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use super::lib::*;
#[cfg_attr(feature = "serde", derive(serde::Serialize))]
#[derive(Debug, Clone)]
pub struct MsgMagRaw {
#[cfg_attr(feature = "serde", serde(skip_serializing))]
pub sender_id: Option<u16>,
#[cfg_attr(feature = "serde", serde(rename(serialize = "tow")))]
pub tow: u32,
#[cfg_attr(feature = "serde", serde(rename(serialize = "tow_f")))]
pub tow_f: u8,
#[cfg_attr(feature = "serde", serde(rename(serialize = "mag_x")))]
pub mag_x: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "mag_y")))]
pub mag_y: i16,
#[cfg_attr(feature = "serde", serde(rename(serialize = "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) -> u16 {
<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
}
#[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 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),
}
}
}
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),
}
}
}