// // 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_MsgVelECEFDepA.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_dep_a() { { let mut payload = Cursor::new(vec![ 85, 4, 2, 246, 215, 20, 20, 46, 39, 0, 218, 11, 0, 0, 134, 245, 255, 255, 163, 252, 255, 255, 0, 0, 9, 0, 80, 236, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567700, "incorrect value for tow, expected 2567700, is {}", msg.tow ); assert_eq!( msg.x, 3034, "incorrect value for x, expected 3034, is {}", msg.x ); assert_eq!( msg.y, -2682, "incorrect value for y, expected -2682, is {}", msg.y ); assert_eq!( msg.z, -861, "incorrect value for z, expected -861, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 246, 215, 20, 120, 46, 39, 0, 68, 11, 0, 0, 24, 246, 255, 255, 220, 252, 255, 255, 0, 0, 9, 0, 248, 138, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567800, "incorrect value for tow, expected 2567800, is {}", msg.tow ); assert_eq!( msg.x, 2884, "incorrect value for x, expected 2884, is {}", msg.x ); assert_eq!( msg.y, -2536, "incorrect value for y, expected -2536, is {}", msg.y ); assert_eq!( msg.z, -804, "incorrect value for z, expected -804, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 246, 215, 20, 220, 46, 39, 0, 21, 11, 0, 0, 77, 246, 255, 255, 247, 252, 255, 255, 0, 0, 9, 0, 25, 174, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567900, "incorrect value for tow, expected 2567900, is {}", msg.tow ); assert_eq!( msg.x, 2837, "incorrect value for x, expected 2837, is {}", msg.x ); assert_eq!( msg.y, -2483, "incorrect value for y, expected -2483, is {}", msg.y ); assert_eq!( msg.z, -777, "incorrect value for z, expected -777, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 246, 215, 20, 64, 47, 39, 0, 121, 11, 0, 0, 2, 246, 255, 255, 234, 252, 255, 255, 0, 0, 9, 0, 195, 228, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2568000, "incorrect value for tow, expected 2568000, is {}", msg.tow ); assert_eq!( msg.x, 2937, "incorrect value for x, expected 2937, is {}", msg.x ); assert_eq!( msg.y, -2558, "incorrect value for y, expected -2558, is {}", msg.y ); assert_eq!( msg.z, -790, "incorrect value for z, expected -790, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 246, 215, 20, 164, 47, 39, 0, 31, 11, 0, 0, 93, 246, 255, 255, 16, 253, 255, 255, 0, 0, 9, 0, 219, 164, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2568100, "incorrect value for tow, expected 2568100, is {}", msg.tow ); assert_eq!( msg.x, 2847, "incorrect value for x, expected 2847, is {}", msg.x ); assert_eq!( msg.y, -2467, "incorrect value for y, expected -2467, is {}", msg.y ); assert_eq!( msg.z, -752, "incorrect value for z, expected -752, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 195, 4, 20, 212, 157, 67, 24, 24, 0, 0, 0, 245, 255, 255, 255, 219, 255, 255, 255, 0, 0, 8, 0, 68, 255, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084500, "incorrect value for tow, expected 407084500, is {}", msg.tow ); assert_eq!( msg.x, 24, "incorrect value for x, expected 24, is {}", msg.x ); assert_eq!( msg.y, -11, "incorrect value for y, expected -11, is {}", msg.y ); assert_eq!( msg.z, -37, "incorrect value for z, expected -37, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 195, 4, 20, 56, 158, 67, 24, 4, 0, 0, 0, 234, 255, 255, 255, 18, 0, 0, 0, 0, 0, 8, 0, 214, 136, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084600, "incorrect value for tow, expected 407084600, is {}", msg.tow ); assert_eq!(msg.x, 4, "incorrect value for x, expected 4, is {}", msg.x); assert_eq!( msg.y, -22, "incorrect value for y, expected -22, is {}", msg.y ); assert_eq!( msg.z, 18, "incorrect value for z, expected 18, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 195, 4, 20, 156, 158, 67, 24, 230, 255, 255, 255, 4, 0, 0, 0, 1, 0, 0, 0, 0, 0, 8, 0, 122, 159, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084700, "incorrect value for tow, expected 407084700, is {}", msg.tow ); assert_eq!( msg.x, -26, "incorrect value for x, expected -26, is {}", msg.x ); assert_eq!(msg.y, 4, "incorrect value for y, expected 4, is {}", msg.y); assert_eq!(msg.z, 1, "incorrect value for z, expected 1, is {}", msg.z); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 195, 4, 20, 0, 159, 67, 24, 247, 255, 255, 255, 237, 255, 255, 255, 28, 0, 0, 0, 0, 0, 8, 0, 232, 146, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084800, "incorrect value for tow, expected 407084800, is {}", msg.tow ); assert_eq!( msg.x, -9, "incorrect value for x, expected -9, is {}", msg.x ); assert_eq!( msg.y, -19, "incorrect value for y, expected -19, is {}", msg.y ); assert_eq!( msg.z, 28, "incorrect value for z, expected 28, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 195, 4, 20, 100, 159, 67, 24, 255, 255, 255, 255, 2, 0, 0, 0, 245, 255, 255, 255, 0, 0, 8, 0, 171, 238, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084900, "incorrect value for tow, expected 407084900, is {}", msg.tow ); assert_eq!( msg.x, -1, "incorrect value for x, expected -1, is {}", msg.x ); assert_eq!(msg.y, 2, "incorrect value for y, expected 2, is {}", msg.y); assert_eq!( msg.z, -11, "incorrect value for z, expected -11, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 4, 2, 195, 4, 20, 46, 162, 68, 24, 207, 255, 255, 255, 185, 255, 255, 255, 65, 0, 0, 0, 0, 0, 5, 0, 82, 154, ]); // 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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 5, "incorrect value for n_sats, expected 5, is {}", msg.n_sats ); assert_eq!( msg.tow, 407151150, "incorrect value for tow, expected 407151150, is {}", msg.tow ); assert_eq!( msg.x, -49, "incorrect value for x, expected -49, is {}", msg.x ); assert_eq!( msg.y, -71, "incorrect value for y, expected -71, is {}", msg.y ); assert_eq!( msg.z, 65, "incorrect value for z, expected 65, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; 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_dep_a() { { let json_input = r#"{"n_sats": 9, "sender": 55286, "msg_type": 516, "tow": 2567700, "crc": 60496, "length": 20, "flags": 0, "y": -2682, "x": 3034, "z": -861, "preamble": 85, "payload": "FC4nANoLAACG9f//o/z//wAACQA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567700, "incorrect value for tow, expected 2567700, is {}", msg.tow ); assert_eq!( msg.x, 3034, "incorrect value for x, expected 3034, is {}", msg.x ); assert_eq!( msg.y, -2682, "incorrect value for y, expected -2682, is {}", msg.y ); assert_eq!( msg.z, -861, "incorrect value for z, expected -861, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 9, "sender": 55286, "msg_type": 516, "tow": 2567800, "crc": 35576, "length": 20, "flags": 0, "y": -2536, "x": 2884, "z": -804, "preamble": 85, "payload": "eC4nAEQLAAAY9v//3Pz//wAACQA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567800, "incorrect value for tow, expected 2567800, is {}", msg.tow ); assert_eq!( msg.x, 2884, "incorrect value for x, expected 2884, is {}", msg.x ); assert_eq!( msg.y, -2536, "incorrect value for y, expected -2536, is {}", msg.y ); assert_eq!( msg.z, -804, "incorrect value for z, expected -804, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 9, "sender": 55286, "msg_type": 516, "tow": 2567900, "crc": 44569, "length": 20, "flags": 0, "y": -2483, "x": 2837, "z": -777, "preamble": 85, "payload": "3C4nABULAABN9v//9/z//wAACQA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567900, "incorrect value for tow, expected 2567900, is {}", msg.tow ); assert_eq!( msg.x, 2837, "incorrect value for x, expected 2837, is {}", msg.x ); assert_eq!( msg.y, -2483, "incorrect value for y, expected -2483, is {}", msg.y ); assert_eq!