module SwiftNav.SBP.Piksi where
import BasicPrelude as P
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
import SwiftNav.SBP.Gnss
msgAlmanac :: Word16
msgAlmanac = 0x0069
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_" . P.stripPrefix "_msgAlmanac_"}
''MsgAlmanac)
$(makeLenses ''MsgAlmanac)
msgSetTime :: Word16
msgSetTime = 0x0068
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_" . P.stripPrefix "_msgSetTime_"}
''MsgSetTime)
$(makeLenses ''MsgSetTime)
msgReset :: Word16
msgReset = 0x00B6
data MsgReset = MsgReset
{ _msgReset_flags :: Word32
} deriving ( Show, Read, Eq )
instance Binary MsgReset where
get = do
_msgReset_flags <- getWord32le
return MsgReset {..}
put MsgReset {..} = do
putWord32le _msgReset_flags
$(deriveSBP 'msgReset ''MsgReset)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgReset_" . P.stripPrefix "_msgReset_"}
''MsgReset)
$(makeLenses ''MsgReset)
msgResetDep :: Word16
msgResetDep = 0x00B2
data MsgResetDep = MsgResetDep
deriving ( Show, Read, Eq )
instance Binary MsgResetDep where
get =
return MsgResetDep
put MsgResetDep =
return ()
$(deriveSBP 'msgResetDep ''MsgResetDep)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgResetDep_" . P.stripPrefix "_msgResetDep_"}
''MsgResetDep)
$(makeLenses ''MsgResetDep)
msgCwResults :: Word16
msgCwResults = 0x00C0
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_" . P.stripPrefix "_msgCwResults_"}
''MsgCwResults)
$(makeLenses ''MsgCwResults)
msgCwStart :: Word16
msgCwStart = 0x00C1
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_" . P.stripPrefix "_msgCwStart_"}
''MsgCwStart)
$(makeLenses ''MsgCwStart)
msgResetFilters :: Word16
msgResetFilters = 0x0022
data MsgResetFilters = MsgResetFilters
{ _msgResetFilters_filter :: Word8
} 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_" . P.stripPrefix "_msgResetFilters_"}
''MsgResetFilters)
$(makeLenses ''MsgResetFilters)
msgInitBase :: Word16
msgInitBase = 0x0023
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_" . P.stripPrefix "_msgInitBase_"}
''MsgInitBase)
$(makeLenses ''MsgInitBase)
msgThreadState :: Word16
msgThreadState = 0x0017
data MsgThreadState = MsgThreadState
{ _msgThreadState_name :: Text
, _msgThreadState_cpu :: Word16
, _msgThreadState_stack_free :: Word32
} deriving ( Show, Read, Eq )
instance Binary MsgThreadState where
get = do
_msgThreadState_name <- decodeUtf8 <$> getByteString 20
_msgThreadState_cpu <- getWord16le
_msgThreadState_stack_free <- getWord32le
return MsgThreadState {..}
put MsgThreadState {..} = do
putByteString $ encodeUtf8 _msgThreadState_name
putWord16le _msgThreadState_cpu
putWord32le _msgThreadState_stack_free
$(deriveSBP 'msgThreadState ''MsgThreadState)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgThreadState_" . P.stripPrefix "_msgThreadState_"}
''MsgThreadState)
$(makeLenses ''MsgThreadState)
data UARTChannel = UARTChannel
{ _uARTChannel_tx_throughput :: Float
, _uARTChannel_rx_throughput :: Float
, _uARTChannel_crc_error_count :: Word16
, _uARTChannel_io_error_count :: Word16
, _uARTChannel_tx_buffer_level :: Word8
