-- | -- Module: SwiftNav.SBP.Navigation -- Copyright: Copyright (C) 2015 Swift Navigation, Inc. -- License: LGPL-3 -- Maintainer: Mark Fine -- Stability: experimental -- Portability: portable -- -- Geodetic navigation messages reporting GPS time, position, velocity, and -- baseline position solutions. For position solutions, these messages define -- several different position solutions: single-point (SPP), RTK, and pseudo- -- absolute position solutions. The SPP is the standalone, absolute GPS -- position solution using only a single receiver. The RTK solution is the -- differential GPS solution, which can use either a fixed/integer or floating -- carrier phase ambiguity. The pseudo-absolute position solution uses a user- -- provided, well-surveyed base station position (if available) and the RTK -- solution in tandem. module SwiftNav.SBP.Navigation 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 msgGpsTime :: Word16 msgGpsTime = 0x0100 -- | SBP class for message MSG_GPS_TIME (0x0100). -- -- This message reports the GPS time, representing the time since the GPS epoch -- began on midnight January 6, 1980 UTC. GPS time counts the weeks and seconds -- of the week. The weeks begin at the Saturday/Sunday transition. GPS week 0 -- began at the beginning of the GPS time scale. Within each week number, the -- GPS time of the week is between between 0 and 604800 seconds (=60*60*24*7). -- Note that GPS time does not accumulate leap seconds, and as of now, has a -- small offset from UTC. In a message stream, this message precedes a set of -- other navigation messages referenced to the same time (but lacking the ns -- field) and indicates a more precise time of these messages. data MsgGpsTime = MsgGpsTime { _msgGpsTime_wn :: Word16 -- ^ GPS week number , _msgGpsTime_tow :: Word32 -- ^ GPS time of week rounded to the nearest millisecond , _msgGpsTime_ns :: Int32 -- ^ Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to -- 500000) , _msgGpsTime_flags :: Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) instance Binary MsgGpsTime where get = do _msgGpsTime_wn <- getWord16le _msgGpsTime_tow <- getWord32le _msgGpsTime_ns <- liftM fromIntegral getWord32le _msgGpsTime_flags <- getWord8 return MsgGpsTime {..} put MsgGpsTime {..} = do putWord16le _msgGpsTime_wn putWord32le _msgGpsTime_tow putWord32le $ fromIntegral _msgGpsTime_ns putWord8 _msgGpsTime_flags $(deriveSBP 'msgGpsTime ''MsgGpsTime) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgGpsTime_" . stripPrefix "_msgGpsTime_"} ''MsgGpsTime) $(makeLenses ''MsgGpsTime) msgDops :: Word16 msgDops = 0x0206 -- | SBP class for message MSG_DOPS (0x0206). -- -- This dilution of precision (DOP) message describes the effect of navigation -- satellite geometry on positional measurement precision. data MsgDops = MsgDops { _msgDops_tow :: Word32 -- ^ GPS Time of Week , _msgDops_gdop :: Word16 -- ^ Geometric Dilution of Precision , _msgDops_pdop :: Word16 -- ^ Position Dilution of Precision , _msgDops_tdop :: Word16 -- ^ Time Dilution of Precision , _msgDops_hdop :: Word16 -- ^ Horizontal Dilution of Precision , _msgDops_vdop :: Word16 -- ^ Vertical Dilution of Precision } deriving ( Show, Read, Eq ) instance Binary MsgDops where get = do _msgDops_tow <- getWord32le _msgDops_gdop <- getWord16le _msgDops_pdop <- getWord16le _msgDops_tdop <- getWord16le _msgDops_hdop <- getWord16le _msgDops_vdop <- getWord16le return MsgDops {..} put MsgDops {..