// // 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/observation/test_MsgBasePosEcef.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_observation_msg_base_pos_ecef() { { let mut payload = Cursor::new(vec![ 85, 72, 0, 0, 0, 24, 228, 131, 158, 245, 87, 205, 68, 193, 66, 62, 232, 209, 32, 118, 80, 193, 213, 231, 106, 251, 63, 20, 77, 65, 194, 125, ]); // 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::MsgBasePosEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x48, "Incorrect message type, expected 0x48, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0, "incorrect sender id, expected 0, is {sender_id}" ); assert!( msg.x.almost_eq(-2.72657591889999993e+06), "incorrect value for x, expected -2.72657591889999993e+06, is {:e}", msg.x ); assert!( msg.y.almost_eq(-4.31526727979999967e+06), "incorrect value for y, expected -4.31526727979999967e+06, is {:e}", msg.y ); assert!( msg.z.almost_eq(3.81145596419999981e+06), "incorrect value for z, expected 3.81145596419999981e+06, is {:e}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgBasePosECEF"), }; 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_observation_msg_base_pos_ecef() { { let json_input = r#"{"x":-2726575.9189,"y":-4315267.2798,"z":3811455.9642,"preamble":85,"msg_type":72,"sender":0,"payload":"5IOe9VfNRMFCPujRIHZQwdXnavs/FE1B","crc":32194,"length":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::MsgBasePosEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x48, "Incorrect message type, expected 0x48, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0, "incorrect sender id, expected 0, is {sender_id}" ); assert!( msg.x.almost_eq(-2.72657591889999993e+06), "incorrect value for x, expected -2.72657591889999993e+06, is {:e}", msg.x ); assert!( msg.y.almost_eq(-4.31526727979999967e+06), "incorrect value for y, expected -4.31526727979999967e+06, is {:e}", msg.y ); assert!( msg.z.almost_eq(3.81145596419999981e+06), "incorrect value for z, expected 3.81145596419999981e+06, is {:e}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgBasePosECEF"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_observation_msg_base_pos_ecef`] passes /// /// Asserts: /// - SBP fields equates to that of the field /// - Payload is identical #[test] #[cfg(feature = "json")] fn test_sbp2json_auto_check_sbp_observation_msg_base_pos_ecef() { { let mut payload = Cursor::new(vec![ 85, 72, 0, 0, 0, 24, 228, 131, 158, 245, 87, 205, 68, 193, 66, 62, 232, 209, 32, 118, 80, 193, 213, 231, 106, 251, 63, 20, 77, 65, 194, 125, ]); // 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::MsgBasePosEcef( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBasePosEcef(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x48, "Incorrect message type, expected 0x48, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0, "incorrect sender id, expected 0, is {sender_id}" ); assert!( msg.x.almost_eq(-2.72657591889999993e+06), "incorrect value for x, expected -2.72657591889999993e+06, is {:e}", msg.x ); assert!( msg.y.almost_eq(-4.31526727979999967e+06), "incorrect value for y, expected -4.31526727979999967e+06, is {:e}", msg.y ); assert!( msg.z.almost_eq(3.81145596419999981e+06), "incorrect value for z, expected 3.81145596419999981e+06, is {:e}", msg.z ); } _ => panic!("Invalid message type! Expected a MsgBasePosECEF"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }