// // Copyright (C) 2019-2021 Swift Navigation Inc. // Contact: https://support.swiftnav.com // // This source is subject to the license found in the file 'LICENSE' which must // be distributed together with this source. All other rights reserved. // // THIS CODE AND INFORMATION IS PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND, // EITHER EXPRESSED OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE IMPLIED // WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A PARTICULAR PURPOSE. // This file was auto-generated from spec/tests/yaml/swiftnav/sbp/navigation/test_MsgBaselineNED.yaml by generate.py. Do not modify by hand! use crate::*; /// Tests [`sbp::iter_messages`], from payload into SBP messages /// /// Asserts: /// - SBP fields equates to that of the field /// - Payload is identical #[test] fn test_auto_check_sbp_navigation_msg_baseline_ned() { { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 40, 244, 122, 19, 201, 115, 12, 0, 179, 88, 230, 255, 153, 125, 0, 0, 0, 0, 0, 0, 14, 0, 226, 70, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32153, "incorrect value for d, expected 32153, is {}", msg.d ); assert_eq!( msg.e, -1681229, "incorrect value for e, expected -1681229, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 816073, "incorrect value for n, expected 816073, is {}", msg.n ); assert_eq!( msg.n_sats, 14, "incorrect value for n_sats, expected 14, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825000, "incorrect value for tow, expected 326825000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 16, 248, 122, 19, 98, 115, 12, 0, 194, 88, 230, 255, 110, 127, 0, 0, 0, 0, 0, 0, 15, 0, 69, 93, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32622, "incorrect value for d, expected 32622, is {}", msg.d ); assert_eq!( msg.e, -1681214, "incorrect value for e, expected -1681214, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815970, "incorrect value for n, expected 815970, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826000, "incorrect value for tow, expected 326826000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 248, 251, 122, 19, 143, 114, 12, 0, 173, 88, 230, 255, 238, 127, 0, 0, 0, 0, 0, 0, 15, 0, 210, 169, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32750, "incorrect value for d, expected 32750, is {}", msg.d ); assert_eq!( msg.e, -1681235, "incorrect value for e, expected -1681235, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815759, "incorrect value for n, expected 815759, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326827000, "incorrect value for tow, expected 326827000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 224, 255, 122, 19, 86, 112, 12, 0, 51, 88, 230, 255, 47, 127, 0, 0, 0, 0, 0, 0, 15, 0, 135, 107, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32559, "incorrect value for d, expected 32559, is {}", msg.d ); assert_eq!( msg.e, -1681357, "incorrect value for e, expected -1681357, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815190, "incorrect value for n, expected 815190, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326828000, "incorrect value for tow, expected 326828000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 200, 3, 123, 19, 214, 110, 12, 0, 220, 87, 230, 255, 165, 126, 0, 0, 0, 0, 0, 0, 15, 0, 190, 80, ]); // Test the round trip payload parsing let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32421, "incorrect value for d, expected 32421, is {}", msg.d ); assert_eq!( msg.e, -1681444, "incorrect value for e, expected -1681444, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 814806, "incorrect value for n, expected 814806, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326829000, "incorrect value for tow, expected 326829000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } } /// Tests [`sbp::json::iter_messages`] for JSON payload -> SBP message /// and [`sbp::json::iter_messages_from_fields`] for JSON fields -> SBP message. /// /// Asserts: /// - SBP message constructed via payload is identical to from fields /// - SBP fields equates to that of the field /// - Payload is identical #[test] #[cfg(feature = "json")] fn test_json2sbp_auto_check_sbp_navigation_msg_baseline_ned() { { let json_input = r#"{"v_accuracy": 0, "e": -1681229, "sender": 35027, "msg_type": 524, "tow": 326825000, "n": 816073, "crc": 18146, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 14, "preamble": 85, "payload": "KPR6E8lzDACzWOb/mX0AAAAAAAAOAA==", "d": 32153}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32153, "incorrect value for d, expected 32153, is {}", msg.d ); assert_eq!( msg.e, -1681229, "incorrect value for e, expected -1681229, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 816073, "incorrect value for n, expected 816073, is {}", msg.n ); assert_eq!( msg.n_sats, 14, "incorrect value for n_sats, expected 14, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825000, "incorrect value for tow, expected 326825000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -1681214, "sender": 35027, "msg_type": 524, "tow": 326826000, "n": 815970, "crc": 23877, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "EPh6E2JzDADCWOb/bn8AAAAAAAAPAA==", "d": 32622}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32622, "incorrect value for d, expected 32622, is {}", msg.d ); assert_eq!( msg.e, -1681214, "incorrect value for e, expected -1681214, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815970, "incorrect value for n, expected 815970, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826000, "incorrect value for tow, expected 326826000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -1681235, "sender": 35027, "msg_type": 524, "tow": 326827000, "n": 815759, "crc": 43474, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "+Pt6E49yDACtWOb/7n8AAAAAAAAPAA==", "d": 32750}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32750, "incorrect value for d, expected 32750, is {}", msg.d ); assert_eq!