sbp 6.4.0

Rust native implementation of SBP (Swift Binary Protocol) for communicating with devices made by Swift Navigation
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325

//
// 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/linux/test_MsgLinuxCpuState.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_linux_msg_linux_cpu_state() {
    {
        let mut payload = Cursor::new(vec![
            85, 8, 127, 148, 133, 70, 101, 122, 195, 98, 215, 35, 94, 235, 20, 112, 114, 111, 99,
            101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0, 47, 112, 97, 116, 104, 47, 116, 111, 47,
            112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97,
            114, 103, 49, 32, 97, 114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52, 68,
            229,
        ]);

        // 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::MsgLinuxCpuState(msg) => {
                let msg_type = msg.message_type().unwrap();
                assert_eq!(
                    msg_type, 0x7f08,
                    "Incorrect message type, expected 0x7f08, is {msg_type}"
                );
                let sender_id = msg.sender_id().unwrap();
                assert_eq!(
                    sender_id, 0x8594,
                    "incorrect sender id, expected 0x8594, is {sender_id}"
                );
                assert_eq!(
                    msg.cmdline.as_bytes(),
                    &[
                        47, 112, 97, 116, 104, 47, 116, 111, 47, 112, 114, 111, 99, 101, 115, 115,
                        45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97, 114, 103, 49, 32, 97,
                        114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52
                    ],
                    "incorrect value for msg.cmdline, expected string '{:?}', is '{:?}'",
                    &[
                        47, 112, 97, 116, 104, 47, 116, 111, 47, 112, 114, 111, 99, 101, 115, 115,
                        45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97, 114, 103, 49, 32, 97,
                        114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52
                    ],
                    msg.cmdline.as_bytes()
                );
                assert_eq!(
                    msg.flags, 20,
                    "incorrect value for flags, expected 20, is {}",
                    msg.flags
                );
                assert_eq!(
                    msg.index, 101,
                    "incorrect value for index, expected 101, is {}",
                    msg.index
                );
                assert_eq!(
                    msg.pcpu, 98,
                    "incorrect value for pcpu, expected 98, is {}",
                    msg.pcpu
                );
                assert_eq!(
                    msg.pid, 50042,
                    "incorrect value for pid, expected 50042, is {}",
                    msg.pid
                );
                assert_eq!(
                    msg.time, 3948815319,
                    "incorrect value for time, expected 3948815319, is {}",
                    msg.time
                );
                assert_eq!(
                    msg.tname.as_bytes(),
                    &[
                        112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0
                    ],
                    "incorrect value for msg.tname, expected string '{:?}', is '{:?}'",
                    &[
                        112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0
                    ],
                    msg.tname.as_bytes()
                );
            }
            _ => panic!("Invalid message type! Expected a MsgLinuxCpuState"),
        };
        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_linux_msg_linux_cpu_state() {
    {
        let json_input = r#"{"crc":58692,"length":70,"msg_type":32520,"payload":"ZXrDYtcjXusUcHJvY2Vzcy1uYW1lAAAAL3BhdGgvdG8vcHJvY2Vzcy1uYW1lIGFyZzAgYXJnMSBhcmcyIGFyZzMgYXJnNA==","preamble":85,"sender":34196,"index":101,"pid":50042,"pcpu":98,"time":3948815319,"flags":20,"tname":"process-name\u0000\u0000\u0000","cmdline":"/path/to/process-name arg0 arg1 arg2 arg3 arg4"}"#.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::MsgLinuxCpuState(msg) => {
                let msg_type = msg.message_type().unwrap();
                assert_eq!(
                    msg_type, 0x7f08,
                    "Incorrect message type, expected 0x7f08, is {msg_type}"
                );
                let sender_id = msg.sender_id().unwrap();
                assert_eq!(
                    sender_id, 0x8594,
                    "incorrect sender id, expected 0x8594, is {sender_id}"
                );
                assert_eq!(
                    msg.cmdline.as_bytes(),
                    &[
                        47, 112, 97, 116, 104, 47, 116, 111, 47, 112, 114, 111, 99, 101, 115, 115,
                        45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97, 114, 103, 49, 32, 97,
                        114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52
                    ],
                    "incorrect value for msg.cmdline, expected string '{:?}', is '{:?}'",
                    &[
                        47, 112, 97, 116, 104, 47, 116, 111, 47, 112, 114, 111, 99, 101, 115, 115,
                        45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97, 114, 103, 49, 32, 97,
                        114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52
                    ],
                    msg.cmdline.as_bytes()
                );
                assert_eq!(
                    msg.flags, 20,
                    "incorrect value for flags, expected 20, is {}",
                    msg.flags
                );
                assert_eq!(
                    msg.index, 101,
                    "incorrect value for index, expected 101, is {}",
                    msg.index
                );
                assert_eq!(
                    msg.pcpu, 98,
                    "incorrect value for pcpu, expected 98, is {}",
                    msg.pcpu
                );
                assert_eq!(
                    msg.pid, 50042,
                    "incorrect value for pid, expected 50042, is {}",
                    msg.pid
                );
                assert_eq!(
                    msg.time, 3948815319,
                    "incorrect value for time, expected 3948815319, is {}",
                    msg.time
                );
                assert_eq!(
                    msg.tname.as_bytes(),
                    &[
                        112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0
                    ],
                    "incorrect value for msg.tname, expected string '{:?}', is '{:?}'",
                    &[
                        112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0
                    ],
                    msg.tname.as_bytes()
                );
            }
            _ => panic!("Invalid message type! Expected a MsgLinuxCpuState"),
        };
    }
}

