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// Copyright (C) 2015-2021 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.

//****************************************************************************
// Automatically generated from yaml/swiftnav/sbp/mag.yaml
// with generate.py. Please do not hand edit!
//****************************************************************************/
//! Magnetometer (mag) messages.
pub use msg_mag_raw::MsgMagRaw;

pub mod msg_mag_raw {
    #![allow(unused_imports)]

    use super::*;
    use crate::messages::lib::*;

    /// Raw magnetometer data
    ///
    /// Raw data from the magnetometer.
    ///
    #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
    #[allow(clippy::derive_partial_eq_without_eq)]
    #[derive(Debug, PartialEq, Clone)]
    pub struct MsgMagRaw {
        /// The message sender_id
        #[cfg_attr(feature = "serde", serde(skip_serializing, alias = "sender"))]
        pub sender_id: Option<u16>,
        /// Milliseconds since start of GPS week. If the high bit is set, the time
        /// is unknown or invalid.
        #[cfg_attr(feature = "serde", serde(rename = "tow"))]
        pub tow: u32,
        /// Milliseconds since start of GPS week, fractional part
        #[cfg_attr(feature = "serde", serde(rename = "tow_f"))]
        pub tow_f: u8,
        /// Magnetic field in the body frame X axis
        #[cfg_attr(feature = "serde", serde(rename = "mag_x"))]
        pub mag_x: i16,
        /// Magnetic field in the body frame Y axis
        #[cfg_attr(feature = "serde", serde(rename = "mag_y"))]
        pub mag_y: i16,
        /// Magnetic field in the body frame Z axis
        #[cfg_attr(feature = "serde", serde(rename = "mag_z"))]
        pub mag_z: i16,
    }

    impl ConcreteMessage for MsgMagRaw {
        const MESSAGE_TYPE: u16 = 2306;
        const MESSAGE_NAME: &'static str = "MSG_MAG_RAW";
    }

    impl SbpMessage for MsgMagRaw {
        fn message_name(&self) -> &'static str {
            <Self as ConcreteMessage>::MESSAGE_NAME
        }
        fn message_type(&self) -> Option<u16> {
            Some(<Self as ConcreteMessage>::MESSAGE_TYPE)
        }
        fn sender_id(&self) -> Option<u16> {
            self.sender_id
        }
        fn set_sender_id(&mut self, new_id: u16) {
            self.sender_id = Some(new_id);
        }
        fn encoded_len(&self) -> usize {
            WireFormat::len(self) + crate::HEADER_LEN + crate::CRC_LEN
        }
        fn is_valid(&self) -> bool {
            true
        }
        fn into_valid_msg(self) -> Result<Self, crate::messages::invalid::Invalid> {
            Ok(self)
        }

        #[cfg(feature = "swiftnav")]
        fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
            let tow_s = (self.tow as f64) / 1000.0;
            let gps_time = match time::GpsTime::new(0, tow_s) {
                Ok(gps_time) => gps_time.tow(),
                Err(e) => return Some(Err(e.into())),
            };
            Some(Ok(time::MessageTime::Rover(gps_time.into())))
        }
    }

    impl FriendlyName for MsgMagRaw {
        fn friendly_name() -> &'static str {
            "MAG RAW"
        }
    }

    impl TryFrom<Sbp> for MsgMagRaw {
        type Error = TryFromSbpError;
        fn try_from(msg: Sbp) -> Result<Self, Self::Error> {
            match msg {
                Sbp::MsgMagRaw(m) => Ok(m),
                _ => Err(TryFromSbpError(msg)),
            }
        }
    }

    impl WireFormat for MsgMagRaw {
        const MIN_LEN: usize = <u32 as WireFormat>::MIN_LEN
            + <u8 as WireFormat>::MIN_LEN
            + <i16 as WireFormat>::MIN_LEN
            + <i16 as WireFormat>::MIN_LEN
            + <i16 as WireFormat>::MIN_LEN;
        fn len(&self) -> usize {
            WireFormat::len(&self.tow)
                + WireFormat::len(&self.tow_f)
                + WireFormat::len(&self.mag_x)
                + WireFormat::len(&self.mag_y)
                + WireFormat::len(&self.mag_z)
        }
        fn write<B: BufMut>(&self, buf: &mut B) {
            WireFormat::write(&self.tow, buf);
            WireFormat::write(&self.tow_f, buf);
            WireFormat::write(&self.mag_x, buf);
            WireFormat::write(&self.mag_y, buf);
            WireFormat::write(&self.mag_z, buf);
        }
        fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
            MsgMagRaw {
                sender_id: None,
                tow: WireFormat::parse_unchecked(buf),
                tow_f: WireFormat::parse_unchecked(buf),
                mag_x: WireFormat::parse_unchecked(buf),
                mag_y: WireFormat::parse_unchecked(buf),
                mag_z: WireFormat::parse_unchecked(buf),
            }
        }
    }
}