INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/IMU/FileReader/VectorNavFile.cpp
Date: 2025-06-02 15:19:59
Exec Total Coverage
Lines: 748 839 89.2%
Functions: 63 69 91.3%
Branches: 1053 2112 49.9%
Line Branch Exec Source
1 // This file is part of INSTINCT, the INS Toolkit for Integrated
2 // Navigation Concepts and Training by the Institute of Navigation of
3 // the University of Stuttgart, Germany.
4 //
5 // This Source Code Form is subject to the terms of the Mozilla Public
6 // License, v. 2.0. If a copy of the MPL was not distributed with this
7 // file, You can obtain one at https://mozilla.org/MPL/2.0/.
8
9 #include "VectorNavFile.hpp"
10
11 #include <exception>
12 #include <vn/types.h>
13
14 #include "util/Logger.hpp"
15 #include "util/Assert.h"
16 #include "util/StringUtil.hpp"
17 #include "Navigation/Transformations/CoordinateFrames.hpp"
18
19 #include "internal/NodeManager.hpp"
20 namespace nm = NAV::NodeManager;
21 #include "internal/FlowManager.hpp"
22
23 #include "NodeData/IMU/VectorNavBinaryOutput.hpp"
24 #include "Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp"
25
26 158 NAV::VectorNavFile::VectorNavFile()
27
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 158 : Imu(typeStatic())
28 {
29 LOG_TRACE("{}: called", name);
30
31 158 _hasConfig = true;
32 158 _guiConfigDefaultWindowSize = { 630, 466 };
33
34
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 474 nm::CreateOutputPin(this, "Binary Output", Pin::Type::Flow, { NAV::VectorNavBinaryOutput::type() }, &VectorNavFile::pollData);
35 316 }
36
37 408 NAV::VectorNavFile::~VectorNavFile()
38 {
39 LOG_TRACE("{}: called", nameId());
40 408 }
41
42 270 std::string NAV::VectorNavFile::typeStatic()
43 {
44
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 540 return "VectorNavFile";
45 }
46
47 ✗ std::string NAV::VectorNavFile::type() const
48 {
49 ✗ return typeStatic();
50 }
51
52 112 std::string NAV::VectorNavFile::category()
53 {
54
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 224 return "Data Provider";
55 }
56
57 ✗ void NAV::VectorNavFile::guiConfig()
58 {
59 ✗ if (auto res = FileReader::guiConfig("Supported types (*.csv *.vnb){.csv,.vnb},.*", { ".csv", ".vnb" }, size_t(id), nameId()))
60 {
61 ✗ LOG_DEBUG("{}: Path changed to {}", nameId(), _path);
62 ✗ flow::ApplyChanges();
63 ✗ if (res == FileReader::PATH_CHANGED)
64 {
65 ✗ doReinitialize();
66 }
67 else
68 {
69 ✗ doDeinitialize();
70 }
71 }
72
73 ✗ Imu::guiConfig();
74
75 // Header info
76 ✗ if (ImGui::BeginTable(fmt::format("##VectorNavHeaders ({})", id.AsPointer()).c_str(), 6,
77 ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_NoHostExtendX | ImGuiTableFlags_SizingFixedFit))
78 {
79 ✗ ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed);
80 ✗ ImGui::TableSetupColumn("IMU", ImGuiTableColumnFlags_WidthFixed);
81 ✗ ImGui::TableSetupColumn("GNSS1", ImGuiTableColumnFlags_WidthFixed);
82 ✗ ImGui::TableSetupColumn("Attitude", ImGuiTableColumnFlags_WidthFixed);
83 ✗ ImGui::TableSetupColumn("INS", ImGuiTableColumnFlags_WidthFixed);
84 ✗ ImGui::TableSetupColumn("GNSS2", ImGuiTableColumnFlags_WidthFixed);
85 ✗ ImGui::TableHeadersRow();
86
87 ✗ auto TextColored = [](int index, const char* label, bool enabled) {
88 ✗ ImGui::TableSetColumnIndex(index);
89 ✗ if (enabled)
90 {
91 ✗ ImGui::TextUnformatted(label);
92 }
93 else
94 {
95 ✗ ImGui::TextDisabled("%s", label);
96 }
97 ✗ };
98
99 ✗ for (size_t i = 0; i < 16; i++)
100 {
101 ✗ if (i < std::max({ /* VectorNavSensor::_binaryGroupCommon.size(), */ VectorNavSensor::_binaryGroupTime.size(), VectorNavSensor::_binaryGroupIMU.size(),
102 VectorNavSensor::_binaryGroupGNSS.size(), VectorNavSensor::_binaryGroupAttitude.size(), VectorNavSensor::_binaryGroupINS.size() }))
103 {
104 ✗ ImGui::TableNextRow();
105 }
106 ✗ if (i < VectorNavSensor::_binaryGroupTime.size())
107 {
108 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupTime.at(i);
109 ✗ TextColored(0, binaryGroupItem.name, _binaryOutputRegister.timeField & binaryGroupItem.flagsValue);
110 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
111 {
112 ✗ ImGui::BeginTooltip();
113 ✗ binaryGroupItem.tooltip();
114 ✗ ImGui::EndTooltip();
115 }
116 }
117 ✗ if (i < VectorNavSensor::_binaryGroupIMU.size())
118 {
119 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupIMU.at(i);
120 ✗ TextColored(1, binaryGroupItem.name, _binaryOutputRegister.imuField & binaryGroupItem.flagsValue);
121 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
122 {
123 ✗ ImGui::BeginTooltip();
124 ✗ binaryGroupItem.tooltip();
125 ✗ ImGui::EndTooltip();
126 }
127 }
128 ✗ if (i < VectorNavSensor::_binaryGroupGNSS.size())
129 {
130 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupGNSS.at(i);
131 ✗ TextColored(2, binaryGroupItem.name, _binaryOutputRegister.gpsField & binaryGroupItem.flagsValue);
132 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
133 {
134 ✗ ImGui::BeginTooltip();
135 ✗ binaryGroupItem.tooltip();
136 ✗ ImGui::EndTooltip();
137 }
138 }
139 ✗ if (i < VectorNavSensor::_binaryGroupAttitude.size())
140 {
141 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupAttitude.at(i);
142 ✗ TextColored(3, binaryGroupItem.name, _binaryOutputRegister.attitudeField & binaryGroupItem.flagsValue);
143 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
144 {
145 ✗ ImGui::BeginTooltip();
146 ✗ binaryGroupItem.tooltip();
147 ✗ ImGui::EndTooltip();
148 }
149 }
150 ✗ if (i < VectorNavSensor::_binaryGroupINS.size())
151 {
152 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupINS.at(i);
153 ✗ TextColored(4, binaryGroupItem.name, _binaryOutputRegister.insField & binaryGroupItem.flagsValue);
154 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
155 {
156 ✗ ImGui::BeginTooltip();
157 ✗ binaryGroupItem.tooltip();
158 ✗ ImGui::EndTooltip();
159 }
160 }
161 ✗ if (i < VectorNavSensor::_binaryGroupGNSS.size())
162 {
163 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupGNSS.at(i);
164 ✗ TextColored(5, binaryGroupItem.name, _binaryOutputRegister.gps2Field & binaryGroupItem.flagsValue);
165 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
166 {
167 ✗ ImGui::BeginTooltip();
168 ✗ binaryGroupItem.tooltip();
169 ✗ ImGui::EndTooltip();
170 }
171 }
172 }
173
174 ✗ ImGui::EndTable();
175 }
176 ✗ }
177
178 ✗ [[nodiscard]] json NAV::VectorNavFile::save() const
179 {
180 LOG_TRACE("{}: called", nameId());
181
182 ✗ json j;
183
184 ✗ j["FileReader"] = FileReader::save();
185 ✗ j["Imu"] = Imu::save();
186
187 ✗ return j;
188 ✗ }
189
190 46 void NAV::VectorNavFile::restore(json const& j)
191 {
192 LOG_TRACE("{}: called", nameId());
193
194
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 46 if (j.contains("FileReader"))
195 {
196 46 FileReader::restore(j.at("FileReader"));
197 }
198
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 46 if (j.contains("Imu"))
199 {
200 46 Imu::restore(j.at("Imu"));
201 }
202 46 }
203
204 46 bool NAV::VectorNavFile::initialize()
205 {
206 LOG_TRACE("{}: called", nameId());
207
208 46 return FileReader::initialize();
209 }
210
211 46 void NAV::VectorNavFile::deinitialize()
212 {
213 LOG_TRACE("{}: called", nameId());
214
215 46 FileReader::deinitialize();
216 46 }
217
218 92 bool NAV::VectorNavFile::resetNode()
219 {
220 92 FileReader::resetReader();
221
222 92 _messageCount = 0;
223
224 92 return true;
225 }
226
227 46 NAV::FileReader::FileType NAV::VectorNavFile::determineFileType()
228 {
229 LOG_TRACE("called");
230
231
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 46 std::filesystem::path filepath = getFilepath();
232
233
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 46 auto filestreamHeader = std::ifstream(filepath);
234
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 46 if (good())
235 {
236 46 std::array<char, std::string_view("GpsCycle,GpsWeek,GpsTow").length()> buffer{};
237
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 92 filestreamHeader.read(buffer.data(), buffer.size());
238
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 46 filestreamHeader.close();
239
240
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 136 if (std::string(buffer.data(), buffer.size()).starts_with("Time [s]"))
241 {
242 39 _hasTimeColumn = true;
243 39 return FileType::ASCII;
244 }
245
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 15 if (std::string(buffer.data(), buffer.size()).starts_with("GpsCycle,GpsWeek,GpsTow"))
246 {
247 ✗ _hasTimeColumn = false;
248 ✗ return FileType::ASCII;
249 }
250
251 5 return FileType::BINARY;
252 }
253
254 ✗ LOG_ERROR("Could not open file {}", filepath);
255 ✗ return FileType::NONE;
256 44 }
257
258 45 void NAV::VectorNavFile::readHeader()
259 {
260
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 45 if (_fileType == FileType::ASCII)
261 {
262 40 _binaryOutputRegister.timeField = vn::protocol::uart::TimeGroup::TIMEGROUP_NONE;
263 40 _binaryOutputRegister.imuField = vn::protocol::uart::ImuGroup::IMUGROUP_NONE;
264 40 _binaryOutputRegister.gpsField = vn::protocol::uart::GpsGroup::GPSGROUP_NONE;
265 40 _binaryOutputRegister.attitudeField = vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE;
266 40 _binaryOutputRegister.insField = vn::protocol::uart::InsGroup::INSGROUP_NONE;
267 40 _binaryOutputRegister.gps2Field = vn::protocol::uart::GpsGroup::GPSGROUP_NONE;
268
269 // Read header line
270 40 std::string line;
271
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 41 getline(line);
272 // Remove any starting non text characters
273
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 82 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isalnum(ch); }));
274 // Convert line into stream
275
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 41 std::stringstream lineStream(line);
276 41 std::string cell;
277
278 40 int column = 0;
279 // Split line at comma
280
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 2452 while (std::getline(lineStream, cell, ','))
281 {
282
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 2419 if (column++ > (_hasTimeColumn ? 3 : 2))
283 {
284 // Remove any trailing non text characters
285
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 50720 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
286
287
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 2247 std::string group = cell.substr(0, cell.find("::")); // Extract the group (Time::TimeUTC::year -> 'Time')
288
