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: 2.4.0 +version: 2.4.6 license: LGPL-3 copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. maintainer: Swift Navigation @@ -34,6 +34,7 @@ SwiftNav.SBP.Flash SwiftNav.SBP.Gnss SwiftNav.SBP.Imu + SwiftNav.SBP.Linux SwiftNav.SBP.Logging SwiftNav.SBP.Mag SwiftNav.SBP.Navigation diff --git a/src/SwiftNav/SBP.hs b/src/SwiftNav/SBP.hs --- a/src/SwiftNav/SBP.hs +++ b/src/SwiftNav/SBP.hs @@ -21,6 +21,7 @@ import SwiftNav.SBP.Flash as Exports import SwiftNav.SBP.Gnss as Exports import SwiftNav.SBP.Imu as Exports +import SwiftNav.SBP.Linux as Exports import SwiftNav.SBP.Logging as Exports import SwiftNav.SBP.Mag as Exports import SwiftNav.SBP.Navigation as Exports 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 @@ -42,7 +42,9 @@ -- -- Raw data from the Inertial Measurement Unit, containing accelerometer and -- gyroscope readings. The sense of the measurements are to be aligned with --- the indications on the device itself. +-- the indications on the device itself. Measurement units, which are specific +-- to the device hardware and settings, are communicated via the MSG_IMU_AUX +-- message. data MsgImuRaw = MsgImuRaw { _msgImuRaw_tow :: !Word32 -- ^ Milliseconds since start of GPS week. If the high bit is set, the time diff --git a/src/SwiftNav/SBP/Linux.hs b/src/SwiftNav/SBP/Linux.hs new file mode 100644 --- /dev/null +++ b/src/SwiftNav/SBP/Linux.hs @@ -0,0 +1,367 @@ +{-# OPTIONS_GHC -fno-warn-unused-imports #-} +{-# LANGUAGE NoImplicitPrelude #-} +{-# LANGUAGE TemplateHaskell #-} +{-# LANGUAGE RecordWildCards #-} + +-- | +-- Module: SwiftNav.SBP.Linux +-- Copyright: Copyright (C) 2015-2018 Swift Navigation, Inc. +-- License: LGPL-3 +-- Maintainer: Swift Navigation +-- Stability: experimental +-- Portability: portable +-- +-- Linux state monitoring. + +module SwiftNav.SBP.Linux + ( module SwiftNav.SBP.Linux + ) where + +import BasicPrelude +import Control.Lens +import Control.Monad.Loops +import Data.Binary +import Data.Binary.Get +import Data.Binary.IEEE754 +import Data.Binary.Put +import Data.ByteString.Lazy hiding (ByteString) +import Data.Int +import Data.Word +import SwiftNav.SBP.TH +import SwiftNav.SBP.Types + +{-# ANN module ("HLint: ignore Use camelCase"::String) #-} +{-# ANN module ("HLint: ignore Redundant do"::String) #-} +{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} + + +msgLinuxCpuState :: Word16 +msgLinuxCpuState = 0x7F00 + +-- | SBP class for message MSG_LINUX_CPU_STATE (0x7F00). +-- +-- This message indicates the process state of the top 10 heaviest consumers of +-- CPU on the system. +data MsgLinuxCpuState = MsgLinuxCpuState + { _msgLinuxCpuState_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxCpuState_pid :: !Word16 + -- ^ the PID of the process + , _msgLinuxCpuState_pcpu :: !Word8 + -- ^ percent of cpu used, expressed as a fraction of 256 + , _msgLinuxCpuState_tname :: !Text + -- ^ fixed length string representing the thread name + , _msgLinuxCpuState_cmdline :: !Text + -- ^ the command line (as much as it fits in the remaining packet) + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxCpuState where + get = do + _msgLinuxCpuState_index <- getWord8 + _msgLinuxCpuState_pid <- getWord16le + _msgLinuxCpuState_pcpu <- getWord8 + _msgLinuxCpuState_tname <- decodeUtf8 <$> getByteString 15 + _msgLinuxCpuState_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxCpuState {..} + + put MsgLinuxCpuState {..} = do + putWord8 _msgLinuxCpuState_index + putWord16le _msgLinuxCpuState_pid + putWord8 _msgLinuxCpuState_pcpu + putByteString $ encodeUtf8 _msgLinuxCpuState_tname + putByteString $ encodeUtf8 _msgLinuxCpuState_cmdline + +$(makeSBP 'msgLinuxCpuState ''MsgLinuxCpuState) +$(makeJSON "_msgLinuxCpuState_" ''MsgLinuxCpuState) +$(makeLenses ''MsgLinuxCpuState) + +msgLinuxMemState :: Word16 +msgLinuxMemState = 0x7F01 + +-- | SBP class for message MSG_LINUX_MEM_STATE (0x7F01). +-- +-- This message indicates the process state of the top 10 heaviest consumers of +-- memory on the system. +data MsgLinuxMemState = MsgLinuxMemState + { _msgLinuxMemState_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxMemState_pid :: !Word16 + -- ^ the PID of the process + , _msgLinuxMemState_pmem :: !Word8 + -- ^ percent of memory used, expressed as a fraction of 256 + , _msgLinuxMemState_tname :: !Text + -- ^ fixed length string representing the thread name + , _msgLinuxMemState_cmdline :: !Text + -- ^ the command line (as much as it fits in the remaining packet) + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxMemState where + get = do + _msgLinuxMemState_index <- getWord8 + _msgLinuxMemState_pid <- getWord16le + _msgLinuxMemState_pmem <- getWord8 + _msgLinuxMemState_tname <- decodeUtf8 <$> getByteString 15 + _msgLinuxMemState_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxMemState {..} + + put MsgLinuxMemState {..