module SwiftNav.SBP.Navigation where
import BasicPrelude
import Control.Lens
import Control.Monad.Loops
import Data.Aeson.TH (defaultOptions, deriveJSON, 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
data MsgGpsTime = MsgGpsTime
{ _msgGpsTime_wn :: Word16
, _msgGpsTime_tow :: Word32
, _msgGpsTime_ns :: Int32
, _msgGpsTime_flags :: Word8
} 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
data MsgDops = MsgDops
{ _msgDops_tow :: Word32
, _msgDops_gdop :: Word16
, _msgDops_pdop :: Word16
, _msgDops_tdop :: Word16
, _msgDops_hdop :: Word16
, _msgDops_vdop :: Word16
} 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
data MsgPosEcef = MsgPosEcef
{ _msgPosEcef_tow :: Word32
, _msgPosEcef_x :: Double
, _msgPosEcef_y :: Double
, _msgPosEcef_z :: Double
, _msgPosEcef_accuracy :: Word16
, _msgPosEcef_n_sats :: Word8
, _msgPosEcef_flags :: Word8
} 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
data MsgPosLlh = MsgPosLlh
{ _msgPosLlh_tow :: Word32
, _msgPosLlh_lat :: Double
, _msgPosLlh_lon :: Double
, _msgPosLlh_height :: Double
, _msgPosLlh_h_accuracy :: Word16
, _msgPosLlh_v_accuracy :: Word16
, _msgPosLlh_n_sats :: Word8
, _msgPosLlh_flags :: Word8
} 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
data MsgBaselineEcef = MsgBaselineEcef
{ _msgBaselineEcef_tow :: Word32
, _msgBaselineEcef_x :: Int32
, _msgBaselineEcef_y :: Int32
, _msgBaselineEcef_z :: Int32
, _msgBaselineEcef_accuracy :: Word16
, _msgBaselineEcef_n_sats :: Word8
, _msgBaselineEcef_flags :: Word8
} 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
data MsgBaselineNed = MsgBaselineNed
{ _msgBaselineNed_tow :: Word32
, _msgBaselineNed_n :: Int32
, _msgBaselineNed_e :: Int32
, _msgBaselineNed_d :: Int32
, _msgBaselineNed_h_accuracy :: Word16
, _msgBaselineNed_v_accuracy :: Word16
, _msgBaselineNed_n_sats :: Word8
, _msgBaselineNed_flags :: Word8
} 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
data MsgVelEcef = MsgVelEcef
{ _msgVelEcef_tow :: Word32
, _msgVelEcef_x :: Int32
, _msgVelEcef_y :: Int32
, _msgVelEcef_z :: Int32
, _msgVelEcef_accuracy :: Word16
, _msgVelEcef_n_sats :: Word8
, _msgVelEcef_flags :: Word8
} 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
data MsgVelNed = MsgVelNed
{ _msgVelNed_tow :: Word32
, _msgVelNed_n :: Int32
, _msgVelNed_e :: Int32
, _msgVelNed_d :: Int32
, _msgVelNed_h_accuracy :: Word16
, _msgVelNed_v_accuracy :: Word16
, _msgVelNed_n_sats :: Word8
, _msgVelNed_flags :: Word8
} 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
data MsgBaselineHeading = MsgBaselineHeading
{ _msgBaselineHeading_tow :: Word32
, _msgBaselineHeading_heading :: Word32
, _msgBaselineHeading_n_sats :: Word8
, _msgBaselineHeading_flags :: Word8
} 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)