// // 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_MsgVelNEDDepA.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_ned_dep_a() { { let mut payload = Cursor::new(vec![ 85, 5, 2, 246, 215, 22, 20, 46, 39, 0, 198, 251, 255, 255, 156, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 161, 92, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3996, "incorrect value for e, expected 3996, 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, -1082, "incorrect value for n, expected -1082, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 246, 215, 22, 120, 46, 39, 0, 14, 252, 255, 255, 207, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 125, 160, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3791, "incorrect value for e, expected 3791, 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, -1010, "incorrect value for n, expected -1010, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 246, 215, 22, 220, 46, 39, 0, 48, 252, 255, 255, 140, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 179, 135, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3724, "incorrect value for e, expected 3724, 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, -976, "incorrect value for n, expected -976, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 246, 215, 22, 64, 47, 39, 0, 32, 252, 255, 255, 8, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 51, 177, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3848, "incorrect value for e, expected 3848, 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, -992, "incorrect value for n, expected -992, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 246, 215, 22, 164, 47, 39, 0, 80, 252, 255, 255, 140, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 23, 0, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3724, "incorrect value for e, expected 3724, 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, -944, "incorrect value for n, expected -944, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 195, 4, 22, 212, 157, 67, 24, 229, 255, 255, 255, 26, 0, 0, 0, 25, 0, 0, 0, 0, 0, 0, 0, 8, 0, 132, 25, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 25, "incorrect value for d, expected 25, is {}", msg.d ); assert_eq!( msg.e, 26, "incorrect value for e, expected 26, 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, -27, "incorrect value for n, expected -27, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 195, 4, 22, 56, 158, 67, 24, 4, 0, 0, 0, 15, 0, 0, 0, 232, 255, 255, 255, 0, 0, 0, 0, 8, 0, 42, 14, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!( msg.e, 15, "incorrect value for e, expected 15, 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, 4, "incorrect value for n, expected 4, is {}", msg.n); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 195, 4, 22, 156, 158, 67, 24, 251, 255, 255, 255, 232, 255, 255, 255, 247, 255, 255, 255, 0, 0, 0, 0, 8, 0, 218, 148, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -9, "incorrect value for d, expected -9, is {}", msg.d ); assert_eq!( msg.e, -24, "incorrect value for e, expected -24, 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, -5, "incorrect value for n, expected -5, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 195, 4, 22, 0, 159, 67, 24, 10, 0, 0, 0, 2, 0, 0, 0, 222, 255, 255, 255, 0, 0, 0, 0, 8, 0, 148, 16, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -34, "incorrect value for d, expected -34, is {}", msg.d ); assert_eq!(msg.e, 2, "incorrect value for e, expected 2, 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, 10, "incorrect value for n, expected 10, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 195, 4, 22, 100, 159, 67, 24, 248, 255, 255, 255, 254, 255, 255, 255, 7, 0, 0, 0, 0, 0, 0, 0, 8, 0, 255, 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 7, "incorrect value for d, expected 7, is {}", msg.d); assert_eq!( msg.e, -2, "incorrect value for e, expected -2, 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, -8, "incorrect value for n, expected -8, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } { let mut payload = Cursor::new(vec![ 85, 5, 2, 195, 4, 22, 46, 162, 68, 24, 255, 255, 255, 255, 253, 255, 255, 255, 148, 255, 255, 255, 0, 0, 0, 0, 5, 0, 166, 189, ]); // 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -108, "incorrect value for d, expected -108, is {}", msg.d ); assert_eq!( msg.e, -3, "incorrect value for e, expected -3, 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, -1, "incorrect value for n, expected -1, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; 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_ned_dep_a() { { let json_input = r#"{"v_accuracy": 0, "e": 3996, "sender": 55286, "msg_type": 517, "tow": 2567700, "n": -1082, "crc": 23713, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 9, "preamble": 85, "payload": "FC4nAMb7//+cDwAAAAAAAAAAAAAJAA==", "d": 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3996, "incorrect value for e, expected 3996, 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, -1082, "incorrect value for n, expected -1082, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 3791, "sender": 55286, "msg_type": 517, "tow": 2567800, "n": -1010, "crc": 