289
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 2243 cell = cell.substr(cell.find("::") + 2); // Remove the group -> 'TimeUTC::year'
290
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 2247 if (cell.find("::") != std::string::npos)
291 {
292
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 1868 cell = cell.substr(0, cell.find("::")); // Remove subgroups ('TimeUTC::year' -> 'TimeUTC')
293 }
294
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 2236 if (cell.find(' ') != std::string::npos)
295 {
296
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 243 cell = cell.substr(0, cell.find(' ')); // Remove everything after a blank, which is the unit ('TimeStartup [ns]' -> 'TimeStartup')
297 }
298
299 2238 bool identified = false;
300
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 2238 if (group == "Time")
301 {
302
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 1761 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupTime)
303 {
304
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 1759 if (cell == binaryGroupItem.name)
305 {
306
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 280 _binaryOutputRegister.timeField |= static_cast<vn::protocol::uart::TimeGroup>(binaryGroupItem.flagsValue);
307 281 identified = true;
308 281 break;
309 }
310 }
311 }
312
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 1958 else if (group == "IMU")
313 {
314
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 3479 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupIMU)
315 {
316
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 3477 if (cell == binaryGroupItem.name)
317 {
318
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 520 _binaryOutputRegister.imuField |= static_cast<vn::protocol::uart::ImuGroup>(binaryGroupItem.flagsValue);
319 520 identified = true;
320 520 break;
321 }
322
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 2959 if (cell == "DeltaTime")
323 {
324
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 20 _binaryOutputRegister.imuField |= vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA;
325 20 identified = true;
326 20 break;
327 }
328 }
329 }
330
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 1423 else if (group == "GNSS1")
331 {
332
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 6600 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupGNSS)
333 {
334
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 6605 if (cell == binaryGroupItem.name)
335 {
336
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 688 _binaryOutputRegister.gpsField |= static_cast<vn::protocol::uart::GpsGroup>(binaryGroupItem.flagsValue);
337 688 identified = true;
338 688 break;
339 }
340 }
341 }
342
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 743 else if (group == "Att")
343 {
344
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 614 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupAttitude)
345 {
346
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 614 if (cell == binaryGroupItem.name)
347 {
348
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 159 _binaryOutputRegister.attitudeField |= static_cast<vn::protocol::uart::AttitudeGroup>(binaryGroupItem.flagsValue);
349 159 identified = true;
350 159 break;
351 }
352 }
353 }
354
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 587 else if (group == "INS")
355 {
356
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 1677 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupINS)
357 {
358
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 1678 if (cell == binaryGroupItem.name)
359 {
360
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 421 _binaryOutputRegister.insField |= static_cast<vn::protocol::uart::InsGroup>(binaryGroupItem.flagsValue);
361 421 identified = true;
362 421 break;
363 }
364 }
365 }
366
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 167 else if (group == "GNSS2")
367 {
368
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 1403 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupGNSS)
369 {
370
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 1404 if (cell == binaryGroupItem.name)
371 {
372
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 168 _binaryOutputRegister.gps2Field |= static_cast<vn::protocol::uart::GpsGroup>(binaryGroupItem.flagsValue);
373 168 identified = true;
374 168 break;
375 }
376 }
377 }
378 else
379 {
380 ✗ LOG_ERROR("{}: Could not identify the group in CSV header - {}::{}", nameId(), group, cell);
381 ✗ doDeinitialize();
382 ✗ break;
383 }
384
385
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 2254 if (!identified)
386 {
387 ✗ LOG_ERROR("{}: Could not identify the field in CSV header - {}::{}", nameId(), group, cell);
388 ✗ doDeinitialize();
389 ✗ break;
390 }
391 2254 }
392 }
393 42 }
394 else // if (fileType == FileType::BINARY)
395 {
396 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.timeField), sizeof(vn::protocol::uart::TimeGroup));
397 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.imuField), sizeof(vn::protocol::uart::ImuGroup));
398 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.gpsField), sizeof(vn::protocol::uart::GpsGroup));
399 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.attitudeField), sizeof(vn::protocol::uart::AttitudeGroup));
400 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.insField), sizeof(vn::protocol::uart::InsGroup));
401 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.gps2Field), sizeof(vn::protocol::uart::GpsGroup));
402 }
403 46 }
404
405 28713 std::shared_ptr<const NAV::NodeData> NAV::VectorNavFile::pollData()
406 {
407
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 28713 auto obs = std::make_shared<VectorNavBinaryOutput>(_imuPos);
408
409
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 28718 if (_fileType == FileType::ASCII)
410 {
411 // Read line
412 28583 std::string line;
413
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 28581 getline(line);
414 // Remove any starting non text characters
415
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 57133 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); }));
416
417
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 28586 if (line.empty())
418 {
419
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 38 LOG_DEBUG("{}: End of file reached after {} lines", nameId(), _messageCount);
420 38 return nullptr;
421 }
422
423 // Convert line into stream
424
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 28548 std::stringstream lineStream(line);
425 LOG_DATA("{}: Reading line {}: {}", nameId(), _messageCount + 2, line);
426
427 1263552 auto extractCell = [&lineStream]() {
428
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 1263552 if (lineStream.eof())
429 {
430
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 3 throw std::runtime_error("End of file");
431 }
432
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 1263540 if (std::string cell; std::getline(lineStream, cell, ','))
433 {
434 // Remove any trailing non text characters
435
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 22691396 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
436
437 // LOG_DEBUG(" extractCell: {}", cell);
438 1263087 return cell;
439 1262608 }
440
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 20 return std::string("");
441 28547 };
442 2896827 auto extractRemoveTillDelimiter = [](std::string& str, const std::string& delimiter) {
443 2896827 std::string extract;
444
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 2896827 if (size_t pos = str.find(delimiter);
445 pos != std::string::npos)
446 {
447
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 2896827 extract = str.substr(0, pos);
448
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 2896827 str = str.substr(pos + 1);
449 }
450
451 2896827 return extract;
452 ✗ };
453
454 2299852 auto extractSingleValue = [&](auto& field, auto flag, auto& out) {
455 static_assert(std::is_same_v<uint8_t&, decltype(out)> || std::is_same_v<uint16_t&, decltype(out)> || std::is_same_v<uint32_t&, decltype(out)> || std::is_same_v<uint64_t&, decltype(out)>
456 || std::is_same_v<int8_t&, decltype(out)> || std::is_same_v<int16_t&, decltype(out)> || std::is_same_v<int32_t&, decltype(out)>
457 || std::is_same_v<float&, decltype(out)> || std::is_same_v<double&, decltype(out)>
458 || std::is_same_v<std::string&, decltype(out)>);
459
460 // LOG_DEBUG("Extracting {}", vn::protocol::uart::to_string(flag));
461
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 2299852 auto cell = extractCell();
462
463
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 2299810 if (cell.empty())
464 {
465
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 78 field &= ~flag; // unset the flag
466 }
467 else
468 {
469 if constexpr (std::is_same_v<uint8_t&, decltype(out)>
470 || std::is_same_v<uint16_t&, decltype(out)>
471 || std::is_same_v<uint32_t&, decltype(out)>)
472 {
473
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 524616 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoul(cell));
474 }
475 else if constexpr (std::is_same_v<uint64_t&, decltype(out)>)
476 {
477
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 171516 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoull(cell));
478 }
479 else if constexpr (std::is_same_v<int8_t&, decltype(out)>
480 || std::is_same_v<int16_t&, decltype(out)>
481 || std::is_same_v<int32_t&, decltype(out)>)
482 {
483
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 57630 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoi(cell));
484 }
485 else if constexpr (std::is_same_v<float&, decltype(out)>)
486 {
487
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 1496412 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stof(cell));
488 }
489 else if constexpr (std::is_same_v<double&, decltype(out)>)
490 {
491
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 38896 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stod(cell));
492 }
493 else if constexpr (std::is_same_v<std::string&, decltype(out)>)
494 {
495
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 10682 out = cell;
496 }
497 }
498 2328387 };
499
500 2164800 auto extractValue = [&](auto& field, auto flag, auto&... out) {
501
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✓ Branch 2 taken 584202 times.