( msg.e, -1681235, "incorrect value for e, expected -1681235, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815759, "incorrect value for n, expected 815759, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326827000, "incorrect value for tow, expected 326827000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -1681357, "sender": 35027, "msg_type": 524, "tow": 326828000, "n": 815190, "crc": 27527, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "4P96E1ZwDAAzWOb/L38AAAAAAAAPAA==", "d": 32559}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32559, "incorrect value for d, expected 32559, is {}", msg.d ); assert_eq!( msg.e, -1681357, "incorrect value for e, expected -1681357, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815190, "incorrect value for n, expected 815190, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326828000, "incorrect value for tow, expected 326828000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -1681444, "sender": 35027, "msg_type": 524, "tow": 326829000, "n": 814806, "crc": 20670, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 15, "preamble": 85, "payload": "yAN7E9ZuDADcV+b/pX4AAAAAAAAPAA==", "d": 32421}"#.as_bytes(); let sbp_msg = { // JSON to SBP message from payload let mut iter = json2sbp_iter_msg(json_input); let from_payload = iter .next() .expect("no message found") .expect("failed to parse message"); // JSON to SBP message from fields let mut iter = iter_messages_from_fields(json_input); let from_fields = iter .next() .expect("no message found") .expect("failed to parse message"); assert_eq!(from_fields, from_payload); from_fields }; match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32421, "incorrect value for d, expected 32421, is {}", msg.d ); assert_eq!( msg.e, -1681444, "incorrect value for e, expected -1681444, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 814806, "incorrect value for n, expected 814806, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326829000, "incorrect value for tow, expected 326829000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_navigation_msg_baseline_ned`] passes /// /// Asserts: /// - SBP fields equates to that of the field /// - Payload is identical #[test] #[cfg(feature = "json")] fn test_sbp2json_auto_check_sbp_navigation_msg_baseline_ned() { { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 40, 244, 122, 19, 201, 115, 12, 0, 179, 88, 230, 255, 153, 125, 0, 0, 0, 0, 0, 0, 14, 0, 226, 70, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgBaselineNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32153, "incorrect value for d, expected 32153, is {}", msg.d ); assert_eq!( msg.e, -1681229, "incorrect value for e, expected -1681229, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 816073, "incorrect value for n, expected 816073, is {}", msg.n ); assert_eq!( msg.n_sats, 14, "incorrect value for n_sats, expected 14, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825000, "incorrect value for tow, expected 326825000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 16, 248, 122, 19, 98, 115, 12, 0, 194, 88, 230, 255, 110, 127, 0, 0, 0, 0, 0, 0, 15, 0, 69, 93, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgBaselineNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32622, "incorrect value for d, expected 32622, is {}", msg.d ); assert_eq!( msg.e, -1681214, "incorrect value for e, expected -1681214, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815970, "incorrect value for n, expected 815970, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826000, "incorrect value for tow, expected 326826000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 248, 251, 122, 19, 143, 114, 12, 0, 173, 88, 230, 255, 238, 127, 0, 0, 0, 0, 0, 0, 15, 0, 210, 169, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgBaselineNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32750, "incorrect value for d, expected 32750, is {}", msg.d ); assert_eq!( msg.e, -1681235, "incorrect value for e, expected -1681235, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815759, "incorrect value for n, expected 815759, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326827000, "incorrect value for tow, expected 326827000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 224, 255, 122, 19, 86, 112, 12, 0, 51, 88, 230, 255, 47, 127, 0, 0, 0, 0, 0, 0, 15, 0, 135, 107, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgBaselineNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32559, "incorrect value for d, expected 32559, is {}", msg.d ); assert_eq!( msg.e, -1681357, "incorrect value for e, expected -1681357, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 815190, "incorrect value for n, expected 815190, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326828000, "incorrect value for tow, expected 326828000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 12, 2, 211, 136, 22, 200, 3, 123, 19, 214, 110, 12, 0, 220, 87, 230, 255, 165, 126, 0, 0, 0, 0, 0, 0, 15, 0, 190, 80, ]); // Construct sbp message let sbp_msg = { let mut msgs = iter_messages(&mut payload); msgs.next() .expect("no message found") .expect("failed to parse message") }; let mut json_buffer = vec![]; // Populate json buffer, CompactFormatter sbp::json::JsonEncoder::new(&mut json_buffer, sbp::json::CompactFormatter {}) .send(&sbp_msg) .unwrap(); // Reconstruct Sbp message from json fields, roundtrip let sbp_msg = sbp::messages::Sbp::MsgBaselineNed( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBaselineNed(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20c, "Incorrect message type, expected 0x20c, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x88d3, "incorrect sender id, expected 0x88d3, is {sender_id}" ); assert_eq!( msg.d, 32421, "incorrect value for d, expected 32421, is {}", msg.d ); assert_eq!( msg.e, -1681444, "incorrect value for e, expected -1681444, is {}", msg.e ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.h_accuracy, 0, "incorrect value for h_accuracy, expected 0, is {}", msg.h_accuracy ); assert_eq!( msg.n, 814806, "incorrect value for n, expected 814806, is {}", msg.n ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326829000, "incorrect value for tow, expected 326829000, is {}", msg.tow ); assert_eq!( msg.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgBaselineNED"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }