ublox 0.10.0

A crate to communicate with u-blox GPS devices using the UBX protocol
Documentation 
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use bitflags::bitflags;
use core::fmt;

#[cfg(feature = "serde")]
use super::SerializeUbxPacketFields;
#[cfg(feature = "serde")]
use crate::serde::ser::SerializeMap;

use crate::{error::ParserError, GnssFixType, UbxPacketMeta};
use ublox_derive::{ubx_extend, ubx_extend_bitflags, ubx_packet_recv};

///  Receiver Navigation Status
#[ubx_packet_recv]
#[ubx(class = 1, id = 3, fixed_payload_len = 16)]
struct NavStatus {
    /// GPS Millisecond Time of Week
    itow: u32,

    /// GPS fix Type, this value does not qualify a fix as

    /// valid and within the limits
    #[ubx(map_type = GnssFixType)]
    fix_type: u8,

    /// Navigation Status Flags
    #[ubx(map_type = NavStatusFlags)]
    flags: u8,

    /// Fix Status Information
    #[ubx(map_type = FixStatusInfo)]
    fix_stat: u8,

    /// further information about navigation output
    #[ubx(map_type = NavStatusFlags2)]
    flags2: u8,

    /// Time to first fix (millisecond time tag)
    time_to_first_fix: u32,

    /// Milliseconds since Startup / Reset
    uptime_ms: u32,
}

#[ubx_extend_bitflags]
#[ubx(from, rest_reserved)]
bitflags! {
    /// Navigation Status Flags
    #[derive(Debug)]
    pub struct NavStatusFlags: u8 {
        /// position and velocity valid and within DOP and ACC Masks
        const GPS_FIX_OK = 1;
        /// DGPS used
        const DIFF_SOLN = 2;
        /// Week Number valid
        const WKN_SET = 4;
        /// Time of Week valid
        const TOW_SET = 8;
    }
}

/// Fix Status Information
#[repr(transparent)]
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde", derive(serde::Serialize))]
pub struct FixStatusInfo(u8);

impl FixStatusInfo {
    pub const fn has_pr_prr_correction(self) -> bool {
        (self.0 & 1) == 1
    }
    pub fn map_matching(self) -> MapMatchingStatus {
        let bits = (self.0 >> 6) & 3;
        match bits {
            0 => MapMatchingStatus::None,
            1 => MapMatchingStatus::Valid,
            2 => MapMatchingStatus::Used,
            3 => MapMatchingStatus::Dr,
            _ => unreachable!("MapMatching Status value not supported by protocol specification"),
        }
    }
    pub const fn from(x: u8) -> Self {
        Self(x)
    }
}

impl fmt::Debug for FixStatusInfo {
    fn fmt(&self, f: &mut fmt::Formatter<'_>) -> fmt::Result {
        f.debug_struct("FixStatusInfo")
            .field("has_pr_prr_correction", &self.has_pr_prr_correction())
            .field("map_matching", &self.map_matching())
            .finish()
    }
}

/// Further information about navigation output
/// Only for FW version >= 7.01; undefined otherwise
#[ubx_extend]
#[ubx(from, rest_reserved)]
#[repr(u8)]
#[derive(Debug, Copy, Clone)]
enum NavStatusFlags2 {
    Acquisition = 0,
    Tracking = 1,
    PowerOptimizedTracking = 2,
    Inactive = 3,
}

#[derive(Copy, Clone, Debug)]
#[cfg_attr(feature = "serde", derive(serde::Serialize))]
pub enum MapMatchingStatus {
    None = 0,
    /// valid, i.e. map matching data was received, but was too old
    Valid = 1,
    /// used, map matching data was applied
    Used = 2,
    /// map matching was the reason to enable the dead reckoning
    /// gpsFix type instead of publishing no fix
    Dr = 3,
}