 2164800 if (field & flag)
502 {
503 996470 (extractSingleValue(field, flag, out), ...);
504 }
505 2193391 };
506
507 try
508 {
509
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 28547 if (_hasTimeColumn) { extractCell(); } // Time [s]
510
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 28547 std::string gpsCycle = extractCell();
511
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 28547 std::string gpsWeek = extractCell();
512
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 28547 std::string gpsTow = extractCell();
513
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 28546 if (!gpsCycle.empty() && !gpsWeek.empty() && !gpsTow.empty())
514 {
515
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 28537 obs->insTime = InsTime(std::stoi(gpsCycle), std::stoi(gpsWeek), std::stold(gpsTow));
516 }
517
518 // Group 2 (Time)
519
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 28543 if (_binaryOutputRegister.timeField != vn::protocol::uart::TimeGroup::TIMEGROUP_NONE)
520 {
521
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 28546 if (!obs->timeOutputs)
522 {
523
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 28545 obs->timeOutputs = std::make_shared<NAV::vendor::vectornav::TimeOutputs>();
524
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 28542 obs->timeOutputs->timeField |= _binaryOutputRegister.timeField;
525 }
526
527
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 28536 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP, obs->timeOutputs->timeStartup);
528
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 28545 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS, obs->timeOutputs->timeGps);
529
2/2
✓ Branch 5 taken 28539 times.
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 28543 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW, obs->timeOutputs->gpsTow);
530
1/2
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 28539 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK, obs->timeOutputs->gpsWeek);
531
1/2
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 28535 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN, obs->timeOutputs->timeSyncIn);
532
1/2
✓ Branch 5 taken 28543 times.
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 28542 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS, obs->timeOutputs->timePPS);
533
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 28541 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC,
534 28540 obs->timeOutputs->timeUtc.year, obs->timeOutputs->timeUtc.month, obs->timeOutputs->timeUtc.day,
535 28543 obs->timeOutputs->timeUtc.hour, obs->timeOutputs->timeUtc.min, obs->timeOutputs->timeUtc.sec, obs->timeOutputs->timeUtc.ms);
536
1/2
✓ Branch 5 taken 28543 times.
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 28541 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT, obs->timeOutputs->syncInCnt);
537
1/2
✓ Branch 5 taken 28541 times.
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 28543 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT, obs->timeOutputs->syncOutCnt);
538 28541 uint8_t timeOk{};
539 28541 uint8_t dateOk{};
540 28541 uint8_t utcTimeValid{};
541
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 28541 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS, timeOk, dateOk, utcTimeValid);
542
2/4
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 28539 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)
543 {
544 28541 obs->timeOutputs->timeStatus = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
545 }
546
547
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✓ Branch 3 taken 28538 times.
 28539 if (obs->timeOutputs->timeField == vn::protocol::uart::TimeGroup::TIMEGROUP_NONE) { obs->timeOutputs.reset(); }
548 }
549 // Group 3 (IMU)
550
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 28535 if (_binaryOutputRegister.imuField != vn::protocol::uart::ImuGroup::IMUGROUP_NONE)
551 {
552
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✗ Branch 3 not taken.
 25848 if (!obs->imuOutputs)
553 {
554
1/2
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 25848 obs->imuOutputs = std::make_shared<NAV::vendor::vectornav::ImuOutputs>();
555
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 25848 obs->imuOutputs->imuField |= _binaryOutputRegister.imuField;
556 }
557
558
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS, obs->imuOutputs->imuStatus);
559
1/2
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✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG,
560
3/6
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 25848 obs->imuOutputs->uncompMag.x(), obs->imuOutputs->uncompMag.y(), obs->imuOutputs->uncompMag.z());
561
1/2
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✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL,
562
3/6
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 25848 obs->imuOutputs->uncompAccel.x(), obs->imuOutputs->uncompAccel.y(), obs->imuOutputs->uncompAccel.z());
563
1/2
✓ Branch 2 taken 25848 times.
✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO,
564
3/6
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 25848 obs->imuOutputs->uncompGyro.x(), obs->imuOutputs->uncompGyro.y(), obs->imuOutputs->uncompGyro.z());
565
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_TEMP, obs->imuOutputs->temp);
566
1/2
✓ Branch 5 taken 25848 times.
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_PRES, obs->imuOutputs->pres);
567
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA,
568
3/6
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 25848 obs->imuOutputs->deltaTime, obs->imuOutputs->deltaTheta.x(), obs->imuOutputs->deltaTheta.y(), obs->imuOutputs->deltaTheta.z());
569
1/2
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✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL,
570
3/6
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 25848 obs->imuOutputs->deltaV.x(), obs->imuOutputs->deltaV.y(), obs->imuOutputs->deltaV.z());
571
1/2
✓ Branch 2 taken 25848 times.
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_MAG,
572
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 25848 obs->imuOutputs->mag.x(), obs->imuOutputs->mag.y(), obs->imuOutputs->mag.z());
573
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL,
574
3/6
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 25848 obs->imuOutputs->accel.x(), obs->imuOutputs->accel.y(), obs->imuOutputs->accel.z());
575
1/2
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✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE,
576
3/6
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 25848 obs->imuOutputs->angularRate.x(), obs->imuOutputs->angularRate.y(), obs->imuOutputs->angularRate.z());
577
578
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✗ Branch 2 not taken.
✓ Branch 3 taken 25848 times.
 25848 if (obs->imuOutputs->imuField == vn::protocol::uart::ImuGroup::IMUGROUP_NONE) { obs->imuOutputs.reset(); }
579 }
580 // Group 4 (GNSS1)
581
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 28544 if (_binaryOutputRegister.gpsField != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
582 {
583
1/2
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 28544 if (!obs->gnss1Outputs)
584 {
585
1/2
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 28545 obs->gnss1Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
586
1/2
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 28539 obs->gnss1Outputs->gnssField |= _binaryOutputRegister.gpsField;
587 }
588
589
1/2
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 28543 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_UTC,
590 28542 obs->gnss1Outputs->timeUtc.year, obs->gnss1Outputs->timeUtc.month, obs->gnss1Outputs->timeUtc.day,
591 28540 obs->gnss1Outputs->timeUtc.hour, obs->gnss1Outputs->timeUtc.min, obs->gnss1Outputs->timeUtc.sec, obs->gnss1Outputs->timeUtc.ms);
592
1/2
✓ Branch 5 taken 28542 times.
