//
// 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 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/system/test_MsgInsUpdates.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_system_msg_ins_updates() {
{
let mut payload = Cursor::new(vec![
85, 6, 255, 21, 3, 10, 84, 229, 17, 30, 0, 0, 0, 0, 0, 0, 81, 63,
]);
// 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::MsgInsUpdates(msg) => {
assert_eq!(
msg.message_type(),
0xff06,
"Incorrect message type, expected 0xff06, is {}",
msg.message_type()
);
let sender_id = msg.sender_id().unwrap();
assert_eq!(
sender_id, 0x315,
"incorrect sender id, expected 0x315, is {}",
sender_id
);
assert_eq!(
msg.gnsspos, 0,
"incorrect value for gnsspos, expected 0, is {}",
msg.gnsspos
);
assert_eq!(
msg.gnssvel, 0,
"incorrect value for gnssvel, expected 0, is {}",
msg.gnssvel
);
assert_eq!(
msg.nhc, 0,
"incorrect value for nhc, expected 0, is {}",
msg.nhc
);
assert_eq!(
msg.speed, 0,
"incorrect value for speed, expected 0, is {}",
msg.speed
);
assert_eq!(
msg.tow, 504489300,
"incorrect value for tow, expected 504489300, is {}",
msg.tow
);
assert_eq!(
msg.wheelticks, 0,
"incorrect value for wheelticks, expected 0, is {}",
msg.wheelticks
);
assert_eq!(
msg.zerovel, 0,
"incorrect value for zerovel, expected 0, is {}",
msg.zerovel
);
}
_ => panic!("Invalid message type! Expected a MsgInsUpdates"),
};
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_system_msg_ins_updates() {
{
let json_input = r#"{"tow":504489300,"gnsspos":0,"gnssvel":0,"wheelticks":0,"speed":0,"nhc":0,"zerovel":0,"preamble":85,"msg_type":65286,"sender":789,"payload":"VOURHgAAAAAAAA==","crc":16209,"length":10}"#.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::MsgInsUpdates(msg) => {
assert_eq!(
msg.message_type(),
0xff06,
"Incorrect message type, expected 0xff06, is {}",
msg.message_type()
);
let sender_id = msg.sender_id().unwrap();
assert_eq!(
sender_id, 0x315,
"incorrect sender id, expected 0x315, is {}",
sender_id
);
assert_eq!(
msg.gnsspos, 0,
"incorrect value for gnsspos, expected 0, is {}",
msg.gnsspos
);
assert_eq!(
msg.gnssvel, 0,
"incorrect value for gnssvel, expected 0, is {}",
msg.gnssvel
);
assert_eq!(
msg.nhc, 0,
"incorrect value for nhc, expected 0, is {}",
msg.nhc
);
assert_eq!(
msg.speed, 0,
"incorrect value for speed, expected 0, is {}",
msg.speed
);
assert_eq!(
msg.tow, 504489300,
"incorrect value for tow, expected 504489300, is {}",
msg.tow
);
assert_eq!(
msg.wheelticks, 0,
"incorrect value for wheelticks, expected 0, is {}",
msg.wheelticks
);
assert_eq!(
msg.zerovel, 0,
"incorrect value for zerovel, expected 0, is {}",
msg.zerovel
);
}
_ => panic!("Invalid message type! Expected a MsgInsUpdates"),
};
}
}
/// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON
///
/// Assumes:
/// - [`self::test_auto_check_sbp_system_msg_ins_updates`] passes
///
/// Asserts:
/// - SBP fields equates to that of the field
/// - Payload is identical
#[test]
#[cfg(feature = "json")]
fn test_sbp2json_auto_check_sbp_system_msg_ins_updates() {
{
let mut payload = Cursor::new(vec![
85, 6, 255, 21, 3, 10, 84, 229, 17, 30, 0, 0, 0, 0, 0, 0, 81, 63,
]);
// 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::MsgInsUpdates(
serde_json::from_str(
std::str::from_utf8(json_buffer.as_slice())
.unwrap()
.to_string()
.as_str(),
)
.unwrap(),
);
match &sbp_msg {
sbp::messages::Sbp::MsgInsUpdates(msg) => {
assert_eq!(
msg.message_type(),
0xff06,
"Incorrect message type, expected 0xff06, is {}",
msg.message_type()
);
let sender_id = msg.sender_id().unwrap();
assert_eq!(
sender_id, 0x315,
"incorrect sender id, expected 0x315, is {}",
sender_id
);
assert_eq!(
msg.gnsspos, 0,
"incorrect value for gnsspos, expected 0, is {}",
msg.gnsspos
);
assert_eq!(
msg.gnssvel, 0,
"incorrect value for gnssvel, expected 0, is {}",
msg.gnssvel
);
assert_eq!(
msg.nhc, 0,
"incorrect value for nhc, expected 0, is {}",
msg.nhc
);
assert_eq!(
msg.speed, 0,
"incorrect value for speed, expected 0, is {}",
msg.speed
);
assert_eq!(
msg.tow, 504489300,
"incorrect value for tow, expected 504489300, is {}",
msg.tow
);
assert_eq!(
msg.wheelticks, 0,
"incorrect value for wheelticks, expected 0, is {}",
msg.wheelticks
);
assert_eq!(
msg.zerovel, 0,
"incorrect value for zerovel, expected 0, is {}",
msg.zerovel
);
}
_ => panic!("Invalid message type! Expected a MsgInsUpdates"),
};
// Check payload is still identical
let frame = sbp::to_vec(&sbp_msg).unwrap();
assert_eq!(frame, payload.into_inner());
}
}