// // 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_MsgBasePosLLH.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_llh() { { let mut payload = Cursor::new(vec![ 85, 68, 0, 123, 0, 24, 225, 237, 238, 90, 42, 160, 66, 64, 59, 143, 70, 235, 0, 120, 94, 192, 51, 181, 124, 240, 65, 248, 66, 64, 82, 230, ]); // 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::MsgBasePosLlh(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x44, "Incorrect message type, expected 0x44, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x007b, "incorrect sender id, expected 0x007b, is {sender_id}" ); assert!( msg.height.almost_eq(3.79395123108792163e+01), "incorrect value for height, expected 3.79395123108792163e+01, is {:e}", msg.height ); assert!( msg.lat.almost_eq(3.72512925783773952e+01), "incorrect value for lat, expected 3.72512925783773952e+01, is {:e}", msg.lat ); assert!( msg.lon.almost_eq(-1.21875056094079739e+02), "incorrect value for lon, expected -1.21875056094079739e+02, is {:e}", msg.lon ); } _ => panic!("Invalid message type! Expected a MsgBasePosLLH"), }; 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_llh() { { let json_input = r#"{"crc":58962,"length":24,"msg_type":68,"payload":"4e3uWiqgQkA7j0brAHhewDO1fPBB+EJA","preamble":85,"sender":123,"lat":37.251292578377395,"lon":-121.87505609407974,"height":37.939512310879216}"#.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::MsgBasePosLlh(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x44, "Incorrect message type, expected 0x44, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x007b, "incorrect sender id, expected 0x007b, is {sender_id}" ); assert!( msg.height.almost_eq(3.79395123108792163e+01), "incorrect value for height, expected 3.79395123108792163e+01, is {:e}", msg.height ); assert!( msg.lat.almost_eq(3.72512925783773952e+01), "incorrect value for lat, expected 3.72512925783773952e+01, is {:e}", msg.lat ); assert!( msg.lon.almost_eq(-1.21875056094079739e+02), "incorrect value for lon, expected -1.21875056094079739e+02, is {:e}", msg.lon ); } _ => panic!("Invalid message type! Expected a MsgBasePosLLH"), }; } } /// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON /// /// Assumes: /// - [`self::test_auto_check_sbp_observation_msg_base_pos_llh`] 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_llh() { { let mut payload = Cursor::new(vec![ 85, 68, 0, 123, 0, 24, 225, 237, 238, 90, 42, 160, 66, 64, 59, 143, 70, 235, 0, 120, 94, 192, 51, 181, 124, 240, 65, 248, 66, 64, 82, 230, ]); // 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::MsgBasePosLlh( serde_json::from_str( std::str::from_utf8(json_buffer.as_slice()) .unwrap() .to_string() .as_str(), ) .unwrap(), ); match &sbp_msg { sbp::messages::Sbp::MsgBasePosLlh(msg) => { let msg_type = msg.message_type().unwrap(); assert_eq!( msg_type, 0x44, "Incorrect message type, expected 0x44, is {}", msg_type ); let sender_id = msg.sender_id().unwrap(); assert_eq!( sender_id, 0x007b, "incorrect sender id, expected 0x007b, is {sender_id}" ); assert!( msg.height.almost_eq(3.79395123108792163e+01), "incorrect value for height, expected 3.79395123108792163e+01, is {:e}", msg.height ); assert!( msg.lat.almost_eq(3.72512925783773952e+01), "incorrect value for lat, expected 3.72512925783773952e+01, is {:e}", msg.lat ); assert!( msg.lon.almost_eq(-1.21875056094079739e+02), "incorrect value for lon, expected -1.21875056094079739e+02, is {:e}", msg.lon ); } _ => panic!("Invalid message type! Expected a MsgBasePosLLH"), }; // Check payload is still identical let frame = sbp::to_vec(&sbp_msg).unwrap(); assert_eq!(frame, payload.into_inner()); } }