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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/gnss.yaml
// with generate.py. Please do not hand edit!
//****************************************************************************/
//! Various structs shared between modules
pub use carrier_phase::CarrierPhase;
pub use gnss_signal::GnssSignal;
pub use gnss_signal_dep::GnssSignalDep;
pub use gps_time::GpsTime;
pub use gps_time_dep::GpsTimeDep;
pub use gps_time_sec::GpsTimeSec;
pub use sv_id::SvId;
pub mod carrier_phase {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// GNSS carrier phase measurement
///
/// Carrier phase measurement in cycles represented as a 40-bit fixed point
/// number with Q32.8 layout, i.e. 32-bits of whole cycles and 8-bits of
/// fractional cycles. This phase has the same sign as the pseudorange.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct CarrierPhase {
/// Carrier phase whole cycles
#[cfg_attr(feature = "serde", serde(rename = "i"))]
pub i: i32,
/// Carrier phase fractional part
#[cfg_attr(feature = "serde", serde(rename = "f"))]
pub f: u8,
}
impl WireFormat for CarrierPhase {
const MIN_LEN: usize = <i32 as WireFormat>::MIN_LEN + <u8 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.i) + WireFormat::len(&self.f)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.i, buf);
WireFormat::write(&self.f, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
CarrierPhase {
i: WireFormat::parse_unchecked(buf),
f: WireFormat::parse_unchecked(buf),
}
}
}
}
pub mod gps_time {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// Nanosecond-accurate receiver clock time
///
/// A wire-appropriate receiver clock time, defined as the time since the
/// beginning of the week on the Saturday/Sunday transition. In most cases,
/// observations are epoch aligned so ns field will be 0.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct GpsTime {
/// Milliseconds since start of GPS week
#[cfg_attr(feature = "serde", serde(rename = "tow"))]
pub tow: u32,
/// Nanosecond residual of millisecond-rounded TOW (ranges from -500000 to
/// 500000)
#[cfg_attr(feature = "serde", serde(rename = "ns_residual"))]
pub ns_residual: i32,
/// GPS week number
#[cfg_attr(feature = "serde", serde(rename = "wn"))]
pub wn: u16,
}
impl WireFormat for GpsTime {
const MIN_LEN: usize = <u32 as WireFormat>::MIN_LEN
+ <i32 as WireFormat>::MIN_LEN
+ <u16 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.tow)
+ WireFormat::len(&self.ns_residual)
+ WireFormat::len(&self.wn)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.tow, buf);
WireFormat::write(&self.ns_residual, buf);
WireFormat::write(&self.wn, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
GpsTime {
tow: WireFormat::parse_unchecked(buf),
ns_residual: WireFormat::parse_unchecked(buf),
wn: WireFormat::parse_unchecked(buf),
}
}
}
}
pub mod gps_time_dep {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// Millisecond-accurate GPS time
///
/// A wire-appropriate GPS time, defined as the number of milliseconds since
/// beginning of the week on the Saturday/Sunday transition.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct GpsTimeDep {
/// Milliseconds since start of GPS week
#[cfg_attr(feature = "serde", serde(rename = "tow"))]
pub tow: u32,
/// GPS week number
#[cfg_attr(feature = "serde", serde(rename = "wn"))]
pub wn: u16,
}
impl WireFormat for GpsTimeDep {
const MIN_LEN: usize = <u32 as WireFormat>::MIN_LEN + <u16 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.tow) + WireFormat::len(&self.wn)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.tow, buf);
WireFormat::write(&self.wn, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
GpsTimeDep {
tow: WireFormat::parse_unchecked(buf),
wn: WireFormat::parse_unchecked(buf),
}
}
}
}
pub mod gps_time_sec {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// Whole second accurate GPS time
///
/// A GPS time, defined as the number of seconds since beginning of the week
/// on the Saturday/Sunday transition.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct GpsTimeSec {
/// Seconds since start of GPS week
#[cfg_attr(feature = "serde", serde(rename = "tow"))]
pub tow: u32,
/// GPS week number
#[cfg_attr(feature = "serde", serde(rename = "wn"))]
pub wn: u16,
}
impl WireFormat for GpsTimeSec {
const MIN_LEN: usize = <u32 as WireFormat>::MIN_LEN + <u16 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.tow) + WireFormat::len(&self.wn)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.tow, buf);
WireFormat::write(&self.wn, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
GpsTimeSec {
tow: WireFormat::parse_unchecked(buf),
wn: WireFormat::parse_unchecked(buf),
}
}
}
}
pub mod gnss_signal {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// Represents all the relevant information about the signal
///
/// Signal identifier containing constellation, band, and satellite
/// identifier.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct GnssSignal {
/// Constellation-specific satellite id. For GLO can either be (100+FCN)
/// where FCN is in \[-7,+6\] or the Slot ID in \[1,28\].
#[cfg_attr(feature = "serde", serde(rename = "sat"))]
pub sat: u8,
/// Signal constellation, band and code
#[cfg_attr(feature = "serde", serde(rename = "code"))]
pub code: u8,
}
impl GnssSignal {
/// Gets the [Code][self::Code] stored in the `code` bitfield.
///
/// Returns `Ok` if the bitrange contains a known `Code` variant.
/// Otherwise the value of the bitrange is returned as an `Err(u8)`. This may be because of a malformed message,
/// or because new variants of `Code` were added.
pub fn code(&self) -> Result<Code, u8> {
get_bit_range!(self.code, u8, u8, 7, 0).try_into()
}
/// Set the bitrange corresponding to the [Code][Code] of the `code` bitfield.
pub fn set_code(&mut self, code: Code) {
set_bit_range!(&mut self.code, code, u8, u8, 7, 0);
}
}
impl WireFormat for GnssSignal {
const MIN_LEN: usize = <u8 as WireFormat>::MIN_LEN + <u8 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.sat) + WireFormat::len(&self.code)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.sat, buf);
WireFormat::write(&self.code, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
GnssSignal {
sat: WireFormat::parse_unchecked(buf),
code: WireFormat::parse_unchecked(buf),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum Code {
/// GPS L1CA
GpsL1Ca = 0,
/// GPS L2CM
GpsL2Cm = 1,
/// SBAS L1CA
SbasL1Ca = 2,
/// GLO L1CA
GloL1Ca = 3,
/// GLO L2CA
GloL2Ca = 4,
/// GPS L1P
GpsL1P = 5,
/// GPS L2P
GpsL2P = 6,
/// BDS2 B1
Bds2B1 = 12,
/// BDS2 B2
Bds2B2 = 13,
/// GAL E1B
GalE1B = 14,
/// GAL E7I
GalE7I = 20,
/// BDS3 B2a
Bds3B2A = 47,
}
impl std::fmt::Display for Code {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
Code::GpsL1Ca => f.write_str("GPS L1CA"),
Code::GpsL2Cm => f.write_str("GPS L2CM"),
Code::SbasL1Ca => f.write_str("SBAS L1CA"),
Code::GloL1Ca => f.write_str("GLO L1CA"),
Code::GloL2Ca => f.write_str("GLO L2CA"),
Code::GpsL1P => f.write_str("GPS L1P"),
Code::GpsL2P => f.write_str("GPS L2P"),
Code::Bds2B1 => f.write_str("BDS2 B1"),
Code::Bds2B2 => f.write_str("BDS2 B2"),
Code::GalE1B => f.write_str("GAL E1B"),
Code::GalE7I => f.write_str("GAL E7I"),
Code::Bds3B2A => f.write_str("BDS3 B2a"),
}
}
}
impl TryFrom<u8> for Code {
type Error = u8;
fn try_from(i: u8) -> Result<Self, u8> {
match i {
0 => Ok(Code::GpsL1Ca),
1 => Ok(Code::GpsL2Cm),
2 => Ok(Code::SbasL1Ca),
3 => Ok(Code::GloL1Ca),
4 => Ok(Code::GloL2Ca),
5 => Ok(Code::GpsL1P),
6 => Ok(Code::GpsL2P),
12 => Ok(Code::Bds2B1),
13 => Ok(Code::Bds2B2),
14 => Ok(Code::GalE1B),
20 => Ok(Code::GalE7I),
47 => Ok(Code::Bds3B2A),
i => Err(i),
}
}
}
}
pub mod gnss_signal_dep {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// Deprecated
///
/// Deprecated.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct GnssSignalDep {
/// Constellation-specific satellite identifier.
///
/// Note: unlike GnssSignal, GPS satellites are encoded as (PRN - 1). Other
/// constellations do not have this offset.
#[cfg_attr(feature = "serde", serde(rename = "sat"))]
pub sat: u16,
/// Signal constellation, band and code
#[cfg_attr(feature = "serde", serde(rename = "code"))]
pub code: u8,
/// Reserved
#[cfg_attr(feature = "serde", serde(rename = "reserved"))]
pub reserved: u8,
}
impl GnssSignalDep {
/// Gets the [Code][self::Code] stored in the `code` bitfield.
///
/// Returns `Ok` if the bitrange contains a known `Code` variant.
