Piksi.hs

-- |
-- Module:      SwiftNav.SBP.Piksi
-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.
-- License:     LGPL-3
-- Maintainer:  Mark Fine <dev@swiftnav.com>
-- Stability:   experimental
-- Portability: portable
--
-- System health, configuration, and diagnostic messages specific to the Piksi
-- L1 receiver, including a variety of legacy messages that may no longer be
-- used.

module SwiftNav.SBP.Piksi where

import BasicPrelude
import Control.Lens
import Control.Monad.Loops
import Data.Aeson.TH (deriveJSON, defaultOptions, fieldLabelModifier)
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
import SwiftNav.SBP.Encoding
import SwiftNav.SBP.TH
import SwiftNav.SBP.Types
import SwiftNav.SBP.GnssSignal

msgAlmanac :: Word16
msgAlmanac = 0x0069

-- | SBP class for message MSG_ALMANAC (0x0069).
--
-- This is a legacy message for sending and loading a satellite alamanac onto
-- the Piksi's flash memory from the host.
data MsgAlmanac = MsgAlmanac
  deriving ( Show, Read, Eq )

instance Binary MsgAlmanac where
  get =
    return MsgAlmanac

  put MsgAlmanac =
    return ()

$(deriveSBP 'msgAlmanac ''MsgAlmanac)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgAlmanac_" . stripPrefix "_msgAlmanac_"}
             ''MsgAlmanac)
$(makeLenses ''MsgAlmanac)

msgSetTime :: Word16
msgSetTime = 0x0068

-- | SBP class for message MSG_SET_TIME (0x0068).
--
-- This message sets up timing functionality using a coarse GPS time estimate
-- sent by the host.
data MsgSetTime = MsgSetTime
  deriving ( Show, Read, Eq )

instance Binary MsgSetTime where
  get =
    return MsgSetTime

  put MsgSetTime =
    return ()

$(deriveSBP 'msgSetTime ''MsgSetTime)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgSetTime_" . stripPrefix "_msgSetTime_"}
             ''MsgSetTime)
$(makeLenses ''MsgSetTime)

msgReset :: Word16
msgReset = 0x00B2

-- | SBP class for message MSG_RESET (0x00B2).
--
-- This message from the host resets the Piksi back into the bootloader.
data MsgReset = MsgReset
  deriving ( Show, Read, Eq )

instance Binary MsgReset where
  get =
    return MsgReset

  put MsgReset =
    return ()

$(deriveSBP 'msgReset ''MsgReset)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgReset_" . stripPrefix "_msgReset_"}
             ''MsgReset)
$(makeLenses ''MsgReset)

msgCwResults :: Word16
msgCwResults = 0x00C0

-- | SBP class for message MSG_CW_RESULTS (0x00C0).
--
-- This is an unused legacy message for result reporting from the CW
-- interference channel on the SwiftNAP. This message will be removed in a
-- future release.
data MsgCwResults = MsgCwResults
  deriving ( Show, Read, Eq )

instance Binary MsgCwResults where
  get =
    return MsgCwResults

  put MsgCwResults =
    return ()

$(deriveSBP 'msgCwResults ''MsgCwResults)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgCwResults_" . stripPrefix "_msgCwResults_"}
             ''MsgCwResults)
$(makeLenses ''MsgCwResults)

msgCwStart :: Word16
msgCwStart = 0x00C1

-- | SBP class for message MSG_CW_START (0x00C1).
--
-- This is an unused legacy message from the host for starting the CW
-- interference channel on the SwiftNAP. This message will be removed in a
-- future release.
data MsgCwStart = MsgCwStart
  deriving ( Show, Read, Eq )

instance Binary MsgCwStart where
  get =
    return MsgCwStart

  put MsgCwStart =
    return ()

$(deriveSBP 'msgCwStart ''MsgCwStart)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgCwStart_" . stripPrefix "_msgCwStart_"}
             ''MsgCwStart)
$(makeLenses ''MsgCwStart)

msgResetFilters :: Word16
msgResetFilters = 0x0022

-- | SBP class for message MSG_RESET_FILTERS (0x0022).
--
-- This message resets either the DGNSS Kalman filters or Integer Ambiguity
-- Resolution (IAR) process.
data MsgResetFilters = MsgResetFilters
  { _msgResetFilters_filter :: Word8
    -- ^ Filter flags
  } deriving ( Show, Read, Eq )

instance Binary MsgResetFilters where
  get = do
    _msgResetFilters_filter <- getWord8
    return MsgResetFilters {..}

