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pub mod commands;
pub mod logs;
pub use self::commands::*;
pub use self::logs::*;
use byteorder::{LittleEndian, WriteBytesExt};
use nom::*;
pub const SYNC: [u8; 3] = [0xAA, 0x44, 0x12];
pub const HDR_LEN: u8 = 28;
#[derive(Debug, Copy, Clone, PartialEq)]
pub enum MessageID {
Log = 1,
Unlog = 36,
UnlogAll = 38,
Version = 37,
RxStatusEvent = 94,
BestXYZ = 241,
Unknown,
}
impl Default for MessageID {
fn default() -> MessageID {
MessageID::Unknown
}
}
impl From<u16> for MessageID {
fn from(t: u16) -> MessageID {
match t {
1 => MessageID::Log,
36 => MessageID::Unlog,
37 => MessageID::Version,
38 => MessageID::UnlogAll,
94 => MessageID::RxStatusEvent,
241 => MessageID::BestXYZ,
_ => MessageID::Unknown,
}
}
}
#[derive(Clone, Debug, Default, PartialEq)]
pub struct Header {
pub sync: [u8; 3],
pub hdr_len: u8,
pub msg_id: MessageID,
pub msg_type: u8,
pub port_addr: u8,
pub msg_len: u16,
pub seq: u16,
pub idle_time: u8,
pub time_status: u8,
pub week: u16,
pub ms: i32,
pub recv_status: ReceiverStatusFlags,
pub recv_ver: u16,
}
impl Header {
fn new(msg_id: MessageID, msg_len: u16) -> Self {
Header {
sync: SYNC,
hdr_len: HDR_LEN,
msg_id,
msg_type: 0,
port_addr: Port::ThisPort as u8,
msg_len,
seq: 0,
idle_time: 0,
time_status: 0,
week: 0,
ms: 0,
recv_status: ReceiverStatusFlags::empty(),
recv_ver: 0,
}
}
pub fn parse(raw: &Vec<u8>) -> Option<Self> {
match parse_header(raw) {
Ok(conv) => Some(conv.1),
_ => None,
}
}
}
impl Message for Header {
fn serialize(&self) -> Vec<u8> {
let mut vec = SYNC.to_vec();
vec.push(self.hdr_len);
vec.write_u16::<LittleEndian>(self.msg_id as u16).unwrap();
vec.push(self.msg_type);
vec.push(self.port_addr);
vec.write_u16::<LittleEndian>(self.msg_len).unwrap();
vec.write_u16::<LittleEndian>(self.seq).unwrap();
vec.push(self.idle_time);
vec.push(self.time_status);
vec.write_u16::<LittleEndian>(self.week).unwrap();
vec.write_i32::<LittleEndian>(self.ms).unwrap();
vec.write_u32::<LittleEndian>(self.recv_status.bits())
.unwrap();
vec.push(0);
vec.push(0);
vec.write_u16::<LittleEndian>(self.recv_ver).unwrap();
vec
}
}
pub enum Port {
COM1 = 32,
ThisPort = 192,
}
named!(parse_header(&[u8]) -> Header,
do_parse!(
sync1: le_u8 >>
sync2: le_u8 >>
sync3: le_u8 >>
hdr_len: le_u8 >>
msg_id: le_u16 >>
msg_type: le_u8 >>
port_addr: le_u8 >>
msg_len: le_u16 >>
seq: le_u16 >>
idle_time: le_u8 >>
time_status: le_u8 >>
week: le_u16 >>
ms: le_i32 >>
recv_status: le_u32 >>
le_u16 >>
recv_ver: le_u16 >>
(Header {
sync: [sync1, sync2, sync3],
hdr_len,
msg_id: msg_id.into(),
msg_type,
port_addr,
msg_len,
seq,
idle_time,
time_status,
week,
ms,
recv_status: ReceiverStatusFlags::from_bits_truncate(recv_status),
recv_ver
})
)
);
bitflags! {
#[derive(Default)]
pub struct ReceiverStatusFlags: u32 {
const ERROR_PRESENT = 0x00000001;
const TEMPERATURE_WARNING = 0x00000002;
const VOLTAGE_SUPPLY_WARNING = 0x00000004;
const ANTENNA_NOT_POWERED = 0x00000008;
const LNA_FAILURE = 0x00000010;
const ANTENNA_OPEN = 0x00000020;
const ANTENNA_SHORTENED = 0x00000040;
const CPU_OVERLOAD = 0x00000080;
const COM1_BUFFER_OVERRUN = 0x00000100;
const COM2_BUFFER_OVERRUN = 0x00000200;
const COM3_BUFFER_OVERRUN = 0x00000400;
const LINK_OVERRUN = 0x00000800;
const AUX_TRANSMIT_OVERRUN = 0x00002000;
const AGC_OUT_OF_RANGE = 0x00004000;
const INS_RESET = 0x00010000;
const GPS_ALMANAC_INVALID = 0x00040000;
const POSITION_SOLUTION_INVALID = 0x00080000;
const POSITION_FIXED = 0x00100000;
const CLOCK_STEERING_DISABLED = 0x00200000;
const CLOCK_MODEL_INVALID = 0x00400000;
const EXTERNAL_OSCILLATOR_LOCKED = 0x00800000;
const SOFTWARE_RESOURCE_WARNING = 0x01000000;
const AUX3_STATUS_EVENT = 0x20000000;
const AUX2_STATUS_EVENT = 0x40000000;
const AUX1_STATUS_EVENT = 0x80000000;
}
}
impl ReceiverStatusFlags {
pub fn to_vec(&self) -> Vec<String> {
format!("{:?}", self)
.to_owned()
.split(" | ")
.map(|x| x.to_string())
.collect()
}
}