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 28543 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TOW, obs->gnss1Outputs->tow);
593
1/2
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 28542 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_WEEK, obs->gnss1Outputs->week);
594
1/2
✓ Branch 5 taken 28545 times.
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 28543 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS, obs->gnss1Outputs->numSats);
595
1/2
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 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_FIX, obs->gnss1Outputs->fix);
596
1/2
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 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA,
597
3/6
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 28545 obs->gnss1Outputs->posLla.x(), obs->gnss1Outputs->posLla.y(), obs->gnss1Outputs->posLla.z());
598
1/2
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 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF,
599
3/6
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 28545 obs->gnss1Outputs->posEcef.x(), obs->gnss1Outputs->posEcef.y(), obs->gnss1Outputs->posEcef.z());
600
1/2
✓ Branch 2 taken 28544 times.
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 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELNED,
601
3/6
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 28544 obs->gnss1Outputs->velNed.x(), obs->gnss1Outputs->velNed.y(), obs->gnss1Outputs->velNed.z());
602
1/2
✓ Branch 2 taken 28543 times.
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 28543 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF,
603
3/6
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 28544 obs->gnss1Outputs->velEcef.x(), obs->gnss1Outputs->velEcef.y(), obs->gnss1Outputs->velEcef.z());
604
1/2
✓ Branch 2 taken 28545 times.
✗ Branch 3 not taken.
 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSU,
605
3/6
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 28543 obs->gnss1Outputs->posU.x(), obs->gnss1Outputs->posU.y(), obs->gnss1Outputs->posU.z());
606
1/2
✓ Branch 5 taken 28545 times.
✗ Branch 6 not taken.
 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELU, obs->gnss1Outputs->velU);
607
1/2
✓ Branch 5 taken 28544 times.
✗ Branch 6 not taken.
 28545 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU, obs->gnss1Outputs->timeU);
608
609 28544 uint8_t timeOk{};
610 28544 uint8_t dateOk{};
611 28544 uint8_t utcTimeValid{};
612 28544 int8_t leapSeconds{};
613
1/2
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 28544 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO, timeOk, dateOk, utcTimeValid, leapSeconds);
614
2/4
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 28543 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
615 {
616 28542 obs->gnss1Outputs->timeInfo.status = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
617 28542 obs->gnss1Outputs->timeInfo.leapSeconds = leapSeconds;
618 }
619
1/2
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✗ Branch 3 not taken.
 28544 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_DOP,
620 28544 obs->gnss1Outputs->dop.gDop, obs->gnss1Outputs->dop.pDop, obs->gnss1Outputs->dop.tDop, obs->gnss1Outputs->dop.vDop,
621 28543 obs->gnss1Outputs->dop.hDop, obs->gnss1Outputs->dop.nDop, obs->gnss1Outputs->dop.eDop);
622
623 28544 std::string satellites;
624
1/2
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✗ Branch 4 not taken.
 28543 bool flag = obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO;
625
1/2
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 28544 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO,
626 28544 obs->gnss1Outputs->satInfo.numSats, satellites);
627
3/4
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✓ Branch 5 taken 2645 times.
✓ Branch 6 taken 25899 times.
 28544 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
628 {
629
2/2
✓ Branch 2 taken 68852 times.
✓ Branch 3 taken 2645 times.
 71497 for (size_t i = 0; i < obs->gnss1Outputs->satInfo.numSats; i++)
630 {
631
1/2
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✗ Branch 2 not taken.
 68852 satellites = satellites.substr(1); // Remove leading '['
632
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 137704 auto sys = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
633
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 137704 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
634
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 137704 auto flagHealthy = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
635
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 137704 auto flagAlmanac = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
636
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 137704 auto flagEphemeris = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
637
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 137704 auto flagDifferentialCorrection = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
638
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 137704 auto flagUsedForNavigation = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
639
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 137704 auto flagAzimuthElevationValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
640
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 68852 auto flagUsedForRTK = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
641 68852 auto flags = static_cast<uint8_t>(flagHealthy << 0U
642 68852 | flagAlmanac << 1U
643 68852 | flagEphemeris << 2U
644 68852 | flagDifferentialCorrection << 3U
645 68852 | flagUsedForNavigation << 4U
646 68852 | flagAzimuthElevationValid << 5U
647 68852 | flagUsedForRTK << 6U);
648
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 137704 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 137704 auto qi = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
650
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 137704 auto el = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
651
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 68852 auto az = static_cast<int16_t>(std::stoi(extractRemoveTillDelimiter(satellites, "]")));
652
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 68852 obs->gnss1Outputs->satInfo.satellites.emplace_back(sys, svId, flags, cno, qi, el, az);
653 }
654 }
655
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 28544 if (flag && satellites.empty() && !(obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO))
656 {
657
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 4 obs->gnss1Outputs->gnssField |= vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO;
658 }
659
660 28542 satellites.clear();
661
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 28544 flag = obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS;
662
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 28544 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS,
663 28543 obs->gnss1Outputs->raw.tow, obs->gnss1Outputs->raw.week, obs->gnss1Outputs->raw.numSats, satellites);
664
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 28545 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
665 {
666
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 112806 for (size_t i = 0; i < obs->gnss1Outputs->raw.numSats; i++)
667 {
668
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 110175 satellites = satellites.substr(1); // Remove leading '['
669
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 220350 auto sys = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
670
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 220350 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
671
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 220350 auto freq = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
672
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 220350 auto chan = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
673
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 220350 auto slot = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
674
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 220350 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
675
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 220350 auto flagSearching = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
676
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 220350 auto flagTracking = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
677
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 220350 auto flagTimeValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
678
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 220350 auto flagCodeLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
679
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 220350 auto flagPhaseLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
680
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 220350 auto flagPhaseHalfAmbiguity = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
681
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 220350 auto flagPhaseHalfSub = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
682
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 220350 auto flagPhaseSlip = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
683
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 110175 auto flagPseudorangeSmoothed = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
684 110175 auto flags = static_cast<uint16_t>(flagSearching << 0U
685 110175 | flagTracking << 1U
686 110175 | flagTimeValid << 2U
687 110175 | flagCodeLock << 3U
688 110175 | flagPhaseLock << 4U
689 110175 | flagPhaseHalfAmbiguity << 5U
690 110175 | flagPhaseHalfSub << 6U
691 110175 | flagPhaseSlip << 7U
692 110175 | flagPseudorangeSmoothed << 8U);
693
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 220350 auto pr = std::stod(extractRemoveTillDelimiter(satellites, "|"));
694
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 220350 auto cp = std::stod(extractRemoveTillDelimiter(satellites, "|"));
695
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 110175 auto dp = std::stof(extractRemoveTillDelimiter(satellites, "]"));
696
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 110175 obs->gnss1Outputs->raw.satellites.emplace_back(sys, svId, freq, chan, slot, cno, flags, pr, cp, dp);
697 }
698 }
699
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 28544 if (flag && satellites.empty() && !(obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS))
700 {
701
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 18 obs->gnss1Outputs->gnssField |= vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS;
702 }
703
704
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 28544 if (obs->gnss1Outputs->gnssField == vn::protocol::uart::GpsGroup::GPSGROUP_NONE) { obs->gnss1Outputs.reset(); }
705 28545 }
706 // Group 5 (Attitude)
707
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 28545 if (_binaryOutputRegister.attitudeField != vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE)
708 {
709
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 2769 if (!obs->attitudeOutputs)
710 {
711
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 2769 obs->attitudeOutputs = std::make_shared<NAV::vendor::vectornav::AttitudeOutputs>();
712
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 2768 obs->attitudeOutputs->attitudeField |= _binaryOutputRegister.attitudeField;
713 }
714
715 2767 uint16_t vpeStatus{};
716
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 2767 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS, vpeStatus);
