diff --git a/sbp.cabal b/sbp.cabal --- a/sbp.cabal +++ b/sbp.cabal @@ -1,5 +1,5 @@ name: sbp -version: 6.0.0 +version: 6.0.1 synopsis: SwiftNav's SBP Library homepage: https://github.com/swift-nav/libsbp license: MIT 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 @@ -206,6 +206,9 @@ | SBPMsgPoseRelative MsgPoseRelative Msg | SBPMsgPpsTime MsgPpsTime Msg | SBPMsgPrintDep MsgPrintDep Msg + | SBPMsgProfilingResourceCounter MsgProfilingResourceCounter Msg + | SBPMsgProfilingSystemInfo MsgProfilingSystemInfo Msg + | SBPMsgProfilingThreadInfo MsgProfilingThreadInfo Msg | SBPMsgProtectionLevel MsgProtectionLevel Msg | SBPMsgProtectionLevelDepA MsgProtectionLevelDepA Msg | SBPMsgReferenceFrameParam MsgReferenceFrameParam Msg @@ -453,6 +456,9 @@ | _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 == msgProfilingResourceCounter = SBPMsgProfilingResourceCounter (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgProfilingSystemInfo = SBPMsgProfilingSystemInfo (decode (fromStrict (unBytes _msgSBPPayload))) m + | _msgSBPType == msgProfilingThreadInfo = SBPMsgProfilingThreadInfo (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgProtectionLevel = SBPMsgProtectionLevel (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgProtectionLevelDepA = SBPMsgProtectionLevelDepA (decode (fromStrict (unBytes _msgSBPPayload))) m | _msgSBPType == msgReferenceFrameParam = SBPMsgReferenceFrameParam (decode (fromStrict (unBytes _msgSBPPayload))) m @@ -692,6 +698,9 @@ encoder (SBPMsgPoseRelative _ m) = put m encoder (SBPMsgPpsTime _ m) = put m encoder (SBPMsgPrintDep _ m) = put m + encoder (SBPMsgProfilingResourceCounter _ m) = put m + encoder (SBPMsgProfilingSystemInfo _ m) = put m + encoder (SBPMsgProfilingThreadInfo _ m) = put m encoder (SBPMsgProtectionLevel _ m) = put m encoder (SBPMsgProtectionLevelDepA _ m) = put m encoder (SBPMsgReferenceFrameParam _ m) = put m @@ -935,6 +944,9 @@ | msgType == msgPoseRelative = SBPMsgPoseRelative <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPpsTime = SBPMsgPpsTime <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgPrintDep = SBPMsgPrintDep <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgProfilingResourceCounter = SBPMsgProfilingResourceCounter <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgProfilingSystemInfo = SBPMsgProfilingSystemInfo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj + | msgType == msgProfilingThreadInfo = SBPMsgProfilingThreadInfo <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgProtectionLevel = SBPMsgProtectionLevel <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgProtectionLevelDepA = SBPMsgProtectionLevelDepA <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj | msgType == msgReferenceFrameParam = SBPMsgReferenceFrameParam <$> pure (decode (fromStrict (unBytes payload))) <*> parseJSON obj @@ -1179,6 +1191,9 @@ toJSON (SBPMsgPoseRelative n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPpsTime n m) = toJSON n <<>> toJSON m toJSON (SBPMsgPrintDep n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgProfilingResourceCounter n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgProfilingSystemInfo n m) = toJSON n <<>> toJSON m + toJSON (SBPMsgProfilingThreadInfo n m) = toJSON n <<>> toJSON m toJSON (SBPMsgProtectionLevel n m) = toJSON n <<>> toJSON m toJSON (SBPMsgProtectionLevelDepA n m) = toJSON n <<>> toJSON m toJSON (SBPMsgReferenceFrameParam n m) = toJSON n <<>> toJSON m @@ -1417,6 +1432,9 @@ msg f (SBPMsgPoseRelative n m) = SBPMsgPoseRelative n <$> f m msg f (SBPMsgPpsTime n m) = SBPMsgPpsTime n <$> f m msg f (SBPMsgPrintDep n m) = SBPMsgPrintDep n <$> f m + msg f (SBPMsgProfilingResourceCounter n m) = SBPMsgProfilingResourceCounter n <$> f m + msg f (SBPMsgProfilingSystemInfo n m) = SBPMsgProfilingSystemInfo n <$> f m + msg f (SBPMsgProfilingThreadInfo n m) = SBPMsgProfilingThreadInfo n <$> f m msg f (SBPMsgProtectionLevel n m) = SBPMsgProtectionLevel n <$> f m msg f (SBPMsgProtectionLevelDepA n m) = SBPMsgProtectionLevelDepA n <$> f m msg f (SBPMsgReferenceFrameParam n m) = SBPMsgReferenceFrameParam n <$> f m diff --git a/src/SwiftNav/SBP/Profiling.hs b/src/SwiftNav/SBP/Profiling.hs --- a/src/SwiftNav/SBP/Profiling.hs +++ b/src/SwiftNav/SBP/Profiling.hs @@ -91,3 +91,171 @@ $(makeSBP 'msgMeasurementPoint ''MsgMeasurementPoint) $(makeJSON "_msgMeasurementPoint_" ''MsgMeasurementPoint) $(makeLenses ''MsgMeasurementPoint) + +msgProfilingSystemInfo :: Word16 +msgProfilingSystemInfo = 0xCF01 + +-- | SBP class for message MSG_PROFILING_SYSTEM_INFO (0xCF01). +-- +-- Contains basic information about system resource usage. System is defined +-- in terms of the source of this message and may vary from sender to sender. +-- Refer to product documentation to understand the exact scope and meaning of +-- this message. +data MsgProfilingSystemInfo = MsgProfilingSystemInfo + { _msgProfilingSystemInfo_total_cpu_time :: !Word64 + -- ^ Total cpu time in microseconds consumed by this system + , _msgProfilingSystemInfo_age :: !Word64 + -- ^ Age of the producing system in microseconds + , _msgProfilingSystemInfo_n_threads :: !Word8 + -- ^ Number of threads being tracked by this system + , _msgProfilingSystemInfo_heap_usage :: !Word32 + -- ^ Number of bytes allocated on the heap + } deriving ( Show, Read, Eq ) + +instance Binary MsgProfilingSystemInfo where + get = do + _msgProfilingSystemInfo_total_cpu_time <- getWord64le + _msgProfilingSystemInfo_age <- getWord64le + _msgProfilingSystemInfo_n_threads <- getWord8 + _msgProfilingSystemInfo_heap_usage <- getWord32le + pure MsgProfilingSystemInfo {..} + + put MsgProfilingSystemInfo {..} = do + putWord64le _msgProfilingSystemInfo_total_cpu_time + putWord64le _msgProfilingSystemInfo_age + putWord8 _msgProfilingSystemInfo_n_threads + putWord32le _msgProfilingSystemInfo_heap_usage + +$(makeSBP 'msgProfilingSystemInfo ''MsgProfilingSystemInfo) +$(makeJSON "_msgProfilingSystemInfo_" ''MsgProfilingSystemInfo) +$(makeLenses ''MsgProfilingSystemInfo) + +msgProfilingThreadInfo :: Word16 +msgProfilingThreadInfo = 0xCF02 + +-- | SBP class for message MSG_PROFILING_THREAD_INFO (0xCF02). +-- +-- Contains profiling information related to a single thread being tracked by +-- the producing system. Refer to product documentation to understand the +-- exact scope and meaning of this message. +data MsgProfilingThreadInfo = MsgProfilingThreadInfo + { _msgProfilingThreadInfo_total_cpu_time :: !Word64 + -- ^ Total cpu time in microseconds consumed by this thread + , _msgProfilingThreadInfo_age :: !Word64 + -- ^ Age of the thread in microseconds + , _msgProfilingThreadInfo_state :: !Word8 + -- ^ Thread state + , _msgProfilingThreadInfo_stack_size :: !Word32 + -- ^ Stack size in bytes + , _msgProfilingThreadInfo_stack_usage :: !Word32 + -- ^ Stack high water usage in bytes + , _msgProfilingThreadInfo_name :: !Text + -- ^ Thread name + } deriving ( Show, Read, Eq ) + +instance Binary MsgProfilingThreadInfo where + get = do + _msgProfilingThreadInfo_total_cpu_time <- getWord64le + _msgProfilingThreadInfo_age <- getWord64le + _msgProfilingThreadInfo_state <- getWord8 + _msgProfilingThreadInfo_stack_size <- getWord32le + _msgProfilingThreadInfo_stack_usage <- getWord32le + _msgProfilingThreadInfo_name <- decodeUtf8 . toStrict <$> getRemainingLazyByteString + pure MsgProfilingThreadInfo {..