sbp 4.0.3 → 4.1.0

raw patch · 3 files changed

+65/−1 lines, 3 filesPVP ok

version bump matches the API change (PVP)

API changes (from Hackage documentation)

Files

• sbp.cabal +1/−1
• src/SwiftNav/SBP/Msg.hs +6/−0
• src/SwiftNav/SBP/Navigation.hs +58/−0

@@ -1,5 +1,5 @@ name:                  sbp-version:               4.0.3+version:               4.1.0 synopsis:              SwiftNav's SBP Library homepage:              https://github.com/swift-nav/libsbp license:               MIT

@@ -246,6 +246,7 @@    | SBPMsgUtcTime MsgUtcTime Msg    | SBPMsgUtcTimeGnss MsgUtcTimeGnss Msg    | SBPMsgVelBody MsgVelBody Msg+   | SBPMsgVelCog MsgVelCog Msg    | SBPMsgVelEcef MsgVelEcef Msg    | SBPMsgVelEcefCov MsgVelEcefCov Msg    | SBPMsgVelEcefCovGnss MsgVelEcefCovGnss Msg@@ -461,6 +462,7 @@           | _msgSBPType == msgUtcTime = SBPMsgUtcTime (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgUtcTimeGnss = SBPMsgUtcTimeGnss (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgVelBody = SBPMsgVelBody (decode (fromStrict (unBytes _msgSBPPayload))) m+          | _msgSBPType == msgVelCog = SBPMsgVelCog (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgVelEcef = SBPMsgVelEcef (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgVelEcefCov = SBPMsgVelEcefCov (decode (fromStrict (unBytes _msgSBPPayload))) m           | _msgSBPType == msgVelEcefCovGnss = SBPMsgVelEcefCovGnss (decode (fromStrict (unBytes _msgSBPPayload))) m@@ -668,6 +670,7 @@       encoder (SBPMsgUtcTime _ m) = put m       encoder (SBPMsgUtcTimeGnss _ m) = put m       encoder (SBPMsgVelBody _ m) = put m+      encoder (SBPMsgVelCog _ m) = put m       encoder (SBPMsgVelEcef _ m) = put m       encoder (SBPMsgVelEcefCov _ m) = put m       encoder (SBPMsgVelEcefCovGnss _ m) = put m@@ -879,6 +882,7 @@         | msgType == msgUtcTime = SBPMsgUtcTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgUtcTimeGnss = SBPMsgUtcTimeGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgVelBody = SBPMsgVelBody <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj+        | msgType == msgVelCog = SBPMsgVelCog <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgVelEcef = SBPMsgVelEcef <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgVelEcefCov = SBPMsgVelEcefCov <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj         | msgType == msgVelEcefCovGnss = SBPMsgVelEcefCovGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj@@ -1091,6 +1095,7 @@   toJSON (SBPMsgUtcTime n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgUtcTimeGnss n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelBody n m) = toJSON n <<>> toJSON m+  toJSON (SBPMsgVelCog n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelEcef n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelEcefCov n m) = toJSON n <<>> toJSON m   toJSON (SBPMsgVelEcefCovGnss n m) = toJSON n <<>> toJSON m@@ -1297,6 +1302,7 @@   msg f (SBPMsgUtcTime n m) = SBPMsgUtcTime n <$> f m   msg f (SBPMsgUtcTimeGnss n m) = SBPMsgUtcTimeGnss n <$> f m   msg f (SBPMsgVelBody n m) = SBPMsgVelBody n <$> f m+  msg f (SBPMsgVelCog n m) = SBPMsgVelCog n <$> f m   msg f (SBPMsgVelEcef n m) = SBPMsgVelEcef n <$> f m   msg f (SBPMsgVelEcefCov n m) = SBPMsgVelEcefCov n <$> f m   msg f (SBPMsgVelEcefCovGnss n m) = SBPMsgVelEcefCovGnss n <$> f m

@@ -1613,6 +1613,64 @@ $(makeJSON "_msgVelBody_" ''MsgVelBody) $(makeLenses ''MsgVelBody) +msgVelCog :: Word16+msgVelCog = 0x021C++-- | SBP class for message MSG_VEL_COG (0x021C).+--+-- This message reports the receiver course over ground (COG) and speed over+-- ground (SOG) based on the horizontal (N-E) components of the NED velocity+-- vector. It also includes the vertical velocity in the form of the+-- D-component of the NED velocity vector. The NED coordinate system is+-- defined as the local WGS84 tangent  plane centered at the current position.+-- The full GPS time is given by the  preceding MSG_GPS_TIME with the matching+-- time-of-week (tow). Note: course over ground represents the receiver's+-- direction of travel,  but not necessarily the device heading.+data MsgVelCog = MsgVelCog+  { _msgVelCog_tow          :: !Word32+    -- ^ GPS Time of Week+  , _msgVelCog_cog          :: !Word32+    -- ^ Course over ground relative to local north+  , _msgVelCog_sog          :: !Word32+    -- ^ Speed over ground+  , _msgVelCog_vel_d        :: !Int32+    -- ^ Velocity Down coordinate+  , _msgVelCog_cog_accuracy :: !Word32+    -- ^ Course over ground estimated standard deviation+  , _msgVelCog_sog_accuracy :: !Word32+    -- ^ Speed over ground estimated standard deviation+  , _msgVelCog_vel_d_accuracy :: !Word32+    -- ^ Vertical velocity estimated standard deviation+  , _msgVelCog_flags        :: !Word8+    -- ^ Status flags+  } deriving ( Show, Read, Eq )++instance Binary MsgVelCog where+  get = do+    _msgVelCog_tow <- getWord32le+    _msgVelCog_cog <- getWord32le+    _msgVelCog_sog <- getWord32le+    _msgVelCog_vel_d <- (fromIntegral <$> getWord32le)+    _msgVelCog_cog_accuracy <- getWord32le+    _msgVelCog_sog_accuracy <- getWord32le+    _msgVelCog_vel_d_accuracy <- getWord32le+    _msgVelCog_flags <- getWord8+    pure MsgVelCog {..}++  put MsgVelCog {..} = do+    putWord32le _msgVelCog_tow+    putWord32le _msgVelCog_cog+    putWord32le _msgVelCog_sog+    (putWord32le . fromIntegral) _msgVelCog_vel_d+    putWord32le _msgVelCog_cog_accuracy+    putWord32le _msgVelCog_sog_accuracy+    putWord32le _msgVelCog_vel_d_accuracy+    putWord8 _msgVelCog_flags++$(makeSBP 'msgVelCog ''MsgVelCog)+$(makeJSON "_msgVelCog_" ''MsgVelCog)+$(makeLenses ''MsgVelCog)+ msgAgeCorrections :: Word16 msgAgeCorrections = 0x0210