Cannot compare int and NoneType in python3

generator/sbpg/targets/rust.py

@@ -114,7 +114,7 @@ def render_source(output_dir, package_spec):
   if 'types' in includes:
     del includes[includes.index('types')]
   with open(destination_filename, 'w') as f:
-    f.write(py_template.render(msgs=sorted(package_spec.definitions, key=lambda msg: msg.sbp_id),
+    f.write(py_template.render(msgs=sorted(package_spec.definitions, key=lambda msg: msg.identifier),
                                pkg_name=name,
                                filepath="/".join(package_spec.filepath) + ".yaml",
                                description=package_spec.description,

rust/sbp/src/messages/acquisition.rs

@@ -162,39 +162,42 @@ impl AcqSvProfileDep {
     }
 }
 
-/// Deprecated
+/// Satellite acquisition result
 ///
-/// Deprecated.
+/// This message describes the results from an attempted GPS signal
+/// acquisition search for a satellite PRN over a code phase/carrier
+/// frequency range. It contains the parameters of the point in the
+/// acquisition search space with the best carrier-to-noise (CN/0)
+/// ratio.
 ///
 #[cfg_attr(feature = "serialize", derive(Serialize, Deserialize))]
 #[derive(Debug)]
 #[allow(non_snake_case)]
-pub struct MsgAcqResultDepB {
+pub struct MsgAcqResult {
     pub sender_id: Option<u16>,
-    /// SNR of best point. Currently in arbitrary SNR points, but will be in
-    /// units of dB Hz in a later revision of this message.
-    pub snr: f32,
+    /// CN/0 of best point
+    pub cn0: f32,
     /// Code phase of best point
     pub cp: f32,
     /// Carrier frequency of best point
     pub cf: f32,
     /// GNSS signal for which acquisition was attempted
-    pub sid: GnssSignalDep,
+    pub sid: GnssSignal,
 }
 
-impl MsgAcqResultDepB {
-    pub fn parse(_buf: &mut &[u8]) -> Result<MsgAcqResultDepB, crate::Error> {
-        Ok(MsgAcqResultDepB {
+impl MsgAcqResult {
+    pub fn parse(_buf: &mut &[u8]) -> Result<MsgAcqResult, crate::Error> {
+        Ok(MsgAcqResult {
             sender_id: None,
-            snr: _buf.read_f32::<LittleEndian>()?,
+            cn0: _buf.read_f32::<LittleEndian>()?,
             cp: _buf.read_f32::<LittleEndian>()?,
             cf: _buf.read_f32::<LittleEndian>()?,
-            sid: GnssSignalDep::parse(_buf)?,
+            sid: GnssSignal::parse(_buf)?,
         })
     }
 }
-impl super::SBPMessage for MsgAcqResultDepB {
-    const MSG_ID: u16 = 20;
+impl super::SBPMessage for MsgAcqResult {
+    const MSG_ID: u16 = 47;
 
     fn get_sender_id(&self) -> Option<u16> {
         self.sender_id
@@ -249,29 +252,39 @@ impl super::SBPMessage for MsgAcqResultDepA {
     }
 }
 
-/// Deprecated.
+/// Deprecated
 ///
 /// Deprecated.
 ///
 #[cfg_attr(feature = "serialize", derive(Serialize, Deserialize))]
 #[derive(Debug)]
 #[allow(non_snake_case)]
-pub struct MsgAcqSvProfileDep {
+pub struct MsgAcqResultDepB {
     pub sender_id: Option<u16>,
-    /// SV profiles during acquisition time
-    pub acq_sv_profile: Vec<AcqSvProfileDep>,
+    /// SNR of best point. Currently in arbitrary SNR points, but will be in
+    /// units of dB Hz in a later revision of this message.
+    pub snr: f32,
+    /// Code phase of best point
+    pub cp: f32,
+    /// Carrier frequency of best point
+    pub cf: f32,
+    /// GNSS signal for which acquisition was attempted
+    pub sid: GnssSignalDep,
 }
 
-impl MsgAcqSvProfileDep {
-    pub fn parse(_buf: &mut &[u8]) -> Result<MsgAcqSvProfileDep, crate::Error> {
-        Ok(MsgAcqSvProfileDep {
+impl MsgAcqResultDepB {
+    pub fn parse(_buf: &mut &[u8]) -> Result<MsgAcqResultDepB, crate::Error> {
+        Ok(MsgAcqResultDepB {
             sender_id: None,
-            acq_sv_profile: AcqSvProfileDep::parse_array(_buf)?,
+            snr: _buf.read_f32::<LittleEndian>()?,
+            cp: _buf.read_f32::<LittleEndian>()?,
+            cf: _buf.read_f32::<LittleEndian>()?,
+            sid: GnssSignalDep::parse(_buf)?,
         })
     }
 }
-impl super::SBPMessage for MsgAcqSvProfileDep {
-    const MSG_ID: u16 = 30;
+impl super::SBPMessage for MsgAcqResultDepB {
+    const MSG_ID: u16 = 20;
 
     fn get_sender_id(&self) -> Option<u16> {
         self.sender_id
@@ -358,42 +371,29 @@ impl super::SBPMessage for MsgAcqSvProfile {
     }
 }
 
-/// Satellite acquisition result
+/// Deprecated.
 ///
-/// This message describes the results from an attempted GPS signal
-/// acquisition search for a satellite PRN over a code phase/carrier
-/// frequency range. It contains the parameters of the point in the
-/// acquisition search space with the best carrier-to-noise (CN/0)
-/// ratio.
+/// Deprecated.
 ///
 #[cfg_attr(feature = "serialize", derive(Serialize, Deserialize))]
 #[derive(Debug)]
 #[allow(non_snake_case)]
-pub struct MsgAcqResult {
+pub struct MsgAcqSvProfileDep {
     pub sender_id: Option<u16>,
-    /// CN/0 of best point
-    pub cn0: f32,
-    /// Code phase of best point
-    pub cp: f32,
-    /// Carrier frequency of best point
-    pub cf: f32,
-    /// GNSS signal for which acquisition was attempted
-    pub sid: GnssSignal,
+    /// SV profiles during acquisition time
+    pub acq_sv_profile: Vec<AcqSvProfileDep>,
 }
 
-impl MsgAcqResult {
-    pub fn parse(_buf: &mut &[u8]) -> Result<MsgAcqResult, crate::Error> {
-        Ok(MsgAcqResult {
+impl MsgAcqSvProfileDep {
+    pub fn parse(_buf: &mut &[u8]) -> Result<MsgAcqSvProfileDep, crate::Error> {
+        Ok(MsgAcqSvProfileDep {
             sender_id: None,
-            cn0: _buf.read_f32::<LittleEndian>()?,
-            cp: _buf.read_f32::<LittleEndian>()?,
-            cf: _buf.read_f32::<LittleEndian>()?,
-            sid: GnssSignal::parse(_buf)?,
+            acq_sv_profile: AcqSvProfileDep::parse_array(_buf)?,
         })
     }
 }
-impl super::SBPMessage for MsgAcqResult {
-    const MSG_ID: u16 = 47;
+impl super::SBPMessage for MsgAcqSvProfileDep {
+    const MSG_ID: u16 = 30;
 
     fn get_sender_id(&self) -> Option<u16> {
         self.sender_id

rust/sbp/src/messages/bootload.rs

@@ -58,39 +58,6 @@ impl super::SBPMessage for MsgBootloaderHandshakeDepA {
     }
 }
 
-/// Bootloader jump to application (host => device)
-///
-/// The host initiates the bootloader to jump to the application.
-///
-#[cfg_attr(feature = "serialize", derive(Serialize, Deserialize))]
-#[derive(Debug)]
-#[allow(non_snake_case)]
-pub struct MsgBootloaderJumpToApp {
-    pub sender_id: Option<u16>,
-    /// Ignored by the device
-    pub jump: u8,
-}
-
-impl MsgBootloaderJumpToApp {
-    pub fn parse(_buf: &mut &[u8]) -> Result<MsgBootloaderJumpToApp, crate::Error> {
-        Ok(MsgBootloaderJumpToApp {
-            sender_id: None,
-            jump: _buf.read_u8()?,
-        })
-    }
-}
-impl super::SBPMessage for MsgBootloaderJumpToApp {
-    const MSG_ID: u16 = 177;
-
-    fn get_sender_id(&self) -> Option<u16> {
-        self.sender_id
-    }
-
-    fn set_sender_id(&mut self, new_id: u16) {
-        self.sender_id = Some(new_id);
-    }
-}
-
 /// Bootloading handshake request (host => device)
 ///
 /// The handshake message request from the host establishes a
@@ -161,34 +128,29 @@ impl super::SBPMessage for MsgBootloaderHandshakeResp {
     }
 }
 
