ados-positioning 0.1.0

Split a mixed UBX, NMEA and RTCM3 byte stream with resync, build u-blox VALSET commands and run an RTK base survey-in state machine.
Documentation 
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use super::*;
use crate::fixtures::unframe;

/// Decode a VALSET frame into (layers, [(key, value bytes)]).
fn decode(frame: &[u8]) -> (u8, Vec<(u32, Vec<u8>)>) {
    let (class, id, p) = unframe(frame);
    assert_eq!((class, id), (0x06, 0x8A));
    assert_eq!(p[0], 0x00, "VALSET version 0");
    assert_eq!(&p[2..4], &[0, 0]);
    let mut items = Vec::new();
    let mut o = 4;
    while o < p.len() {
        let key = u32::from_le_bytes(p[o..o + 4].try_into().unwrap());
        let n = value_len(key);
        items.push((key, p[o + 4..o + 4 + n].to_vec()));
        o += 4 + n;
    }
    (p[1], items)
}

fn u32le(v: u32) -> Vec<u8> {
    v.to_le_bytes().to_vec()
}

#[test]
fn survey_in_sets_mode_duration_accuracy_and_outputs() {
    let (layers, items) = decode(&survey_in(RxPort::Uart1, 300, 2.0));
    assert_eq!(layers, LAYER_RAM);
    assert_eq!(items[0], (0x2003_0001, vec![1]));
    assert_eq!(items[1], (0x4003_0010, u32le(300)));
    assert_eq!(items[2], (0x4003_0011, u32le(20_000)));
    let outputs: Vec<u32> = items[3..].iter().map(|(k, _)| *k).collect();
    assert_eq!(
        outputs,
        vec![
            0x2091_02BE, // RTCM 1005 UART1
            0x2091_035F, // 1074
            0x2091_0364, // 1084
            0x2091_0369, // 1094
            0x2091_036E, // 1124
            0x2091_0304, // 1230
            0x2091_0089, // NAV-SVIN UART1
        ]
    );
    assert!(items[3..].iter().all(|(_, v)| v == &vec![1]));
}

#[test]
fn usb_port_selects_usb_output_keys() {
    let (_, items) = decode(&survey_in(RxPort::Usb, 60, 0.5));
    assert_eq!(items[2], (0x4003_0011, u32le(5_000)));
    let outputs: Vec<u32> = items[3..].iter().map(|(k, _)| *k).collect();
    assert_eq!(
        outputs,
        vec![
            0x2091_02C0,
            0x2091_0361,
            0x2091_0366,
            0x2091_036B,
            0x2091_0370,
            0x2091_0306,
            0x2091_008B
        ]
    );
    assert_eq!(
        RTCM_MSGOUT.map(|(m, _, _)| m),
        [1005, 1074, 1084, 1094, 1124, 1230]
    );
}

#[test]
fn fixed_sets_llh_with_high_precision_parts() {
    let (layers, items) = decode(&fixed(
        RxPort::Uart1,
        47.123_456_789,
        -122.987_654_321,
        512.3456,
    ));
    assert_eq!(layers, LAYER_RAM);
    let i = |v: i32| v.to_le_bytes().to_vec();
    assert_eq!(items[0], (TMODE_MODE, vec![2]));
    assert_eq!(items[1], (TMODE_POS_TYPE, vec![1]));
    assert_eq!(items[2], (0x4003_0009, i(471_234_567)));
    assert_eq!(items[3], (0x4003_000A, i(-1_229_876_543)));
    assert_eq!(items[4], (0x4003_000B, i(51_234)));
    assert_eq!(items[5], (0x2003_000C, vec![89]));
    assert_eq!(items[6], (0x2003_000D, vec![(-21i8) as u8]));
    assert_eq!(items[7], (0x2003_000E, vec![56]));
    assert_eq!(items.len(), 8 + 7);
}

#[test]
fn off_leaves_tmode_and_stops_rtcm_output() {
    let (layers, items) = decode(&off(RxPort::Uart1));
    assert_eq!(layers, LAYER_RAM);
    assert_eq!(items[0], (TMODE_MODE, vec![0]));
    let rtcm: Vec<(u32, Vec<u8>)> = [
        0x2091_02BE,
        0x2091_035F,
        0x2091_0364,
        0x2091_0369,
        0x2091_036E,
        0x2091_0304,
    ]
    .into_iter()
    .map(|k| (k, vec![0]))
    .collect();
    assert_eq!(items[1..], rtcm[..]);
    let (_, usb) = decode(&off(RxPort::Usb));
    assert_eq!(usb[1], (0x2091_02C0, vec![0]));
    assert_eq!(
        poll_mon_ver(),
        vec![0xB5, 0x62, 0x0A, 0x04, 0x00, 0x00, 0x0E, 0x34]
    );
}

#[test]
fn nav_outputs_enable_the_decoded_messages() {
    let keys = |b: Vec<u8>| -> Vec<(u32, Vec<u8>)> { decode(&b).1 };
    let one = |ks: &[u32]| -> Vec<(u32, Vec<u8>)> { ks.iter().map(|&k| (k, vec![1])).collect() };
    // A rover: NAV-PVT and NAV-DOP.
    assert_eq!(
        keys(nav_outputs(RxPort::Uart1, false, false)),
        one(&[0x2091_0007, 0x2091_0039])
    );
    // The base: plus TIM-TP and NAV-SVIN.
    assert_eq!(
        keys(nav_outputs(RxPort::Uart1, true, false)),
        one(&[0x2091_0007, 0x2091_0039, 0x2091_017E, 0x2091_0089])
    );
    // A heading rover on USB: plus NAV-RELPOSNED.
    assert_eq!(
        keys(nav_outputs(RxPort::Usb, false, true)),
        one(&[0x2091_0009, 0x2091_003B, 0x2091_0090])
    );
    assert_eq!(decode(&nav_outputs(RxPort::Usb, true, true)).0, LAYER_RAM);
}