( msg.z, -777, "incorrect value for z, expected -777, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 9, "sender": 55286, "msg_type": 516, "tow": 2568000, "crc": 58563, "length": 20, "flags": 0, "y": -2558, "x": 2937, "z": -790, "preamble": 85, "payload": "QC8nAHkLAAAC9v//6vz//wAACQA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2568000, "incorrect value for tow, expected 2568000, is {}", msg.tow ); assert_eq!( msg.x, 2937, "incorrect value for x, expected 2937, is {}", msg.x ); assert_eq!( msg.y, -2558, "incorrect value for y, expected -2558, is {}", msg.y ); assert_eq!( msg.z, -790, "incorrect value for z, expected -790, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 9, "sender": 55286, "msg_type": 516, "tow": 2568100, "crc": 42203, "length": 20, "flags": 0, "y": -2467, "x": 2847, "z": -752, "preamble": 85, "payload": "pC8nAB8LAABd9v//EP3//wAACQA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2568100, "incorrect value for tow, expected 2568100, is {}", msg.tow ); assert_eq!( msg.x, 2847, "incorrect value for x, expected 2847, is {}", msg.x ); assert_eq!( msg.y, -2467, "incorrect value for y, expected -2467, is {}", msg.y ); assert_eq!( msg.z, -752, "incorrect value for z, expected -752, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 8, "sender": 1219, "msg_type": 516, "tow": 407084500, "crc": 65348, "length": 20, "flags": 0, "y": -11, "x": 24, "z": -37, "preamble": 85, "payload": "1J1DGBgAAAD1////2////wAACAA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084500, "incorrect value for tow, expected 407084500, is {}", msg.tow ); assert_eq!( msg.x, 24, "incorrect value for x, expected 24, is {}", msg.x ); assert_eq!( msg.y, -11, "incorrect value for y, expected -11, is {}", msg.y ); assert_eq!( msg.z, -37, "incorrect value for z, expected -37, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 8, "sender": 1219, "msg_type": 516, "tow": 407084600, "crc": 35030, "length": 20, "flags": 0, "y": -22, "x": 4, "z": 18, "preamble": 85, "payload": "OJ5DGAQAAADq////EgAAAAAACAA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084600, "incorrect value for tow, expected 407084600, is {}", msg.tow ); assert_eq!(msg.x, 4, "incorrect value for x, expected 4, is {}", msg.x); assert_eq!( msg.y, -22, "incorrect value for y, expected -22, is {}", msg.y ); assert_eq!( msg.z, 18, "incorrect value for z, expected 18, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 8, "sender": 1219, "msg_type": 516, "tow": 407084700, "crc": 40826, "length": 20, "flags": 0, "y": 4, "x": -26, "z": 1, "preamble": 85, "payload": "nJ5DGOb///8EAAAAAQAAAAAACAA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084700, "incorrect value for tow, expected 407084700, is {}", msg.tow ); assert_eq!( msg.x, -26, "incorrect value for x, expected -26, is {}", msg.x ); assert_eq!(msg.y, 4, "incorrect value for y, expected 4, is {}", msg.y); assert_eq!(msg.z, 1, "incorrect value for z, expected 1, is {}", msg.z); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 8, "sender": 1219, "msg_type": 516, "tow": 407084800, "crc": 37608, "length": 20, "flags": 0, "y": -19, "x": -9, "z": 28, "preamble": 85, "payload": "AJ9DGPf////t////HAAAAAAACAA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084800, "incorrect value for tow, expected 407084800, is {}", msg.tow ); assert_eq!( msg.x, -9, "incorrect value for x, expected -9, is {}", msg.x ); assert_eq!( msg.y, -19, "incorrect value for y, expected -19, is {}", msg.y ); assert_eq!( msg.z, 28, "incorrect value for z, expected 28, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 8, "sender": 1219, "msg_type": 516, "tow": 407084900, "crc": 61099, "length": 20, "flags": 0, "y": 2, "x": -1, "z": -11, "preamble": 85, "payload": "ZJ9DGP////8CAAAA9f///wAACAA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084900, "incorrect value for tow, expected 407084900, is {}", msg.tow ); assert_eq!