-/// Read FPGA device ID over UART response (host <= device)
+/// Bootloader jump to application (host => device)
 ///
-/// The device message from the host reads a unique device
-/// identifier from the SwiftNAP, an FPGA. The host requests the ID
-/// by sending a MSG_NAP_DEVICE_DNA_REQ message. The device
-/// responds with a MSG_NAP_DEVICE_DNA_RESP messagage with the
-/// device ID in the payload. Note that this ID is tied to the FPGA,
-/// and not related to the Piksi's serial number.
+/// The host initiates the bootloader to jump to the application.
 ///
 #[cfg_attr(feature = "serialize", derive(Serialize, Deserialize))]
 #[derive(Debug)]
 #[allow(non_snake_case)]
-pub struct MsgNapDeviceDnaResp {
+pub struct MsgBootloaderJumpToApp {
     pub sender_id: Option<u16>,
-    /// 57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right.
-    pub dna: Vec<u8>,
+    /// Ignored by the device
+    pub jump: u8,
 }
 
-impl MsgNapDeviceDnaResp {
-    pub fn parse(_buf: &mut &[u8]) -> Result<MsgNapDeviceDnaResp, crate::Error> {
-        Ok(MsgNapDeviceDnaResp {
+impl MsgBootloaderJumpToApp {
+    pub fn parse(_buf: &mut &[u8]) -> Result<MsgBootloaderJumpToApp, crate::Error> {
+        Ok(MsgBootloaderJumpToApp {
             sender_id: None,
-            dna: crate::parser::read_u8_array_limit(_buf, 8)?,
+            jump: _buf.read_u8()?,
         })
     }
 }
-impl super::SBPMessage for MsgNapDeviceDnaResp {
-    const MSG_ID: u16 = 221;
+impl super::SBPMessage for MsgBootloaderJumpToApp {
+    const MSG_ID: u16 = 177;
 
     fn get_sender_id(&self) -> Option<u16> {
         self.sender_id
@@ -231,3 +193,41 @@ impl super::SBPMessage for MsgNapDeviceDnaReq {
         self.sender_id = Some(new_id);
     }
 }
+
+/// Read FPGA device ID over UART response (host <= device)
+///
+/// The device message from the host reads a unique device
+/// identifier from the SwiftNAP, an FPGA. The host requests the ID
+/// by sending a MSG_NAP_DEVICE_DNA_REQ message. The device
+/// responds with a MSG_NAP_DEVICE_DNA_RESP messagage with the
+/// device ID in the payload. Note that this ID is tied to the FPGA,
+/// and not related to the Piksi's serial number.
+///
+#[cfg_attr(feature = "serialize", derive(Serialize, Deserialize))]
+#[derive(Debug)]
+#[allow(non_snake_case)]
+pub struct MsgNapDeviceDnaResp {
+    pub sender_id: Option<u16>,
+    /// 57-bit SwiftNAP FPGA Device ID. Remaining bits are padded on the right.
+    pub dna: Vec<u8>,
+}
+
+impl MsgNapDeviceDnaResp {
+    pub fn parse(_buf: &mut &[u8]) -> Result<MsgNapDeviceDnaResp, crate::Error> {
+        Ok(MsgNapDeviceDnaResp {
+            sender_id: None,
+            dna: crate::parser::read_u8_array_limit(_buf, 8)?,
+        })
+    }
+}
+impl super::SBPMessage for MsgNapDeviceDnaResp {
+    const MSG_ID: u16 = 221;
+
+    fn get_sender_id(&self) -> Option<u16> {
+        self.sender_id
+    }
+
+    fn set_sender_id(&mut self, new_id: u16) {
+        self.sender_id = Some(new_id);
+    }
+}