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Add PacketOwned variants #44

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Add PacketOwned variants #44

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eef5d0e
Add PacketOwned variants
maximeborges Sep 26, 2022
0d57b36
PacketOwned: Fix match_packet_owned implementation
maximeborges Sep 26, 2022
29a693f
Fix tests
maximeborges Sep 26, 2022
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12 changes: 7 additions & 5 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -20,7 +20,7 @@ Constructing Packets
====================

Constructing packets happens using the `Builder` variant of the packet, for example:
```
```rust
use ublox::{CfgPrtUartBuilder, UartPortId, UartMode, DataBits, Parity, StopBits, InProtoMask, OutProtoMask};
let packet: [u8; 28] = CfgPrtUartBuilder {
portid: UartPortId::Uart1,
Expand All @@ -36,7 +36,7 @@ let packet: [u8; 28] = CfgPrtUartBuilder {
```

For variable-size packet like `CfgValSet`, you can construct it into a new `Vec<u8>`:
```
```rust
use ublox::{cfg_val::CfgVal::*, CfgLayer, CfgValSetBuilder};
let packet_vec: Vec<u8> = CfgValSetBuilder {
version: 1,
Expand All @@ -48,7 +48,7 @@ let packet_vec: Vec<u8> = CfgValSetBuilder {
let packet: &[u8] = packet_vec.as_slice();
```
Or by extending to an existing one:
```
```rust
let mut packet_vec = Vec::new();
CfgValSetBuilder {
version: 1,
Expand All @@ -65,15 +65,17 @@ Parsing Packets
===============

Parsing packets happens by instantiating a `Parser` object and then adding data into it using its `consume()` method. The parser contains an internal buffer of data, and when `consume()` is called that data is copied into the internal buffer and an iterator-like object is returned to access the packets. For example:
```
```rust
use ublox::Parser;
let mut parser = Parser::default();
let my_raw_data = vec![1, 2, 3, 4]; // From your serial port
let mut it = parser.consume(&my_raw_data);
loop {
match it.next() {
Some(Ok(packet)) => {
// We've received a &PacketRef, we can handle it
// We've received a &PacketRef, we can handle it here
// Or we can convert it to an owned structure, so we can move it
let owned_packet = packet.to_owned();
}
Some(Err(_)) => {
// Received a malformed packet
Expand Down
10 changes: 9 additions & 1 deletion ublox/src/ubx_packets.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -83,13 +83,21 @@ pub trait UbxPacketCreator {
}

/// Packet not supported yet by this crate
#[derive(Debug)]
#[derive(Clone, Copy, Debug)]
pub struct UbxUnknownPacketRef<'a> {
pub payload: &'a [u8],
pub class: u8,
pub msg_id: u8,
}

/// Packet not supported yet by this crate
#[derive(Clone, Debug)]
pub struct UbxUnknownPacketOwned {
pub payload: Vec<u8>,
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Is it possible to put this behind the alloc flag? (for clients who haven't defined an allocator)

pub class: u8,
pub msg_id: u8,
}

/// Request specific packet
pub struct UbxPacketRequest {
req_class: u8,
Expand Down
98 changes: 49 additions & 49 deletions ublox/src/ubx_packets/packets.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
use super::{
ubx_checksum, MemWriter, Position, UbxChecksumCalc, UbxPacketCreator, UbxPacketMeta,
UbxUnknownPacketRef, SYNC_CHAR_1, SYNC_CHAR_2,
UbxUnknownPacketOwned, UbxUnknownPacketRef, SYNC_CHAR_1, SYNC_CHAR_2,
};
use crate::cfg_val::CfgVal;
use crate::error::{MemWriterError, ParserError};
Expand Down Expand Up @@ -140,11 +140,11 @@ struct NavHpPosLlh {

/// Horizontal accuracy estimate (mm)
#[ubx(map_type = f64, scale = 1e-1)]
horizontal_accuracy: u32,
horiz_accuracy: u32,

/// Vertical accuracy estimate (mm)
#[ubx(map_type = f64, scale = 1e-1)]
vertical_accuracy: u32,
vert_accuracy: u32,
}

/// Navigation Position Velocity Time Solution
Expand Down Expand Up @@ -802,7 +802,7 @@ impl Default for OdoProfile {
}
}

/// Configure Jamming interference monitoring
/// Configure Jamming interference monitoring
#[ubx_packet_recv_send]
#[ubx(class = 0x06, id = 0x39, fixed_payload_len = 8)]
struct CfgItfm {
Expand Down Expand Up @@ -843,18 +843,18 @@ impl Default for CfgItfmConfig {
impl CfgItfmConfig {
pub fn new(enable: bool, bb_threshold: u32, cw_threshold: u32) -> Self {
Self {
enable,
enable,
bb_threshold: bb_threshold.into(),
cw_threshold: cw_threshold.into(),
algorithm_bits: CfgItfmAlgoBits::default(),
}
}

const fn into_raw(self) -> u32 {
(self.enable as u32)<<31
| self.cw_threshold.into_raw()
| self.bb_threshold.into_raw()
| self.algorithm_bits.into_raw()
(self.enable as u32) << 31
| self.cw_threshold.into_raw()
| self.bb_threshold.into_raw()
| self.algorithm_bits.into_raw()
}
}

Expand All @@ -880,7 +880,7 @@ pub struct CfgItfmBbThreshold(u32);
impl CfgItfmBbThreshold {
const POSITION: u32 = 0;
const LENGTH: u32 = 4;
const MASK: u32 = (1<<Self::LENGTH)-1;
const MASK: u32 = (1 << Self::LENGTH) - 1;
const fn into_raw(self) -> u32 {
(self.0 & Self::MASK) << Self::POSITION
}
Expand All @@ -905,7 +905,7 @@ pub struct CfgItfmCwThreshold(u32);
impl CfgItfmCwThreshold {
const POSITION: u32 = 4;
const LENGTH: u32 = 5;
const MASK: u32 = (1<<Self::LENGTH)-1;
const MASK: u32 = (1 << Self::LENGTH) - 1;
const fn into_raw(self) -> u32 {
(self.0 & Self::MASK) << Self::POSITION
}
Expand All @@ -930,7 +930,7 @@ pub struct CfgItfmAlgoBits(u32);
impl CfgItfmAlgoBits {
const POSITION: u32 = 9;
const LENGTH: u32 = 22;
const MASK: u32 = (1<<Self::LENGTH)-1;
const MASK: u32 = (1 << Self::LENGTH) - 1;
const fn into_raw(self) -> u32 {
(self.0 & Self::MASK) << Self::POSITION
}
Expand Down Expand Up @@ -971,9 +971,9 @@ impl CfgItfmConfig2 {
}

const fn into_raw(self) -> u32 {
((self.scan_aux_bands as u32)<< 14)
| self.general.into_raw()
| self.antenna.into_raw() as u32
((self.scan_aux_bands as u32) << 14)
| self.general.into_raw()
| self.antenna.into_raw() as u32
}
}

Expand All @@ -997,7 +997,7 @@ pub struct CfgItfmGeneralBits(u32);
impl CfgItfmGeneralBits {
const POSITION: u32 = 0;
const LENGTH: u32 = 12;
const MASK: u32 = (1<<Self::LENGTH)-1;
const MASK: u32 = (1 << Self::LENGTH) - 1;
const fn into_raw(self) -> u32 {
(self.0 & Self::MASK) << Self::POSITION
}
Expand Down Expand Up @@ -1025,12 +1025,12 @@ impl From<u32> for CfgItfmGeneralBits {
pub enum CfgItfmAntennaSettings {
/// Type of Antenna is not known
Unknown = 0,
/// Active antenna
/// Active antenna
Active = 1,
/// Passive antenna
Passive = 2,
}

impl From<u32> for CfgItfmAntennaSettings {
fn from(cfg: u32) -> Self {
let cfg = (cfg & 0x3000) >> 12;
Expand Down Expand Up @@ -1325,8 +1325,8 @@ bitflags! {
/// TP5: "Time Pulse" Config frame (32.10.38.4)
#[ubx_packet_recv_send]
#[ubx(
class = 0x06,
id = 0x31,
class = 0x06,
id = 0x31,
fixed_payload_len = 32,
flags = "default_for_builder"
)]
Expand All @@ -1344,17 +1344,17 @@ struct CfgTp5 {
/// Frequency in Hz or Period in us,
/// depending on `flags::IS_FREQ` bit
#[ubx(map_type = f64, scale = 1.0)]
freq_period: u32,
freq_period: u32,
/// Frequency in Hz or Period in us,
/// when locked to GPS time.
/// Only used when `flags::LOCKED_OTHER_SET` is set
#[ubx(map_type = f64, scale = 1.0)]
freq_period_lock: u32,
freq_period_lock: u32,
/// Pulse length or duty cycle, [us] or [*2^-32],
/// depending on `flags::LS_LENGTH` bit
#[ubx(map_type = f64, scale = 1.0)]
pulse_len_ratio: u32,
/// Pulse Length in us or duty cycle (*2^-32),
/// Pulse Length in us or duty cycle (*2^-32),
/// when locked to GPS time.
/// Only used when `flags::LOCKED_OTHER_SET` is set
#[ubx(map_type = f64, scale = 1.0)]
Expand Down Expand Up @@ -1387,28 +1387,28 @@ impl Default for CfgTp5TimePulseMode {
/// only available on `timing` receivers
#[ubx_packet_recv_send]
#[ubx(
class = 0x06,
id = 0x3d,
fixed_payload_len = 28,
class = 0x06,
id = 0x3d,
fixed_payload_len = 28,
flags = "default_for_builder"
)]
struct CfgTmode2 {
/// Time transfer modes, see [CfgTmode2TimeXferModes] for details
#[ubx(map_type = CfgTmode2TimeXferModes, may_fail)]
time_transfer_mode: u8,
reserved1: u8,
#[ubx(map_type = CfgTmode2Flags)]
#[ubx(map_type = CfgTmode2Flags)]
flags: u16,
/// WGS84 ECEF.x coordinate in [m] or latitude in [deg° *1E-5],
/// depending on `flags` field
/// depending on `flags` field
#[ubx(map_type = f64, scale = 1e-2)]
ecef_x_or_lat: i32,
/// WGS84 ECEF.y coordinate in [m] or longitude in [deg° *1E-5],
/// depending on `flags` field
/// depending on `flags` field
#[ubx(map_type = f64, scale = 1e-2)]
ecef_y_or_lon: i32,
/// WGS84 ECEF.z coordinate or altitude, both in [m],
/// depending on `flags` field
/// depending on `flags` field
#[ubx(map_type = f64, scale = 1e-2)]
ecef_z_or_alt: i32,
/// Fixed position 3D accuracy in [m]
Expand Down Expand Up @@ -1456,7 +1456,7 @@ bitflags! {
/// Time mode survey-in status
#[ubx_packet_recv]
#[ubx(class = 0x0d, id = 0x04, fixed_payload_len = 28)]
struct TimSvin{
struct TimSvin {
/// Passed survey-in minimum duration
/// Units: s
dur: u32,
Expand All @@ -1474,7 +1474,7 @@ struct TimSvin{
valid: u8,
/// Survey-in in progress flag, 1 = in-progress, otherwise 0
active: u8,
reserved: [u8; 2]
reserved: [u8; 2],
}

/// Leap second event information
Expand Down Expand Up @@ -1545,29 +1545,29 @@ bitflags! {
/// only available on `timing` receivers
#[ubx_packet_recv_send]
#[ubx(
class = 0x06,
id = 0x71,
class = 0x06,
id = 0x71,
fixed_payload_len = 40,
flags = "default_for_builder"
)]
)]
struct CfgTmode3 {
version: u8,
reserved1: u8,
/// Receiver mode, see [CfgTmode3RcvrMode] enum
#[ubx(map_type = CfgTmode3RcvrMode)]
rcvr_mode: u8,
#[ubx(map_type = CfgTmode3Flags)]
#[ubx(map_type = CfgTmode3Flags)]
flags: u8,
/// WGS84 ECEF.x coordinate in [m] or latitude in [deg° *1E-5],
/// depending on `flags` field
/// depending on `flags` field
#[ubx(map_type = f64, scale = 1e-2)]
ecef_x_or_lat: i32,
/// WGS84 ECEF.y coordinate in [m] or longitude in [deg° *1E-5],
/// depending on `flags` field
/// depending on `flags` field
#[ubx(map_type = f64, scale = 1e-2)]
ecef_y_or_lon: i32,
/// WGS84 ECEF.z coordinate or altitude, both in [m],
/// depending on `flags` field
/// WGS84 ECEF.z coordinate or altitude, both in [m],
/// depending on `flags` field
#[ubx(map_type = f64, scale = 1e-2)]
ecef_z_or_alt: i32,
/// High precision WGS84 ECEF.x coordinate in [tenths of mm],
Expand Down Expand Up @@ -1621,7 +1621,7 @@ bitflags! {
/// Uses local lock otherwise.
const LOCK_GNSS_FREQ = 0x02;
/// use `freq_period_lock` and `pulse_len_ratio_lock`
/// fields as soon as GPS time is valid. Uses
/// fields as soon as GPS time is valid. Uses
/// `freq_period` and `pulse_len_ratio` when GPS time is invalid.
const LOCKED_OTHER_SET = 0x04;
/// `freq_period` and `pulse_len_ratio` fields
Expand All @@ -1633,7 +1633,7 @@ bitflags! {
/// Period time must be integer fraction of `1sec`
/// `LOCK_GNSS_FREQ` is expected, to unlock this feature
const ALIGN_TO_TOW = 0x20;
/// Pulse polarity,
/// Pulse polarity,
/// 0: falling edge @ top of second,
/// 1: rising edge @ top of second,
const POLARITY = 0x40;
Expand Down Expand Up @@ -2626,7 +2626,7 @@ struct MgaGloEph {
e: u8,
delta_tau: u8,
tau: i32,
reserved2: [u8;4],
reserved2: [u8; 4],
}

#[ubx_packet_recv]
Expand All @@ -2636,7 +2636,7 @@ struct MgaGpsIono {
msg_type: u8,
/// Message version: 0x00 for this version
version: u8,
reserved1: [u8;2],
reserved1: [u8; 2],
/// Ionospheric parameter alpha0 [s]
#[ubx(map_type = f64, scale = 1.0)] // 2^-30
alpha0: i8,
Expand All @@ -2661,7 +2661,7 @@ struct MgaGpsIono {
/// Ionospheric parameter beta0 [s/semi-circle^3]
#[ubx(map_type = f64, scale = 1.0)] // 2^-16
beta3: i8,
reserved2: [u8;4],
reserved2: [u8; 4],
}

#[ubx_packet_recv]
Expand Down Expand Up @@ -2697,7 +2697,7 @@ struct MgaGpsEph {
omega: i32,
omega_dot: i32,
idot: i16,
reserved3: [u8;2],
reserved3: [u8; 2],
}

/// Time pulse time data
Expand Down Expand Up @@ -3077,7 +3077,7 @@ struct MonGnss {
#[ubx_extend_bitflags]
#[ubx(from, into_raw, rest_reserved)]
bitflags! {
/// Selected / available Constellation Mask
/// Selected / available Constellation Mask
#[derive(Default)]
pub struct MonGnssConstellMask: u8 {
/// GPS constellation
Expand Down Expand Up @@ -3198,8 +3198,8 @@ struct RxmRtcm {
}

define_recv_packets!(
enum PacketRef {
_ = UbxUnknownPacketRef,
enum Packet {
_ = UbxUnknownPacket,
NavPosLlh,
NavStatus,
NavDop,
Expand Down
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