717 2768 obs->attitudeOutputs->vpeStatus = vpeStatus;
718
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL,
719
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 2769 obs->attitudeOutputs->ypr.x(), obs->attitudeOutputs->ypr.y(), obs->attitudeOutputs->ypr.z());
720
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION,
721
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 2769 obs->attitudeOutputs->qtn.w(), obs->attitudeOutputs->qtn.x(), obs->attitudeOutputs->qtn.y(), obs->attitudeOutputs->qtn.z());
722
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM,
723
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 2769 obs->attitudeOutputs->dcm(0, 0), obs->attitudeOutputs->dcm(0, 1), obs->attitudeOutputs->dcm(0, 2),
724
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 2768 obs->attitudeOutputs->dcm(1, 0), obs->attitudeOutputs->dcm(1, 1), obs->attitudeOutputs->dcm(1, 2),
725
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 2769 obs->attitudeOutputs->dcm(2, 0), obs->attitudeOutputs->dcm(2, 1), obs->attitudeOutputs->dcm(2, 2));
726
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED,
727
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 2769 obs->attitudeOutputs->magNed.x(), obs->attitudeOutputs->magNed.y(), obs->attitudeOutputs->magNed.z());
728
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED,
729
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 2769 obs->attitudeOutputs->accelNed.x(), obs->attitudeOutputs->accelNed.y(), obs->attitudeOutputs->accelNed.z());
730
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY,
731
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 2769 obs->attitudeOutputs->linearAccelBody.x(), obs->attitudeOutputs->linearAccelBody.y(), obs->attitudeOutputs->linearAccelBody.z());
732
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED,
733
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 2769 obs->attitudeOutputs->linearAccelNed.x(), obs->attitudeOutputs->linearAccelNed.y(), obs->attitudeOutputs->linearAccelNed.z());
734
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 2769 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU,
735
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 2769 obs->attitudeOutputs->yprU.x(), obs->attitudeOutputs->yprU.y(), obs->attitudeOutputs->yprU.z());
736
737
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 2769 if (obs->attitudeOutputs->attitudeField == vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE) { obs->attitudeOutputs.reset(); }
738 }
739 // Group 6 (INS)
740
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 28545 if (_binaryOutputRegister.insField != vn::protocol::uart::InsGroup::INSGROUP_NONE)
741 {
742
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 2697 if (!obs->insOutputs)
743 {
744
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 2697 obs->insOutputs = std::make_shared<NAV::vendor::vectornav::InsOutputs>();
745
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 2697 obs->insOutputs->insField |= _binaryOutputRegister.insField;
746 }
747
748 2697 uint8_t mode{};
749 2697 uint8_t gpsFix{};
750 2697 uint8_t errorImu{};
751 2697 uint8_t errorMagPres{};
752 2697 uint8_t errorGnss{};
753 2697 uint8_t gpsHeadingIns{};
754 2697 uint8_t gpsCompass{};
755
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS,
756 mode, gpsFix, errorImu, errorMagPres, errorGnss, gpsHeadingIns, gpsCompass);
757
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 2697 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)
758 {
759 2697 obs->insOutputs->insStatus.status() = static_cast<uint16_t>(mode << 0U | gpsFix << 2U
760 2697 | errorImu << 4U | errorMagPres << 5U | errorGnss << 6U
761 2697 | gpsHeadingIns << 8U | gpsCompass << 9U);
762 }
763
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSLLA,
764
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 2697 obs->insOutputs->posLla.x(), obs->insOutputs->posLla.y(), obs->insOutputs->posLla.z());
765
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSECEF,
766
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 2697 obs->insOutputs->posEcef.x(), obs->insOutputs->posEcef.y(), obs->insOutputs->posEcef.z());
767
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELBODY,
768
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 2697 obs->insOutputs->velBody.x(), obs->insOutputs->velBody.y(), obs->insOutputs->velBody.z());
769
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELNED,
770
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 2697 obs->insOutputs->velNed.x(), obs->insOutputs->velNed.y(), obs->insOutputs->velNed.z());
771
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELECEF,
772
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 2697 obs->insOutputs->velEcef.x(), obs->insOutputs->velEcef.y(), obs->insOutputs->velEcef.z());
773
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_MAGECEF,
774
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 2697 obs->insOutputs->magEcef.x(), obs->insOutputs->magEcef.y(), obs->insOutputs->magEcef.z());
775
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF,
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 2697 obs->insOutputs->accelEcef.x(), obs->insOutputs->accelEcef.y(), obs->insOutputs->accelEcef.z());
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF,
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 2697 obs->insOutputs->linearAccelEcef.x(), obs->insOutputs->linearAccelEcef.y(), obs->insOutputs->linearAccelEcef.z());
779
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSU, obs->insOutputs->posU);
780
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 2697 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELU, obs->insOutputs->velU);
781
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 2697 if (obs->insOutputs->insField == vn::protocol::uart::InsGroup::INSGROUP_NONE) { obs->insOutputs.reset(); }
783 }
784 // Group 7 (GNSS2)
785
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 28545 if (_binaryOutputRegister.gps2Field != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
786 {
787
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 89 if (!obs->gnss2Outputs)
788 {
789
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 89 obs->gnss2Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
790
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 89 obs->gnss2Outputs->gnssField |= _binaryOutputRegister.gps2Field;
791 }
792
793
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_UTC,
794 89 obs->gnss2Outputs->timeUtc.year, obs->gnss2Outputs->timeUtc.month, obs->gnss2Outputs->timeUtc.day,
795 89 obs->gnss2Outputs->timeUtc.hour, obs->gnss2Outputs->timeUtc.min, obs->gnss2Outputs->timeUtc.sec, obs->gnss2Outputs->timeUtc.ms);
796
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TOW, obs->gnss2Outputs->tow);
797
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_WEEK, obs->gnss2Outputs->week);
798
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS, obs->gnss2Outputs->numSats);
799
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_FIX, obs->gnss2Outputs->fix);
800
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA,
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 89 obs->gnss2Outputs->posLla.x(), obs->gnss2Outputs->posLla.y(), obs->gnss2Outputs->posLla.z());
802
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF,
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 89 obs->gnss2Outputs->posEcef.x(), obs->gnss2Outputs->posEcef.y(), obs->gnss2Outputs->posEcef.z());
804
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELNED,
805
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 89 obs->gnss2Outputs->velNed.x(), obs->gnss2Outputs->velNed.y(), obs->gnss2Outputs->velNed.z());
806
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF,
807
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 89 obs->gnss2Outputs->velEcef.x(), obs->gnss2Outputs->velEcef.y(), obs->gnss2Outputs->velEcef.z());
808
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSU,
809
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 89 obs->gnss2Outputs->posU.x(), obs->gnss2Outputs->posU.y(), obs->gnss2Outputs->posU.z());
810
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELU, obs->gnss2Outputs->velU);
811
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU, obs->gnss2Outputs->timeU);
812
813 89 uint8_t timeOk{};
814 89 uint8_t dateOk{};
815 89 uint8_t utcTimeValid{};
816 89 int8_t leapSeconds{};
817
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO, timeOk, dateOk, utcTimeValid, leapSeconds);
818
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 89 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
819 {
820 89 obs->gnss2Outputs->timeInfo.status = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
821 89 obs->gnss2Outputs->timeInfo.leapSeconds = leapSeconds;
822 }
823
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_DOP,
824 89 obs->gnss2Outputs->dop.gDop, obs->gnss2Outputs->dop.pDop, obs->gnss2Outputs->dop.tDop, obs->gnss2Outputs->dop.vDop,
825 89 obs->gnss2Outputs->dop.hDop, obs->gnss2Outputs->dop.nDop, obs->gnss2Outputs->dop.eDop);
826
827 89 std::string satellites;
828
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 89 bool flag = obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO;
829
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO,
830 89 obs->gnss2Outputs->satInfo.numSats, satellites);
831
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 89 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
832 {
833
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 713 for (size_t i = 0; i < obs->gnss2Outputs->satInfo.numSats; i++)
834 {
835
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 679 satellites = satellites.substr(1); // Remove leading '['
836
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 1358 auto sys = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
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 1358 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
838
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 1358 auto flagHealthy = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1358 auto flagAlmanac = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
840
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 1358 auto flagEphemeris = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1358 auto flagDifferentialCorrection = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
842
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 1358 auto flagUsedForNavigation = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1358 auto flagAzimuthElevationValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 679 auto flagUsedForRTK = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
845 679 auto flags = static_cast<uint8_t>(flagHealthy << 0U
846 679 | flagAlmanac << 1U
847 679 | flagEphemeris << 2U
848 679 | flagDifferentialCorrection << 3U
849 679 | flagUsedForNavigation << 4U
850 679 | flagAzimuthElevationValid << 5U
851 679 | flagUsedForRTK << 6U);
852
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 1358 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1358 auto qi = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1358 auto el = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
855
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 679 auto az = static_cast<int16_t>(std::stoi(extractRemoveTillDelimiter(satellites, "]")));
856
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 679 obs->gnss2Outputs->satInfo.satellites.emplace_back(sys, svId, flags, cno, qi, el, az);
857 }
858 }
859