} = do + putWord8 _msgLinuxMemState_index + putWord16le _msgLinuxMemState_pid + putWord8 _msgLinuxMemState_pmem + putByteString $ encodeUtf8 _msgLinuxMemState_tname + putByteString $ encodeUtf8 _msgLinuxMemState_cmdline + +$(makeSBP 'msgLinuxMemState ''MsgLinuxMemState) +$(makeJSON "_msgLinuxMemState_" ''MsgLinuxMemState) +$(makeLenses ''MsgLinuxMemState) + +msgLinuxSysState :: Word16 +msgLinuxSysState = 0x7F02 + +-- | SBP class for message MSG_LINUX_SYS_STATE (0x7F02). +-- +-- This presents a summary of CPU and memory utilization. +data MsgLinuxSysState = MsgLinuxSysState + { _msgLinuxSysState_mem_total :: !Word16 + -- ^ total system memory + , _msgLinuxSysState_pcpu :: !Word8 + -- ^ percent of total cpu currently utilized + , _msgLinuxSysState_pmem :: !Word8 + -- ^ percent of total memory currently utilized + , _msgLinuxSysState_procs_starting :: !Word16 + -- ^ number of processes that started during collection phase + , _msgLinuxSysState_procs_stopping :: !Word16 + -- ^ number of processes that stopped during collection phase + , _msgLinuxSysState_pid_count :: !Word16 + -- ^ the count of processes on the system + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxSysState where + get = do + _msgLinuxSysState_mem_total <- getWord16le + _msgLinuxSysState_pcpu <- getWord8 + _msgLinuxSysState_pmem <- getWord8 + _msgLinuxSysState_procs_starting <- getWord16le + _msgLinuxSysState_procs_stopping <- getWord16le + _msgLinuxSysState_pid_count <- getWord16le + pure MsgLinuxSysState {..} + + put MsgLinuxSysState {..} = do + putWord16le _msgLinuxSysState_mem_total + putWord8 _msgLinuxSysState_pcpu + putWord8 _msgLinuxSysState_pmem + putWord16le _msgLinuxSysState_procs_starting + putWord16le _msgLinuxSysState_procs_stopping + putWord16le _msgLinuxSysState_pid_count + +$(makeSBP 'msgLinuxSysState ''MsgLinuxSysState) +$(makeJSON "_msgLinuxSysState_" ''MsgLinuxSysState) +$(makeLenses ''MsgLinuxSysState) + +msgLinuxProcessSocketCounts :: Word16 +msgLinuxProcessSocketCounts = 0x7F03 + +-- | SBP class for message MSG_LINUX_PROCESS_SOCKET_COUNTS (0x7F03). +-- +-- Top 10 list of processes with high socket counts. +data MsgLinuxProcessSocketCounts = MsgLinuxProcessSocketCounts + { _msgLinuxProcessSocketCounts_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxProcessSocketCounts_pid :: !Word16 + -- ^ the PID of the process in question + , _msgLinuxProcessSocketCounts_socket_count :: !Word16 + -- ^ the number of sockets the process is using + , _msgLinuxProcessSocketCounts_socket_types :: !Word16 + -- ^ A bitfield indicating the socket types used: 0x1 (tcp), 0x2 (udp), 0x4 + -- (unix stream), 0x8 (unix dgram), 0x10 (netlink), and 0x8000 (unknown) + , _msgLinuxProcessSocketCounts_socket_states :: !Word16 + -- ^ A bitfield indicating the socket states: 0x1 (established), 0x2 (syn- + -- sent), 0x4 (syn-recv), 0x8 (fin-wait-1), 0x10 (fin-wait-2), 0x20 + -- (time-wait), 0x40 (closed), 0x80 (close-wait), 0x100 (last-ack), 0x200 + -- (listen), 0x400 (closing), 0x800 (unconnected), and 0x8000 (unknown) + , _msgLinuxProcessSocketCounts_cmdline :: !Text + -- ^ the command line of the process in question + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxProcessSocketCounts where + get = do + _msgLinuxProcessSocketCounts_index <- getWord8 + _msgLinuxProcessSocketCounts_pid <- getWord16le + _msgLinuxProcessSocketCounts_socket_count <- getWord16le + _msgLinuxProcessSocketCounts_socket_types <- getWord16le + _msgLinuxProcessSocketCounts_socket_states <- getWord16le + _msgLinuxProcessSocketCounts_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxProcessSocketCounts {..} + + put MsgLinuxProcessSocketCounts {..} = do + putWord8 _msgLinuxProcessSocketCounts_index + putWord16le _msgLinuxProcessSocketCounts_pid + putWord16le _msgLinuxProcessSocketCounts_socket_count + putWord16le _msgLinuxProcessSocketCounts_socket_types + putWord16le _msgLinuxProcessSocketCounts_socket_states + putByteString $ encodeUtf8 _msgLinuxProcessSocketCounts_cmdline + +$(makeSBP 'msgLinuxProcessSocketCounts ''MsgLinuxProcessSocketCounts) +$(makeJSON "_msgLinuxProcessSocketCounts_" ''MsgLinuxProcessSocketCounts) +$(makeLenses ''MsgLinuxProcessSocketCounts) + +msgLinuxProcessSocketQueues :: Word16 +msgLinuxProcessSocketQueues = 0x7F04 + +-- | SBP class for message MSG_LINUX_PROCESS_SOCKET_QUEUES (0x7F04). +-- +-- Top 10 list of sockets with deep queues. +data MsgLinuxProcessSocketQueues = MsgLinuxProcessSocketQueues + { _msgLinuxProcessSocketQueues_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxProcessSocketQueues_pid :: !Word16 + -- ^ the PID of the process in question + , _msgLinuxProcessSocketQueues_recv_queued :: !Word16 + -- ^ the total amount of receive data queued for this process + , _msgLinuxProcessSocketQueues_send_queued :: !Word16 + -- ^ the total amount of send data queued for this process + , _msgLinuxProcessSocketQueues_socket_types :: !Word16 + -- ^ A bitfield indicating the socket types used: 0x1 (tcp), 0x2 (udp), 0x4 + -- (unix stream), 0x8 (unix dgram), 0x10 (netlink), and 0x8000 (unknown) + , _msgLinuxProcessSocketQueues_socket_states :: !Word16 + -- ^ A bitfield indicating the socket states: 0x1 (established), 0x2 (syn- + -- sent), 0x4 (syn-recv), 0x8 (fin-wait-1), 0x10 (fin-wait-2), 0x20 + -- (time-wait), 0x40 (closed), 0x80 (close-wait), 0x100 (last-ack), 0x200 + -- (listen), 0x400 (closing), 0x800 (unconnected), and 0x8000 (unknown) + , _msgLinuxProcessSocketQueues_address_of_largest :: !Text + -- ^ Address of the largest queue, remote or local depending on the + -- directionality of the connection. + , _msgLinuxProcessSocketQueues_cmdline :: !Text + -- ^ the command line of the process in question + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxProcessSocketQueues where + get = do + _msgLinuxProcessSocketQueues_index <- getWord8 + _msgLinuxProcessSocketQueues_pid <- getWord16le + _msgLinuxProcessSocketQueues_recv_queued <- getWord16le + _msgLinuxProcessSocketQueues_send_queued <- getWord16le + _msgLinuxProcessSocketQueues_socket_types <- getWord16le + _msgLinuxProcessSocketQueues_socket_states <- getWord16le + _msgLinuxProcessSocketQueues_address_of_largest <- decodeUtf8 <$> getByteString 64 + _msgLinuxProcessSocketQueues_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxProcessSocketQueues {..} + + put MsgLinuxProcessSocketQueues {..} = do + putWord8 _msgLinuxProcessSocketQueues_index + putWord16le _msgLinuxProcessSocketQueues_pid + putWord16le _msgLinuxProcessSocketQueues_recv_queued + putWord16le _msgLinuxProcessSocketQueues_send_queued + putWord16le _msgLinuxProcessSocketQueues_socket_types + putWord16le _msgLinuxProcessSocketQueues_socket_states + putByteString $ encodeUtf8 _msgLinuxProcessSocketQueues_address_of_largest + putByteString $ encodeUtf8 _msgLinuxProcessSocketQueues_cmdline + +$(makeSBP 'msgLinuxProcessSocketQueues ''MsgLinuxProcessSocketQueues) +$(makeJSON "_msgLinuxProcessSocketQueues_" ''MsgLinuxProcessSocketQueues) +$(makeLenses ''MsgLinuxProcessSocketQueues) + +msgLinuxSocketUsage :: Word16 +msgLinuxSocketUsage = 0x7F05 + +-- | SBP class for message MSG_LINUX_SOCKET_USAGE (0x7F05). +-- +-- Summaries the socket usage across the system. +data MsgLinuxSocketUsage = MsgLinuxSocketUsage + { _msgLinuxSocketUsage_avg_queue_depth :: !Word32 + -- ^ average socket queue depths across all sockets on the system + , _msgLinuxSocketUsage_max_queue_depth :: !Word32 + -- ^ the max queue depth seen within the reporting period + , _msgLinuxSocketUsage_socket_state_counts :: ![Word16] + -- ^ A count for each socket type reported in the `socket_types_reported` + -- field, the first entry corresponds to the first enabled bit in + -- `types_reported`. + , _msgLinuxSocketUsage_socket_type_counts :: ![Word16] + -- ^ A count for each socket type reported in the `socket_types_reported` + -- field, the first entry corresponds to the first enabled bit in + -- `types_reported`. + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxSocketUsage where + get = do + _msgLinuxSocketUsage_avg_queue_depth <- getWord32le + _msgLinuxSocketUsage_max_queue_depth <- getWord32le + _msgLinuxSocketUsage_socket_state_counts <- replicateM 16 getWord16le + _msgLinuxSocketUsage_socket_type_counts <- replicateM 16 getWord16le + pure MsgLinuxSocketUsage {..} + + put MsgLinuxSocketUsage {..} = do + putWord32le _msgLinuxSocketUsage_avg_queue_depth + putWord32le _msgLinuxSocketUsage_max_queue_depth + mapM_ putWord16le _msgLinuxSocketUsage_socket_state_counts + mapM_ putWord16le _msgLinuxSocketUsage_socket_type_counts + +$(makeSBP 'msgLinuxSocketUsage ''MsgLinuxSocketUsage) +$(makeJSON "_msgLinuxSocketUsage_" ''MsgLinuxSocketUsage) +$(makeLenses ''MsgLinuxSocketUsage) + +msgLinuxProcessFdCount :: Word16 +msgLinuxProcessFdCount = 0x7F06 + +-- | SBP class for message MSG_LINUX_PROCESS_FD_COUNT (0x7F06). +-- +-- Top 10 list of processes with a large number of open file descriptors. +data MsgLinuxProcessFdCount = MsgLinuxProcessFdCount + { _msgLinuxProcessFdCount_index :: !Word8 + -- ^ sequence of this status message, values from 0-9 + , _msgLinuxProcessFdCount_pid :: !Word16 + -- ^ the PID of the process in question + , _msgLinuxProcessFdCount_fd_count :: !Word16 + -- ^ a count of the number of file descriptors opened by the process + , _msgLinuxProcessFdCount_cmdline :: !Text + -- ^ the command line of the process in question + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxProcessFdCount where + get = do + _msgLinuxProcessFdCount_index <- getWord8 + _msgLinuxProcessFdCount_pid <- getWord16le + _msgLinuxProcessFdCount_fd_count <- getWord16le + _msgLinuxProcessFdCount_cmdline <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxProcessFdCount {..} + + put MsgLinuxProcessFdCount {..} = do + putWord8 _msgLinuxProcessFdCount_index + putWord16le _msgLinuxProcessFdCount_pid + putWord16le _msgLinuxProcessFdCount_fd_count + putByteString $ encodeUtf8 _msgLinuxProcessFdCount_cmdline + +$(makeSBP 'msgLinuxProcessFdCount ''MsgLinuxProcessFdCount) +$(makeJSON "_msgLinuxProcessFdCount_" ''MsgLinuxProcessFdCount) +$(makeLenses ''MsgLinuxProcessFdCount) + +msgLinuxProcessFdSummary :: Word16 +msgLinuxProcessFdSummary = 0x7F07 + +-- | SBP class for message MSG_LINUX_PROCESS_FD_SUMMARY (0x7F07). +-- +-- Summary of open file descriptors on the system. +data MsgLinuxProcessFdSummary = MsgLinuxProcessFdSummary + { _msgLinuxProcessFdSummary_sys_fd_count :: !Word32 + -- ^ count of total FDs open on the system + , _msgLinuxProcessFdSummary_most_opened :: !Text + -- ^ A null delimited list of strings which alternates between a string + -- representation of the process count and the file name whose count it + -- being reported. That is, in C string syntax + -- "32\0/var/log/syslog\012\0/tmp/foo\0" with the end of the list being 2 + -- NULL terminators in a row. + } deriving ( Show, Read, Eq ) + +instance Binary MsgLinuxProcessFdSummary where + get = do + _msgLinuxProcessFdSummary_sys_fd_count <- getWord32le + _msgLinuxProcessFdSummary_most_opened <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgLinuxProcessFdSummary {..} + + put MsgLinuxProcessFdSummary {..} = do + putWord32le _msgLinuxProcessFdSummary_sys_fd_count + putByteString $ encodeUtf8 _msgLinuxProcessFdSummary_most_opened + +$(makeSBP 'msgLinuxProcessFdSummary ''MsgLinuxProcessFdSummary) +$(makeJSON "_msgLinuxProcessFdSummary_" ''MsgLinuxProcessFdSummary) +$(makeLenses ''MsgLinuxProcessFdSummary) 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 @@ -31,6 +31,7 @@ import SwiftNav.SBP.Flash import SwiftNav.SBP.Gnss import SwiftNav.SBP.Imu +import SwiftNav.SBP.Linux import SwiftNav.SBP.Logging import SwiftNav.SBP.Mag import SwiftNav.SBP.Navigation @@ -82,6 +83,8 @@ | SBPMsgCommandOutput MsgCommandOutput Msg | SBPMsgCommandReq MsgCommandReq Msg | SBPMsgCommandResp MsgCommandResp Msg + | SBPMsgCsacTelemetry MsgCsacTelemetry Msg + | SBPMsgCsacTelemetryLabels MsgCsacTelemetryLabels Msg | SBPMsgCwResults MsgCwResults Msg | SBPMsgCwStart MsgCwStart Msg | SBPMsgDeviceMonitor MsgDeviceMonitor Msg @@ -133,6 +136,14 @@ | SBPMsgInitBase MsgInitBase Msg | SBPMsgInsStatus MsgInsStatus Msg | SBPMsgIono MsgIono Msg + | SBPMsgLinuxCpuState MsgLinuxCpuState Msg + | SBPMsgLinuxMemState MsgLinuxMemState Msg + | SBPMsgLinuxProcessFdCount MsgLinuxProcessFdCount Msg + | SBPMsgLinuxProcessFdSummary MsgLinuxProcessFdSummary Msg + | SBPMsgLinuxProcessSocketCounts MsgLinuxProcessSocketCounts Msg + | SBPMsgLinuxProcessSocketQueues MsgLinuxProcessSocketQueues Msg + | SBPMsgLinuxSocketUsage MsgLinuxSocketUsage Msg + | SBPMsgLinuxSysState MsgLinuxSysState Msg | SBPMsgLog MsgLog Msg | SBPMsgM25FlashWriteStatus MsgM25FlashWriteStatus Msg | SBPMsgMagRaw MsgMagRaw Msg @@ -177,6 +188,7 @@ | SBPMsgSpecanDep MsgSpecanDep Msg | SBPMsgSsrCodeBiases MsgSsrCodeBiases Msg | SBPMsgSsrOrbitClock MsgSsrOrbitClock Msg + | SBPMsgSsrOrbitClockDepA MsgSsrOrbitClockDepA Msg | SBPMsgSsrPhaseBiases MsgSsrPhaseBiases Msg | SBPMsgStartup MsgStartup Msg | SBPMsgStmFlashLockSector MsgStmFlashLockSector Msg @@ -246,6 +258,8 @@ | _msgSBPType == msgCommandOutput = SBPMsgCommandOutput (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCommandReq = SBPMsgCommandReq (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCommandResp = SBPMsgCommandResp (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgCsacTelemetry = SBPMsgCsacTelemetry (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgCsacTelemetryLabels = SBPMsgCsacTelemetryLabels (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCwResults = SBPMsgCwResults (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgCwStart = SBPMsgCwStart (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgDeviceMonitor = SBPMsgDeviceMonitor (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -297,6 +311,14 @@ | _msgSBPType == msgInitBase = SBPMsgInitBase (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgInsStatus = SBPMsgInsStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgIono = SBPMsgIono (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxCpuState = SBPMsgLinuxCpuState (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxMemState = SBPMsgLinuxMemState (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxProcessFdCount = SBPMsgLinuxProcessFdCount (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxProcessFdSummary = SBPMsgLinuxProcessFdSummary (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxProcessSocketCounts = SBPMsgLinuxProcessSocketCounts (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxProcessSocketQueues = SBPMsgLinuxProcessSocketQueues (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxSocketUsage = SBPMsgLinuxSocketUsage (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgLinuxSysState = SBPMsgLinuxSysState (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgLog = SBPMsgLog (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgMagRaw = SBPMsgMagRaw (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -341,6 +363,7 @@ | _msgSBPType == msgSpecanDep = SBPMsgSpecanDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrCodeBiases = SBPMsgSsrCodeBiases (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrOrbitClock = SBPMsgSsrOrbitClock (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStartup = SBPMsgStartup (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgStmFlashLockSector = SBPMsgStmFlashLockSector (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -402,6 +425,8 @@ encoder (SBPMsgCommandOutput _ m) = put m encoder (SBPMsgCommandReq _ m) = put m encoder (SBPMsgCommandResp _ m) = put m + encoder (SBPMsgCsacTelemetry _ m) = put m + encoder (SBPMsgCsacTelemetryLabels _ m) = put m encoder (SBPMsgCwResults _ m) = put m encoder (SBPMsgCwStart _ m) = put m encoder (SBPMsgDeviceMonitor _ m) = put m @@ -453,6 +478,14 @@ encoder (SBPMsgInitBase _ m) = put m encoder (SBPMsgInsStatus _ m) = put m encoder (SBPMsgIono _ m) = put m + encoder (SBPMsgLinuxCpuState _ m) = put m + encoder (SBPMsgLinuxMemState _ m) = put m + encoder (SBPMsgLinuxProcessFdCount _ m) = put m + encoder (SBPMsgLinuxProcessFdSummary _ m) = put m + encoder (SBPMsgLinuxProcessSocketCounts _ m) = put m + encoder (SBPMsgLinuxProcessSocketQueues _ m) = put m + encoder (SBPMsgLinuxSocketUsage _ m) = put m + encoder (SBPMsgLinuxSysState _ m) = put m encoder (SBPMsgLog _ m) = put m encoder (SBPMsgM25FlashWriteStatus _ m) = put m encoder (SBPMsgMagRaw _ m) = put m @@ -497,6 +530,7 @@ encoder (SBPMsgSpecanDep _ m) = put m encoder (SBPMsgSsrCodeBiases _ m) = put m encoder (SBPMsgSsrOrbitClock _ m) = put m + encoder (SBPMsgSsrOrbitClockDepA _ m) = put m encoder (SBPMsgSsrPhaseBiases _ m) = put m encoder (SBPMsgStartup _ m) = put m encoder (SBPMsgStmFlashLockSector _ m) = put m @@ -562,6 +596,8 @@ | msgType == msgCommandOutput = SBPMsgCommandOutput <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCommandReq = SBPMsgCommandReq <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCommandResp = SBPMsgCommandResp <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgCsacTelemetry = SBPMsgCsacTelemetry <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgCsacTelemetryLabels = SBPMsgCsacTelemetryLabels <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCwResults = SBPMsgCwResults <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgCwStart = SBPMsgCwStart <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgDeviceMonitor = SBPMsgDeviceMonitor <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -613,6 +649,14 @@ | msgType == msgInitBase = SBPMsgInitBase <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgInsStatus = SBPMsgInsStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgIono = SBPMsgIono <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxCpuState = SBPMsgLinuxCpuState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxMemState = SBPMsgLinuxMemState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxProcessFdCount = SBPMsgLinuxProcessFdCount <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxProcessFdSummary = SBPMsgLinuxProcessFdSummary <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxProcessSocketCounts = SBPMsgLinuxProcessSocketCounts <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxProcessSocketQueues = SBPMsgLinuxProcessSocketQueues <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxSocketUsage = SBPMsgLinuxSocketUsage <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgLinuxSysState = SBPMsgLinuxSysState <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgLog = SBPMsgLog <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgM25FlashWriteStatus = SBPMsgM25FlashWriteStatus <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgMagRaw = SBPMsgMagRaw <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -657,6 +701,7 @@ | msgType == msgSpecanDep = SBPMsgSpecanDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrCodeBiases = SBPMsgSsrCodeBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrOrbitClock = SBPMsgSsrOrbitClock <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgSsrOrbitClockDepA = SBPMsgSsrOrbitClockDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgSsrPhaseBiases = SBPMsgSsrPhaseBiases <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStartup = SBPMsgStartup <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgStmFlashLockSector = SBPMsgStmFlashLockSector <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -723,6 +768,8 @@ toJSON (SBPMsgCommandOutput n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCommandReq n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCommandResp n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgCsacTelemetry n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgCsacTelemetryLabels n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCwResults n m) = toJSON n <<>> toJSON m toJSON (SBPMsgCwStart n m) = toJSON n <<>> toJSON m toJSON (SBPMsgDeviceMonitor n m) = toJSON n <<>> toJSON m @@ -774,6 +821,14 @@ toJSON (SBPMsgInitBase n m) = toJSON n <<>> toJSON m toJSON (SBPMsgInsStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgIono n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxCpuState n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxMemState n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxProcessFdCount n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxProcessFdSummary n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxProcessSocketCounts n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxProcessSocketQueues n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxSocketUsage n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgLinuxSysState n m) = toJSON n <<>> toJSON m toJSON (SBPMsgLog n m) = toJSON n <<>> toJSON m toJSON (SBPMsgM25FlashWriteStatus n m) = toJSON n <<>> toJSON m toJSON (SBPMsgMagRaw n m) = toJSON n <<>> toJSON m @@ -818,6 +873,7 @@ toJSON (SBPMsgSpecanDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrCodeBiases n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrOrbitClock n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgSsrOrbitClockDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgSsrPhaseBiases n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStartup n m) = toJSON n <<>> toJSON m toJSON (SBPMsgStmFlashLockSector n m) = toJSON n <<>> toJSON m @@ -878,6 +934,8 @@ msg f (SBPMsgCommandOutput n m) = SBPMsgCommandOutput n <$> f m msg f (SBPMsgCommandReq n m) = SBPMsgCommandReq n <$> f m msg f (SBPMsgCommandResp n m) = SBPMsgCommandResp n <$> f m + msg f (SBPMsgCsacTelemetry n m) = SBPMsgCsacTelemetry n <$> f m + msg f (SBPMsgCsacTelemetryLabels n m) = SBPMsgCsacTelemetryLabels n <$> f m msg f (SBPMsgCwResults n m) = SBPMsgCwResults n <$> f m msg f (SBPMsgCwStart n m) = SBPMsgCwStart n <$> f m msg f (SBPMsgDeviceMonitor n m) = SBPMsgDeviceMonitor n <$> f m @@ -929,6 +987,14 @@ msg f (SBPMsgInitBase n m) = SBPMsgInitBase n <$> f m msg f (SBPMsgInsStatus n m) = SBPMsgInsStatus n <$> f m msg f (SBPMsgIono n m) = SBPMsgIono n <$> f m + msg f (SBPMsgLinuxCpuState n m) = SBPMsgLinuxCpuState n <$> f m + msg f (SBPMsgLinuxMemState n m) = SBPMsgLinuxMemState n <$> f m + msg f (SBPMsgLinuxProcessFdCount n m) = SBPMsgLinuxProcessFdCount n <$> f m + msg f (SBPMsgLinuxProcessFdSummary n m) = SBPMsgLinuxProcessFdSummary n <$> f m + msg f (SBPMsgLinuxProcessSocketCounts n m) = SBPMsgLinuxProcessSocketCounts n <$> f m + msg f (SBPMsgLinuxProcessSocketQueues n m) = SBPMsgLinuxProcessSocketQueues n <$> f m + msg f (SBPMsgLinuxSocketUsage n m) = SBPMsgLinuxSocketUsage n <$> f m + msg f (SBPMsgLinuxSysState n m) = SBPMsgLinuxSysState n <$> f m msg f (SBPMsgLog n m) = SBPMsgLog n <$> f m msg f (SBPMsgM25FlashWriteStatus n m) = SBPMsgM25FlashWriteStatus n <$> f m msg f (SBPMsgMagRaw n m) = SBPMsgMagRaw n <$> f m @@ -973,6 +1039,7 @@ msg f (SBPMsgSpecanDep n m) = SBPMsgSpecanDep n <$> f m msg f (SBPMsgSsrCodeBiases n m) = SBPMsgSsrCodeBiases n <$> f m msg f (SBPMsgSsrOrbitClock n m) = SBPMsgSsrOrbitClock n <$> f m + msg f (SBPMsgSsrOrbitClockDepA n m) = SBPMsgSsrOrbitClockDepA n <$> f m msg f (SBPMsgSsrPhaseBiases n m) = SBPMsgSsrPhaseBiases n <$> f m msg f (SBPMsgStartup n m) = SBPMsgStartup n <$> f m msg f (SBPMsgStmFlashLockSector n m) = SBPMsgStmFlashLockSector n <$> f m 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 @@ -24,7 +24,7 @@ -- by device settings. By default, the vehicle body frame is configured to be -- coincident with the antenna phase center. When there is no inertial -- navigation, the solution will be reported at the phase center of the --- antenna. +-- antenna. There is no inertial navigation capability on Piksi Multi or Duro. module SwiftNav.SBP.Navigation ( module SwiftNav.SBP.Navigation @@ -818,7 +818,9 @@ -- of the vehicle. Since this is a right handed system, z should point out the -- bottom of the vehicle. The orientation and origin of the Vehicle Body Frame -- are specified via the device settings. The full GPS time is given by the --- preceding MSG_GPS_TIME with the matching time-of-week (tow). +-- preceding MSG_GPS_TIME with the matching time-of-week (tow). This message is +-- only produced by inertial versions of Swift products and is not available +-- from Piksi Multi or Duro. data MsgVelBody = MsgVelBody { _msgVelBody_tow :: !Word32 -- ^ GPS Time of Week 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 @@ -89,7 +89,9 @@ -- -- Pseudorange and carrier phase observation for a satellite being tracked. The -- observations are interoperable with 3rd party receivers and conform with --- typical RTCMv3 GNSS observations. +-- typical RTCM 3.1 message GPS/GLO observations. Carrier phase observations +-- are not guaranteed to be aligned to the RINEX 3 or RTCM 3.3 MSM reference +-- signal and no 1/4 cycle adjustments are currently peformed. data PackedObsContent = PackedObsContent { _packedObsContent_P :: !Word32 -- ^ Pseudorange observation @@ -2750,7 +2752,7 @@ -- | SBP class for message MSG_GLO_BIASES (0x0075). -- --- The GLONASS L1/L2 Code-Phase biases allows to perform GPS+GLONASS integer +-- The GLONASS L1/L2 Code-Phase biases allows to perform GPS+GLONASS integer -- ambiguity resolution for baselines with mixed receiver types (e.g. receiver -- of different manufacturers) data MsgGloBiases = MsgGloBiases diff --git a/src/SwiftNav/SBP/Orientation.hs b/src/SwiftNav/SBP/Orientation.hs --- a/src/SwiftNav/SBP/Orientation.hs +++ b/src/SwiftNav/SBP/Orientation.hs @@ -80,7 +80,8 @@ -- This message reports the quaternion vector describing the vehicle body -- frame's orientation with respect to a local-level NED frame. The components -- of the vector should sum to a unit vector assuming that the LSB of each --- component as a value of 2^-31. +-- component as a value of 2^-31. This message will only be available in future +-- INS versions of Swift Products and is not produced by Piksi Multi or Duro. data MsgOrientQuat = MsgOrientQuat { _msgOrientQuat_tow :: !Word32 -- ^ GPS Time of Week @@ -142,7 +143,9 @@ -- This message reports the yaw, pitch, and roll angles of the vehicle body -- frame. The rotations should applied intrinsically in the order yaw, pitch, -- and roll in order to rotate the from a frame aligned with the local-level --- NED frame to the vehicle body frame. +-- NED frame to the vehicle body frame. This message will only be available +-- in future INS versions of Swift Products and is not produced by Piksi Multi +-- or Duro. data MsgOrientEuler = MsgOrientEuler { _msgOrientEuler_tow :: !Word32 -- ^ GPS Time of Week @@ -200,6 +203,8 @@ -- By convention, the vehicle x-axis is expected to be aligned with the forward -- direction, while the vehicle y-axis is expected to be aligned with the right -- direction, and the vehicle z-axis should be aligned with the down direction. +-- This message will only be available in future INS versions of Swift Products +-- and is not produced by Piksi Multi or Duro. data MsgAngularRate = MsgAngularRate { _msgAngularRate_tow :: !Word32 -- ^ GPS Time of Week diff --git a/src/SwiftNav/SBP/Ssr.hs b/src/SwiftNav/SBP/Ssr.hs --- a/src/SwiftNav/SBP/Ssr.hs +++ b/src/SwiftNav/SBP/Ssr.hs @@ -98,9 +98,9 @@ $(makeLenses ''PhaseBiasesContent) msgSsrOrbitClock :: Word16 -msgSsrOrbitClock = 0x05DC +msgSsrOrbitClock = 0x05DD --- | SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DC). +-- | SBP class for message MSG_SSR_ORBIT_CLOCK (0x05DD). -- -- The precise orbit and clock correction message is to be applied as a delta -- correction to broadcast ephemeris and is typically an equivalent to the @@ -115,8 +115,8 @@ , _msgSsrOrbitClock_iod_ssr :: !Word8 -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to -- indicate a change in the SSR generating configuration - , _msgSsrOrbitClock_iod :: !Word8 - -- ^ Issue of broadcast ephemeris data + , _msgSsrOrbitClock_iod :: !Word32 + -- ^ Issue of broadcast ephemeris data or IODCRC (Beidou) , _msgSsrOrbitClock_radial :: !Int32 -- ^ Orbit radial delta correction , _msgSsrOrbitClock_along :: !Int32 @@ -143,7 +143,7 @@ _msgSsrOrbitClock_sid <- get _msgSsrOrbitClock_update_interval <- getWord8 _msgSsrOrbitClock_iod_ssr <- getWord8 - _msgSsrOrbitClock_iod <- getWord8 + _msgSsrOrbitClock_iod <- getWord32le _msgSsrOrbitClock_radial <- fromIntegral <$> getWord32le _msgSsrOrbitClock_along <- fromIntegral <$> getWord32le _msgSsrOrbitClock_cross <- fromIntegral <$> getWord32le @@ -160,7 +160,7 @@ put _msgSsrOrbitClock_sid putWord8 _msgSsrOrbitClock_update_interval putWord8 _msgSsrOrbitClock_iod_ssr - putWord8 _msgSsrOrbitClock_iod + putWord32le _msgSsrOrbitClock_iod putWord32le $ fromIntegral _msgSsrOrbitClock_radial putWord32le $ fromIntegral _msgSsrOrbitClock_along putWord32le $ fromIntegral _msgSsrOrbitClock_cross @@ -174,6 +174,84 @@ $(makeSBP 'msgSsrOrbitClock ''MsgSsrOrbitClock) $(makeJSON "_msgSsrOrbitClock_" ''MsgSsrOrbitClock) $(makeLenses ''MsgSsrOrbitClock) + +msgSsrOrbitClockDepA :: Word16 +msgSsrOrbitClockDepA = 0x05DC + +-- | SBP class for message MSG_SSR_ORBIT_CLOCK_DEP_A (0x05DC). +-- +-- The precise orbit and clock correction message is to be applied as a delta +-- correction to broadcast ephemeris and is typically an equivalent to the +-- 1060 and 1066 RTCM message types +data MsgSsrOrbitClockDepA = MsgSsrOrbitClockDepA + { _msgSsrOrbitClockDepA_time :: !GpsTimeSec + -- ^ GNSS reference time of the correction + , _msgSsrOrbitClockDepA_sid :: !GnssSignal + -- ^ GNSS signal identifier (16 bit) + , _msgSsrOrbitClockDepA_update_interval :: !Word8 + -- ^ Update interval between consecutive corrections + , _msgSsrOrbitClockDepA_iod_ssr :: !Word8 + -- ^ IOD of the SSR correction. A change of Issue Of Data SSR is used to + -- indicate a change in the SSR generating configuration + , _msgSsrOrbitClockDepA_iod :: !Word8 + -- ^ Issue of broadcast ephemeris data + , _msgSsrOrbitClockDepA_radial :: !Int32 + -- ^ Orbit radial delta correction + , _msgSsrOrbitClockDepA_along :: !Int32 + -- ^ Orbit along delta correction + , _msgSsrOrbitClockDepA_cross :: !Int32 + -- ^ Orbit along delta correction + , _msgSsrOrbitClockDepA_dot_radial :: !Int32 + -- ^ Velocity of orbit radial delta correction + , _msgSsrOrbitClockDepA_dot_along :: !Int32 + -- ^ Velocity of orbit along delta correction + , _msgSsrOrbitClockDepA_dot_cross :: !Int32 + -- ^ Velocity of orbit cross delta correction + , _msgSsrOrbitClockDepA_c0 :: !Int32 + -- ^ C0 polynomial coefficient for correction of broadcast satellite clock + , _msgSsrOrbitClockDepA_c1 :: !Int32 + -- ^ C1 polynomial coefficient for correction of broadcast satellite clock + , _msgSsrOrbitClockDepA_c2 :: !Int32 + -- ^ C2 polynomial coefficient for correction of broadcast satellite clock + } deriving ( Show, Read, Eq ) + +instance Binary MsgSsrOrbitClockDepA where + get = do + _msgSsrOrbitClockDepA_time <- get + _msgSsrOrbitClockDepA_sid <- get + _msgSsrOrbitClockDepA_update_interval <- getWord8 + _msgSsrOrbitClockDepA_iod_ssr <- getWord8 + _msgSsrOrbitClockDepA_iod <- getWord8 + _msgSsrOrbitClockDepA_radial <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_along <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_cross <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_dot_radial <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_dot_along <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_dot_cross <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_c0 <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_c1 <- fromIntegral <$> getWord32le + _msgSsrOrbitClockDepA_c2 <- fromIntegral <$> getWord32le + pure MsgSsrOrbitClockDepA {..} + + put MsgSsrOrbitClockDepA {..} = do + put _msgSsrOrbitClockDepA_time + put _msgSsrOrbitClockDepA_sid + putWord8 _msgSsrOrbitClockDepA_update_interval + putWord8 _msgSsrOrbitClockDepA_iod_ssr + putWord8 _msgSsrOrbitClockDepA_iod + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_radial + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_along + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_cross + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_dot_radial + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_dot_along + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_dot_cross + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_c0 + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_c1 + putWord32le $ fromIntegral _msgSsrOrbitClockDepA_c2 + +$(makeSBP 'msgSsrOrbitClockDepA ''MsgSsrOrbitClockDepA) +$(makeJSON "_msgSsrOrbitClockDepA_" ''MsgSsrOrbitClockDepA) +$(makeLenses ''MsgSsrOrbitClockDepA) msgSsrCodeBiases :: Word16 msgSsrCodeBiases = 0x05E1 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 @@ -157,3 +157,63 @@ $(makeSBP 'msgInsStatus ''MsgInsStatus) $(makeJSON "_msgInsStatus_" ''MsgInsStatus) $(makeLenses ''MsgInsStatus) + +msgCsacTelemetry :: Word16 +msgCsacTelemetry = 0xFF04 + +-- | SBP class for message MSG_CSAC_TELEMETRY (0xFF04). +-- +-- The CSAC telemetry message has an implementation defined telemetry string +-- from a device. It is not produced or available on general Swift Products. It +-- is intended to be a low rate message for status purposes. +data MsgCsacTelemetry = MsgCsacTelemetry + { _msgCsacTelemetry_id :: !Word8 + -- ^ Index representing the type of telemetry in use. It is implemention + -- defined. + , _msgCsacTelemetry_telemetry :: !Text + -- ^ Comma separated list of values as defined by the index + } deriving ( Show, Read, Eq ) + +instance Binary MsgCsacTelemetry where + get = do + _msgCsacTelemetry_id <- getWord8 + _msgCsacTelemetry_telemetry <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgCsacTelemetry {..} + + put MsgCsacTelemetry {..} = do + putWord8 _msgCsacTelemetry_id + putByteString $ encodeUtf8 _msgCsacTelemetry_telemetry + +$(makeSBP 'msgCsacTelemetry ''MsgCsacTelemetry) +$(makeJSON "_msgCsacTelemetry_" ''MsgCsacTelemetry) +$(makeLenses ''MsgCsacTelemetry) + +msgCsacTelemetryLabels :: Word16 +msgCsacTelemetryLabels = 0xFF05 + +-- | SBP class for message MSG_CSAC_TELEMETRY_LABELS (0xFF05). +-- +-- The CSAC telemetry message provides labels for each member of the string +-- produced by MSG_CSAC_TELEMETRY. It should be provided by a device at a lower +-- rate than the MSG_CSAC_TELEMETRY. +data MsgCsacTelemetryLabels = MsgCsacTelemetryLabels + { _msgCsacTelemetryLabels_id :: !Word8 + -- ^ Index representing the type of telemetry in use. It is implemention + -- defined. + , _msgCsacTelemetryLabels_telemetry_labels :: !Text + -- ^ Comma separated list of telemetry field values + } deriving ( Show, Read, Eq ) + +instance Binary MsgCsacTelemetryLabels where + get = do + _msgCsacTelemetryLabels_id <- getWord8 + _msgCsacTelemetryLabels_telemetry_labels <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgCsacTelemetryLabels {..} + + put MsgCsacTelemetryLabels {..} = do + putWord8 _msgCsacTelemetryLabels_id + putByteString $ encodeUtf8 _msgCsacTelemetryLabels_telemetry_labels + +$(makeSBP 'msgCsacTelemetryLabels ''MsgCsacTelemetryLabels) +$(makeJSON "_msgCsacTelemetryLabels_" ''MsgCsacTelemetryLabels) +$(makeLenses ''MsgCsacTelemetryLabels)