( msg.x, -1, "incorrect value for x, expected -1, is {}", msg.x ); assert_eq!(msg.y, 2, "incorrect value for y, expected 2, is {}", msg.y); assert_eq!( msg.z, -11, "incorrect value for z, expected -11, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } { let json_input = r#"{"n_sats": 5, "sender": 1219, "msg_type": 516, "tow": 407151150, "crc": 39506, "length": 20, "flags": 0, "y": -71, "x": -49, "z": 65, "preamble": 85, "payload": "LqJEGM////+5////QQAAAAAABQA=", "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::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 5, "incorrect value for n_sats, expected 5, is {}", msg.n_sats ); assert_eq!( msg.tow, 407151150, "incorrect value for tow, expected 407151150, is {}", msg.tow ); assert_eq!( msg.x, -49, "incorrect value for x, expected -49, is {}", msg.x ); assert_eq!( msg.y, -71, "incorrect value for y, expected -71, is {}", msg.y ); assert_eq!( msg.z, 65, "incorrect value for z, expected 65, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_navigation_msg_vel_ecef_dep_a`] 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_dep_a() { { let mut payload = Cursor::new(vec![ 85, 4, 2, 246, 215, 20, 20, 46, 39, 0, 218, 11, 0, 0, 134, 245, 255, 255, 163, 252, 255, 255, 0, 0, 9, 0, 80, 236, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567700, "incorrect value for tow, expected 2567700, is {}", msg.tow ); assert_eq!( msg.x, 3034, "incorrect value for x, expected 3034, is {}", msg.x ); assert_eq!( msg.y, -2682, "incorrect value for y, expected -2682, is {}", msg.y ); assert_eq!( msg.z, -861, "incorrect value for z, expected -861, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 246, 215, 20, 120, 46, 39, 0, 68, 11, 0, 0, 24, 246, 255, 255, 220, 252, 255, 255, 0, 0, 9, 0, 248, 138, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567800, "incorrect value for tow, expected 2567800, is {}", msg.tow ); assert_eq!( msg.x, 2884, "incorrect value for x, expected 2884, is {}", msg.x ); assert_eq!( msg.y, -2536, "incorrect value for y, expected -2536, is {}", msg.y ); assert_eq!( msg.z, -804, "incorrect value for z, expected -804, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 246, 215, 20, 220, 46, 39, 0, 21, 11, 0, 0, 77, 246, 255, 255, 247, 252, 255, 255, 0, 0, 9, 0, 25, 174, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2567900, "incorrect value for tow, expected 2567900, is {}", msg.tow ); assert_eq!( msg.x, 2837, "incorrect value for x, expected 2837, is {}", msg.x ); assert_eq!( msg.y, -2483, "incorrect value for y, expected -2483, is {}", msg.y ); assert_eq!( msg.z, -777, "incorrect value for z, expected -777, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 246, 215, 20, 64, 47, 39, 0, 121, 11, 0, 0, 2, 246, 255, 255, 234, 252, 255, 255, 0, 0, 9, 0, 195, 228, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2568000, "incorrect value for tow, expected 2568000, is {}", msg.tow ); assert_eq!( msg.x, 2937, "incorrect value for x, expected 2937, is {}", msg.x ); assert_eq!( msg.y, -2558, "incorrect value for y, expected -2558, is {}", msg.y ); assert_eq!( msg.z, -790, "incorrect value for z, expected -790, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 246, 215, 20, 164, 47, 39, 0, 31, 11, 0, 0, 93, 246, 255, 255, 16, 253, 255, 255, 0, 0, 9, 0, 219, 164, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0xd7f6, "incorrect sender id, expected 0xd7f6, 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, 9, "incorrect value for n_sats, expected 9, is {}", msg.n_sats ); assert_eq!( msg.tow, 2568100, "incorrect value for tow, expected 2568100, is {}", msg.tow ); assert_eq!( msg.x, 2847, "incorrect value for x, expected 2847, is {}", msg.x ); assert_eq!