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 89 if (flag && satellites.empty() && !(obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO))
860 {
861
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 7 obs->gnss2Outputs->gnssField |= vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO;
862 }
863
864 89 satellites.clear();
865
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 89 flag = obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS;
866
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 89 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS,
867 89 obs->gnss2Outputs->raw.tow, obs->gnss2Outputs->raw.week, obs->gnss2Outputs->raw.numSats, satellites);
868
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 89 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
869 {
870
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 574 for (size_t i = 0; i < obs->gnss2Outputs->raw.numSats; i++)
871 {
872
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 543 satellites = satellites.substr(1); // Remove leading '['
873
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 1086 auto sys = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto freq = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto chan = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto slot = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagSearching = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagTracking = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagTimeValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagCodeLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
883
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 1086 auto flagPhaseLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagPhaseHalfAmbiguity = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagPhaseHalfSub = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
886
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 1086 auto flagPhaseSlip = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
887
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 543 auto flagPseudorangeSmoothed = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
888 543 auto flags = static_cast<uint16_t>(flagSearching << 0U
889 543 | flagTracking << 1U
890 543 | flagTimeValid << 2U
891 543 | flagCodeLock << 3U
892 543 | flagPhaseLock << 4U
893 543 | flagPhaseHalfAmbiguity << 5U
894 543 | flagPhaseHalfSub << 6U
895 543 | flagPhaseSlip << 7U
896 543 | flagPseudorangeSmoothed << 8U);
897
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 1086 auto pr = std::stod(extractRemoveTillDelimiter(satellites, "|"));
898
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 1086 auto cp = std::stod(extractRemoveTillDelimiter(satellites, "|"));
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 543 auto dp = std::stof(extractRemoveTillDelimiter(satellites, "]"));
900
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 543 obs->gnss2Outputs->raw.satellites.emplace_back(sys, svId, freq, chan, slot, cno, flags, pr, cp, dp);
901 }
902 }
903
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 89 if (flag && satellites.empty() && !(obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS))
904 {
905
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 10 obs->gnss2Outputs->gnssField |= vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS;
906 }
907
908
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 89 if (obs->gnss2Outputs->gnssField == vn::protocol::uart::GpsGroup::GPSGROUP_NONE) { obs->gnss2Outputs.reset(); }
909 89 }
910 28554 }
911
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 3 catch (const std::exception& e)
912 {
913
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 3 LOG_ERROR("{}: Could not read line {} completely: {}", nameId(), _messageCount + 2, e.what());
914 3 return nullptr;
915 3 }
916 28588 }
917 else // if (fileType == FileType::BINARY)
918 {
919 395 auto readFromFilestream = [&, this](char* __s, std::streamsize __n) {
920 395 read(__s, __n);
921
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 395 if (!good())
922 {
923
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 5 throw std::runtime_error("End of file reached");
924 }
925 390 };
926
927 try
928 {
929 135 int32_t gpsCycle = 0;
930 135 int32_t gpsWeek = 0;
931 135 double tow = 0.0;
932
2/2
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✓ Branch 2 taken 5 times.
 135 readFromFilestream(reinterpret_cast<char*>(&gpsCycle), sizeof(gpsCycle));
933
1/2
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 130 readFromFilestream(reinterpret_cast<char*>(&gpsWeek), sizeof(gpsWeek));
934
1/2
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✗ Branch 2 not taken.
 130 readFromFilestream(reinterpret_cast<char*>(&tow), sizeof(tow));
935
3/4
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✓ Branch 3 taken 39 times.
 130 if (gpsCycle || gpsWeek)
936 {
937
1/2
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✗ Branch 3 not taken.
 91 obs->insTime = InsTime(gpsCycle, gpsWeek, tow);
938 }
939
940 // Group 2 (Time)
941
1/2
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 130 if (_binaryOutputRegister.timeField != vn::protocol::uart::TimeGroup::TIMEGROUP_NONE)
942 {
943
1/2
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✗ Branch 3 not taken.
 130 if (!obs->timeOutputs)
944 {
945
1/2
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✗ Branch 2 not taken.
 130 obs->timeOutputs = std::make_shared<NAV::vendor::vectornav::TimeOutputs>();
946
1/2
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✗ Branch 4 not taken.
 130 obs->timeOutputs->timeField |= _binaryOutputRegister.timeField;
947 }
948
949
2/4
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✗ Branch 6 not taken.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)
950 {
951
1/2
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✗ Branch 4 not taken.
 130 read(reinterpret_cast<char*>(&obs->timeOutputs->timeStartup), sizeof(obs->timeOutputs->timeStartup));
952 }
953
3/4
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✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)
954 {
955
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timeGps), sizeof(obs->timeOutputs->timeGps));
956 }
957
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)
958 {
959
1/2
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✗ Branch 4 not taken.
 130 read(reinterpret_cast<char*>(&obs->timeOutputs->gpsTow), sizeof(obs->timeOutputs->gpsTow));
960 }
961
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)
962 {
963
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 read(reinterpret_cast<char*>(&obs->timeOutputs->gpsWeek), sizeof(obs->timeOutputs->gpsWeek));
964 }
965
3/4
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✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)
966 {
967
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timeSyncIn), sizeof(obs->timeOutputs->timeSyncIn));
968 }
969
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)
970 {
971
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timePPS), sizeof(obs->timeOutputs->timePPS));
972 }
973
3/4
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✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✓ Branch 6 taken 36 times.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)
974 {
975
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.year), sizeof(obs->timeOutputs->timeUtc.year));
976
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.month), sizeof(obs->timeOutputs->timeUtc.month));
977
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.day), sizeof(obs->timeOutputs->timeUtc.day));
978
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.hour), sizeof(obs->timeOutputs->timeUtc.hour));
979
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.min), sizeof(obs->timeOutputs->timeUtc.min));
980
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.sec), sizeof(obs->timeOutputs->timeUtc.sec));
981
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.ms), sizeof(obs->timeOutputs->timeUtc.ms));
982 }
983
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)
984 {
985
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->timeOutputs->syncInCnt), sizeof(obs->timeOutputs->syncInCnt));
986 }
987
3/4
✓ Branch 3 taken 129 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 59 times.
 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)
988 {
989
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->timeOutputs->syncOutCnt), sizeof(obs->timeOutputs->syncOutCnt));
990 }
991
2/4
✓ Branch 3 taken 129 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 129 times.
✗ Branch 6 not taken.
 129 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)
992 {
993
1/2
✓ Branch 4 taken 130 times.
✗ Branch 5 not taken.
 129 read(reinterpret_cast<char*>(&obs->timeOutputs->timeStatus.status()), sizeof(obs->timeOutputs->timeStatus.status()));
994 }
995 }
996 // Group 3 (IMU)
997
2/2
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✓ Branch 1 taken 94 times.
 130 if (_binaryOutputRegister.imuField != vn::protocol::uart::ImuGroup::IMUGROUP_NONE)
998 {
999
1/2
✓ Branch 2 taken 36 times.
✗ Branch 3 not taken.
 36 if (!obs->imuOutputs)
1000 {
1001
1/2
✓ Branch 1 taken 36 times.
✗ Branch 2 not taken.
 36 obs->imuOutputs = std::make_shared<NAV::vendor::vectornav::ImuOutputs>();
1002
1/2
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
 36 obs->imuOutputs->imuField |= _binaryOutputRegister.imuField;
1003 }
1004
1005
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
✓ Branch 6 taken 36 times.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)
1006 {
1007 ✗ read(reinterpret_cast<char*>(&obs->imuOutputs->imuStatus), sizeof(obs->imuOutputs->imuStatus));
1008 }
1009
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)
1010 {
1011
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompMag.data()), sizeof(obs->imuOutputs->uncompMag));
1012 }
1013
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)
1014 {
1015
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompAccel.data()), sizeof(obs->imuOutputs->uncompAccel));
1016 }
1017
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)
1018 {
1019
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompGyro.data()), sizeof(obs->imuOutputs->uncompGyro));
1020 }
1021
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)
1022 {
1023
1/2
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
 36 read(reinterpret_cast<char*>(&obs->imuOutputs->temp), sizeof(obs->imuOutputs->temp));
1024 }
1025
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)
1026 {
1027
1/2
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
 36 read(reinterpret_cast<char*>(&obs->imuOutputs->pres), sizeof(obs->imuOutputs->pres));
1028 }
1029
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)
1030 {
1031
1/2
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
 36 read(reinterpret_cast<char*>(&obs->imuOutputs->deltaTime), sizeof(obs->imuOutputs->deltaTime));
1032
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->deltaTheta.data()), sizeof(obs->imuOutputs->deltaTheta));
1033 }
1034
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)
1035 {
1036
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->deltaV.data()), sizeof(obs->imuOutputs->deltaV));
1037 }
1038
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)
1039 {
1040
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->mag.data()), sizeof(obs->imuOutputs->mag));
1041 }
1042
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)
1043 {
1044
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->accel.data()), sizeof(obs->imuOutputs->accel));
1045 }
1046
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 36 times.