} + + put MsgProfilingThreadInfo {..} = do + putWord64le _msgProfilingThreadInfo_total_cpu_time + putWord64le _msgProfilingThreadInfo_age + putWord8 _msgProfilingThreadInfo_state + putWord32le _msgProfilingThreadInfo_stack_size + putWord32le _msgProfilingThreadInfo_stack_usage + putByteString $ encodeUtf8 _msgProfilingThreadInfo_name + +$(makeSBP 'msgProfilingThreadInfo ''MsgProfilingThreadInfo) +$(makeJSON "_msgProfilingThreadInfo_" ''MsgProfilingThreadInfo) +$(makeLenses ''MsgProfilingThreadInfo) + +-- | ResourceBucket. +-- +-- Information about allocation of various resources grouped by buckets. Refer +-- to product documentation to understand the meaning and values in this +-- message. +data ResourceBucket = ResourceBucket + { _resourceBucket_name :: !Text + -- ^ Bucket name + , _resourceBucket_thread :: !Word8 + -- ^ Number of threads + , _resourceBucket_mutex :: !Word8 + -- ^ Number of mutexes + , _resourceBucket_cv :: !Word8 + -- ^ Number of condition variables + , _resourceBucket_io :: !Word8 + -- ^ Number of IO handles + , _resourceBucket_heap_bytes_alloc :: !Word32 + -- ^ Number of bytes allocated on the heap + , _resourceBucket_heap_bytes_free :: !Word32 + -- ^ Number of bytes freed on the heap + , _resourceBucket_io_write :: !Word32 + -- ^ Number of bytes written to IO handles + , _resourceBucket_io_read :: !Word32 + -- ^ Number of bytes read from IO handles + } deriving ( Show, Read, Eq ) + +instance Binary ResourceBucket where + get = do + _resourceBucket_name <- decodeUtf8 <$> getByteString 21 + _resourceBucket_thread <- getWord8 + _resourceBucket_mutex <- getWord8 + _resourceBucket_cv <- getWord8 + _resourceBucket_io <- getWord8 + _resourceBucket_heap_bytes_alloc <- getWord32le + _resourceBucket_heap_bytes_free <- getWord32le + _resourceBucket_io_write <- getWord32le + _resourceBucket_io_read <- getWord32le + pure ResourceBucket {..} + + put ResourceBucket {..} = do + putByteString $ encodeUtf8 _resourceBucket_name + putWord8 _resourceBucket_thread + putWord8 _resourceBucket_mutex + putWord8 _resourceBucket_cv + putWord8 _resourceBucket_io + putWord32le _resourceBucket_heap_bytes_alloc + putWord32le _resourceBucket_heap_bytes_free + putWord32le _resourceBucket_io_write + putWord32le _resourceBucket_io_read + +$(makeJSON "_resourceBucket_" ''ResourceBucket) +$(makeLenses ''ResourceBucket) + +msgProfilingResourceCounter :: Word16 +msgProfilingResourceCounter = 0xCF03 + +-- | SBP class for message MSG_PROFILING_RESOURCE_COUNTER (0xCF03). +-- +-- Information about resource buckets. Refer to product documentation to +-- understand the meaning and values in this message. +data MsgProfilingResourceCounter = MsgProfilingResourceCounter + { _msgProfilingResourceCounter_seq_no :: !Word8 + -- ^ Message number in complete sequence + , _msgProfilingResourceCounter_seq_len :: !Word8 + -- ^ Length of message sequence + , _msgProfilingResourceCounter_buckets :: ![ResourceBucket] + -- ^ List of resource buckets + } deriving ( Show, Read, Eq ) + +instance Binary MsgProfilingResourceCounter where + get = do + _msgProfilingResourceCounter_seq_no <- getWord8 + _msgProfilingResourceCounter_seq_len <- getWord8 + _msgProfilingResourceCounter_buckets <- whileM (not <$> isEmpty) get + pure MsgProfilingResourceCounter {..} + + put MsgProfilingResourceCounter {..} = do + putWord8 _msgProfilingResourceCounter_seq_no + putWord8 _msgProfilingResourceCounter_seq_len + mapM_ put _msgProfilingResourceCounter_buckets + +$(makeSBP 'msgProfilingResourceCounter ''MsgProfilingResourceCounter) +$(makeJSON "_msgProfilingResourceCounter_" ''MsgProfilingResourceCounter) +$(makeLenses ''MsgProfilingResourceCounter)