System.hs

-- |
-- Module:      SwiftNav.SBP.System
-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.
-- License:     LGPL-3
-- Maintainer:  Mark Fine <dev@swiftnav.com>
-- Stability:   experimental
-- Portability: portable
--
-- Standardized system messages from Swift Navigation devices.

module SwiftNav.SBP.System where

import Control.Monad
import Control.Monad.Loops
import Data.Binary
import Data.Binary.Get
import Data.Binary.IEEE754
import Data.Binary.Put
import Data.ByteString
import Data.ByteString.Lazy hiding ( ByteString )
import Data.Int
import Data.Word

msgStartup :: Word16
msgStartup = 0xFF00

-- | SBP class for message MSG_STARTUP (0xFF00).
--
-- The system start-up message is sent once on system start-up. It notifies the
-- host or other attached devices that the system has started and is now ready
-- to respond to commands or configuration requests.
data MsgStartup = MsgStartup
  { msgStartupReserved :: Word32
    -- ^ Reserved
  } deriving ( Show, Read, Eq )

instance Binary MsgStartup where
  get = do
    msgStartupReserved <- getWord32le
    return MsgStartup {..}

  put MsgStartup {..} = do
    putWord32le msgStartupReserved

msgHeartbeat :: Word16
msgHeartbeat = 0xFFFF

-- | SBP class for message MSG_HEARTBEAT (0xFFFF).
--
-- The heartbeat message is sent periodically to inform the host or other
-- attached devices that the system is running. It is used to monitor system
-- malfunctions. It also contains status flags that indicate to the host the
-- status of the system and whether it is operating correctly. Currently, the
-- expected heartbeat interval is 1 sec.  The system error flag is used to
-- indicate that an error has occurred in the system. To determine the source
-- of the error, the remaining error flags should be inspected.
data MsgHeartbeat = MsgHeartbeat
  { msgHeartbeatFlags :: Word32
    -- ^ Status flags
  } deriving ( Show, Read, Eq )

instance Binary MsgHeartbeat where
  get = do
    msgHeartbeatFlags <- getWord32le
    return MsgHeartbeat {..}

  put MsgHeartbeat {..} = do
    putWord32le msgHeartbeatFlags