// // 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_MsgVelECEF.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_vel_ecef() { { let mut payload = Cursor::new(vec![ 85, 13, 2, 211, 136, 20, 40, 244, 122, 19, 248, 255, 255, 255, 251, 255, 255, 255, 10, 0, 0, 0, 0, 0, 14, 0, 181, 99, ]); // 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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -8, "incorrect value for x, expected -8, is {}", msg.x ); assert_eq!( msg.y, -5, "incorrect value for y, expected -5, is {}", msg.y ); assert_eq!( msg.z, 10, "incorrect value for z, expected 10, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 13, 2, 211, 136, 20, 28, 246, 122, 19, 244, 255, 255, 255, 238, 255, 255, 255, 11, 0, 0, 0, 0, 0, 15, 0, 215, 120, ]); // 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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825500, "incorrect value for tow, expected 326825500, is {}", msg.tow ); assert_eq!( msg.x, -12, "incorrect value for x, expected -12, is {}", msg.x ); assert_eq!( msg.y, -18, "incorrect value for y, expected -18, is {}", msg.y ); assert_eq!( msg.z, 11, "incorrect value for z, expected 11, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 13, 2, 211, 136, 20, 16, 248, 122, 19, 248, 255, 255, 255, 250, 255, 255, 255, 7, 0, 0, 0, 0, 0, 15, 0, 248, 221, ]); // 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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -8, "incorrect value for x, expected -8, is {}", msg.x ); assert_eq!( msg.y, -6, "incorrect value for y, expected -6, is {}", msg.y ); assert_eq!(msg.z, 7, "incorrect value for z, expected 7, is {}", msg.z); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 13, 2, 211, 136, 20, 4, 250, 122, 19, 249, 255, 255, 255, 239, 255, 255, 255, 16, 0, 0, 0, 0, 0, 15, 0, 1, 167, ]); // 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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826500, "incorrect value for tow, expected 326826500, is {}", msg.tow ); assert_eq!( msg.x, -7, "incorrect value for x, expected -7, is {}", msg.x ); assert_eq!( msg.y, -17, "incorrect value for y, expected -17, is {}", msg.y ); assert_eq!( msg.z, 16, "incorrect value for z, expected 16, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 13, 2, 211, 136, 20, 248, 251, 122, 19, 247, 255, 255, 255, 243, 255, 255, 255, 14, 0, 0, 0, 0, 0, 15, 0, 191, 43, ]); // 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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -9, "incorrect value for x, expected -9, is {}", msg.x ); assert_eq!( msg.y, -13, "incorrect value for y, expected -13, is {}", msg.y ); assert_eq!( msg.z, 14, "incorrect value for z, expected 14, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; 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_vel_ecef() { { let json_input = r#"{"n_sats": 14, "sender": 35027, "msg_type": 525, "tow": 326825000, "crc": 25525, "length": 20, "flags": 0, "y": -5, "x": -8, "z": 10, "preamble": 85, "payload": "KPR6E/j////7////CgAAAAAADgA=", "accuracy": 0}"#.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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -8, "incorrect value for x, expected -8, is {}", msg.x ); assert_eq!( msg.y, -5, "incorrect value for y, expected -5, is {}", msg.y ); assert_eq!( msg.z, 10, "incorrect value for z, expected 10, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; } { let json_input = r#"{"n_sats": 15, "sender": 35027, "msg_type": 525, "tow": 326825500, "crc": 30935, "length": 20, "flags": 0, "y": -18, "x": -12, "z": 11, "preamble": 85, "payload": "HPZ6E/T////u////CwAAAAAADwA=", "accuracy": 0}"#.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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825500, "incorrect value for tow, expected 326825500, is {}", msg.tow ); assert_eq!( msg.x, -12, "incorrect value for x, expected -12, is {}", msg.x ); assert_eq!( msg.y, -18, "incorrect value for y, expected -18, is {}", msg.y ); assert_eq!( msg.z, 11, "incorrect value for z, expected 11, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; } { let json_input = r#"{"n_sats": 15, "sender": 35027, "msg_type": 525, "tow": 326826000, "crc": 56824, "length": 20, "flags": 0, "y": -6, "x": -8, "z": 7, "preamble": 85, "payload": "EPh6E/j////6////BwAAAAAADwA=", "accuracy": 0}"#.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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -8, "incorrect value for x, expected -8, is {}", msg.x ); assert_eq!( msg.y, -6, "incorrect value for y, expected -6, is {}", msg.y ); assert_eq!