, _uARTChannel_rx_buffer_level :: Word8
} 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_" . P.stripPrefix "_uARTChannel_"}
''UARTChannel)
$(makeLenses ''UARTChannel)
data Period = Period
{ _period_avg :: Int32
, _period_pmin :: Int32
, _period_pmax :: Int32
, _period_current :: Int32
} deriving ( Show, Read, Eq )
instance Binary Period where
get = do
_period_avg <- fromIntegral <$> getWord32le
_period_pmin <- fromIntegral <$> getWord32le
_period_pmax <- fromIntegral <$> getWord32le
_period_current <- fromIntegral <$> getWord32le
return Period {..}
put Period {..} = do
putWord32le $ fromIntegral _period_avg
putWord32le $ fromIntegral _period_pmin
putWord32le $ fromIntegral _period_pmax
putWord32le $ fromIntegral _period_current
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_period_" . P.stripPrefix "_period_"}
''Period)
$(makeLenses ''Period)
data Latency = Latency
{ _latency_avg :: Int32
, _latency_lmin :: Int32
, _latency_lmax :: Int32
, _latency_current :: Int32
} deriving ( Show, Read, Eq )
instance Binary Latency where
get = do
_latency_avg <- fromIntegral <$> getWord32le
_latency_lmin <- fromIntegral <$> getWord32le
_latency_lmax <- fromIntegral <$> getWord32le
_latency_current <- 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_" . P.stripPrefix "_latency_"}
''Latency)
$(makeLenses ''Latency)
msgUartState :: Word16
msgUartState = 0x001D
data MsgUartState = MsgUartState
{ _msgUartState_uart_a :: UARTChannel
, _msgUartState_uart_b :: UARTChannel
, _msgUartState_uart_ftdi :: UARTChannel
, _msgUartState_latency :: Latency
, _msgUartState_obs_period :: Period
} 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
_msgUartState_obs_period <- get
return MsgUartState {..}
put MsgUartState {..} = do
put _msgUartState_uart_a
put _msgUartState_uart_b
put _msgUartState_uart_ftdi
put _msgUartState_latency
put _msgUartState_obs_period
$(deriveSBP 'msgUartState ''MsgUartState)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUartState_" . P.stripPrefix "_msgUartState_"}
''MsgUartState)
$(makeLenses ''MsgUartState)
msgUartStateDepa :: Word16
msgUartStateDepa = 0x0018
data MsgUartStateDepa = MsgUartStateDepa
{ _msgUartStateDepa_uart_a :: UARTChannel
, _msgUartStateDepa_uart_b :: UARTChannel
, _msgUartStateDepa_uart_ftdi :: UARTChannel
, _msgUartStateDepa_latency :: Latency
} deriving ( Show, Read, Eq )
instance Binary MsgUartStateDepa where
get = do
_msgUartStateDepa_uart_a <- get
_msgUartStateDepa_uart_b <- get
_msgUartStateDepa_uart_ftdi <- get
_msgUartStateDepa_latency <- get
return MsgUartStateDepa {..}
put MsgUartStateDepa {..} = do
put _msgUartStateDepa_uart_a
put _msgUartStateDepa_uart_b
put _msgUartStateDepa_uart_ftdi
put _msgUartStateDepa_latency
$(deriveSBP 'msgUartStateDepa ''MsgUartStateDepa)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgUartStateDepa_" . P.stripPrefix "_msgUartStateDepa_"}
''MsgUartStateDepa)
$(makeLenses ''MsgUartStateDepa)
msgIarState :: Word16
msgIarState = 0x0019
data MsgIarState = MsgIarState
{ _msgIarState_num_hyps :: Word32