/// Tests [`sbp::json::JsonEncoder`] for roundtrip SBP message -> JSON
///
/// Assumes:
/// -   [`self::test_auto_check_sbp_linux_msg_linux_cpu_state`] passes
///
/// Asserts:
/// -   SBP fields equates to that of the field
/// -   Payload is identical
#[test]
#[cfg(feature = "json")]
fn test_sbp2json_auto_check_sbp_linux_msg_linux_cpu_state() {
    {
        let mut payload = Cursor::new(vec![
            85, 8, 127, 148, 133, 70, 101, 122, 195, 98, 215, 35, 94, 235, 20, 112, 114, 111, 99,
            101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0, 47, 112, 97, 116, 104, 47, 116, 111, 47,
            112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97,
            114, 103, 49, 32, 97, 114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52, 68,
            229,
        ]);

        // 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::MsgLinuxCpuState(
            serde_json::from_str(
                std::str::from_utf8(json_buffer.as_slice())
                    .unwrap()
                    .to_string()
                    .as_str(),
            )
            .unwrap(),
        );
        match &sbp_msg {
            sbp::messages::Sbp::MsgLinuxCpuState(msg) => {
                let msg_type = msg.message_type().unwrap();
                assert_eq!(
                    msg_type, 0x7f08,
                    "Incorrect message type, expected 0x7f08, is {msg_type}"
                );
                let sender_id = msg.sender_id().unwrap();
                assert_eq!(
                    sender_id, 0x8594,
                    "incorrect sender id, expected 0x8594, is {sender_id}"
                );
                assert_eq!(
                    msg.cmdline.as_bytes(),
                    &[
                        47, 112, 97, 116, 104, 47, 116, 111, 47, 112, 114, 111, 99, 101, 115, 115,
                        45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97, 114, 103, 49, 32, 97,
                        114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52
                    ],
                    "incorrect value for msg.cmdline, expected string '{:?}', is '{:?}'",
                    &[
                        47, 112, 97, 116, 104, 47, 116, 111, 47, 112, 114, 111, 99, 101, 115, 115,
                        45, 110, 97, 109, 101, 32, 97, 114, 103, 48, 32, 97, 114, 103, 49, 32, 97,
                        114, 103, 50, 32, 97, 114, 103, 51, 32, 97, 114, 103, 52
                    ],
                    msg.cmdline.as_bytes()
                );
                assert_eq!(
                    msg.flags, 20,
                    "incorrect value for flags, expected 20, is {}",
                    msg.flags
                );
                assert_eq!(
                    msg.index, 101,
                    "incorrect value for index, expected 101, is {}",
                    msg.index
                );
                assert_eq!(
                    msg.pcpu, 98,
                    "incorrect value for pcpu, expected 98, is {}",
                    msg.pcpu
                );
                assert_eq!(
                    msg.pid, 50042,
                    "incorrect value for pid, expected 50042, is {}",
                    msg.pid
                );
                assert_eq!(
                    msg.time, 3948815319,
                    "incorrect value for time, expected 3948815319, is {}",
                    msg.time
                );
                assert_eq!(
                    msg.tname.as_bytes(),
                    &[
                        112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0
                    ],
                    "incorrect value for msg.tname, expected string '{:?}', is '{:?}'",
                    &[
                        112, 114, 111, 99, 101, 115, 115, 45, 110, 97, 109, 101, 0, 0, 0
                    ],
                    msg.tname.as_bytes()
                );
            }
            _ => panic!("Invalid message type! Expected a MsgLinuxCpuState"),
        };

        // Check payload is still identical
        let frame = sbp::to_vec(&sbp_msg).unwrap();
        assert_eq!(frame, payload.into_inner());
    }
}