  put MsgResetFilters {..} = do
    putWord8 _msgResetFilters_filter

$(deriveSBP 'msgResetFilters ''MsgResetFilters)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgResetFilters_" . stripPrefix "_msgResetFilters_"}
             ''MsgResetFilters)
$(makeLenses ''MsgResetFilters)

msgInitBase :: Word16
msgInitBase = 0x0023

-- | SBP class for message MSG_INIT_BASE (0x0023).
--
-- This message initializes the integer ambiguity resolution (IAR) process on
-- the Piksi to use an assumed baseline position between the base station and
-- rover receivers. Warns via MSG_PRINT if there aren't a shared minimum number
-- (4) of satellite observations between the two.
data MsgInitBase = MsgInitBase
  deriving ( Show, Read, Eq )

instance Binary MsgInitBase where
  get =
    return MsgInitBase

  put MsgInitBase =
    return ()

$(deriveSBP 'msgInitBase ''MsgInitBase)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgInitBase_" . stripPrefix "_msgInitBase_"}
             ''MsgInitBase)
$(makeLenses ''MsgInitBase)

msgThreadState :: Word16
msgThreadState = 0x0017

-- | SBP class for message MSG_THREAD_STATE (0x0017).
--
-- The thread usage message from the device reports real-time operating system
-- (RTOS) thread usage statistics for the named thread. The reported percentage
-- values must be normalized.
data MsgThreadState = MsgThreadState
  { _msgThreadState_name     :: ByteString
    -- ^ Thread name (NULL terminated)
  , _msgThreadState_cpu      :: Word16
    -- ^ Percentage cpu use for this thread. Values range from 0 - 1000 and needs
    -- to be renormalized to 100
  , _msgThreadState_stack_free :: Word32
    -- ^ Free stack space for this thread
  } deriving ( Show, Read, Eq )

instance Binary MsgThreadState where
  get = do
    _msgThreadState_name <- getByteString 20
    _msgThreadState_cpu <- getWord16le
    _msgThreadState_stack_free <- getWord32le
    return MsgThreadState {..}

  put MsgThreadState {..} = do
    putByteString _msgThreadState_name
    putWord16le _msgThreadState_cpu
    putWord32le _msgThreadState_stack_free

$(deriveSBP 'msgThreadState ''MsgThreadState)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgThreadState_" . stripPrefix "_msgThreadState_"}
             ''MsgThreadState)
$(makeLenses ''MsgThreadState)

-- | UARTChannel.
--
-- Throughput, utilization, and error counts on the RX/TX buffers of this UART
-- channel. The reported percentage values must be normalized.
data UARTChannel = UARTChannel
  { _uARTChannel_tx_throughput :: Float
    -- ^ UART transmit throughput
  , _uARTChannel_rx_throughput :: Float
    -- ^ UART receive throughput
  , _uARTChannel_crc_error_count :: Word16
    -- ^ UART CRC error count
  , _uARTChannel_io_error_count :: Word16
    -- ^ UART IO error count
  , _uARTChannel_tx_buffer_level :: Word8
    -- ^ UART transmit buffer percentage utilization (ranges from 0 to 255)
  , _uARTChannel_rx_buffer_level :: Word8
    -- ^ UART receive buffer percentage utilization (ranges from 0 to 255)
  } deriving ( Show, Read, Eq )

instance Binary UARTChannel where
  get = do
    _uARTChannel_tx_throughput <- getFloat32le
    _uARTChannel_rx_throughput <- getFloat32le
    _uARTChannel_crc_error_count <- getWord16le
    _uARTChannel_io_error_count <- getWord16le
    _uARTChannel_tx_buffer_level <- getWord8
    _uARTChannel_rx_buffer_level <- getWord8
    return UARTChannel {..}

  put UARTChannel {..} = do
    putFloat32le _uARTChannel_tx_throughput
    putFloat32le _uARTChannel_rx_throughput
    putWord16le _uARTChannel_crc_error_count
    putWord16le _uARTChannel_io_error_count
    putWord8 _uARTChannel_tx_buffer_level
    putWord8 _uARTChannel_rx_buffer_level
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_uARTChannel_" . stripPrefix "_uARTChannel_"}
             ''UARTChannel)
$(makeLenses ''UARTChannel)