41085, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 9, "preamble": 85, "payload": "eC4nAA78///PDgAAAAAAAAAAAAAJAA==", "d": 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3791, "incorrect value for e, expected 3791, 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, -1010, "incorrect value for n, expected -1010, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 3724, "sender": 55286, "msg_type": 517, "tow": 2567900, "n": -976, "crc": 34739, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 9, "preamble": 85, "payload": "3C4nADD8//+MDgAAAAAAAAAAAAAJAA==", "d": 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3724, "incorrect value for e, expected 3724, 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, -976, "incorrect value for n, expected -976, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 3848, "sender": 55286, "msg_type": 517, "tow": 2568000, "n": -992, "crc": 45363, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 9, "preamble": 85, "payload": "QC8nACD8//8IDwAAAAAAAAAAAAAJAA==", "d": 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3848, "incorrect value for e, expected 3848, 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, -992, "incorrect value for n, expected -992, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 3724, "sender": 55286, "msg_type": 517, "tow": 2568100, "n": -944, "crc": 23, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 9, "preamble": 85, "payload": "pC8nAFD8//+MDgAAAAAAAAAAAAAJAA==", "d": 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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3724, "incorrect value for e, expected 3724, 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, -944, "incorrect value for n, expected -944, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 26, "sender": 1219, "msg_type": 517, "tow": 407084500, "n": -27, "crc": 6532, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 8, "preamble": 85, "payload": "1J1DGOX///8aAAAAGQAAAAAAAAAIAA==", "d": 25}"#.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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 25, "incorrect value for d, expected 25, is {}", msg.d ); assert_eq!( msg.e, 26, "incorrect value for e, expected 26, 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, -27, "incorrect value for n, expected -27, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 15, "sender": 1219, "msg_type": 517, "tow": 407084600, "n": 4, "crc": 3626, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 8, "preamble": 85, "payload": "OJ5DGAQAAAAPAAAA6P///wAAAAAIAA==", "d": -24}"#.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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!( msg.e, 15, "incorrect value for e, expected 15, 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, 4, "incorrect value for n, expected 4, is {}", msg.n); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -24, "sender": 1219, "msg_type": 517, "tow": 407084700, "n": -5, "crc": 38106, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 8, "preamble": 85, "payload": "nJ5DGPv////o////9////wAAAAAIAA==", "d": -9}"#.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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -9, "incorrect value for d, expected -9, is {}", msg.d ); assert_eq!( msg.e, -24, "incorrect value for e, expected -24, 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, -5, "incorrect value for n, expected -5, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": 2, "sender": 1219, "msg_type": 517, "tow": 407084800, "n": 10, "crc": 4244, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 8, "preamble": 85, "payload": "AJ9DGAoAAAACAAAA3v///wAAAAAIAA==", "d": -34}"#.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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -34, "incorrect value for d, expected -34, is {}", msg.d ); assert_eq!(msg.e, 2, "incorrect value for e, expected 2, 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, 10, "incorrect value for n, expected 10, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -2, "sender": 1219, "msg_type": 517, "tow": 407084900, "n": -8, "crc": 60671, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 8, "preamble": 85, "payload": "ZJ9DGPj////+////BwAAAAAAAAAIAA==", "d": 7}"#.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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 7, "incorrect value for d, expected 7, is {}", msg.d); assert_eq!( msg.e, -2, "incorrect value for e, expected -2, 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, -8, "incorrect value for n, expected -8, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } { let json_input = r#"{"v_accuracy": 0, "e": -3, "sender": 1219, "msg_type": 517, "tow": 407151150, "n": -1, "crc": 48550, "length": 22, "flags": 0, "h_accuracy": 0, "n_sats": 5, "preamble": 85, "payload": "LqJEGP/////9////lP///wAAAAAFAA==", "d": -108}"#.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::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -108, "incorrect value for d, expected -108, is {}", msg.d ); assert_eq!