✗ Branch 6 not taken.
 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)
1047 {
1048
2/4
✓ Branch 3 taken 36 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->angularRate.data()), sizeof(obs->imuOutputs->angularRate));
1049 }
1050 }
1051 // Group 4 (GNSS1)
1052
1/2
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✗ Branch 1 not taken.
 130 if (_binaryOutputRegister.gpsField != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1053 {
1054
1/2
✓ Branch 2 taken 130 times.
✗ Branch 3 not taken.
 130 if (!obs->gnss1Outputs)
1055 {
1056
1/2
✓ Branch 1 taken 130 times.
✗ Branch 2 not taken.
 130 obs->gnss1Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
1057
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 obs->gnss1Outputs->gnssField |= _binaryOutputRegister.gpsField;
1058 }
1059
1060
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)
1061 {
1062
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.year), sizeof(obs->gnss1Outputs->timeUtc.year));
1063
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.month), sizeof(obs->gnss1Outputs->timeUtc.month));
1064
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.day), sizeof(obs->gnss1Outputs->timeUtc.day));
1065
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.hour), sizeof(obs->gnss1Outputs->timeUtc.hour));
1066
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.min), sizeof(obs->gnss1Outputs->timeUtc.min));
1067
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.sec), sizeof(obs->gnss1Outputs->timeUtc.sec));
1068
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeUtc.ms), sizeof(obs->gnss1Outputs->timeUtc.ms));
1069 }
1070
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 60 times.
✓ Branch 6 taken 70 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)
1071 {
1072
1/2
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
 60 read(reinterpret_cast<char*>(&obs->gnss1Outputs->tow), sizeof(obs->gnss1Outputs->tow));
1073 }
1074
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 60 times.
✓ Branch 6 taken 70 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)
1075 {
1076
1/2
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
 60 read(reinterpret_cast<char*>(&obs->gnss1Outputs->week), sizeof(obs->gnss1Outputs->week));
1077 }
1078
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✓ Branch 6 taken 36 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)
1079 {
1080
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss1Outputs->numSats), sizeof(obs->gnss1Outputs->numSats));
1081 }
1082
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✓ Branch 6 taken 36 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)
1083 {
1084
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss1Outputs->fix), sizeof(obs->gnss1Outputs->fix));
1085 }
1086
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)
1087 {
1088
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss1Outputs->posLla.data()), sizeof(obs->gnss1Outputs->posLla));
1089 }
1090
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)
1091 {
1092
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss1Outputs->posEcef.data()), sizeof(obs->gnss1Outputs->posEcef));
1093 }
1094
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)
1095 {
1096
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss1Outputs->velNed.data()), sizeof(obs->gnss1Outputs->velNed));
1097 }
1098
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)
1099 {
1100
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss1Outputs->velEcef.data()), sizeof(obs->gnss1Outputs->velEcef));
1101 }
1102
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)
1103 {
1104
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss1Outputs->posU.data()), sizeof(obs->gnss1Outputs->posU));
1105 }
1106
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)
1107 {
1108
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->velU), sizeof(obs->gnss1Outputs->velU));
1109 }
1110
3/4
✓ Branch 3 taken 129 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 105 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)
1111 {
1112
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeU), sizeof(obs->gnss1Outputs->timeU));
1113 }
1114
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 129 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
1115 {
1116
1/2
✓ Branch 4 taken 130 times.
✗ Branch 5 not taken.
 130 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeInfo.status.status()), sizeof(obs->gnss1Outputs->timeInfo.status.status()));
1117
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeInfo.leapSeconds), sizeof(obs->gnss1Outputs->timeInfo.leapSeconds));
1118 }
1119
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 106 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)
1120 {
1121
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.gDop), sizeof(obs->gnss1Outputs->dop.gDop));
1122
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.pDop), sizeof(obs->gnss1Outputs->dop.pDop));
1123
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.tDop), sizeof(obs->gnss1Outputs->dop.tDop));
1124
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.vDop), sizeof(obs->gnss1Outputs->dop.vDop));
1125
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.hDop), sizeof(obs->gnss1Outputs->dop.hDop));
1126
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.nDop), sizeof(obs->gnss1Outputs->dop.nDop));
1127
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->dop.eDop), sizeof(obs->gnss1Outputs->dop.eDop));
1128 }
1129
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
1130 {
1131
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss1Outputs->satInfo.numSats), sizeof(obs->gnss1Outputs->satInfo.numSats));
1132
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss1Outputs->satInfo.satellites.resize(obs->gnss1Outputs->satInfo.numSats);
1133
1134
2/2
✓ Branch 7 taken 1121 times.
✓ Branch 8 taken 70 times.
 1191 for (auto& satellite : obs->gnss1Outputs->satInfo.satellites)
1135 {
1136
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1137
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1138
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1139
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1140
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.qi), sizeof(satellite.qi));
1141
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.el), sizeof(satellite.el));
1142
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.az), sizeof(satellite.az));
1143 }
1144 }
1145
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
1146 {
1147
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss1Outputs->raw.tow), sizeof(obs->gnss1Outputs->raw.tow));
1148
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss1Outputs->raw.week), sizeof(obs->gnss1Outputs->raw.week));
1149
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss1Outputs->raw.numSats), sizeof(obs->gnss1Outputs->raw.numSats));
1150
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss1Outputs->raw.satellites.resize(obs->gnss1Outputs->raw.numSats);
1151
1152
2/2
✓ Branch 7 taken 655 times.
✓ Branch 8 taken 70 times.
 725 for (auto& satellite : obs->gnss1Outputs->raw.satellites)
1153 {
1154
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1155
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1156
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.freq), sizeof(satellite.freq));
1157
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.chan), sizeof(satellite.chan));
1158
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.slot), sizeof(satellite.slot));
1159
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1160
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1161
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.pr), sizeof(satellite.pr));
1162
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.cp), sizeof(satellite.cp));
1163
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.dp), sizeof(satellite.dp));
1164 }
1165 }
1166 }
1167 // Group 5 (Attitude)
1168
1/2
✓ Branch 0 taken 130 times.
✗ Branch 1 not taken.
 130 if (_binaryOutputRegister.attitudeField != vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE)
1169 {
1170
1/2
✓ Branch 2 taken 130 times.
✗ Branch 3 not taken.
 130 if (!obs->attitudeOutputs)
1171 {
1172
1/2
✓ Branch 1 taken 130 times.
✗ Branch 2 not taken.
 130 obs->attitudeOutputs = std::make_shared<NAV::vendor::vectornav::AttitudeOutputs>();
1173
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 obs->attitudeOutputs->attitudeField |= _binaryOutputRegister.attitudeField;
1174 }
1175
1176
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✗ Branch 5 not taken.
✓ Branch 6 taken 130 times.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS)
1177 {
1178 ✗ read(reinterpret_cast<char*>(&obs->attitudeOutputs->vpeStatus.status()), sizeof(obs->attitudeOutputs->vpeStatus.status()));
1179 }
1180
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)
1181 {
1182
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 130 times.
✗ Branch 7 not taken.
 130 read(reinterpret_cast<char*>(obs->attitudeOutputs->ypr.data()), sizeof(obs->attitudeOutputs->ypr));
1183 }
1184
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION)
1185 {
1186
2/4
✓ Branch 4 taken 130 times.
✗ Branch 5 not taken.
✓ Branch 7 taken 130 times.
✗ Branch 8 not taken.
 130 read(reinterpret_cast<char*>(obs->attitudeOutputs->qtn.coeffs().data()), sizeof(obs->attitudeOutputs->qtn));
1187 }
1188
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM)
1189 {
1190
2/4
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 70 times.
✗ Branch 7 not taken.
 70 read(reinterpret_cast<char*>(obs->attitudeOutputs->dcm.data()), sizeof(obs->attitudeOutputs->dcm));
1191 }
1192
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED)
1193 {
1194
2/4
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 70 times.
✗ Branch 7 not taken.
 70 read(reinterpret_cast<char*>(obs->attitudeOutputs->magNed.data()), sizeof(obs->attitudeOutputs->magNed));
1195 }
1196
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED)
1197 {
1198
2/4
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 70 times.
✗ Branch 7 not taken.