} = do putWord32le _msgDops_tow putWord16le _msgDops_gdop putWord16le _msgDops_pdop putWord16le _msgDops_tdop putWord16le _msgDops_hdop putWord16le _msgDops_vdop $(deriveSBP 'msgDops ''MsgDops) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgDops_" . stripPrefix "_msgDops_"} ''MsgDops) $(makeLenses ''MsgDops) msgPosEcef :: Word16 msgPosEcef = 0x0200 -- | SBP class for message MSG_POS_ECEF (0x0200). -- -- The position solution message reports absolute Earth Centered Earth Fixed -- (ECEF) coordinates and the status (single point vs pseudo-absolute RTK) of -- the position solution. If the rover receiver knows the surveyed position of -- the base station and has an RTK solution, this reports a pseudo-absolute -- position solution using the base station position and the rover's RTK -- baseline vector. The full GPS time is given by the preceding MSG_GPS_TIME -- with the matching time-of-week (tow). data MsgPosEcef = MsgPosEcef { _msgPosEcef_tow :: Word32 -- ^ GPS Time of Week , _msgPosEcef_x :: Double -- ^ ECEF X coordinate , _msgPosEcef_y :: Double -- ^ ECEF Y coordinate , _msgPosEcef_z :: Double -- ^ ECEF Z coordinate , _msgPosEcef_accuracy :: Word16 -- ^ Position accuracy estimate (not implemented). Defaults to 0. , _msgPosEcef_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgPosEcef_flags :: Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgPosEcef where get = do _msgPosEcef_tow <- getWord32le _msgPosEcef_x <- getFloat64le _msgPosEcef_y <- getFloat64le _msgPosEcef_z <- getFloat64le _msgPosEcef_accuracy <- getWord16le _msgPosEcef_n_sats <- getWord8 _msgPosEcef_flags <- getWord8 return MsgPosEcef {..} put MsgPosEcef {..} = do putWord32le _msgPosEcef_tow putFloat64le _msgPosEcef_x putFloat64le _msgPosEcef_y putFloat64le _msgPosEcef_z putWord16le _msgPosEcef_accuracy putWord8 _msgPosEcef_n_sats putWord8 _msgPosEcef_flags $(deriveSBP 'msgPosEcef ''MsgPosEcef) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgPosEcef_" . stripPrefix "_msgPosEcef_"} ''MsgPosEcef) $(makeLenses ''MsgPosEcef) msgPosLlh :: Word16 msgPosLlh = 0x0201 -- | SBP class for message MSG_POS_LLH (0x0201). -- -- This position solution message reports the absolute geodetic coordinates and -- the status (single point vs pseudo-absolute RTK) of the position solution. -- If the rover receiver knows the surveyed position of the base station and -- has an RTK solution, this reports a pseudo-absolute position solution using -- the base station position and the rover's RTK baseline vector. The full GPS -- time is given by the preceding MSG_GPS_TIME with the matching time-of-week -- (tow). data MsgPosLlh = MsgPosLlh { _msgPosLlh_tow :: Word32 -- ^ GPS Time of Week , _msgPosLlh_lat :: Double -- ^ Latitude , _msgPosLlh_lon :: Double -- ^ Longitude , _msgPosLlh_height :: Double -- ^ Height , _msgPosLlh_h_accuracy :: Word16 -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. , _msgPosLlh_v_accuracy :: Word16 -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. , _msgPosLlh_n_sats :: Word8 -- ^ Number of satellites used in solution. , _msgPosLlh_flags :: Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgPosLlh where get = do _msgPosLlh_tow <- getWord32le _msgPosLlh_lat <- getFloat64le _msgPosLlh_lon <- getFloat64le _msgPosLlh_height <- getFloat64le _msgPosLlh_h_accuracy <- getWord16le _msgPosLlh_v_accuracy <- getWord16le _msgPosLlh_n_sats <- getWord8 _msgPosLlh_flags <- getWord8 return MsgPosLlh {..} put MsgPosLlh {..} = do putWord32le _msgPosLlh_tow putFloat64le _msgPosLlh_lat putFloat64le _msgPosLlh_lon putFloat64le _msgPosLlh_height putWord16le _msgPosLlh_h_accuracy putWord16le _msgPosLlh_v_accuracy putWord8 _msgPosLlh_n_sats putWord8 _msgPosLlh_flags $(deriveSBP 'msgPosLlh ''MsgPosLlh) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgPosLlh_" . stripPrefix "_msgPosLlh_"} ''MsgPosLlh) $(makeLenses ''MsgPosLlh) msgBaselineEcef :: Word16 msgBaselineEcef = 0x0202 -- | SBP class for message MSG_BASELINE_ECEF (0x0202). -- -- This message reports the baseline solution in Earth Centered Earth Fixed -- (ECEF) coordinates. This baseline is the relative vector distance from the -- base station to the rover receiver. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineEcef = MsgBaselineEcef { _msgBaselineEcef_tow :: Word32 -- ^ GPS Time of Week , _msgBaselineEcef_x :: Int32 -- ^ Baseline ECEF X coordinate , _msgBaselineEcef_y :: Int32 -- ^ Baseline ECEF Y coordinate , _msgBaselineEcef_z :: Int32 -- ^ Baseline ECEF Z coordinate , _msgBaselineEcef_accuracy :: Word16 -- ^ Position accuracy estimate (not implemented). Defaults to 0. , _msgBaselineEcef_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgBaselineEcef_flags :: Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgBaselineEcef where get = do _msgBaselineEcef_tow <- getWord32le _msgBaselineEcef_x <- liftM fromIntegral getWord32le _msgBaselineEcef_y <- liftM fromIntegral getWord32le _msgBaselineEcef_z <- liftM fromIntegral getWord32le _msgBaselineEcef_accuracy <- getWord16le _msgBaselineEcef_n_sats <- getWord8 _msgBaselineEcef_flags <- getWord8 return MsgBaselineEcef {..} put MsgBaselineEcef {..} = do putWord32le _msgBaselineEcef_tow putWord32le $ fromIntegral _msgBaselineEcef_x putWord32le $ fromIntegral _msgBaselineEcef_y putWord32le $ fromIntegral _msgBaselineEcef_z putWord16le _msgBaselineEcef_accuracy putWord8 _msgBaselineEcef_n_sats putWord8 _msgBaselineEcef_flags $(deriveSBP 'msgBaselineEcef ''MsgBaselineEcef) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineEcef_" . stripPrefix "_msgBaselineEcef_"} ''MsgBaselineEcef) $(makeLenses ''MsgBaselineEcef) msgBaselineNed :: Word16 msgBaselineNed = 0x0203 -- | SBP class for message MSG_BASELINE_NED (0x0203). -- -- This message reports the baseline solution in North East Down (NED) -- coordinates. This baseline is the relative vector distance from the base -- station to the rover receiver, and NED coordinate system is defined at the -- local WGS84 tangent plane centered at the base station position. The full -- GPS time is given by the preceding MSG_GPS_TIME with the matching time-of- -- week (tow). data MsgBaselineNed = MsgBaselineNed { _msgBaselineNed_tow :: Word32 -- ^ GPS Time of Week , _msgBaselineNed_n :: Int32 -- ^ Baseline North coordinate , _msgBaselineNed_e :: Int32 -- ^ Baseline East coordinate , _msgBaselineNed_d :: Int32 -- ^ Baseline Down coordinate , _msgBaselineNed_h_accuracy :: Word16 -- ^ Horizontal position accuracy estimate (not implemented). Defaults to 0. , _msgBaselineNed_v_accuracy :: Word16 -- ^ Vertical position accuracy estimate (not implemented). Defaults to 0. , _msgBaselineNed_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgBaselineNed_flags :: Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgBaselineNed where get = do _msgBaselineNed_tow <- getWord32le _msgBaselineNed_n <- liftM fromIntegral getWord32le _msgBaselineNed_e <- liftM fromIntegral getWord32le _msgBaselineNed_d <- liftM fromIntegral getWord32le _msgBaselineNed_h_accuracy <- getWord16le _msgBaselineNed_v_accuracy <- getWord16le _msgBaselineNed_n_sats <- getWord8 _msgBaselineNed_flags <- getWord8 return MsgBaselineNed {..} put MsgBaselineNed {..} = do putWord32le _msgBaselineNed_tow putWord32le $ fromIntegral _msgBaselineNed_n putWord32le $ fromIntegral _msgBaselineNed_e putWord32le $ fromIntegral _msgBaselineNed_d putWord16le _msgBaselineNed_h_accuracy putWord16le _msgBaselineNed_v_accuracy putWord8 _msgBaselineNed_n_sats putWord8 _msgBaselineNed_flags $(deriveSBP 'msgBaselineNed ''MsgBaselineNed) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineNed_" . stripPrefix "_msgBaselineNed_"} ''MsgBaselineNed) $(makeLenses ''MsgBaselineNed) msgVelEcef :: Word16 msgVelEcef = 0x0204 -- | SBP class for message MSG_VEL_ECEF (0x0204). -- -- This message reports the velocity in Earth Centered Earth Fixed (ECEF) -- coordinates. The full GPS time is given by the preceding MSG_GPS_TIME with -- the matching time-of-week (tow). data MsgVelEcef = MsgVelEcef { _msgVelEcef_tow :: Word32 -- ^ GPS Time of Week , _msgVelEcef_x :: Int32 -- ^ Velocity ECEF X coordinate , _msgVelEcef_y :: Int32 -- ^ Velocity ECEF Y coordinate , _msgVelEcef_z :: Int32 -- ^ Velocity ECEF Z coordinate , _msgVelEcef_accuracy :: Word16 -- ^ Velocity accuracy estimate (not implemented). Defaults to 0. , _msgVelEcef_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgVelEcef_flags :: Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) instance Binary MsgVelEcef where get = do _msgVelEcef_tow <- getWord32le _msgVelEcef_x <- liftM fromIntegral getWord32le _msgVelEcef_y <- liftM fromIntegral getWord32le _msgVelEcef_z <- liftM fromIntegral getWord32le _msgVelEcef_accuracy <- getWord16le _msgVelEcef_n_sats <- getWord8 _msgVelEcef_flags <- getWord8 return MsgVelEcef {..} put MsgVelEcef {..} = do putWord32le _msgVelEcef_tow putWord32le $ fromIntegral _msgVelEcef_x putWord32le $ fromIntegral _msgVelEcef_y putWord32le $ fromIntegral _msgVelEcef_z putWord16le _msgVelEcef_accuracy putWord8 _msgVelEcef_n_sats putWord8 _msgVelEcef_flags $(deriveSBP 'msgVelEcef ''MsgVelEcef) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgVelEcef_" . stripPrefix "_msgVelEcef_"} ''MsgVelEcef) $(makeLenses ''MsgVelEcef) msgVelNed :: Word16 msgVelNed = 0x0205 -- | SBP class for message MSG_VEL_NED (0x0205). -- -- This message reports the velocity in local North East Down (NED) -- coordinates. The NED coordinate system is defined as the local WGS84 tangent -- plane centered at the current position. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgVelNed = MsgVelNed { _msgVelNed_tow :: Word32 -- ^ GPS Time of Week , _msgVelNed_n :: Int32 -- ^ Velocity North coordinate , _msgVelNed_e :: Int32 -- ^ Velocity East coordinate , _msgVelNed_d :: Int32 -- ^ Velocity Down coordinate , _msgVelNed_h_accuracy :: Word16 -- ^ Horizontal velocity accuracy estimate (not implemented). Defaults to 0. , _msgVelNed_v_accuracy :: Word16 -- ^ Vertical velocity accuracy estimate (not implemented). Defaults to 0. , _msgVelNed_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgVelNed_flags :: Word8 -- ^ Status flags (reserved) } deriving ( Show, Read, Eq ) instance Binary MsgVelNed where get = do _msgVelNed_tow <- getWord32le _msgVelNed_n <- liftM fromIntegral getWord32le _msgVelNed_e <- liftM fromIntegral getWord32le _msgVelNed_d <- liftM fromIntegral getWord32le _msgVelNed_h_accuracy <- getWord16le _msgVelNed_v_accuracy <- getWord16le _msgVelNed_n_sats <- getWord8 _msgVelNed_flags <- getWord8 return MsgVelNed {..} put MsgVelNed {..} = do putWord32le _msgVelNed_tow putWord32le $ fromIntegral _msgVelNed_n putWord32le $ fromIntegral _msgVelNed_e putWord32le $ fromIntegral _msgVelNed_d putWord16le _msgVelNed_h_accuracy putWord16le _msgVelNed_v_accuracy putWord8 _msgVelNed_n_sats putWord8 _msgVelNed_flags $(deriveSBP 'msgVelNed ''MsgVelNed) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgVelNed_" . stripPrefix "_msgVelNed_"} ''MsgVelNed) $(makeLenses ''MsgVelNed) msgBaselineHeading :: Word16 msgBaselineHeading = 0x0207 -- | SBP class for message MSG_BASELINE_HEADING (0x0207). -- -- This message reports the baseline heading pointing from the base station to -- the rover relative to True North. The full GPS time is given by the -- preceding MSG_GPS_TIME with the matching time-of-week (tow). data MsgBaselineHeading = MsgBaselineHeading { _msgBaselineHeading_tow :: Word32 -- ^ GPS Time of Week , _msgBaselineHeading_heading :: Word32 -- ^ Heading , _msgBaselineHeading_n_sats :: Word8 -- ^ Number of satellites used in solution , _msgBaselineHeading_flags :: Word8 -- ^ Status flags } deriving ( Show, Read, Eq ) instance Binary MsgBaselineHeading where get = do _msgBaselineHeading_tow <- getWord32le _msgBaselineHeading_heading <- getWord32le _msgBaselineHeading_n_sats <- getWord8 _msgBaselineHeading_flags <- getWord8 return MsgBaselineHeading {..} put MsgBaselineHeading {..} = do putWord32le _msgBaselineHeading_tow putWord32le _msgBaselineHeading_heading putWord8 _msgBaselineHeading_n_sats putWord8 _msgBaselineHeading_flags $(deriveSBP 'msgBaselineHeading ''MsgBaselineHeading) $(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgBaselineHeading_" . stripPrefix "_msgBaselineHeading_"} ''MsgBaselineHeading) $(makeLenses ''MsgBaselineHeading)