/// Otherwise the value of the bitrange is returned as an `Err(u8)`. This may be because of a malformed message,
/// or because new variants of `Code` were added.
pub fn code(&self) -> Result<Code, u8> {
get_bit_range!(self.code, u8, u8, 7, 0).try_into()
}
/// Set the bitrange corresponding to the [Code][Code] of the `code` bitfield.
pub fn set_code(&mut self, code: Code) {
set_bit_range!(&mut self.code, code, u8, u8, 7, 0);
}
}
impl WireFormat for GnssSignalDep {
const MIN_LEN: usize = <u16 as WireFormat>::MIN_LEN
+ <u8 as WireFormat>::MIN_LEN
+ <u8 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.sat)
+ WireFormat::len(&self.code)
+ WireFormat::len(&self.reserved)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.sat, buf);
WireFormat::write(&self.code, buf);
WireFormat::write(&self.reserved, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
GnssSignalDep {
sat: WireFormat::parse_unchecked(buf),
code: WireFormat::parse_unchecked(buf),
reserved: WireFormat::parse_unchecked(buf),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum Code {
/// GPS L1CA
GpsL1Ca = 0,
/// GPS L2CM
GpsL2Cm = 1,
/// SBAS L1CA
SbasL1Ca = 2,
/// GLO L1CA
GloL1Ca = 3,
/// GLO L2CA
GloL2Ca = 4,
/// GPS L1P
GpsL1P = 5,
/// GPS L2P
GpsL2P = 6,
}
impl std::fmt::Display for Code {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
Code::GpsL1Ca => f.write_str("GPS L1CA"),
Code::GpsL2Cm => f.write_str("GPS L2CM"),
Code::SbasL1Ca => f.write_str("SBAS L1CA"),
Code::GloL1Ca => f.write_str("GLO L1CA"),
Code::GloL2Ca => f.write_str("GLO L2CA"),
Code::GpsL1P => f.write_str("GPS L1P"),
Code::GpsL2P => f.write_str("GPS L2P"),
}
}
}
impl TryFrom<u8> for Code {
type Error = u8;
fn try_from(i: u8) -> Result<Self, u8> {
match i {
0 => Ok(Code::GpsL1Ca),
1 => Ok(Code::GpsL2Cm),
2 => Ok(Code::SbasL1Ca),
3 => Ok(Code::GloL1Ca),
4 => Ok(Code::GloL2Ca),
5 => Ok(Code::GpsL1P),
6 => Ok(Code::GpsL2P),
i => Err(i),
}
}
}
}
pub mod sv_id {
#![allow(unused_imports)]
use super::*;
use crate::messages::lib::*;
/// Space vehicle identifier
///
/// A (Constellation ID, satellite ID) tuple that uniquely identifies a space
/// vehicle.
///
#[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
#[allow(clippy::derive_partial_eq_without_eq)]
#[derive(Debug, PartialEq, Clone)]
pub struct SvId {
/// Constellation-specific satellite id. For GLO can either be (100+FCN)
/// where FCN is in \[-7,+6\] or the Slot ID in \[1,28\].
#[cfg_attr(feature = "serde", serde(rename = "satId"))]
pub sat_id: u8,
/// Constellation ID to which the SV belongs
#[cfg_attr(feature = "serde", serde(rename = "constellation"))]
pub constellation: u8,
}
impl SvId {
/// Gets the [Constellation][self::Constellation] stored in the `constellation` bitfield.
///
/// Returns `Ok` if the bitrange contains a known `Constellation` variant.
/// Otherwise the value of the bitrange is returned as an `Err(u8)`. This may be because of a malformed message,
/// or because new variants of `Constellation` were added.
pub fn constellation(&self) -> Result<Constellation, u8> {
get_bit_range!(self.constellation, u8, u8, 7, 0).try_into()
}
/// Set the bitrange corresponding to the [Constellation][Constellation] of the `constellation` bitfield.
pub fn set_constellation(&mut self, constellation: Constellation) {
set_bit_range!(&mut self.constellation, constellation, u8, u8, 7, 0);
}
}
impl WireFormat for SvId {
const MIN_LEN: usize = <u8 as WireFormat>::MIN_LEN + <u8 as WireFormat>::MIN_LEN;
fn len(&self) -> usize {
WireFormat::len(&self.sat_id) + WireFormat::len(&self.constellation)
}
fn write<B: BufMut>(&self, buf: &mut B) {
WireFormat::write(&self.sat_id, buf);
WireFormat::write(&self.constellation, buf);
}
fn parse_unchecked<B: Buf>(buf: &mut B) -> Self {
SvId {
sat_id: WireFormat::parse_unchecked(buf),
constellation: WireFormat::parse_unchecked(buf),
}
}
}
#[derive(Debug, Clone, Copy, PartialEq, Eq, Hash)]
pub enum Constellation {
/// GPS
Gps = 0,
/// BDS
Bds = 3,
/// GAL
Gal = 5,
}
impl std::fmt::Display for Constellation {
fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
match self {
Constellation::Gps => f.write_str("GPS"),
Constellation::Bds => f.write_str("BDS"),
Constellation::Gal => f.write_str("GAL"),
}
}
}
impl TryFrom<u8> for Constellation {
type Error = u8;
fn try_from(i: u8) -> Result<Self, u8> {
match i {
0 => Ok(Constellation::Gps),
3 => Ok(Constellation::Bds),
5 => Ok(Constellation::Gal),
i => Err(i),
}
}
}
}