ExtEvents.hs

{-# OPTIONS_GHC -fno-warn-unused-imports #-}
{-# LANGUAGE NoImplicitPrelude           #-}
{-# LANGUAGE TemplateHaskell             #-}
{-# LANGUAGE RecordWildCards             #-}

-- |
-- Module:      SwiftNav.SBP.ExtEvents
-- Copyright:   Copyright (C) 2015 Swift Navigation, Inc.
-- License:     LGPL-3
-- Maintainer:  Mark Fine <dev@swiftnav.com>
-- Stability:   experimental
-- Portability: portable
--
-- Messages reporting accurately-timestamped external events, e.g. camera
-- shutter time.

module SwiftNav.SBP.ExtEvents
  ( module SwiftNav.SBP.ExtEvents
  ) where

import BasicPrelude
import Control.Lens
import Control.Monad.Loops
import Data.Binary
import Data.Binary.Get
import Data.Binary.IEEE754
import Data.Binary.Put
import Data.ByteString.Lazy    hiding (ByteString)
import Data.Int
import Data.Word
import SwiftNav.SBP.TH
import SwiftNav.SBP.Types

{-# ANN module ("HLint: ignore Use camelCase"::String) #-}
{-# ANN module ("HLint: ignore Redundant do"::String) #-}
{-# ANN module ("HLint: ignore Use newtype instead of data"::String) #-}


msgExtEvent :: Word16
msgExtEvent = 0x0101

-- | SBP class for message MSG_EXT_EVENT (0x0101).
--
-- Reports detection of an external event, the GPS time it occurred, which pin
-- it was and whether it was rising or falling.
data MsgExtEvent = MsgExtEvent
  { _msgExtEvent_wn        :: !Word16
    -- ^ GPS week number
  , _msgExtEvent_tow       :: !Word32
    -- ^ GPS time of week rounded to the nearest millisecond
  , _msgExtEvent_ns_residual :: !Int32
    -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to
    -- 500000)
  , _msgExtEvent_flags     :: !Word8
    -- ^ Flags
  , _msgExtEvent_pin       :: !Word8
    -- ^ Pin number.  0..9 = DEBUG0..9.
  } deriving ( Show, Read, Eq )

instance Binary MsgExtEvent where
  get = do
    _msgExtEvent_wn <- getWord16le
    _msgExtEvent_tow <- getWord32le
    _msgExtEvent_ns_residual <- fromIntegral <$> getWord32le
    _msgExtEvent_flags <- getWord8
    _msgExtEvent_pin <- getWord8
    pure MsgExtEvent {..}

  put MsgExtEvent {..} = do
    putWord16le _msgExtEvent_wn
    putWord32le _msgExtEvent_tow
    putWord32le $ fromIntegral _msgExtEvent_ns_residual
    putWord8 _msgExtEvent_flags
    putWord8 _msgExtEvent_pin

$(makeSBP 'msgExtEvent ''MsgExtEvent)
$(makeJSON "_msgExtEvent_" ''MsgExtEvent)
$(makeLenses ''MsgExtEvent)