} 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_" . P.stripPrefix "_msgIarState_"}
''MsgIarState)
$(makeLenses ''MsgIarState)
msgMaskSatellite :: Word16
msgMaskSatellite = 0x001B
data MsgMaskSatellite = MsgMaskSatellite
{ _msgMaskSatellite_mask :: Word8
, _msgMaskSatellite_sid :: GnssSignal
} 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_" . P.stripPrefix "_msgMaskSatellite_"}
''MsgMaskSatellite)
$(makeLenses ''MsgMaskSatellite)
msgDeviceMonitor :: Word16
msgDeviceMonitor = 0x00B5
data MsgDeviceMonitor = MsgDeviceMonitor
{ _msgDeviceMonitor_dev_vin :: Int16
, _msgDeviceMonitor_cpu_vint :: Int16
, _msgDeviceMonitor_cpu_vaux :: Int16
, _msgDeviceMonitor_cpu_temperature :: Int16
, _msgDeviceMonitor_fe_temperature :: Int16
} deriving ( Show, Read, Eq )
instance Binary MsgDeviceMonitor where
get = do
_msgDeviceMonitor_dev_vin <- fromIntegral <$> getWord16le
_msgDeviceMonitor_cpu_vint <- fromIntegral <$> getWord16le
_msgDeviceMonitor_cpu_vaux <- fromIntegral <$> getWord16le
_msgDeviceMonitor_cpu_temperature <- fromIntegral <$> getWord16le
_msgDeviceMonitor_fe_temperature <- fromIntegral <$> getWord16le
return MsgDeviceMonitor {..}
put MsgDeviceMonitor {..} = do
putWord16le $ fromIntegral _msgDeviceMonitor_dev_vin
putWord16le $ fromIntegral _msgDeviceMonitor_cpu_vint
putWord16le $ fromIntegral _msgDeviceMonitor_cpu_vaux
putWord16le $ fromIntegral _msgDeviceMonitor_cpu_temperature
putWord16le $ fromIntegral _msgDeviceMonitor_fe_temperature
$(deriveSBP 'msgDeviceMonitor ''MsgDeviceMonitor)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgDeviceMonitor_" . P.stripPrefix "_msgDeviceMonitor_"}
''MsgDeviceMonitor)
$(makeLenses ''MsgDeviceMonitor)
msgCommandReq :: Word16
msgCommandReq = 0x00B8
data MsgCommandReq = MsgCommandReq
{ _msgCommandReq_sequence :: Word32
, _msgCommandReq_command :: Text
} deriving ( Show, Read, Eq )
instance Binary MsgCommandReq where
get = do
_msgCommandReq_sequence <- getWord32le
_msgCommandReq_command <- decodeUtf8 . toStrict <$> getRemainingLazyByteString
return MsgCommandReq {..}
put MsgCommandReq {..} = do
putWord32le _msgCommandReq_sequence
putByteString $ encodeUtf8 _msgCommandReq_command
$(deriveSBP 'msgCommandReq ''MsgCommandReq)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgCommandReq_" . P.stripPrefix "_msgCommandReq_"}
''MsgCommandReq)
$(makeLenses ''MsgCommandReq)
msgCommandResp :: Word16
msgCommandResp = 0x00B9
data MsgCommandResp = MsgCommandResp
{ _msgCommandResp_sequence :: Word32
, _msgCommandResp_code :: Int32
} deriving ( Show, Read, Eq )
instance Binary MsgCommandResp where
get = do
_msgCommandResp_sequence <- getWord32le
_msgCommandResp_code <- fromIntegral <$> getWord32le
return MsgCommandResp {..}
put MsgCommandResp {..} = do
putWord32le _msgCommandResp_sequence
putWord32le $ fromIntegral _msgCommandResp_code
$(deriveSBP 'msgCommandResp ''MsgCommandResp)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgCommandResp_" . P.stripPrefix "_msgCommandResp_"}
''MsgCommandResp)
$(makeLenses ''MsgCommandResp)
msgNetworkStateReq :: Word16
msgNetworkStateReq = 0x00BA
data MsgNetworkStateReq = MsgNetworkStateReq
deriving ( Show, Read, Eq )
instance Binary MsgNetworkStateReq where
get =
return MsgNetworkStateReq
put MsgNetworkStateReq =
return ()
$(deriveSBP 'msgNetworkStateReq ''MsgNetworkStateReq)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgNetworkStateReq_" . P.stripPrefix "_msgNetworkStateReq_"}
''MsgNetworkStateReq)
$(makeLenses ''MsgNetworkStateReq)
msgNetworkStateResp :: Word16
msgNetworkStateResp = 0x00BB
data MsgNetworkStateResp = MsgNetworkStateResp
{ _msgNetworkStateResp_ipv4_address :: [Word8]
, _msgNetworkStateResp_ipv4_mask_size :: Word8
, _msgNetworkStateResp_ipv6_address :: [Word8]
, _msgNetworkStateResp_ipv6_mask_size :: Word8
, _msgNetworkStateResp_rx_bytes :: Word32
, _msgNetworkStateResp_tx_bytes :: Word32
, _msgNetworkStateResp_interface_name :: Text
, _msgNetworkStateResp_flags :: Word32
} deriving ( Show, Read, Eq )
instance Binary MsgNetworkStateResp where
get = do
_msgNetworkStateResp_ipv4_address <- replicateM 4 getWord8
_msgNetworkStateResp_ipv4_mask_size <- getWord8
_msgNetworkStateResp_ipv6_address <- replicateM 16 getWord8
_msgNetworkStateResp_ipv6_mask_size <- getWord8
_msgNetworkStateResp_rx_bytes <- getWord32le
_msgNetworkStateResp_tx_bytes <- getWord32le
_msgNetworkStateResp_interface_name <- decodeUtf8 <$> getByteString 16
_msgNetworkStateResp_flags <- getWord32le
return MsgNetworkStateResp {..}
put MsgNetworkStateResp {..} = do
mapM_ putWord8 _msgNetworkStateResp_ipv4_address
putWord8 _msgNetworkStateResp_ipv4_mask_size
mapM_ putWord8 _msgNetworkStateResp_ipv6_address
putWord8 _msgNetworkStateResp_ipv6_mask_size
putWord32le _msgNetworkStateResp_rx_bytes
putWord32le _msgNetworkStateResp_tx_bytes
putByteString $ encodeUtf8 _msgNetworkStateResp_interface_name
putWord32le _msgNetworkStateResp_flags
$(deriveSBP 'msgNetworkStateResp ''MsgNetworkStateResp)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgNetworkStateResp_" . P.stripPrefix "_msgNetworkStateResp_"}
''MsgNetworkStateResp)
$(makeLenses ''MsgNetworkStateResp)
msgSpecan :: Word16
msgSpecan = 0x0050
data MsgSpecan = MsgSpecan
{ _msgSpecan_t :: GpsTime
, _msgSpecan_freq_ref :: Float
, _msgSpecan_freq_step :: Float
, _msgSpecan_amplitude_ref :: Float
, _msgSpecan_amplitude_unit :: Float
, _msgSpecan_amplitude_value :: [Word8]
} deriving ( Show, Read, Eq )
instance Binary MsgSpecan where
get = do
_msgSpecan_t <- get
_msgSpecan_freq_ref <- getFloat32le
_msgSpecan_freq_step <- getFloat32le
_msgSpecan_amplitude_ref <- getFloat32le
_msgSpecan_amplitude_unit <- getFloat32le
_msgSpecan_amplitude_value <- whileM (not <$> isEmpty) getWord8
return MsgSpecan {..}
put MsgSpecan {..} = do
put _msgSpecan_t
putFloat32le _msgSpecan_freq_ref
putFloat32le _msgSpecan_freq_step
putFloat32le _msgSpecan_amplitude_ref
putFloat32le _msgSpecan_amplitude_unit
mapM_ putWord8 _msgSpecan_amplitude_value
$(deriveSBP 'msgSpecan ''MsgSpecan)
$(deriveJSON defaultOptions {fieldLabelModifier = fromMaybe "_msgSpecan_" . P.stripPrefix "_msgSpecan_"}
''MsgSpecan)
$(makeLenses ''MsgSpecan)