( msg.y, -2467, "incorrect value for y, expected -2467, is {}", msg.y ); assert_eq!( msg.z, -752, "incorrect value for z, expected -752, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 195, 4, 20, 212, 157, 67, 24, 24, 0, 0, 0, 245, 255, 255, 255, 219, 255, 255, 255, 0, 0, 8, 0, 68, 255, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084500, "incorrect value for tow, expected 407084500, is {}", msg.tow ); assert_eq!( msg.x, 24, "incorrect value for x, expected 24, is {}", msg.x ); assert_eq!( msg.y, -11, "incorrect value for y, expected -11, is {}", msg.y ); assert_eq!( msg.z, -37, "incorrect value for z, expected -37, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 195, 4, 20, 56, 158, 67, 24, 4, 0, 0, 0, 234, 255, 255, 255, 18, 0, 0, 0, 0, 0, 8, 0, 214, 136, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084600, "incorrect value for tow, expected 407084600, is {}", msg.tow ); assert_eq!(msg.x, 4, "incorrect value for x, expected 4, is {}", msg.x); assert_eq!( msg.y, -22, "incorrect value for y, expected -22, is {}", msg.y ); assert_eq!( msg.z, 18, "incorrect value for z, expected 18, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 195, 4, 20, 156, 158, 67, 24, 230, 255, 255, 255, 4, 0, 0, 0, 1, 0, 0, 0, 0, 0, 8, 0, 122, 159, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084700, "incorrect value for tow, expected 407084700, is {}", msg.tow ); assert_eq!( msg.x, -26, "incorrect value for x, expected -26, is {}", msg.x ); assert_eq!(msg.y, 4, "incorrect value for y, expected 4, is {}", msg.y); assert_eq!(msg.z, 1, "incorrect value for z, expected 1, is {}", msg.z); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 195, 4, 20, 0, 159, 67, 24, 247, 255, 255, 255, 237, 255, 255, 255, 28, 0, 0, 0, 0, 0, 8, 0, 232, 146, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084800, "incorrect value for tow, expected 407084800, is {}", msg.tow ); assert_eq!( msg.x, -9, "incorrect value for x, expected -9, is {}", msg.x ); assert_eq!( msg.y, -19, "incorrect value for y, expected -19, is {}", msg.y ); assert_eq!( msg.z, 28, "incorrect value for z, expected 28, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 195, 4, 20, 100, 159, 67, 24, 255, 255, 255, 255, 2, 0, 0, 0, 245, 255, 255, 255, 0, 0, 8, 0, 171, 238, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 8, "incorrect value for n_sats, expected 8, is {}", msg.n_sats ); assert_eq!( msg.tow, 407084900, "incorrect value for tow, expected 407084900, is {}", msg.tow ); assert_eq!( msg.x, -1, "incorrect value for x, expected -1, is {}", msg.x ); assert_eq!(msg.y, 2, "incorrect value for y, expected 2, is {}", msg.y); assert_eq!( msg.z, -11, "incorrect value for z, expected -11, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // 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, 4, 2, 195, 4, 20, 46, 162, 68, 24, 207, 255, 255, 255, 185, 255, 255, 255, 65, 0, 0, 0, 0, 0, 5, 0, 82, 154, ]); // 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::MsgVelEcefDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelEcefDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x204, "Incorrect message type, expected 0x204, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x4c3, "incorrect sender id, expected 0x4c3, 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, 5, "incorrect value for n_sats, expected 5, is {}", msg.n_sats ); assert_eq!( msg.tow, 407151150, "incorrect value for tow, expected 407151150, is {}", msg.tow ); assert_eq!( msg.x, -49, "incorrect value for x, expected -49, is {}", msg.x ); assert_eq!( msg.y, -71, "incorrect value for y, expected -71, is {}", msg.y ); assert_eq!( msg.z, 65, "incorrect value for z, expected 65, is {}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgVelECEFDepA"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }