ -- Please see the GLO ICD 5.1 "Chapter 4.5 Non-immediate information and -- almanac" for details. data MsgAlmanacGlo = MsgAlmanacGlo - { _msgAlmanacGlo_common :: AlmanacCommonContent + { _msgAlmanacGlo_common :: !AlmanacCommonContent -- ^ Values common for all almanac types - , _msgAlmanacGlo_lambda_na :: Double + , _msgAlmanacGlo_lambda_na :: !Double -- ^ Longitude of the first ascending node of the orbit in PZ-90.02 -- coordinate system - , _msgAlmanacGlo_t_lambda_na :: Double + , _msgAlmanacGlo_t_lambda_na :: !Double -- ^ Time of the first ascending node passage - , _msgAlmanacGlo_i :: Double + , _msgAlmanacGlo_i :: !Double -- ^ Value of inclination at instant of t_lambda - , _msgAlmanacGlo_t :: Double + , _msgAlmanacGlo_t :: !Double -- ^ Value of Draconian period at instant of t_lambda - , _msgAlmanacGlo_t_dot :: Double + , _msgAlmanacGlo_t_dot :: !Double -- ^ Rate of change of the Draconian period - , _msgAlmanacGlo_epsilon :: Double + , _msgAlmanacGlo_epsilon :: !Double -- ^ Eccentricity at instant of t_lambda - , _msgAlmanacGlo_omega :: Double + , _msgAlmanacGlo_omega :: !Double -- ^ Argument of perigee at instant of t_lambda } deriving ( Show, Read, Eq ) @@ -1998,11 +2002,11 @@ -- ... 28 FCN for SV orbital slot 28 29 -- 0xFF 30 0xFF 31 0xFF data MsgFcnsGlo = MsgFcnsGlo - { _msgFcnsGlo_wn :: Word16 + { _msgFcnsGlo_wn :: !Word16 -- ^ GPS Week number - , _msgFcnsGlo_tow_ms :: Word32 + , _msgFcnsGlo_tow_ms :: !Word32 -- ^ GPS Time of week - , _msgFcnsGlo_fcns :: [Word8] + , _msgFcnsGlo_fcns :: ![Word8] -- ^ GLONASS fequency number per orbital slot } deriving ( Show, Read, Eq ) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Piksi -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -83,7 +87,7 @@ -- -- This message from the host resets the Piksi back into the bootloader. data MsgReset = MsgReset - { _msgReset_flags :: Word32 + { _msgReset_flags :: !Word32 -- ^ Reset flags } deriving ( Show, Read, Eq ) @@ -179,7 +183,7 @@ -- This message resets either the DGNSS Kalman filters or Integer Ambiguity -- Resolution (IAR) process. data MsgResetFilters = MsgResetFilters - { _msgResetFilters_filter :: Word8 + { _msgResetFilters_filter :: !Word8 -- ^ Filter flags } deriving ( Show, Read, Eq ) @@ -231,12 +235,12 @@ -- (RTOS) thread usage statistics for the named thread. The reported percentage -- values must be normalized. data MsgThreadState = MsgThreadState - { _msgThreadState_name :: Text + { _msgThreadState_name :: !Text -- ^ Thread name (NULL terminated) - , _msgThreadState_cpu :: Word16 + , _msgThreadState_cpu :: !Word16 -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and needs -- to be renormalized to 100 - , _msgThreadState_stack_free :: Word32 + , _msgThreadState_stack_free :: !Word32 -- ^ Free stack space for this thread } deriving ( Show, Read, Eq ) @@ -263,17 +267,17 @@ -- Throughput, utilization, and error counts on the RX/TX buffers of this UART -- channel. The reported percentage values must be normalized. data UARTChannel = UARTChannel - { _uARTChannel_tx_throughput :: Float + { _uARTChannel_tx_throughput :: !Float -- ^ UART transmit throughput - , _uARTChannel_rx_throughput :: Float + , _uARTChannel_rx_throughput :: !Float -- ^ UART receive throughput - , _uARTChannel_crc_error_count :: Word16 + , _uARTChannel_crc_error_count :: !Word16 -- ^ UART CRC error count - , _uARTChannel_io_error_count :: Word16 + , _uARTChannel_io_error_count :: !Word16 -- ^ UART IO error count - , _uARTChannel_tx_buffer_level :: Word8 + , _uARTChannel_tx_buffer_level :: !Word8 -- ^ UART transmit buffer percentage utilization (ranges from 0 to 255) - , _uARTChannel_rx_buffer_level :: Word8 + , _uARTChannel_rx_buffer_level :: !Word8 -- ^ UART receive buffer percentage utilization (ranges from 0 to 255) } deriving ( Show, Read, Eq ) @@ -306,13 +310,13 @@ -- for link quality as incomplete or missing sets will increase the period. -- Long periods can cause momentary RTK solution outages. data Period = Period - { _period_avg :: Int32 + { _period_avg :: !Int32 -- ^ Average period - , _period_pmin :: Int32 + , _period_pmin :: !Int32 -- ^ Minimum period - , _period_pmax :: Int32 + , _period_pmax :: !Int32 -- ^ Maximum period - , _period_current :: Int32 + , _period_current :: !Int32 -- ^ Smoothed estimate of the current period } deriving ( Show, Read, Eq ) @@ -340,13 +344,13 @@ -- GPS time calculated locally by the receiver to give a precise measurement of -- the end-to-end communication latency in the system. data Latency = Latency - { _latency_avg :: Int32 + { _latency_avg :: !Int32 -- ^ Average latency - , _latency_lmin :: Int32 + , _latency_lmin :: !Int32 -- ^ Minimum latency - , _latency_lmax :: Int32 + , _latency_lmax :: !Int32 -- ^ Maximum latency - , _latency_current :: Int32 + , _latency_current :: !Int32 -- ^ Smoothed estimate of the current latency } deriving ( Show, Read, Eq ) @@ -381,15 +385,15 @@ -- received base observations while the period indicates their likelihood of -- transmission. data MsgUartState = MsgUartState - { _msgUartState_uart_a :: UARTChannel + { _msgUartState_uart_a :: !UARTChannel -- ^ State of UART A - , _msgUartState_uart_b :: UARTChannel + , _msgUartState_uart_b :: !UARTChannel -- ^ State of UART B - , _msgUartState_uart_ftdi :: UARTChannel + , _msgUartState_uart_ftdi :: !UARTChannel -- ^ State of UART FTDI (USB logger) - , _msgUartState_latency :: Latency + , _msgUartState_latency :: !Latency -- ^ UART communication latency - , _msgUartState_obs_period :: Period + , _msgUartState_obs_period :: !Period -- ^ Observation receipt period } deriving ( Show, Read, Eq ) @@ -422,13 +426,13 @@ -- -- Deprecated data MsgUartStateDepa = MsgUartStateDepa - { _msgUartStateDepa_uart_a :: UARTChannel + { _msgUartStateDepa_uart_a :: !UARTChannel -- ^ State of UART A - , _msgUartStateDepa_uart_b :: UARTChannel + , _msgUartStateDepa_uart_b :: !UARTChannel -- ^ State of UART B - , _msgUartStateDepa_uart_ftdi :: UARTChannel + , _msgUartStateDepa_uart_ftdi :: !UARTChannel -- ^ State of UART FTDI (USB logger) - , _msgUartStateDepa_latency :: Latency + , _msgUartStateDepa_latency :: !Latency -- ^ UART communication latency } deriving ( Show, Read, Eq ) @@ -461,7 +465,7 @@ -- process, which resolves unknown integer ambiguities from double-differenced -- carrier-phase measurements from satellite observations. data MsgIarState = MsgIarState - { _msgIarState_num_hyps :: Word32 + { _msgIarState_num_hyps :: !Word32 -- ^ Number of integer ambiguity hypotheses remaining } deriving ( Show, Read, Eq ) @@ -487,9 +491,9 @@ -- This message allows setting a mask to prevent a particular satellite from -- being used in various Piksi subsystems. data MsgMaskSatellite = MsgMaskSatellite - { _msgMaskSatellite_mask :: Word8 + { _msgMaskSatellite_mask :: !Word8 -- ^ Mask of systems that should ignore this satellite. - , _msgMaskSatellite_sid :: GnssSignal + , _msgMaskSatellite_sid :: !GnssSignal -- ^ GNSS signal for which the mask is applied } deriving ( Show, Read, Eq ) @@ -518,15 +522,15 @@ -- processor's monitoring system and the RF frontend die temperature if -- available. data MsgDeviceMonitor = MsgDeviceMonitor - { _msgDeviceMonitor_dev_vin :: Int16 + { _msgDeviceMonitor_dev_vin :: !Int16 -- ^ Device V_in - , _msgDeviceMonitor_cpu_vint :: Int16 + , _msgDeviceMonitor_cpu_vint :: !Int16 -- ^ Processor V_int - , _msgDeviceMonitor_cpu_vaux :: Int16 + , _msgDeviceMonitor_cpu_vaux :: !Int16 -- ^ Processor V_aux - , _msgDeviceMonitor_cpu_temperature :: Int16 + , _msgDeviceMonitor_cpu_temperature :: !Int16 -- ^ Processor temperature - , _msgDeviceMonitor_fe_temperature :: Int16 + , _msgDeviceMonitor_fe_temperature :: !Int16 -- ^ Frontend temperature (if available) } deriving ( Show, Read, Eq ) @@ -560,9 +564,9 @@ -- Request the recipient to execute an command. Output will be sent in MSG_LOG -- messages, and the exit code will be returned with MSG_COMMAND_RESP. data MsgCommandReq = MsgCommandReq - { _msgCommandReq_sequence :: Word32 + { _msgCommandReq_sequence :: !Word32 -- ^ Sequence number - , _msgCommandReq_command :: Text + , _msgCommandReq_command :: !Text -- ^ Command line to execute } deriving ( Show, Read, Eq ) @@ -590,9 +594,9 @@ -- The response to MSG_COMMAND_REQ with the return code of the command. A -- return code of zero indicates success. data MsgCommandResp = MsgCommandResp - { _msgCommandResp_sequence :: Word32 + { _msgCommandResp_sequence :: !Word32 -- ^ Sequence number - , _msgCommandResp_code :: Int32 + , _msgCommandResp_code :: !Int32 -- ^ Exit code } deriving ( Show, Read, Eq ) @@ -621,9 +625,9 @@ -- MSG_COMMAND_REQ. The sequence number can be used to filter for filtering the -- correct command. data MsgCommandOutput = MsgCommandOutput - { _msgCommandOutput_sequence :: Word32 + { _msgCommandOutput_sequence :: !Word32 -- ^ Sequence number - , _msgCommandOutput_line :: Text + , _msgCommandOutput_line :: !Text -- ^ Line of standard output or standard error } deriving ( Show, Read, Eq ) @@ -674,21 +678,21 @@ -- The state of a network interface on the Piksi. Data is made to reflect -- output of ifaddrs struct returned by getifaddrs in c. data MsgNetworkStateResp = MsgNetworkStateResp - { _msgNetworkStateResp_ipv4_address :: [Word8] + { _msgNetworkStateResp_ipv4_address :: ![Word8] -- ^ IPv4 address (all zero when unavailable) - , _msgNetworkStateResp_ipv4_mask_size :: Word8 + , _msgNetworkStateResp_ipv4_mask_size :: !Word8 -- ^ IPv4 netmask CIDR notation - , _msgNetworkStateResp_ipv6_address :: [Word8] + , _msgNetworkStateResp_ipv6_address :: ![Word8] -- ^ IPv6 address (all zero when unavailable) - , _msgNetworkStateResp_ipv6_mask_size :: Word8 + , _msgNetworkStateResp_ipv6_mask_size :: !Word8 -- ^ IPv6 netmask CIDR notation - , _msgNetworkStateResp_rx_bytes :: Word32 + , _msgNetworkStateResp_rx_bytes :: !Word32 -- ^ Number of Rx bytes - , _msgNetworkStateResp_tx_bytes :: Word32 + , _msgNetworkStateResp_tx_bytes :: !Word32 -- ^ Number of Tx bytes - , _msgNetworkStateResp_interface_name :: Text + , _msgNetworkStateResp_interface_name :: !Text -- ^ Interface Name - , _msgNetworkStateResp_flags :: Word32 + , _msgNetworkStateResp_flags :: !Word32 -- ^ Interface flags from SIOCGIFFLAGS } deriving ( Show, Read, Eq ) @@ -727,19 +731,19 @@ -- -- Spectrum analyzer packet. data MsgSpecan = MsgSpecan - { _msgSpecan_channel_tag :: Word16 + { _msgSpecan_channel_tag :: !Word16 -- ^ Channel ID - , _msgSpecan_t :: GpsTime + , _msgSpecan_t :: !GpsTime -- ^ Receiver time of this observation - , _msgSpecan_freq_ref :: Float + , _msgSpecan_freq_ref :: !Float -- ^ Reference frequency of this packet - , _msgSpecan_freq_step :: Float + , _msgSpecan_freq_step :: !Float -- ^ Frequency step of points in this packet - , _msgSpecan_amplitude_ref :: Float + , _msgSpecan_amplitude_ref :: !Float -- ^ Reference amplitude of this packet - , _msgSpecan_amplitude_unit :: Float + , _msgSpecan_amplitude_unit :: !Float -- ^ Amplitude unit value of points in this packet - , _msgSpecan_amplitude_value :: [Word8] + , _msgSpecan_amplitude_value :: ![Word8] -- ^ Amplitude values (in the above units) of points in this packet } deriving ( Show, Read, Eq ) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Settings -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -61,7 +65,7 @@ -- -- The setting message writes the device configuration. data MsgSettingsWrite = MsgSettingsWrite - { _msgSettingsWrite_setting :: Text + { _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. @@ -88,7 +92,7 @@ -- -- The setting message reads the device configuration. data MsgSettingsReadReq = MsgSettingsReadReq - { _msgSettingsReadReq_setting :: Text + { _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. @@ -115,7 +119,7 @@ -- -- The setting message reads the device configuration. data MsgSettingsReadResp = MsgSettingsReadResp - { _msgSettingsReadResp_setting :: Text + { _msgSettingsReadResp_setting :: !Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. } deriving ( Show, Read, Eq ) @@ -144,7 +148,7 @@ -- with contents [SECTION_SETTING, SETTING, VALUE]. A device will only respond -- to this message when it is received from sender ID 0x42. data MsgSettingsReadByIndexReq = MsgSettingsReadByIndexReq - { _msgSettingsReadByIndexReq_index :: Word16 + { _msgSettingsReadByIndexReq_index :: !Word16 -- ^ An index into the device settings, with values ranging from 0 to -- length(settings) } deriving ( Show, Read, Eq ) @@ -172,10 +176,10 @@ -- the setting at an index, returning a NULL-terminated and delimited string -- with contents [SECTION_SETTING, SETTING, VALUE]. data MsgSettingsReadByIndexResp = MsgSettingsReadByIndexResp - { _msgSettingsReadByIndexResp_index :: Word16 + { _msgSettingsReadByIndexResp_index :: !Word16 -- ^ An index into the device settings, with values ranging from 0 to -- length(settings) - , _msgSettingsReadByIndexResp_setting :: Text + , _msgSettingsReadByIndexResp_setting :: !Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. } deriving ( Show, Read, Eq ) @@ -227,7 +231,7 @@ -- settings daemon. The host should reply with MSG_SETTINGS_WRITE for this -- setting to set the initial value. data MsgSettingsRegister = MsgSettingsRegister - { _msgSettingsRegister_setting :: Text + { _msgSettingsRegister_setting :: !Text -- ^ A NULL-terminated and delimited string with contents [SECTION_SETTING, -- SETTING, VALUE]. } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/System.hs b/src/SwiftNav/SBP/System.hs --- a/src/SwiftNav/SBP/System.hs +++ b/src/SwiftNav/SBP/System.hs @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.System -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -36,11 +40,11 @@ -- host or other attached devices that the system has started and is now ready -- to respond to commands or configuration requests. data MsgStartup = MsgStartup - { _msgStartup_cause :: Word8 + { _msgStartup_cause :: !Word8 -- ^ Cause of startup - , _msgStartup_startup_type :: Word8 + , _msgStartup_startup_type :: !Word8 -- ^ Startup type - , _msgStartup_reserved :: Word16 + , _msgStartup_reserved :: !Word16 -- ^ Reserved } deriving ( Show, Read, Eq ) @@ -71,13 +75,13 @@ -- corrections. It is expected to be sent with each receipt of a complete -- corrections packet. data MsgDgnssStatus = MsgDgnssStatus - { _msgDgnssStatus_flags :: Word8 + { _msgDgnssStatus_flags :: !Word8 -- ^ Status flags - , _msgDgnssStatus_latency :: Word16 + , _msgDgnssStatus_latency :: !Word16 -- ^ Latency of observation receipt - , _msgDgnssStatus_num_signals :: Word8 + , _msgDgnssStatus_num_signals :: !Word8 -- ^ Number of signals from base station - , _msgDgnssStatus_source :: Text + , _msgDgnssStatus_source :: !Text -- ^ Corrections source string } deriving ( Show, Read, Eq ) @@ -114,7 +118,7 @@ -- indicate that an error has occurred in the system. To determine the source -- of the error, the remaining error flags should be inspected. data MsgHeartbeat = MsgHeartbeat - { _msgHeartbeat_flags :: Word32 + { _msgHeartbeat_flags :: !Word32 -- ^ Status flags } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/TH.hs b/src/SwiftNav/SBP/TH.hs --- a/src/SwiftNav/SBP/TH.hs +++ b/src/SwiftNav/SBP/TH.hs @@ -1,3 +1,7 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} + -- | -- Module: SwiftNav.SBP.TH -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.Tracking -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -36,53 +40,53 @@ -- 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 + { _msgTrackingStateDetailed_recv_time :: !Word64 -- ^ Receiver clock time. - , _msgTrackingStateDetailed_tot :: GpsTime + , _msgTrackingStateDetailed_tot :: !GpsTime -- ^ Time of transmission of signal from satellite. TOW only valid when TOW -- status is decoded or propagated. WN only valid when week number valid -- flag is set. - , _msgTrackingStateDetailed_P :: Word32 + , _msgTrackingStateDetailed_P :: !Word32 -- ^ Pseudorange observation. Valid only when pseudorange valid flag is set. - , _msgTrackingStateDetailed_P_std :: Word16 + , _msgTrackingStateDetailed_P_std :: !Word16 -- ^ Pseudorange observation standard deviation. Valid only when pseudorange -- valid flag is set. - , _msgTrackingStateDetailed_L :: CarrierPhase + , _msgTrackingStateDetailed_L :: !CarrierPhase -- ^ Carrier phase observation with typical sign convention. Valid only when -- PLL pessimistic lock is achieved. - , _msgTrackingStateDetailed_cn0 :: Word8 + , _msgTrackingStateDetailed_cn0 :: !Word8 -- ^ Carrier-to-Noise density - , _msgTrackingStateDetailed_lock :: Word16 + , _msgTrackingStateDetailed_lock :: !Word16 -- ^ Lock time. It is encoded according to DF402 from the RTCM 10403.2 -- Amendment 2 specification. Valid values range from 0 to 15. - , _msgTrackingStateDetailed_sid :: GnssSignal + , _msgTrackingStateDetailed_sid :: !GnssSignal -- ^ GNSS signal identifier. - , _msgTrackingStateDetailed_doppler :: Int32 + , _msgTrackingStateDetailed_doppler :: !Int32 -- ^ Carrier Doppler frequency. - , _msgTrackingStateDetailed_doppler_std :: Word16 + , _msgTrackingStateDetailed_doppler_std :: !Word16 -- ^ Carrier Doppler frequency standard deviation. - , _msgTrackingStateDetailed_uptime :: Word32 + , _msgTrackingStateDetailed_uptime :: !Word32 -- ^ Number of seconds of continuous tracking. Specifies how much time signal -- is in continuous track. - , _msgTrackingStateDetailed_clock_offset :: Int16 + , _msgTrackingStateDetailed_clock_offset :: !Int16 -- ^ TCXO clock offset. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailed_clock_drift :: Int16 + , _msgTrackingStateDetailed_clock_drift :: !Int16 -- ^ TCXO clock drift. Valid only when valid clock valid flag is set. - , _msgTrackingStateDetailed_corr_spacing :: Word16 + , _msgTrackingStateDetailed_corr_spacing :: !Word16 -- ^ Early-Prompt (EP) and Prompt-Late (PL) correlators spacing. - , _msgTrackingStateDetailed_acceleration :: Int8 + , _msgTrackingStateDetailed_acceleration :: !Int8 -- ^ Acceleration. Valid only when acceleration valid flag is set. - , _msgTrackingStateDetailed_sync_flags :: Word8 + , _msgTrackingStateDetailed_sync_flags :: !Word8 -- ^ Synchronization status flags. - , _msgTrackingStateDetailed_tow_flags :: Word8 + , _msgTrackingStateDetailed_tow_flags :: !Word8 -- ^ TOW status flags. - , _msgTrackingStateDetailed_track_flags :: Word8 + , _msgTrackingStateDetailed_track_flags :: !Word8 -- ^ Tracking loop status flags. - , _msgTrackingStateDetailed_nav_flags :: Word8 + , _msgTrackingStateDetailed_nav_flags :: !Word8 -- ^ Navigation data status flags. - , _msgTrackingStateDetailed_pset_flags :: Word8 + , _msgTrackingStateDetailed_pset_flags :: !Word8 -- ^ Parameters sets flags. - , _msgTrackingStateDetailed_misc_flags :: Word8 + , _msgTrackingStateDetailed_misc_flags :: !Word8 -- ^ Miscellaneous flags. } deriving ( Show, Read, Eq ) @@ -145,11 +149,11 @@ -- Tracking channel state for a specific satellite signal and measured signal -- power. data TrackingChannelState = TrackingChannelState - { _trackingChannelState_sid :: GnssSignal16 + { _trackingChannelState_sid :: !GnssSignal16 -- ^ GNSS signal being tracked - , _trackingChannelState_fcn :: Word8 + , _trackingChannelState_fcn :: !Word8 -- ^ Frequency channel number (GLONASS only) - , _trackingChannelState_cn0 :: Word8 + , _trackingChannelState_cn0 :: !Word8 -- ^ Carrier-to-Noise density. Zero implies invalid cn0. } deriving ( Show, Read, Eq ) @@ -177,7 +181,7 @@ -- states. It reports status and carrier-to-noise density measurements for all -- tracked satellites. data MsgTrackingState = MsgTrackingState - { _msgTrackingState_states :: [TrackingChannelState] + { _msgTrackingState_states :: ![TrackingChannelState] -- ^ Signal tracking channel state } deriving ( Show, Read, Eq ) @@ -199,9 +203,9 @@ -- -- Structure containing in-phase and quadrature correlation components. data TrackingChannelCorrelation = TrackingChannelCorrelation - { _trackingChannelCorrelation_I :: Int32 + { _trackingChannelCorrelation_I :: !Int32 -- ^ In-phase correlation - , _trackingChannelCorrelation_Q :: Int32 + , _trackingChannelCorrelation_Q :: !Int32 -- ^ Quadrature correlation } deriving ( Show, Read, Eq ) @@ -226,11 +230,11 @@ -- When enabled, a tracking channel can output the correlations at each update -- interval. data MsgTrackingIq = MsgTrackingIq - { _msgTrackingIq_channel :: Word8 + { _msgTrackingIq_channel :: !Word8 -- ^ Tracking channel of origin - , _msgTrackingIq_sid :: GnssSignal + , _msgTrackingIq_sid :: !GnssSignal -- ^ GNSS signal identifier - , _msgTrackingIq_corrs :: [TrackingChannelCorrelation] + , _msgTrackingIq_corrs :: ![TrackingChannelCorrelation] -- ^ Early, Prompt and Late correlations } deriving ( Show, Read, Eq ) @@ -256,11 +260,11 @@ -- -- Deprecated. data TrackingChannelStateDepA = TrackingChannelStateDepA - { _trackingChannelStateDepA_state :: Word8 + { _trackingChannelStateDepA_state :: !Word8 -- ^ Status of tracking channel - , _trackingChannelStateDepA_prn :: Word8 + , _trackingChannelStateDepA_prn :: !Word8 -- ^ PRN-1 being tracked - , _trackingChannelStateDepA_cn0 :: Float + , _trackingChannelStateDepA_cn0 :: !Float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) @@ -286,7 +290,7 @@ -- -- Deprecated. data MsgTrackingStateDepA = MsgTrackingStateDepA - { _msgTrackingStateDepA_states :: [TrackingChannelStateDepA] + { _msgTrackingStateDepA_states :: ![TrackingChannelStateDepA] -- ^ Satellite tracking channel state } deriving ( Show, Read, Eq ) @@ -308,11 +312,11 @@ -- -- Deprecated. data TrackingChannelStateDepB = TrackingChannelStateDepB - { _trackingChannelStateDepB_state :: Word8 + { _trackingChannelStateDepB_state :: !Word8 -- ^ Status of tracking channel - , _trackingChannelStateDepB_sid :: GnssSignal + , _trackingChannelStateDepB_sid :: !GnssSignal -- ^ GNSS signal being tracked - , _trackingChannelStateDepB_cn0 :: Float + , _trackingChannelStateDepB_cn0 :: !Float -- ^ Carrier-to-noise density } deriving ( Show, Read, Eq ) @@ -338,7 +342,7 @@ -- -- Deprecated. data MsgTrackingStateDepB = MsgTrackingStateDepB - { _msgTrackingStateDepB_states :: [TrackingChannelStateDepB] + { _msgTrackingStateDepB_states :: ![TrackingChannelStateDepB] -- ^ Signal tracking channel state } deriving ( Show, Read, Eq ) diff --git a/src/SwiftNav/SBP/Types.hs b/src/SwiftNav/SBP/Types.hs --- a/src/SwiftNav/SBP/Types.hs +++ b/src/SwiftNav/SBP/Types.hs @@ -1,3 +1,8 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE RecordWildCards #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE OverloadedStrings #-} + -- | -- Module: SwiftNav.SBP.Types -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -39,19 +44,19 @@ -- messages, as well as receive messages from the host operating -- system. data Msg = Msg - { _msgSBPType :: Word16 + { _msgSBPType :: !Word16 -- ^ Uniquely identifies the type of the payload contents - , _msgSBPSender :: Word16 + , _msgSBPSender :: !Word16 -- ^ A unique identifier of the sending hardware. For v1.0, -- set to the 2 least significant bytes of the device serial -- number - , _msgSBPLen :: Word8 + , _msgSBPLen :: !Word8 -- ^ Byte-length of the payload field , _msgSBPPayload :: !ByteString -- ^ Binary data of the message, as identified by Message Type and -- Length. Usually contains the in-memory binary representation of -- a C struct (see documentation on individual message types) - , _msgSBPCrc :: Word16 + , _msgSBPCrc :: !Word16 -- ^ Cyclic Redundancy Check (CRC) of the packet's binary data from -- the Message Type up to the end of Payload (does not include the -- Preamble) 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 @@ -1,4 +1,8 @@ {-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + -- | -- Module: SwiftNav.SBP.User -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. @@ -35,7 +39,7 @@ -- This message can contain any application specific user data up to a maximum -- length of 255 bytes per message. data MsgUserData = MsgUserData - { _msgUserData_contents :: [Word8] + { _msgUserData_contents :: ![Word8] -- ^ User data payload } deriving ( Show, Read, Eq ) diff --git a/test/Test/SwiftNav/CRC16.hs b/test/Test/SwiftNav/CRC16.hs --- a/test/Test/SwiftNav/CRC16.hs +++ b/test/Test/SwiftNav/CRC16.hs @@ -1,3 +1,6 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} + module Test.SwiftNav.CRC16 ( tests ) where diff --git a/test/Test/SwiftNav/SBP/Encoding.hs b/test/Test/SwiftNav/SBP/Encoding.hs --- a/test/Test/SwiftNav/SBP/Encoding.hs +++ b/test/Test/SwiftNav/SBP/Encoding.hs @@ -1,4 +1,6 @@ -{-# OPTIONS -fno-warn-orphans #-} +{-# OPTIONS -fno-warn-orphans #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} module Test.SwiftNav.SBP.Encoding ( tests