-- | Latency.
--
-- Statistics on the latency of observations received from the base station. As
-- observation packets are received their GPS time is compared to the current
-- GPS time calculated locally by the receiver to give a precise measurement of
-- the end-to-end communication latency in the system.
data Latency = Latency
  { _latency_avg   :: Int32
    -- ^ Average latency
  , _latency_lmin  :: Int32
    -- ^ Minimum latency
  , _latency_lmax  :: Int32
    -- ^ Maximum latency
  , _latency_current :: Int32
    -- ^ Smoothed estimate of the current latency
  } deriving ( Show, Read, Eq )

instance Binary Latency where
  get = do
    _latency_avg <- liftM fromIntegral getWord32le
    _latency_lmin <- liftM fromIntegral getWord32le
    _latency_lmax <- liftM fromIntegral getWord32le
    _latency_current <- liftM fromIntegral getWord32le
    return Latency {..}

  put Latency {..} = do
    putWord32le $ fromIntegral _latency_avg
    putWord32le $ fromIntegral _latency_lmin
    putWord32le $ fromIntegral _latency_lmax
    putWord32le $ fromIntegral _latency_current
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_latency_" . stripPrefix "_latency_"}
             ''Latency)
$(makeLenses ''Latency)

msgUartState :: Word16
msgUartState = 0x0018

-- | SBP class for message MSG_UART_STATE (0x0018).
--
-- The UART message reports data latency and throughput of the UART channels
-- providing SBP I/O. On the default Piksi configuration, UARTs A and B are
-- used for telemetry radios, but can also be host access ports for embedded
-- hosts, or other interfaces in future. The reported percentage values must be
-- normalized.
data MsgUartState = MsgUartState
  { _msgUartState_uart_a  :: UARTChannel
    -- ^ State of UART A
  , _msgUartState_uart_b  :: UARTChannel
    -- ^ State of UART B
  , _msgUartState_uart_ftdi :: UARTChannel
    -- ^ State of UART FTDI (USB logger)
  , _msgUartState_latency :: Latency
    -- ^ UART communication latency
  } deriving ( Show, Read, Eq )

instance Binary MsgUartState where
  get = do
    _msgUartState_uart_a <- get
    _msgUartState_uart_b <- get
    _msgUartState_uart_ftdi <- get
    _msgUartState_latency <- get
    return MsgUartState {..}

  put MsgUartState {..} = do
    put _msgUartState_uart_a
    put _msgUartState_uart_b
    put _msgUartState_uart_ftdi
    put _msgUartState_latency

$(deriveSBP 'msgUartState ''MsgUartState)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUartState_" . stripPrefix "_msgUartState_"}
             ''MsgUartState)
$(makeLenses ''MsgUartState)

msgIarState :: Word16
msgIarState = 0x0019

-- | SBP class for message MSG_IAR_STATE (0x0019).
--
-- This message reports the state of the Integer Ambiguity Resolution (IAR)
-- process, which resolves unknown integer ambiguities from double-differenced
-- carrier-phase measurements from satellite observations.
data MsgIarState = MsgIarState
  { _msgIarState_num_hyps :: Word32
    -- ^ Number of integer ambiguity hypotheses remaining
  } deriving ( Show, Read, Eq )

instance Binary MsgIarState where
  get = do
    _msgIarState_num_hyps <- getWord32le
    return MsgIarState {..}

  put MsgIarState {..} = do
    putWord32le _msgIarState_num_hyps

$(deriveSBP 'msgIarState ''MsgIarState)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgIarState_" . stripPrefix "_msgIarState_"}
             ''MsgIarState)
$(makeLenses ''MsgIarState)

msgMaskSatellite :: Word16
msgMaskSatellite = 0x001B

-- | SBP class for message MSG_MASK_SATELLITE (0x001B).
--
-- This message allows setting a mask to prevent a particular satellite from
-- being used in various Piksi subsystems.
data MsgMaskSatellite = MsgMaskSatellite
  { _msgMaskSatellite_mask :: Word8
    -- ^ Mask of systems that should ignore this satellite.
  , _msgMaskSatellite_sid :: SBPGnssSignal
    -- ^ GNSS signal for which the mask is applied
  } deriving ( Show, Read, Eq )

instance Binary MsgMaskSatellite where
  get = do
    _msgMaskSatellite_mask <- getWord8
    _msgMaskSatellite_sid <- get
    return MsgMaskSatellite {..}

  put MsgMaskSatellite {..} = do
    putWord8 _msgMaskSatellite_mask
    put _msgMaskSatellite_sid

$(deriveSBP 'msgMaskSatellite ''MsgMaskSatellite)

$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgMaskSatellite_" . stripPrefix "_msgMaskSatellite_"}
             ''MsgMaskSatellite)
$(makeLenses ''MsgMaskSatellite)