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use std::io::Read;
use crate::{
navigation::Ephemeris,
prelude::{Constellation, Rinex},
};
use ublox::{
mga_bds_eph::MgaBdsEphRef, mga_glo_eph::MgaGloEphRef, mga_gps_eph::MgaGpsEphRef,
packetref_proto23::PacketRef, Parser, UbxPacket,
};
// MGA-EPH-XXX
#[test]
#[cfg(feature = "nav")]
fn esbcdnk_ephv3_to_ubx_mga() {
let mut gps = 0;
let mut gal = 0;
let mut bds = 0;
let mut qzss = 0;
let mut ubx_parser: Parser<Vec<u8>> = Parser::default();
let rinex = Rinex::from_gzip_file("data/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz").unwrap();
for (k, ephemeris) in rinex.nav_ephemeris_frames_iter() {
match k.sv.constellation {
Constellation::GPS => {
if let Some(mga_bytes) = ephemeris.to_ubx_mga_gps_qzss(k.epoch, k.sv) {
// parse back
let mut it = ubx_parser.consume_ubx(&mga_bytes);
let ubx_frame = it.next().unwrap_or_else(|| {
panic!("{}({}) did not encode a valid UBX frame", k.epoch, k.sv);
});
match ubx_frame {
Ok(UbxPacket::Proto23(packet)) => {
match packet {
PacketRef::MgaGpsEph(encoded) => {
// run mirror OP
let (decoded_sv, decoded_eph) =
Ephemeris::from_ubx_mga_gps(k.epoch, encoded);
assert_eq!(decoded_sv, k.sv);
// TODO: testbench
// assert_eq!(decoded_eph, ephemeris.clone());
gps += 1;
},
_ => {},
}
},
_ => panic!("{}({}) did not encode a UBX-MGA-GPS frame", k.epoch, k.sv),
}
}
},
Constellation::QZSS => {
if let Some(mga_bytes) = ephemeris.to_ubx_mga_gps_qzss(k.epoch, k.sv) {
let mut it = ubx_parser.consume_ubx(&mga_bytes);
let ubx_frame = it.next().unwrap_or_else(|| {
panic!("{}({}) did not encode a valid UBX frame", k.epoch, k.sv);
});
match ubx_frame {
Ok(UbxPacket::Proto23(packet)) => {
match packet {
PacketRef::MgaGpsEph(encoded) => {
// run mirror OP
let (decoded_sv, decoded_eph) =
Ephemeris::from_ubx_mga_qzss(k.epoch, encoded);
assert_eq!(decoded_sv, k.sv);
// TODO: testbench
// assert_eq!(decoded_eph, ephemeris.clone());
qzss += 1;
},
_ => {},
}
},
_ => panic!("{}({}) did not encode a UBX-MGA-QZSS frame", k.epoch, k.sv),
}
}
},
Constellation::BeiDou => {
if let Some(mga_bytes) = ephemeris.to_ubx_mga_bds(k.epoch, k.sv) {
let mut it = ubx_parser.consume_ubx(&mga_bytes);
let ubx_frame = it.next().unwrap_or_else(|| {
panic!("{}({}) did not encode a valid UBX frame", k.epoch, k.sv);
});
match ubx_frame {
Ok(UbxPacket::Proto23(packet)) => {
match packet {
PacketRef::MgaBdsEph(encoded) => {
// run mirror OP
let (decoded_sv, decoded_eph) =
Ephemeris::from_ubx_mga_bds(k.epoch, encoded);
assert_eq!(decoded_sv, k.sv);
// TODO: testbench
// assert_eq!(decoded_eph, ephemeris.clone());
bds += 1;
},
_ => {},
}
},
_ => panic!("{}({}) did not encode a UBX-MGA-BDS frame", k.epoch, k.sv),
}
}
},
Constellation::Galileo => {
if let Some(mga_bytes) = ephemeris.to_ubx_mga_gal(k.epoch, k.sv) {
let mut it = ubx_parser.consume_ubx(&mga_bytes);
let ubx_frame = it.next().unwrap_or_else(|| {
panic!("{}({}) did not encode a valid UBX frame", k.epoch, k.sv);
});
match ubx_frame {
Ok(UbxPacket::Proto23(packet)) => {
match packet {
PacketRef::MgaGalEph(encoded) => {
// run mirror OP
let (decoded_sv, decoded_eph) =
Ephemeris::from_ubx_mga_gal(k.epoch, encoded);
assert_eq!(decoded_sv, k.sv);
// TODO: testbench
// assert_eq!(decoded_eph, ephemeris.clone());
gal += 1;
},
_ => {},
}
},
_ => panic!("{}({}) did not encode a UBX-MGA-BDS frame", k.epoch, k.sv),
}
}
},
_ => {}, // not supported yet
}
}
assert!(gps > 0);
assert!(bds > 0);
assert!(gal > 0);
assert!(qzss > 0);
