System.hs

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

-- |
-- 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
  ( module SwiftNav.SBP.System
  ) 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
import Data.ByteString.Lazy    hiding (ByteString)
import Data.Int
import Data.Word
import SwiftNav.Encoding       ()
import SwiftNav.SBP.TH
import SwiftNav.SBP.Types

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
  { _msgStartup_cause      :: !Word8
    -- ^ Cause of startup
  , _msgStartup_startup_type :: !Word8
    -- ^ Startup type
  , _msgStartup_reserved   :: !Word16
    -- ^ Reserved
  } deriving ( Show, Read, Eq )

instance Binary MsgStartup where
  get = do
    _msgStartup_cause <- getWord8
    _msgStartup_startup_type <- getWord8
    _msgStartup_reserved <- getWord16le
    return MsgStartup {..}

  put MsgStartup {..} = do
    putWord8 _msgStartup_cause
    putWord8 _msgStartup_startup_type
    putWord16le _msgStartup_reserved

$(makeSBP 'msgStartup ''MsgStartup)
$(makeJSON "_msgStartup_" ''MsgStartup)
$(makeLenses ''MsgStartup)

msgDgnssStatus :: Word16
msgDgnssStatus = 0xFF02

-- | SBP class for message MSG_DGNSS_STATUS (0xFF02).
--
-- This message provides information about the receipt of Differential
-- corrections.  It is expected to be sent with each receipt of a complete
-- corrections packet.
data MsgDgnssStatus = MsgDgnssStatus
  { _msgDgnssStatus_flags     :: !Word8
    -- ^ Status flags
  , _msgDgnssStatus_latency   :: !Word16
    -- ^ Latency of observation receipt
  , _msgDgnssStatus_num_signals :: !Word8
    -- ^ Number of signals from base station
  , _msgDgnssStatus_source    :: !Text
    -- ^ Corrections source string
  } deriving ( Show, Read, Eq )

instance Binary MsgDgnssStatus where
  get = do
    _msgDgnssStatus_flags <- getWord8
    _msgDgnssStatus_latency <- getWord16le
    _msgDgnssStatus_num_signals <- getWord8
    _msgDgnssStatus_source <- decodeUtf8 . toStrict <$> getRemainingLazyByteString
    return MsgDgnssStatus {..}

  put MsgDgnssStatus {..} = do
    putWord8 _msgDgnssStatus_flags
    putWord16le _msgDgnssStatus_latency
    putWord8 _msgDgnssStatus_num_signals
    putByteString $ encodeUtf8 _msgDgnssStatus_source

$(makeSBP 'msgDgnssStatus ''MsgDgnssStatus)
$(makeJSON "_msgDgnssStatus_" ''MsgDgnssStatus)
$(makeLenses ''MsgDgnssStatus)

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
  { _msgHeartbeat_flags :: !Word32
    -- ^ Status flags
  } deriving ( Show, Read, Eq )

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

  put MsgHeartbeat {..} = do
    putWord32le _msgHeartbeat_flags

$(makeSBP 'msgHeartbeat ''MsgHeartbeat)
$(makeJSON "_msgHeartbeat_" ''MsgHeartbeat)
$(makeLenses ''MsgHeartbeat)