diff --git a/main/JSON2JSON.hs b/main/JSON2JSON.hs new file mode 100644 --- /dev/null +++ b/main/JSON2JSON.hs @@ -0,0 +1,46 @@ +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE OverloadedStrings #-} +{-# LANGUAGE TemplateHaskell #-} + +-- | +-- Module: JSON2JSON +-- Copyright: Copyright (C) 2015 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Mark Fine +-- Stability: experimental +-- Portability: portable +-- +-- JSON to JSON tool - reads SBP JSON from stdin and sends SBP JSON to +-- stdout. + +import BasicPrelude hiding (lines, map, mapMaybe) +import Control.Monad.Trans.Resource +import Data.Aeson +import Data.Aeson.TH +import Data.ByteString.Lazy hiding (ByteString, drop, map) +import Data.Conduit +import Data.Conduit.Binary hiding (drop) +import Data.Conduit.List hiding (drop) +import Data.Time +import SwiftNav.SBP +import System.IO + +data Data = Data + { _data :: SBPMsg + , _time :: UTCTime + } deriving Show + +deriveJSON defaultOptions { fieldLabelModifier = drop 1 } ''Data + +-- | Encode a SBPMsg to a line of JSON. +encodeLine :: Data -> ByteString +encodeLine v = toStrict $ encode v <> "\n" + +main :: IO () +main = + runResourceT $ + sourceHandle stdin + =$= lines + =$= mapMaybe decodeStrict + =$= map encodeLine + $$ sinkHandle stdout diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,6 +1,6 @@ cabal-version: >=1.22 name: sbp -version: 2.3.15 +version: 2.3.16 license: LGPL-3 copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. maintainer: Swift Navigation @@ -100,6 +100,22 @@ conduit-extra >=1.2.3.2, resourcet >=1.1.11, sbp -any + +executable json2json + main-is: JSON2JSON.hs + hs-source-dirs: main + default-language: Haskell2010 + ghc-options: -threaded -rtsopts -with-rtsopts=-N -Wall + build-depends: + aeson >=1.2.4.0, + base >=4.10.1.0, + basic-prelude >=0.7.0, + bytestring >=0.10.8.2, + conduit >=1.2.13.1, + conduit-extra >=1.2.3.2, + resourcet >=1.1.11, + sbp -any, + time >=1.8.0.2 executable sbp2yaml main-is: SBP2YAML.hs 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 @@ -40,7 +40,8 @@ -- Signal identifier containing constellation, band, and satellite identifier data GnssSignal = GnssSignal { _gnssSignal_sat :: !Word8 - -- ^ Constellation-specific satellite identifier + -- ^ Constellation-specific satellite identifier. This field for Glonass can + -- either be (100+FCN) where FCN is in [-7,+6] or the Slot ID in [1,28] , _gnssSignal_code :: !Word8 -- ^ Signal constellation, band and code } 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 @@ -132,6 +132,7 @@ | SBPMsgMagRaw MsgMagRaw Msg | SBPMsgMaskSatellite MsgMaskSatellite Msg | SBPMsgMaskSatelliteDep MsgMaskSatelliteDep Msg + | SBPMsgMeasurementState MsgMeasurementState Msg | SBPMsgNapDeviceDnaReq MsgNapDeviceDnaReq Msg | SBPMsgNapDeviceDnaResp MsgNapDeviceDnaResp Msg | SBPMsgNdbEvent MsgNdbEvent Msg @@ -289,6 +290,7 @@ | _msgSBPType == msgMagRaw = SBPMsgMagRaw (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMaskSatellite = SBPMsgMaskSatellite (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMaskSatelliteDep = SBPMsgMaskSatelliteDep (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgMeasurementState = SBPMsgMeasurementState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgNdbEvent = SBPMsgNdbEvent (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -438,6 +440,7 @@ encoder (SBPMsgMagRaw _ m) = put m encoder (SBPMsgMaskSatellite _ m) = put m encoder (SBPMsgMaskSatelliteDep _ m) = put m + encoder (SBPMsgMeasurementState _ m) = put m encoder (SBPMsgNapDeviceDnaReq _ m) = put m encoder (SBPMsgNapDeviceDnaResp _ m) = put m encoder (SBPMsgNdbEvent _ m) = put m @@ -591,6 +594,7 @@ | msgType == msgMagRaw = SBPMsgMagRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMaskSatellite = SBPMsgMaskSatellite <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMaskSatelliteDep = SBPMsgMaskSatelliteDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgMeasurementState = SBPMsgMeasurementState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNapDeviceDnaReq = SBPMsgNapDeviceDnaReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNapDeviceDnaResp = SBPMsgNapDeviceDnaResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgNdbEvent = SBPMsgNdbEvent <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -745,6 +749,7 @@ toJSON (SBPMsgMagRaw n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMaskSatellite n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMaskSatelliteDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgMeasurementState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNapDeviceDnaReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNapDeviceDnaResp n m) = toJSON n <<>> toJSON m toJSON (SBPMsgNdbEvent n m) = toJSON n <<>> toJSON m @@ -893,6 +898,7 @@ msg f (SBPMsgMagRaw n m) = SBPMsgMagRaw n <$> f m msg f (SBPMsgMaskSatellite n m) = SBPMsgMaskSatellite n <$> f m msg f (SBPMsgMaskSatelliteDep n m) = SBPMsgMaskSatelliteDep n <$> f m + msg f (SBPMsgMeasurementState n m) = SBPMsgMeasurementState n <$> f m msg f (SBPMsgNapDeviceDnaReq n m) = SBPMsgNapDeviceDnaReq n <$> f m msg f (SBPMsgNapDeviceDnaResp n m) = SBPMsgNapDeviceDnaResp n <$> f m msg f (SBPMsgNdbEvent n m) = SBPMsgNdbEvent n <$> f m 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 @@ -308,6 +308,57 @@ $(makeJSON "_msgTrackingState_" ''MsgTrackingState) $(makeLenses ''MsgTrackingState) +-- | MeasurementState. +-- +-- Measurement Engine tracking channel state for a specific satellite signal +-- and measured signal power. The mesid field for Glonass can either carry +-- the FCN as 100 + FCN where FCN is in [-7, +6] or the Slot ID (from 1 to 28) +data MeasurementState = MeasurementState + { _measurementState_mesid :: !GnssSignal + -- ^ Measurement Engine GNSS signal being tracked (carries either Glonass FCN + -- or SLOT) + , _measurementState_cn0 :: !Word8 + -- ^ Carrier-to-Noise density. Zero implies invalid cn0. + } deriving ( Show, Read, Eq ) + +instance Binary MeasurementState where + get = do + _measurementState_mesid <- get + _measurementState_cn0 <- getWord8 + pure MeasurementState {..} + + put MeasurementState {..} = do + put _measurementState_mesid + putWord8 _measurementState_cn0 + +$(makeJSON "_measurementState_" ''MeasurementState) +$(makeLenses ''MeasurementState) + +msgMeasurementState :: Word16 +msgMeasurementState = 0x0061 + +-- | SBP class for message MSG_MEASUREMENT_STATE (0x0061). +-- +-- The tracking message returns a variable-length array of tracking channel +-- states. It reports status and carrier-to-noise density measurements for all +-- tracked satellites. +data MsgMeasurementState = MsgMeasurementState + { _msgMeasurementState_states :: ![MeasurementState] + -- ^ ME signal tracking channel state + } deriving ( Show, Read, Eq ) + +instance Binary MsgMeasurementState where + get = do + _msgMeasurementState_states <- whileM (not <$> isEmpty) get + pure MsgMeasurementState {..} + + put MsgMeasurementState {..} = do + mapM_ put _msgMeasurementState_states + +$(makeSBP 'msgMeasurementState ''MsgMeasurementState) +$(makeJSON "_msgMeasurementState_" ''MsgMeasurementState) +$(makeLenses ''MsgMeasurementState) + -- | TrackingChannelCorrelation. -- -- Structure containing in-phase and quadrature correlation components.