assert_eq!(gps, 253);
println!("UBX-MGA-EPH: {:4} GPS frames", gps);
assert_eq!(qzss, 15);
println!("UBX-MGA-EPH: {:4} QZSS frames", qzss);
assert_eq!(bds, 353);
println!("UBX-MGA-BDS: {:4} BDS frames", bds);
assert_eq!(gal, 806);
println!("UBX-MGA-GAL: {:4} GAL frames", gal);
}
// MGA-EPH-GLO
#[test]
#[ignore]
#[cfg(feature = "nav")]
fn glo_v2_to_ubx_mga() {
let mut glo = 0;
let mut ubx_parser: Parser<Vec<u8>> = Parser::default();
let rinex = Rinex::from_file("data/NAV/V2/dlf10010.21g").unwrap();
for (k, ephemeris) in rinex.nav_ephemeris_frames_iter() {
match k.sv.constellation {
Constellation::Glonass => {
if let Some(mga_bytes) = ephemeris.to_ubx_mga_bds(k.epoch, k.sv) {
let mut it = ubx_parser.consume_ubx(&mga_bytes);
let ubx_frame = it.next().unwrap_or_else(|| {
panic!("{}({}) did not encode a valid UBX frame", k.epoch, k.sv);
});
match ubx_frame {
Ok(UbxPacket::Proto23(packet)) => {
match packet {
PacketRef::MgaGloEph(encoded) => {
// could go even further matching all data fields
glo += 1;
},
_ => {},
}
},
_ => panic!("{}({}) did not encode a UBX-MGA-BDS frame", k.epoch, k.sv),
}
}
},
constellation => {
panic!("found invalid {} constellation", constellation);
},
}
}
assert!(glo > 0);
assert_eq!(glo, 253);
println!("UBX-MGA-EPH: {:4} GLO frames", glo);
}
// UBX2RINEX (NAV V3)
#[test]
#[ignore]
fn esbcdnk_nav3_to_ubx() {
let mut total_msg = 0;
let mut total_size = 0;
let mut total_mga_gps_eph = 0;
let mut total_mga_bds_eph = 0;
let mut total_mga_gal_eph = 0;
let mut total_mga_glo_eph = 0;
let mut buffer = [0; 2048];
let rinex = Rinex::from_gzip_file("data/NAV/V3/ESBC00DNK_R_20201770000_01D_MN.rnx.gz").unwrap();
let mut streamer = rinex.rnx2ubx();
let mut parser = Parser::default(); // tester
loop {
match streamer.read(&mut buffer) {
Ok(0) => {
break;
},
Ok(size) => {
total_size += size;
let mut iter = parser.consume_ubx(&buffer);
loop {
match iter.next() {
Some(message) => match message {
Ok(packet) => match packet {
UbxPacket::Proto23(PacketRef::MgaGpsEph(_)) => {
total_mga_gps_eph += 1;
},
UbxPacket::Proto23(PacketRef::MgaBdsEph(_)) => {
total_mga_bds_eph += 1;
},
UbxPacket::Proto23(PacketRef::MgaGalEph(_)) => {
total_mga_gal_eph += 1;
},
UbxPacket::Proto23(PacketRef::MgaGloEph(_)) => {
total_mga_glo_eph += 1;
},
msg => {
panic!("unexpected UBX message found: {:?}", msg);
},
},
Err(e) => {
panic!("invalid UBX content identified: {}", e);
},
},
None => break,
}
total_msg += 1;
}
},
Err(_) => {},
}
}
assert!(total_size > 0);
assert!(total_msg > 0);
// assert_eq!(total_mga_gps_eph, 253 + 15); // TODO: this fails, should be GPS+QZSS from test #1
assert_eq!(total_mga_bds_eph, 360);
// assert_eq!(total_mga_gal_eph, 806);
println!("ESCDNK-NAV (V3): {:8} bytes", total_size);
println!("ESCDNK-NAV (V3): {:8} messages", total_msg);
println!(
"ESCDNK-NAV (V3): {:8} MGA-GPS-EPH frames",
total_mga_gps_eph
);
println!(
"ESCDNK-NAV (V3): {:8} MGA-GAL-EPH frames",
total_mga_glo_eph
);
println!(
"ESCDNK-NAV (V3): {:8} MGA-BDS-EPH frames",
total_mga_bds_eph
);
println!(
"ESCDNK-NAV (V3): {:8} MGA-GLO-EPH frames",
total_mga_glo_eph
);
}
// MGA-TIM-XXX
#[test]
fn esbcdnk_timv4_to_ubx_mga() {
let mut total_msg = 0;
let mut total_size = 0;
let mut buffer = [0; 2048];
let rinex = Rinex::from_gzip_file("data/NAV/V4/BRD400DLR_S_20230710000_01D_MN.rnx.gz").unwrap();
for (k, time_offset) in rinex.nav_system_time_frames_iter() {
match k.sv.constellation {
Constellation::GPS => {},
Constellation::Galileo => {},
_ => {},
}
}
}