diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 4.9.0 +version: 4.10.0 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT diff --git a/src/SwiftNav/SBP/Integrity.hs b/src/SwiftNav/SBP/Integrity.hs --- a/src/SwiftNav/SBP/Integrity.hs +++ b/src/SwiftNav/SBP/Integrity.hs @@ -338,3 +338,46 @@ $(makeSBP 'msgSsrFlagIonoGridPointSatLos ''MsgSsrFlagIonoGridPointSatLos) $(makeJSON "_msgSsrFlagIonoGridPointSatLos_" ''MsgSsrFlagIonoGridPointSatLos) $(makeLenses ''MsgSsrFlagIonoGridPointSatLos) + +msgAcknowledge :: Word16 +msgAcknowledge = 0x0BD2 + +data MsgAcknowledge = MsgAcknowledge + { _msgAcknowledge_request_id :: !Word8 + -- ^ Echo of the request ID field from the corresponding CRA message, or 255 + -- if no request ID was provided. + , _msgAcknowledge_area_id :: !Word32 + -- ^ Echo of the Area ID field from the corresponding CRA message. + , _msgAcknowledge_response_code :: !Word8 + -- ^ Reported status of the request. + , _msgAcknowledge_correction_mask_on_demand :: !Word16 + -- ^ Contains the message group(s) that will be sent in response from the + -- corresponding CRA correction mask. An echo of the correction mask field + -- from the corresponding CRA message. + , _msgAcknowledge_correction_mask_stream :: !Word16 + -- ^ For future expansion. Always set to 0. + , _msgAcknowledge_solution_id :: !Word8 + -- ^ The solution ID of the instance providing the corrections. + } deriving ( Show, Read, Eq ) + +instance Binary MsgAcknowledge where + get = do + _msgAcknowledge_request_id <- getWord8 + _msgAcknowledge_area_id <- getWord32le + _msgAcknowledge_response_code <- getWord8 + _msgAcknowledge_correction_mask_on_demand <- getWord16le + _msgAcknowledge_correction_mask_stream <- getWord16le + _msgAcknowledge_solution_id <- getWord8 + pure MsgAcknowledge {..} + + put MsgAcknowledge {..} = do + putWord8 _msgAcknowledge_request_id + putWord32le _msgAcknowledge_area_id + putWord8 _msgAcknowledge_response_code + putWord16le _msgAcknowledge_correction_mask_on_demand + putWord16le _msgAcknowledge_correction_mask_stream + putWord8 _msgAcknowledge_solution_id + +$(makeSBP 'msgAcknowledge ''MsgAcknowledge) +$(makeJSON "_msgAcknowledge_" ''MsgAcknowledge) +$(makeLenses ''MsgAcknowledge) 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 @@ -57,7 +57,8 @@ -- Includes SBPMsgUnknown for valid SBP messages with undefined message -- types and SBPMsgBadCRC for SBP messages with invalid CRC checksums. data SBPMsg = - SBPMsgAcqResult MsgAcqResult Msg + SBPMsgAcknowledge MsgAcknowledge Msg + | SBPMsgAcqResult MsgAcqResult Msg | SBPMsgAcqResultDepA MsgAcqResultDepA Msg | SBPMsgAcqResultDepB MsgAcqResultDepB Msg | SBPMsgAcqResultDepC MsgAcqResultDepC Msg @@ -96,6 +97,7 @@ | SBPMsgDopsDepA MsgDopsDepA Msg | SBPMsgEd25519Certificate MsgEd25519Certificate Msg | SBPMsgEd25519Signature MsgEd25519Signature Msg + | SBPMsgEd25519SignatureDep MsgEd25519SignatureDep Msg | SBPMsgEphemerisBds MsgEphemerisBds Msg | SBPMsgEphemerisDepA MsgEphemerisDepA Msg | SBPMsgEphemerisDepB MsgEphemerisDepB Msg @@ -192,6 +194,7 @@ | SBPMsgPosLlhCovGnss MsgPosLlhCovGnss Msg | SBPMsgPosLlhDepA MsgPosLlhDepA Msg | SBPMsgPosLlhGnss MsgPosLlhGnss Msg + | SBPMsgPoseRelative MsgPoseRelative Msg | SBPMsgPpsTime MsgPpsTime Msg | SBPMsgPrintDep MsgPrintDep Msg | SBPMsgProtectionLevel MsgProtectionLevel Msg @@ -291,6 +294,7 @@ decoder <$> get where decoder m@Msg {..} | checkCrc m /= _msgSBPCrc = SBPMsgBadCrc m + | _msgSBPType == msgAcknowledge = SBPMsgAcknowledge (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAcqResult = SBPMsgAcqResult (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAcqResultDepA = SBPMsgAcqResultDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgAcqResultDepB = SBPMsgAcqResultDepB (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -330,6 +334,7 @@ | _msgSBPType == msgDopsDepA = SBPMsgDopsDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEd25519Certificate = SBPMsgEd25519Certificate (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEd25519Signature = SBPMsgEd25519Signature (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgEd25519SignatureDep = SBPMsgEd25519SignatureDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisBds = SBPMsgEphemerisBds (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisDepA = SBPMsgEphemerisDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgEphemerisDepB = SBPMsgEphemerisDepB (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -426,6 +431,7 @@ | _msgSBPType == msgPosLlhCovGnss = SBPMsgPosLlhCovGnss (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlhDepA = SBPMsgPosLlhDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPosLlhGnss = SBPMsgPosLlhGnss (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgPoseRelative = SBPMsgPoseRelative (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPpsTime = SBPMsgPpsTime (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgPrintDep = SBPMsgPrintDep (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgProtectionLevel = SBPMsgProtectionLevel (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -517,6 +523,7 @@ put sm = do putWord8 msgSBPPreamble encoder sm where + encoder (SBPMsgAcknowledge _ m) = put m encoder (SBPMsgAcqResult _ m) = put m encoder (SBPMsgAcqResultDepA _ m) = put m encoder (SBPMsgAcqResultDepB _ m) = put m @@ -556,6 +563,7 @@ encoder (SBPMsgDopsDepA _ m) = put m encoder (SBPMsgEd25519Certificate _ m) = put m encoder (SBPMsgEd25519Signature _ m) = put m + encoder (SBPMsgEd25519SignatureDep _ m) = put m encoder (SBPMsgEphemerisBds _ m) = put m encoder (SBPMsgEphemerisDepA _ m) = put m encoder (SBPMsgEphemerisDepB _ m) = put m @@ -652,6 +660,7 @@ encoder (SBPMsgPosLlhCovGnss _ m) = put m encoder (SBPMsgPosLlhDepA _ m) = put m encoder (SBPMsgPosLlhGnss _ m) = put m + encoder (SBPMsgPoseRelative _ m) = put m encoder (SBPMsgPpsTime _ m) = put m encoder (SBPMsgPrintDep _ m) = put m encoder (SBPMsgProtectionLevel _ m) = put m @@ -747,6 +756,7 @@ payload <- o .: "payload" decoder msgType payload where decoder msgType payload + | msgType == msgAcknowledge = SBPMsgAcknowledge <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAcqResult = SBPMsgAcqResult <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAcqResultDepA = SBPMsgAcqResultDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgAcqResultDepB = SBPMsgAcqResultDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -786,6 +796,7 @@ | msgType == msgDopsDepA = SBPMsgDopsDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEd25519Certificate = SBPMsgEd25519Certificate <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEd25519Signature = SBPMsgEd25519Signature <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgEd25519SignatureDep = SBPMsgEd25519SignatureDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisBds = SBPMsgEphemerisBds <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisDepA = SBPMsgEphemerisDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgEphemerisDepB = SBPMsgEphemerisDepB <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -882,6 +893,7 @@ | msgType == msgPosLlhCovGnss = SBPMsgPosLlhCovGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlhDepA = SBPMsgPosLlhDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPosLlhGnss = SBPMsgPosLlhGnss <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgPoseRelative = SBPMsgPoseRelative <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPpsTime = SBPMsgPpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgProtectionLevel = SBPMsgProtectionLevel <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -978,6 +990,7 @@ pure $ review _Object $ a' <> b' instance ToJSON SBPMsg where + toJSON (SBPMsgAcknowledge n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAcqResult n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAcqResultDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgAcqResultDepB n m) = toJSON n <<>> toJSON m @@ -1017,6 +1030,7 @@ toJSON (SBPMsgDopsDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEd25519Certificate n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEd25519Signature n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgEd25519SignatureDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisBds n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgEphemerisDepB n m) = toJSON n <<>> toJSON m @@ -1113,6 +1127,7 @@ toJSON (SBPMsgPosLlhCovGnss n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlhDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPosLlhGnss n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgPoseRelative n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n <<>> toJSON m toJSON (SBPMsgProtectionLevel n m) = toJSON n <<>> toJSON m @@ -1203,6 +1218,7 @@ toJSON (SBPMsgUnknown m) = toJSON m instance HasMsg SBPMsg where + msg f (SBPMsgAcknowledge n m) = SBPMsgAcknowledge n <$> f m msg f (SBPMsgAcqResult n m) = SBPMsgAcqResult n <$> f m msg f (SBPMsgAcqResultDepA n m) = SBPMsgAcqResultDepA n <$> f m msg f (SBPMsgAcqResultDepB n m) = SBPMsgAcqResultDepB n <$> f m @@ -1242,6 +1258,7 @@ msg f (SBPMsgDopsDepA n m) = SBPMsgDopsDepA n <$> f m msg f (SBPMsgEd25519Certificate n m) = SBPMsgEd25519Certificate n <$> f m msg f (SBPMsgEd25519Signature n m) = SBPMsgEd25519Signature n <$> f m + msg f (SBPMsgEd25519SignatureDep n m) = SBPMsgEd25519SignatureDep n <$> f m msg f (SBPMsgEphemerisBds n m) = SBPMsgEphemerisBds n <$> f m msg f (SBPMsgEphemerisDepA n m) = SBPMsgEphemerisDepA n <$> f m msg f (SBPMsgEphemerisDepB n m) = SBPMsgEphemerisDepB n <$> f m @@ -1338,6 +1355,7 @@ msg f (SBPMsgPosLlhCovGnss n m) = SBPMsgPosLlhCovGnss n <$> f m msg f (SBPMsgPosLlhDepA n m) = SBPMsgPosLlhDepA n <$> f m msg f (SBPMsgPosLlhGnss n m) = SBPMsgPosLlhGnss n <$> f m + msg f (SBPMsgPoseRelative n m) = SBPMsgPoseRelative n <$> f m msg f (SBPMsgPpsTime n m) = SBPMsgPpsTime n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m msg f (SBPMsgProtectionLevel n m) = SBPMsgProtectionLevel n <$> 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 @@ -2456,3 +2456,120 @@ $(makeSBP 'msgReferenceFrameParam ''MsgReferenceFrameParam) $(makeJSON "_msgReferenceFrameParam_" ''MsgReferenceFrameParam) $(makeLenses ''MsgReferenceFrameParam) + +msgPoseRelative :: Word16 +msgPoseRelative = 0x0245 + +-- | SBP class for message MSG_POSE_RELATIVE (0x0245). +-- +-- This solution message reports the relative pose of a sensor between two +-- time instances. The relative pose comprises of a rotation and a translation +-- which relates the sensor (e.g. camera) frame at a given time (first +-- keyframe) to the sensor frame at another time (second keyframe). The +-- relative translations is a 3x1 vector described in the first keyframe. +-- Relative rotation is described by a quaternion from second keyframe to the +-- first keyframe. +data MsgPoseRelative = MsgPoseRelative + { _msgPoseRelative_tow :: !Word32 + -- ^ GPS Time of Week + , _msgPoseRelative_sensor_id :: !Word8 + -- ^ ID of the sensor producing this message + , _msgPoseRelative_timestamp_1 :: !Word32 + -- ^ Timestamp of first keyframe + , _msgPoseRelative_timestamp_2 :: !Word32 + -- ^ Timestamp of second keyframe + , _msgPoseRelative_trans :: ![Int32] + -- ^ Relative translation [x,y,z] described in first keyframe + , _msgPoseRelative_w :: !Int32 + -- ^ Real component of quaternion to describe relative rotation (second to + -- first keyframe) + , _msgPoseRelative_x :: !Int32 + -- ^ 1st imaginary component of quaternion to describe relative rotation + -- (second to first keyframe) + , _msgPoseRelative_y :: !Int32 + -- ^ 2nd imaginary component of quaternion to describe relative rotation + -- (second to first keyframe) + , _msgPoseRelative_z :: !Int32 + -- ^ 3rd imaginary component of quaternion to describe relative rotation + -- (second to first