( msg.e, -3, "incorrect value for e, expected -3, 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, -1, "incorrect value for n, expected -1, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_navigation_msg_vel_ned_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_ned_dep_a() { { let mut payload = Cursor::new(vec![ 85, 5, 2, 246, 215, 22, 20, 46, 39, 0, 198, 251, 255, 255, 156, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 161, 92, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3996, "incorrect value for e, expected 3996, 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, -1082, "incorrect value for n, expected -1082, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 246, 215, 22, 120, 46, 39, 0, 14, 252, 255, 255, 207, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 125, 160, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3791, "incorrect value for e, expected 3791, 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, -1010, "incorrect value for n, expected -1010, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 246, 215, 22, 220, 46, 39, 0, 48, 252, 255, 255, 140, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 179, 135, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3724, "incorrect value for e, expected 3724, 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, -976, "incorrect value for n, expected -976, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 246, 215, 22, 64, 47, 39, 0, 32, 252, 255, 255, 8, 15, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 51, 177, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3848, "incorrect value for e, expected 3848, 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, -992, "incorrect value for n, expected -992, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 246, 215, 22, 164, 47, 39, 0, 80, 252, 255, 255, 140, 14, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 9, 0, 23, 0, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 0, "incorrect value for d, expected 0, is {}", msg.d); assert_eq!( msg.e, 3724, "incorrect value for e, expected 3724, 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, -944, "incorrect value for n, expected -944, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 195, 4, 22, 212, 157, 67, 24, 229, 255, 255, 255, 26, 0, 0, 0, 25, 0, 0, 0, 0, 0, 0, 0, 8, 0, 132, 25, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 25, "incorrect value for d, expected 25, is {}", msg.d ); assert_eq!( msg.e, 26, "incorrect value for e, expected 26, 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, -27, "incorrect value for n, expected -27, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 195, 4, 22, 56, 158, 67, 24, 4, 0, 0, 0, 15, 0, 0, 0, 232, 255, 255, 255, 0, 0, 0, 0, 8, 0, 42, 14, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -24, "incorrect value for d, expected -24, is {}", msg.d ); assert_eq!( msg.e, 15, "incorrect value for e, expected 15, 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, 4, "incorrect value for n, expected 4, is {}", msg.n); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 195, 4, 22, 156, 158, 67, 24, 251, 255, 255, 255, 232, 255, 255, 255, 247, 255, 255, 255, 0, 0, 0, 0, 8, 0, 218, 148, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -9, "incorrect value for d, expected -9, is {}", msg.d ); assert_eq!( msg.e, -24, "incorrect value for e, expected -24, 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, -5, "incorrect value for n, expected -5, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 195, 4, 22, 0, 159, 67, 24, 10, 0, 0, 0, 2, 0, 0, 0, 222, 255, 255, 255, 0, 0, 0, 0, 8, 0, 148, 16, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -34, "incorrect value for d, expected -34, is {}", msg.d ); assert_eq!(msg.e, 2, "incorrect value for e, expected 2, 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, 10, "incorrect value for n, expected 10, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 195, 4, 22, 100, 159, 67, 24, 248, 255, 255, 255, 254, 255, 255, 255, 7, 0, 0, 0, 0, 0, 0, 0, 8, 0, 255, 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, 7, "incorrect value for d, expected 7, is {}", msg.d); assert_eq!( msg.e, -2, "incorrect value for e, expected -2, 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, -8, "incorrect value for n, expected -8, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // 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, 5, 2, 195, 4, 22, 46, 162, 68, 24, 255, 255, 255, 255, 253, 255, 255, 255, 148, 255, 255, 255, 0, 0, 0, 0, 5, 0, 166, 189, ]); // 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::MsgVelNedDepA( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgVelNedDepA(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x205, "Incorrect message type, expected 0x205, 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.d, -108, "incorrect value for d, expected -108, is {}", msg.d ); assert_eq!( msg.e, -3, "incorrect value for e, expected -3, 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, -1, "incorrect value for n, expected -1, is {}", msg.n ); 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.v_accuracy, 0, "incorrect value for v_accuracy, expected 0, is {}", msg.v_accuracy ); } _ => panic!("Invalid message type! Expected a MsgVelNEDDepA"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }