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rust: support Result<Sbp> in with_rover_time #1084

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merged 2 commits into from
Oct 22, 2021
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rust: support Result<Sbp> in with_rover_time #1084

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rust: support Result<Sbp> in with_rover_time
notoriaga Oct 21, 2021
c550c1b
test
notoriaga Oct 21, 2021
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166 changes: 101 additions & 65 deletions rust/sbp/src/sbp_iter_ext.rs
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Original file line number Diff line number Diff line change
@@ -1,14 +1,5 @@
//! Extra adaptors for iterators of [Sbp] messages.

#[cfg(feature = "swiftnav")]
use swiftnav::time::GpsTime;

#[cfg(feature = "swiftnav")]
use crate::{
messages::SbpMessage,
time::{GpsTimeError, MessageTime, RoverTime},
};

use crate::{DeserializeError, Sbp};

/// An [Iterator] blanket implementation that provides extra adaptors for iterators of [Sbp] messages.
Expand Down Expand Up @@ -54,11 +45,12 @@ pub trait SbpIterExt: Iterator {
/// If the message has a complete GpsTime it is returned. If the message only has a TOW, this itertor will use the
/// last week number it has seen, or return `None` if it hasn't seen any.
#[cfg(feature = "swiftnav")]
fn with_rover_time(self) -> RoverTimeIter<Self>
fn with_rover_time<T>(self) -> swiftnav_impl::RoverTimeIter<Self>
where
Self: Sized,
T: swiftnav_impl::HasTime,
Self: Iterator<Item = T> + Sized,
{
RoverTimeIter::new(self)
swiftnav_impl::RoverTimeIter::new(self)
}
}

Expand Down Expand Up @@ -123,66 +115,93 @@ where
}
}

/// See [SbpIterExt::with_rover_time] for more information.
#[cfg(feature = "swiftnav")]
pub struct RoverTimeIter<I: Iterator> {
messages: I,
clock: Option<GpsTime>,
}
mod swiftnav_impl {
use swiftnav::time::GpsTime;

use crate::{
messages::SbpMessage,
time::{GpsTimeError, MessageTime, RoverTime},
Sbp,
};

/// See [SbpIterExt::with_rover_time] for more information.
pub struct RoverTimeIter<I: Iterator> {
messages: I,
clock: Option<GpsTime>,
}

#[cfg(feature = "swiftnav")]
impl<I> RoverTimeIter<I>
where
I: Iterator,
{
fn new(messages: I) -> RoverTimeIter<I> {
Self {
messages,
clock: None,
impl<I> RoverTimeIter<I>
where
I: Iterator,
{
pub fn new(messages: I) -> RoverTimeIter<I> {
Self {
messages,
clock: None,
}
}
}

fn update(&mut self, time: MessageTime) -> Option<GpsTime> {
match time {
MessageTime::Rover(time) => match time {
RoverTime::GpsTime(time) => {
self.clock = Some(time);
Some(time)
}
RoverTime::Tow(tow) => {
if let Some(clock) = self.clock {
// tow came from a `GpsTime` so it must be valid
let time = GpsTime::new(clock.wn(), tow).unwrap();
fn update(&mut self, time: MessageTime) -> Option<GpsTime> {
match time {
MessageTime::Rover(time) => match time {
RoverTime::GpsTime(time) => {
self.clock = Some(time);
Some(time)
} else {
// no previous time to use wn from
None
}
}
},
_ => None,
RoverTime::Tow(tow) => {
if let Some(clock) = self.clock {
// tow came from a `GpsTime` so it must be valid
let time = GpsTime::new(clock.wn(), tow).unwrap();
self.clock = Some(time);
Some(time)
} else {
// no previous time to use wn from
None
}
}
},
_ => None,
}
}
}
}

#[cfg(feature = "swiftnav")]
impl<I> Iterator for RoverTimeIter<I>
where
I: Iterator<Item = Sbp>,
{
type Item = (Sbp, Option<Result<GpsTime, GpsTimeError>>);
impl<I> Iterator for RoverTimeIter<I>
where
I: Iterator,
I::Item: HasTime,
{
type Item = (I::Item, Option<Result<GpsTime, GpsTimeError>>);

fn next(&mut self) -> Option<Self::Item> {
let msg = self.messages.next()?;
match msg.time() {
Some(Ok(time)) => match self.update(time) {
Some(gps_time) => Some((msg, Some(Ok(gps_time)))),
None => Some((msg, None)),
},
Some(Err(e)) => Some((msg, Some(Err(e)))),
None => Some((msg, None)),
}
}
}

fn next(&mut self) -> Option<Self::Item> {
let msg = self.messages.next()?;
pub trait HasTime {
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Contributor Author

@notoriaga notoriaga Oct 21, 2021

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Kind of a clunky solution but I don't know a better way to do this without specialization

fn time(&self) -> Option<Result<MessageTime, GpsTimeError>>;
}

match msg.gps_time() {
Some(Ok(time)) => match self.update(time) {
Some(gps_time) => Some((msg, Some(Ok(gps_time)))),
None => Some((msg, None)),
},
Some(Err(e)) => Some((msg, Some(Err(e)))),
None => Some((msg, None)),
impl HasTime for Sbp {
fn time(&self) -> Option<Result<MessageTime, GpsTimeError>> {
self.gps_time()
}
}

impl<E> HasTime for Result<Sbp, E> {
fn time(&self) -> Option<Result<MessageTime, GpsTimeError>> {
match self {
Ok(m) => m.gps_time(),
Err(_) => None,
}
}
}
}
Expand Down Expand Up @@ -214,17 +233,34 @@ mod tests {

let gps_time = with_time.next().map(|(_, t)| t).flatten().unwrap().unwrap();
assert_eq!(gps_time.wn(), 1787);
assert_eq!(gps_time.tow(), 2567.8);
assert!((gps_time.tow() - 2567.8).abs() < f64::EPSILON);

assert!(with_time.next().map(|(_, t)| t).flatten().is_none());

let gps_time = with_time.next().map(|(_, t)| t).flatten().unwrap().unwrap();
assert_eq!(gps_time.wn(), 1787);
assert_eq!(gps_time.tow(), 2567.9);
assert!((gps_time.tow() - 2567.9).abs() < f64::EPSILON);

let gps_time = with_time.next().map(|(_, t)| t).flatten().unwrap().unwrap();
assert_eq!(gps_time.wn(), 1787);
assert_eq!(gps_time.tow(), 2568.);
assert!((gps_time.tow() - 2568.).abs() < f64::EPSILON);
}

#[test]
fn test_rover_time_result() {
let data = Cursor::new(vec![
// MsgGPSTimeDepA TOW: 2567800 WN: 1787
85, 0, 1, 246, 215, 11, 251, 6, 120, 46, 39, 0, 0, 0, 0, 0, 0, 133, 36,
]);

let mut with_time = iter_messages(data).with_rover_time();

let msg = with_time.next().unwrap();
assert!(msg.0.is_ok());

let gps_time = msg.1.unwrap().unwrap();
assert_eq!(gps_time.wn(), 1787);
assert!((gps_time.tow() - 2567.8).abs() < f64::EPSILON);
}

#[test]
Expand Down Expand Up @@ -268,7 +304,7 @@ mod tests {
ControlFlow::Break
});

while let Some(_) = messages.next() {
for _ in &mut messages {
msg_count += 1;
}
assert!(matches!(
Expand All @@ -277,7 +313,7 @@ mod tests {
));
assert_eq!(msg_count, 2);

while let Some(_) = messages.next() {
for _ in &mut messages {
msg_count += 1;
}
assert!(messages.take_err().is_ok());
Expand Down