(msg.z, 7, "incorrect value for z, expected 7, is {}", msg.z); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; } { let json_input = r#"{"n_sats": 15, "sender": 35027, "msg_type": 525, "tow": 326826500, "crc": 42753, "length": 20, "flags": 0, "y": -17, "x": -7, "z": 16, "preamble": 85, "payload": "BPp6E/n////v////EAAAAAAADwA=", "accuracy": 0}"#.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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826500, "incorrect value for tow, expected 326826500, is {}", msg.tow ); assert_eq!( msg.x, -7, "incorrect value for x, expected -7, is {}", msg.x ); assert_eq!( msg.y, -17, "incorrect value for y, expected -17, is {}", msg.y ); assert_eq!( msg.z, 16, "incorrect value for z, expected 16, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; } { let json_input = r#"{"n_sats": 15, "sender": 35027, "msg_type": 525, "tow": 326827000, "crc": 11199, "length": 20, "flags": 0, "y": -13, "x": -9, "z": 14, "preamble": 85, "payload": "+Pt6E/f////z////DgAAAAAADwA=", "accuracy": 0}"#.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::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -9, "incorrect value for x, expected -9, is {}", msg.x ); assert_eq!( msg.y, -13, "incorrect value for y, expected -13, is {}", msg.y ); assert_eq!( msg.z, 14, "incorrect value for z, expected 14, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_navigation_msg_vel_ecef`] 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_vel_ecef() { { let mut payload = Cursor::new(vec![ 85, 13, 2, 211, 136, 20, 40, 244, 122, 19, 248, 255, 255, 255, 251, 255, 255, 255, 10, 0, 0, 0, 0, 0, 14, 0, 181, 99, ]); // 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::MsgVelEcef( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -8, "incorrect value for x, expected -8, is {}", msg.x ); assert_eq!( msg.y, -5, "incorrect value for y, expected -5, is {}", msg.y ); assert_eq!( msg.z, 10, "incorrect value for z, expected 10, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; // 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, 13, 2, 211, 136, 20, 28, 246, 122, 19, 244, 255, 255, 255, 238, 255, 255, 255, 11, 0, 0, 0, 0, 0, 15, 0, 215, 120, ]); // 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::MsgVelEcef( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326825500, "incorrect value for tow, expected 326825500, is {}", msg.tow ); assert_eq!( msg.x, -12, "incorrect value for x, expected -12, is {}", msg.x ); assert_eq!( msg.y, -18, "incorrect value for y, expected -18, is {}", msg.y ); assert_eq!( msg.z, 11, "incorrect value for z, expected 11, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; // 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, 13, 2, 211, 136, 20, 16, 248, 122, 19, 248, 255, 255, 255, 250, 255, 255, 255, 7, 0, 0, 0, 0, 0, 15, 0, 248, 221, ]); // 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::MsgVelEcef( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -8, "incorrect value for x, expected -8, is {}", msg.x ); assert_eq!( msg.y, -6, "incorrect value for y, expected -6, is {}", msg.y ); assert_eq!(msg.z, 7, "incorrect value for z, expected 7, is {}", msg.z); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; // 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, 13, 2, 211, 136, 20, 4, 250, 122, 19, 249, 255, 255, 255, 239, 255, 255, 255, 16, 0, 0, 0, 0, 0, 15, 0, 1, 167, ]); // 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::MsgVelEcef( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); assert_eq!( msg.n_sats, 15, "incorrect value for n_sats, expected 15, is {}", msg.n_sats ); assert_eq!( msg.tow, 326826500, "incorrect value for tow, expected 326826500, is {}", msg.tow ); assert_eq!( msg.x, -7, "incorrect value for x, expected -7, is {}", msg.x ); assert_eq!( msg.y, -17, "incorrect value for y, expected -17, is {}", msg.y ); assert_eq!( msg.z, 16, "incorrect value for z, expected 16, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; // 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, 13, 2, 211, 136, 20, 248, 251, 122, 19, 247, 255, 255, 255, 243, 255, 255, 255, 14, 0, 0, 0, 0, 0, 15, 0, 191, 43, ]); // 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::MsgVelEcef( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x20d, "Incorrect message type, expected 0x20d, 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.accuracy, 0, "incorrect value for accuracy, expected 0, is {}", msg.accuracy ); assert_eq!( msg.flags, 0, "incorrect value for flags, expected 0, is {}", msg.flags ); 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.x, -9, "incorrect value for x, expected -9, is {}", msg.x ); assert_eq!( msg.y, -13, "incorrect value for y, expected -13, is {}", msg.y ); assert_eq!( msg.z, 14, "incorrect value for z, expected 14, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEF"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }