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//! Types representing GPS times embedded in messsages.
pub use swiftnav::time::GpsTime;
pub use crate::swiftnav_conversions::GpsTimeError;
/// The time returned by [SbpMessage::gps_time](crate::SbpMessage::gps_time).
#[derive(Debug, Clone, Copy)]
pub enum MessageTime {
/// Time received via a message from a rover.
Rover(RoverTime),
/// Time received via a message from a base station.
Base(BaseTime),
}
impl MessageTime {
/// If the `MessageTime` is from a rover return it. Otherwise return None.
pub fn to_rover(self) -> Option<RoverTime> {
if let Self::Rover(v) = self {
Some(v)
} else {
None
}
}
/// If the `MessageTime` is from a base station return it. Otherwise return None.
pub fn to_base(self) -> Option<BaseTime> {
if let Self::Base(v) = self {
Some(v)
} else {
None
}
}
}
impl From<RoverTime> for MessageTime {
fn from(rt: RoverTime) -> Self {
MessageTime::Rover(rt)
}
}
impl From<BaseTime> for MessageTime {
fn from(bt: BaseTime) -> Self {
MessageTime::Base(bt)
}
}
/// Time received via a message from a rover, like
/// [MsgAngularRate](crate::messages::orientation::MsgAngularRate)
#[derive(Debug, Clone, Copy)]
pub enum RoverTime {
/// The [GpsTime] of the message.
GpsTime(GpsTime),
/// The message had no week number.
Tow(f64),
}
impl RoverTime {
/// Get the time of week.
pub fn tow(&self) -> f64 {
match self {
RoverTime::GpsTime(time) => time.tow(),
RoverTime::Tow(tow) => *tow,
}
}
/// Get the week number if the message included it. Otherwise return None.
pub fn wn(&self) -> Option<i16> {
match self {
RoverTime::GpsTime(time) => Some(time.wn()),
RoverTime::Tow(_) => None,
}
}
}
impl From<GpsTime> for RoverTime {
fn from(gps_time: GpsTime) -> Self {
RoverTime::GpsTime(gps_time)
}
}
impl From<f64> for RoverTime {
fn from(tow: f64) -> Self {
RoverTime::Tow(tow)
}
}
/// Time received via a message from a base station, like
/// [MsgObs](crate::messages::observation::MsgObs).
#[derive(Debug, Clone, Copy, PartialEq, PartialOrd)]
#[non_exhaustive]
pub enum BaseTime {
GpsTime(GpsTime),
}
impl From<GpsTime> for BaseTime {
fn from(gps_time: GpsTime) -> Self {
BaseTime::GpsTime(gps_time)
}
}