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rust: update to swiftnav 0.6.1 (#1073)
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Jason Mobarak committed Sep 22, 2021
1 parent 0f35aac commit a14a851
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Showing 21 changed files with 118 additions and 119 deletions.
6 changes: 3 additions & 3 deletions generator/sbpg/targets/resources/sbp-cargo.toml
View file
Expand Up @@ -34,9 +34,9 @@ log = "0.4"
nom = "6.0"
thiserror = "1.0"

[dependencies.swiftnav-rs]
[dependencies.swiftnav]
git = "https://github.com/swift-nav/swiftnav-rs"
tag = "v0.5.1"
tag = "v0.6.1"
optional = true

[dependencies.slotmap]
Expand All @@ -49,7 +49,7 @@ features = ["derive"]
optional = true

[dependencies.serde_json]
version = "1"
version = "1.0"
optional = true

[dependencies.base64]
Expand Down
4 changes: 2 additions & 2 deletions generator/sbpg/targets/resources/sbp2json-cargo.toml
View file
Expand Up @@ -31,8 +31,8 @@ jemallocator = "0.3"
sha2 = "0.8"
hex = "0.4"
assert_cmd = "1.0.1"
serde_json = "1"
assert-json-diff = "1.1.0"
serde_json = "1.0"
assert-json-diff = "2.0"

[profile.release]
lto = true
Expand Down
4 changes: 2 additions & 2 deletions generator/sbpg/targets/resources/sbp_messages_mod.rs
View file
Expand Up @@ -31,7 +31,7 @@ pub trait SBPMessage: SbpSerialize {
fn set_sender_id(&mut self, new_id: u16);
fn to_frame(&self) -> std::result::Result<Vec<u8>, crate::FramerError>;
fn write_frame(&self, buf: &mut Vec<u8>) -> std::result::Result<(), crate::FramerError>;
#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(&self) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
None
}
Expand Down Expand Up @@ -156,7 +156,7 @@ impl crate::SBPMessage for SBP {
}
}

#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(&self) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
match self {
((*- for m in msgs *))
Expand Down
2 changes: 1 addition & 1 deletion generator/sbpg/targets/rust.py
View file
Expand Up @@ -203,7 +203,7 @@ def gen_ret():
ret = gen_ret()

return f"""
#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(&self) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {{
{body}
{ret}
Expand Down
6 changes: 3 additions & 3 deletions rust/sbp/Cargo.toml
View file
Expand Up @@ -34,9 +34,9 @@ log = "0.4"
nom = "6.0"
thiserror = "1.0"

[dependencies.swiftnav-rs]
[dependencies.swiftnav]
git = "https://github.com/swift-nav/swiftnav-rs"
tag = "v0.5.1"
tag = "v0.6.1"
optional = true

[dependencies.slotmap]
Expand All @@ -49,7 +49,7 @@ features = ["derive"]
optional = true

[dependencies.serde_json]
version = "1"
version = "1.0"
optional = true

[dependencies.base64]
Expand Down
75 changes: 35 additions & 40 deletions rust/sbp/src/lib.rs
View file
Expand Up @@ -9,7 +9,7 @@ pub mod messages;
pub(crate) mod parser;
pub mod sbp_tools;
pub mod serialize;
#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
pub mod time;

use std::{fmt, result};
Expand Down Expand Up @@ -161,16 +161,16 @@ pub enum FramerError {
NoSenderId,
}

#[cfg(feature = "swiftnav-rs")]
mod swiftnav_rs_conversions {
#[cfg(feature = "swiftnav")]
mod swiftnav_conversions {
use std::convert::{TryFrom, TryInto};

use crate::messages;

#[derive(Debug, Clone, thiserror::Error)]
pub enum GpsTimeError {
#[error(transparent)]
InvalidGpsTime(#[from] swiftnav_rs::time::InvalidGpsTime),
InvalidGpsTime(#[from] swiftnav::time::InvalidGpsTime),

#[error("Failed to convert week number to i16")]
TryFromIntError(#[from] std::num::TryFromIntError),
Expand All @@ -182,54 +182,53 @@ mod swiftnav_rs_conversions {
}
}

impl TryFrom<messages::gnss::GPSTime> for swiftnav_rs::time::GpsTime {
type Error = swiftnav_rs::time::InvalidGpsTime;
impl TryFrom<messages::gnss::GPSTime> for swiftnav::time::GpsTime {
type Error = swiftnav::time::InvalidGpsTime;

fn try_from(
msg: messages::gnss::GPSTime,
) -> Result<swiftnav_rs::time::GpsTime, swiftnav_rs::time::InvalidGpsTime> {
) -> Result<swiftnav::time::GpsTime, swiftnav::time::InvalidGpsTime> {
let tow = (msg.tow as f64) * 1e-3 + (msg.ns_residual as f64) * 1e-9;
swiftnav_rs::time::GpsTime::new(msg.wn as i16, tow)
swiftnav::time::GpsTime::new(msg.wn as i16, tow)
}
}

impl TryFrom<messages::gnss::GPSTimeSec> for swiftnav_rs::time::GpsTime {
type Error = swiftnav_rs::time::InvalidGpsTime;
impl TryFrom<messages::gnss::GPSTimeSec> for swiftnav::time::GpsTime {
type Error = swiftnav::time::InvalidGpsTime;

fn try_from(
msg: messages::gnss::GPSTimeSec,
) -> Result<swiftnav_rs::time::GpsTime, swiftnav_rs::time::InvalidGpsTime> {
swiftnav_rs::time::GpsTime::new(msg.wn as i16, msg.tow as f64)
) -> Result<swiftnav::time::GpsTime, swiftnav::time::InvalidGpsTime> {
swiftnav::time::GpsTime::new(msg.wn as i16, msg.tow as f64)
}
}

impl TryFrom<messages::gnss::GnssSignal> for swiftnav_rs::signal::GnssSignal {
type Error = swiftnav_rs::signal::InvalidGnssSignal;
impl TryFrom<messages::gnss::GnssSignal> for swiftnav::signal::GnssSignal {
type Error = swiftnav::signal::InvalidGnssSignal;

fn try_from(
value: messages::gnss::GnssSignal,
) -> Result<swiftnav_rs::signal::GnssSignal, swiftnav_rs::signal::InvalidGnssSignal>
{
swiftnav_rs::signal::GnssSignal::new(value.sat as u16, value.code.try_into()?)
) -> Result<swiftnav::signal::GnssSignal, swiftnav::signal::InvalidGnssSignal> {
swiftnav::signal::GnssSignal::new(value.sat as u16, value.code.try_into()?)
}
}

impl TryFrom<messages::observation::MsgEphemerisGPS> for swiftnav_rs::ephemeris::Ephemeris {
impl TryFrom<messages::observation::MsgEphemerisGPS> for swiftnav::ephemeris::Ephemeris {
type Error = EphemerisDecodeError;

fn try_from(
eph: messages::observation::MsgEphemerisGPS,
) -> Result<swiftnav_rs::ephemeris::Ephemeris, EphemerisDecodeError> {
Ok(swiftnav_rs::ephemeris::Ephemeris::new(
) -> Result<swiftnav::ephemeris::Ephemeris, EphemerisDecodeError> {
Ok(swiftnav::ephemeris::Ephemeris::new(
eph.common.sid.try_into()?,
eph.common.toe.try_into()?,
eph.common.ura,
eph.common.fit_interval,
eph.common.valid,
eph.common.health_bits,
0,
swiftnav_rs::ephemeris::EphemerisTerms::new_kepler(
swiftnav_rs::signal::Constellation::Gps,
swiftnav::ephemeris::EphemerisTerms::new_kepler(
swiftnav::signal::Constellation::Gps,
[eph.tgd, 0.],
eph.c_rc as f64,
eph.c_rs as f64,
Expand Down Expand Up @@ -257,22 +256,22 @@ mod swiftnav_rs_conversions {
}
}

impl TryFrom<messages::observation::MsgEphemerisGal> for swiftnav_rs::ephemeris::Ephemeris {
impl TryFrom<messages::observation::MsgEphemerisGal> for swiftnav::ephemeris::Ephemeris {
type Error = EphemerisDecodeError;

fn try_from(
eph: messages::observation::MsgEphemerisGal,
) -> Result<swiftnav_rs::ephemeris::Ephemeris, EphemerisDecodeError> {
Ok(swiftnav_rs::ephemeris::Ephemeris::new(
) -> Result<swiftnav::ephemeris::Ephemeris, EphemerisDecodeError> {
Ok(swiftnav::ephemeris::Ephemeris::new(
eph.common.sid.try_into()?,
eph.common.toe.try_into()?,
eph.common.ura,
eph.common.fit_interval,
eph.common.valid,
eph.common.health_bits,
eph.source,
swiftnav_rs::ephemeris::EphemerisTerms::new_kepler(
swiftnav_rs::signal::Constellation::Gal,
swiftnav::ephemeris::EphemerisTerms::new_kepler(
swiftnav::signal::Constellation::Gal,
[eph.bgd_e1e5a, eph.bgd_e1e5b],
eph.c_rc as f64,
eph.c_rs as f64,
Expand Down Expand Up @@ -303,26 +302,22 @@ mod swiftnav_rs_conversions {
#[derive(Debug, Copy, Clone, PartialOrd, PartialEq, thiserror::Error)]
pub enum EphemerisDecodeError {
#[error(transparent)]
InvalidTime(#[from] swiftnav_rs::time::InvalidGpsTime),
InvalidTime(#[from] swiftnav::time::InvalidGpsTime),

#[error(transparent)]
InvalidSignal(#[from] swiftnav_rs::signal::InvalidGnssSignal),
InvalidSignal(#[from] swiftnav::signal::InvalidGnssSignal),
}

impl TryFrom<messages::observation::PackedObsContent>
for swiftnav_rs::navmeas::NavigationMeasurement
{
type Error = swiftnav_rs::signal::InvalidGnssSignal;
impl TryFrom<messages::observation::PackedObsContent> for swiftnav::navmeas::NavigationMeasurement {
type Error = swiftnav::signal::InvalidGnssSignal;

fn try_from(
observation: messages::observation::PackedObsContent,
) -> Result<
swiftnav_rs::navmeas::NavigationMeasurement,
swiftnav_rs::signal::InvalidGnssSignal,
> {
let mut measurement = swiftnav_rs::navmeas::NavigationMeasurement::new();
) -> Result<swiftnav::navmeas::NavigationMeasurement, swiftnav::signal::InvalidGnssSignal>
{
let mut measurement = swiftnav::navmeas::NavigationMeasurement::new();

measurement.set_lock_time(swiftnav_rs::navmeas::decode_lock_time(observation.lock));
measurement.set_lock_time(swiftnav::navmeas::decode_lock_time(observation.lock));
measurement.set_sid(observation.sid.try_into()?);
// A CN0 of 0 is considered invalid
if observation.cn0 != 0 {
Expand All @@ -337,7 +332,7 @@ mod swiftnav_rs_conversions {
}
if observation.flags & 0x80 != 0 {
measurement.set_flags(
measurement.get_flags() | swiftnav_rs::navmeas::NAV_MEAS_FLAG_RAIM_EXCLUSION,
measurement.flags() | swiftnav::navmeas::NAV_MEAS_FLAG_RAIM_EXCLUSION,
);
}

Expand Down
2 changes: 1 addition & 1 deletion rust/sbp/src/messages/ext_events.rs
View file
Expand Up @@ -90,7 +90,7 @@ impl super::SBPMessage for MsgExtEvent {
crate::write_frame(self, frame)
}

#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(
&self,
) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
Expand Down
2 changes: 1 addition & 1 deletion rust/sbp/src/messages/imu.rs
View file
Expand Up @@ -195,7 +195,7 @@ impl super::SBPMessage for MsgImuRaw {
crate::write_frame(self, frame)
}

#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(
&self,
) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
Expand Down
2 changes: 1 addition & 1 deletion rust/sbp/src/messages/mag.rs
View file
Expand Up @@ -88,7 +88,7 @@ impl super::SBPMessage for MsgMagRaw {
crate::write_frame(self, frame)
}

#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(
&self,
) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
Expand Down
4 changes: 2 additions & 2 deletions rust/sbp/src/messages/mod.rs
View file
Expand Up @@ -244,7 +244,7 @@ pub trait SBPMessage: SbpSerialize {
fn set_sender_id(&mut self, new_id: u16);
fn to_frame(&self) -> std::result::Result<Vec<u8>, crate::FramerError>;
fn write_frame(&self, buf: &mut Vec<u8>) -> std::result::Result<(), crate::FramerError>;
#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(
&self,
) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
Expand Down Expand Up @@ -2749,7 +2749,7 @@ impl crate::SBPMessage for SBP {
}
}

#[cfg(feature = "swiftnav-rs")]
#[cfg(feature = "swiftnav")]
fn gps_time(
&self,
) -> Option<std::result::Result<crate::time::MessageTime, crate::time::GpsTimeError>> {
Expand Down

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