keyframe) + , _msgPoseRelative_cov_r_x_x :: !Float + -- ^ Estimated variance of x (relative translation) + , _msgPoseRelative_cov_r_x_y :: !Float + -- ^ Covariance of x and y (relative translation) + , _msgPoseRelative_cov_r_x_z :: !Float + -- ^ Covariance of x and z (relative translation) + , _msgPoseRelative_cov_r_y_y :: !Float + -- ^ Estimated variance of y (relative translation) + , _msgPoseRelative_cov_r_y_z :: !Float + -- ^ Covariance of y and z (relative translation) + , _msgPoseRelative_cov_r_z_z :: !Float + -- ^ Estimated variance of z (relative translation) + , _msgPoseRelative_cov_c_x_x :: !Float + -- ^ Estimated variance of x (relative rotation) + , _msgPoseRelative_cov_c_x_y :: !Float + -- ^ Covariance of x and y (relative rotation) + , _msgPoseRelative_cov_c_x_z :: !Float + -- ^ Covariance of x and z (relative rotation) + , _msgPoseRelative_cov_c_y_y :: !Float + -- ^ Estimated variance of y (relative rotation) + , _msgPoseRelative_cov_c_y_z :: !Float + -- ^ Covariance of y and z (relative rotation) + , _msgPoseRelative_cov_c_z_z :: !Float + -- ^ Estimated variance of z (relative rotation) + , _msgPoseRelative_flags :: !Word8 + -- ^ Status flags of relative translation and rotation + } deriving ( Show, Read, Eq ) + +instance Binary MsgPoseRelative where + get = do + _msgPoseRelative_tow <- getWord32le + _msgPoseRelative_sensor_id <- getWord8 + _msgPoseRelative_timestamp_1 <- getWord32le + _msgPoseRelative_timestamp_2 <- getWord32le + _msgPoseRelative_trans <- replicateM 3 (fromIntegral <$> getWord32le) + _msgPoseRelative_w <- (fromIntegral <$> getWord32le) + _msgPoseRelative_x <- (fromIntegral <$> getWord32le) + _msgPoseRelative_y <- (fromIntegral <$> getWord32le) + _msgPoseRelative_z <- (fromIntegral <$> getWord32le) + _msgPoseRelative_cov_r_x_x <- getFloat32le + _msgPoseRelative_cov_r_x_y <- getFloat32le + _msgPoseRelative_cov_r_x_z <- getFloat32le + _msgPoseRelative_cov_r_y_y <- getFloat32le + _msgPoseRelative_cov_r_y_z <- getFloat32le + _msgPoseRelative_cov_r_z_z <- getFloat32le + _msgPoseRelative_cov_c_x_x <- getFloat32le + _msgPoseRelative_cov_c_x_y <- getFloat32le + _msgPoseRelative_cov_c_x_z <- getFloat32le + _msgPoseRelative_cov_c_y_y <- getFloat32le + _msgPoseRelative_cov_c_y_z <- getFloat32le + _msgPoseRelative_cov_c_z_z <- getFloat32le + _msgPoseRelative_flags <- getWord8 + pure MsgPoseRelative {..} + + put MsgPoseRelative {..} = do + putWord32le _msgPoseRelative_tow + putWord8 _msgPoseRelative_sensor_id + putWord32le _msgPoseRelative_timestamp_1 + putWord32le _msgPoseRelative_timestamp_2 + mapM_ (putWord32le . fromIntegral) _msgPoseRelative_trans + (putWord32le . fromIntegral) _msgPoseRelative_w + (putWord32le . fromIntegral) _msgPoseRelative_x + (putWord32le . fromIntegral) _msgPoseRelative_y + (putWord32le . fromIntegral) _msgPoseRelative_z + putFloat32le _msgPoseRelative_cov_r_x_x + putFloat32le _msgPoseRelative_cov_r_x_y + putFloat32le _msgPoseRelative_cov_r_x_z + putFloat32le _msgPoseRelative_cov_r_y_y + putFloat32le _msgPoseRelative_cov_r_y_z + putFloat32le _msgPoseRelative_cov_r_z_z + putFloat32le _msgPoseRelative_cov_c_x_x + putFloat32le _msgPoseRelative_cov_c_x_y + putFloat32le _msgPoseRelative_cov_c_x_z + putFloat32le _msgPoseRelative_cov_c_y_y + putFloat32le _msgPoseRelative_cov_c_y_z + putFloat32le _msgPoseRelative_cov_c_z_z + putWord8 _msgPoseRelative_flags + +$(makeSBP 'msgPoseRelative ''MsgPoseRelative) +$(makeJSON "_msgPoseRelative_" ''MsgPoseRelative) +$(makeLenses ''MsgPoseRelative) diff --git a/src/SwiftNav/SBP/Signing.hs b/src/SwiftNav/SBP/Signing.hs --- a/src/SwiftNav/SBP/Signing.hs +++ b/src/SwiftNav/SBP/Signing.hs @@ -36,33 +36,33 @@ {-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-} -msgEd25519Signature :: Word16 -msgEd25519Signature = 0x0C01 +msgEd25519SignatureDep :: Word16 +msgEd25519SignatureDep = 0x0C01 -data MsgEd25519Signature = MsgEd25519Signature - { _msgEd25519Signature_signature :: ![Word8] +data MsgEd25519SignatureDep = MsgEd25519SignatureDep + { _msgEd25519SignatureDep_signature :: ![Word8] -- ^ ED25519 signature for messages. - , _msgEd25519Signature_fingerprint :: ![Word8] + , _msgEd25519SignatureDep_fingerprint :: ![Word8] -- ^ SHA-1 fingerprint of the associated certificate. - , _msgEd25519Signature_signed_messages :: ![Word32] + , _msgEd25519SignatureDep_signed_messages :: ![Word32] -- ^ CRCs of signed messages. } deriving ( Show, Read, Eq ) -instance Binary MsgEd25519Signature where +instance Binary MsgEd25519SignatureDep where get = do - _msgEd25519Signature_signature <- replicateM 64 getWord8 - _msgEd25519Signature_fingerprint <- replicateM 20 getWord8 - _msgEd25519Signature_signed_messages <- whileM (not <$> isEmpty) getWord32le - pure MsgEd25519Signature {..} + _msgEd25519SignatureDep_signature <- replicateM 64 getWord8 + _msgEd25519SignatureDep_fingerprint <- replicateM 20 getWord8 + _msgEd25519SignatureDep_signed_messages <- whileM (not <$> isEmpty) getWord32le + pure MsgEd25519SignatureDep {..} - put MsgEd25519Signature {..} = do - mapM_ putWord8 _msgEd25519Signature_signature - mapM_ putWord8 _msgEd25519Signature_fingerprint - mapM_ putWord32le _msgEd25519Signature_signed_messages + put MsgEd25519SignatureDep {..} = do + mapM_ putWord8 _msgEd25519SignatureDep_signature + mapM_ putWord8 _msgEd25519SignatureDep_fingerprint + mapM_ putWord32le _msgEd25519SignatureDep_signed_messages -$(makeSBP 'msgEd25519Signature ''MsgEd25519Signature) -$(makeJSON "_msgEd25519Signature_" ''MsgEd25519Signature) -$(makeLenses ''MsgEd25519Signature) +$(makeSBP 'msgEd25519SignatureDep ''MsgEd25519SignatureDep) +$(makeJSON "_msgEd25519SignatureDep_" ''MsgEd25519SignatureDep) +$(makeLenses ''MsgEd25519SignatureDep) msgEd25519Certificate :: Word16 msgEd25519Certificate = 0x0C02 @@ -93,3 +93,46 @@ $(makeSBP 'msgEd25519Certificate ''MsgEd25519Certificate) $(makeJSON "_msgEd25519Certificate_" ''MsgEd25519Certificate) $(makeLenses ''MsgEd25519Certificate) + +msgEd25519Signature :: Word16 +msgEd25519Signature = 0x0C03 + +data MsgEd25519Signature = MsgEd25519Signature + { _msgEd25519Signature_stream_counter :: !Word8 + -- ^ Signature message counter. Zero indexed and incremented with each + -- signature message. The counter will not increment if this message was + -- in response to an on demand request. The counter will roll over after + -- 256 messages. Upon connection, the value of the counter may not + -- initially be zero. + , _msgEd25519Signature_on_demand_counter :: !Word8 + -- ^ On demand message counter. Zero indexed and incremented with each + -- signature message sent in response to an on demand message. The counter + -- will roll over after 256 messages. Upon connection, the value of the + -- counter may not initially be zero. + , _msgEd25519Signature_signature :: ![Word8] + -- ^ ED25519 signature for messages. + , _msgEd25519Signature_fingerprint :: ![Word8] + -- ^ SHA-1 fingerprint of the associated certificate. + , _msgEd25519Signature_signed_messages :: ![Word32] + -- ^ CRCs of signed messages. + } deriving ( Show, Read, Eq ) + +instance Binary MsgEd25519Signature where + get = do + _msgEd25519Signature_stream_counter <- getWord8 + _msgEd25519Signature_on_demand_counter <- getWord8 + _msgEd25519Signature_signature <- replicateM 64 getWord8 + _msgEd25519Signature_fingerprint <- replicateM 20 getWord8 + _msgEd25519Signature_signed_messages <- whileM (not <$> isEmpty) getWord32le + pure MsgEd25519Signature {..} + + put MsgEd25519Signature {..} = do + putWord8 _msgEd25519Signature_stream_counter + putWord8 _msgEd25519Signature_on_demand_counter + mapM_ putWord8 _msgEd25519Signature_signature + mapM_ putWord8 _msgEd25519Signature_fingerprint + mapM_ putWord32le _msgEd25519Signature_signed_messages + +$(makeSBP 'msgEd25519Signature ''MsgEd25519Signature) +$(makeJSON "_msgEd25519Signature_" ''MsgEd25519Signature) +$(makeLenses ''MsgEd25519Signature)