 70 read(reinterpret_cast<char*>(obs->attitudeOutputs->accelNed.data()), sizeof(obs->attitudeOutputs->accelNed));
1199 }
1200
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY)
1201 {
1202
2/4
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 70 times.
✗ Branch 7 not taken.
 70 read(reinterpret_cast<char*>(obs->attitudeOutputs->linearAccelBody.data()), sizeof(obs->attitudeOutputs->linearAccelBody));
1203 }
1204
3/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 60 times.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED)
1205 {
1206
2/4
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 70 times.
✗ Branch 7 not taken.
 70 read(reinterpret_cast<char*>(obs->attitudeOutputs->linearAccelNed.data()), sizeof(obs->attitudeOutputs->linearAccelNed));
1207 }
1208
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU)
1209 {
1210
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 130 times.
✗ Branch 7 not taken.
 130 read(reinterpret_cast<char*>(obs->attitudeOutputs->yprU.data()), sizeof(obs->attitudeOutputs->yprU));
1211 }
1212 }
1213 // Group 6 (INS)
1214
2/2
✓ Branch 0 taken 94 times.
✓ Branch 1 taken 36 times.
 130 if (_binaryOutputRegister.insField != vn::protocol::uart::InsGroup::INSGROUP_NONE)
1215 {
1216
1/2
✓ Branch 2 taken 94 times.
✗ Branch 3 not taken.
 94 if (!obs->insOutputs)
1217 {
1218
1/2
✓ Branch 1 taken 94 times.
✗ Branch 2 not taken.
 94 obs->insOutputs = std::make_shared<NAV::vendor::vectornav::InsOutputs>();
1219
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 obs->insOutputs->insField |= _binaryOutputRegister.insField;
1220 }
1221
1222
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS)
1223 {
1224
1/2
✓ Branch 4 taken 94 times.
✗ Branch 5 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->insStatus.status()), sizeof(obs->insOutputs->insStatus.status()));
1225 }
1226
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSLLA)
1227 {
1228
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->posLla.data()), sizeof(obs->insOutputs->posLla));
1229 }
1230
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSECEF)
1231 {
1232
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->posEcef.data()), sizeof(obs->insOutputs->posEcef));
1233 }
1234
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELBODY)
1235 {
1236
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->velBody.data()), sizeof(obs->insOutputs->velBody));
1237 }
1238
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELNED)
1239 {
1240
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->velNed.data()), sizeof(obs->insOutputs->velNed));
1241 }
1242
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)
1243 {
1244
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->velEcef.data()), sizeof(obs->insOutputs->velEcef));
1245 }
1246
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)
1247 {
1248
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->magEcef.data()), sizeof(obs->insOutputs->magEcef));
1249 }
1250
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)
1251 {
1252
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->accelEcef.data()), sizeof(obs->insOutputs->accelEcef));
1253 }
1254
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)
1255 {
1256
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->linearAccelEcef.data()), sizeof(obs->insOutputs->linearAccelEcef));
1257 }
1258
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_POSU)
1259 {
1260
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->posU), sizeof(obs->insOutputs->posU));
1261 }
1262
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)
1263 {
1264
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->velU), sizeof(obs->insOutputs->velU));
1265 }
1266 }
1267 // Group 7 (GNSS2)
1268
2/2
✓ Branch 0 taken 94 times.
✓ Branch 1 taken 36 times.
 130 if (_binaryOutputRegister.gps2Field != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1269 {
1270
1/2
✓ Branch 2 taken 94 times.
✗ Branch 3 not taken.
 94 if (!obs->gnss2Outputs)
1271 {
1272
1/2
✓ Branch 1 taken 94 times.
✗ Branch 2 not taken.
 94 obs->gnss2Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
1273
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 obs->gnss2Outputs->gnssField |= _binaryOutputRegister.gps2Field;
1274 }
1275
1276
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_UTC)
1277 {
1278
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.year), sizeof(obs->gnss2Outputs->timeUtc.year));
1279
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.month), sizeof(obs->gnss2Outputs->timeUtc.month));
1280
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.day), sizeof(obs->gnss2Outputs->timeUtc.day));
1281
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.hour), sizeof(obs->gnss2Outputs->timeUtc.hour));
1282
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.min), sizeof(obs->gnss2Outputs->timeUtc.min));
1283
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.sec), sizeof(obs->gnss2Outputs->timeUtc.sec));
1284
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeUtc.ms), sizeof(obs->gnss2Outputs->timeUtc.ms));
1285 }
1286
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TOW)
1287 {
1288
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->tow), sizeof(obs->gnss2Outputs->tow));
1289 }
1290
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_WEEK)
1291 {
1292
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->week), sizeof(obs->gnss2Outputs->week));
1293 }
1294
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS)
1295 {
1296
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->numSats), sizeof(obs->gnss2Outputs->numSats));
1297 }
1298
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_FIX)
1299 {
1300
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->fix), sizeof(obs->gnss2Outputs->fix));
1301 }
1302
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA)
1303 {
1304
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss2Outputs->posLla.data()), sizeof(obs->gnss2Outputs->posLla));
1305 }
1306
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF)
1307 {
1308
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss2Outputs->posEcef.data()), sizeof(obs->gnss2Outputs->posEcef));
1309 }
1310
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELNED)
1311 {
1312
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss2Outputs->velNed.data()), sizeof(obs->gnss2Outputs->velNed));
1313 }
1314
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF)
1315 {
1316
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss2Outputs->velEcef.data()), sizeof(obs->gnss2Outputs->velEcef));
1317 }
1318
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_POSU)
1319 {
1320
2/4
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 24 times.
✗ Branch 7 not taken.
 24 read(reinterpret_cast<char*>(obs->gnss2Outputs->posU.data()), sizeof(obs->gnss2Outputs->posU));
1321 }
1322
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 24 times.
✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_VELU)
1323 {
1324
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->velU), sizeof(obs->gnss2Outputs->velU));
1325 }
1326
3/4
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 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU)
1327 {
1328
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeU), sizeof(obs->gnss2Outputs->timeU));
1329 }
1330
2/4
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 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
1331 {
1332
1/2
✓ Branch 4 taken 94 times.
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 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeInfo.status.status()), sizeof(obs->gnss2Outputs->timeInfo.status.status()));
1333
1/2
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 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeInfo.leapSeconds), sizeof(obs->gnss2Outputs->timeInfo.leapSeconds));
1334 }
1335
3/4
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✓ Branch 6 taken 70 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_DOP)
1336 {
1337
1/2
✓ Branch 3 taken 24 times.
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.gDop), sizeof(obs->gnss2Outputs->dop.gDop));
1338
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.pDop), sizeof(obs->gnss2Outputs->dop.pDop));
1339
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.tDop), sizeof(obs->gnss2Outputs->dop.tDop));
1340
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.vDop), sizeof(obs->gnss2Outputs->dop.vDop));
1341
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.hDop), sizeof(obs->gnss2Outputs->dop.hDop));
1342
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.nDop), sizeof(obs->gnss2Outputs->dop.nDop));
1343
1/2
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 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.eDop), sizeof(obs->gnss2Outputs->dop.eDop));
1344 }
1345
3/4
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✓ Branch 5 taken 70 times.
✓ Branch 6 taken 24 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
1346 {
1347
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss2Outputs->satInfo.numSats), sizeof(obs->gnss2Outputs->satInfo.numSats));
1348
1/2
✓ Branch 5 taken 70 times.
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 70 obs->gnss2Outputs->satInfo.satellites.resize(obs->gnss2Outputs->satInfo.numSats);
1349
1350
2/2
✓ Branch 7 taken 1146 times.
✓ Branch 8 taken 70 times.
 1216 for (auto& satellite : obs->gnss2Outputs->satInfo.satellites)
1351 {
1352
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1353
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1354
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1355
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1356
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.qi), sizeof(satellite.qi));
1357
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.el), sizeof(satellite.el));
1358
1/2
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 1146 read(reinterpret_cast<char*>(&satellite.az), sizeof(satellite.az));
1359 }
1360 }
1361
3/4
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✓ Branch 5 taken 70 times.
✓ Branch 6 taken 24 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
1362 {
1363
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss2Outputs->raw.tow), sizeof(obs->gnss2Outputs->raw.tow));
1364
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss2Outputs->raw.week), sizeof(obs->gnss2Outputs->raw.week));
1365
1/2
✓ Branch 3 taken 70 times.
✗ Branch 4 not taken.
 70 read(reinterpret_cast<char*>(&obs->gnss2Outputs->raw.numSats), sizeof(obs->gnss2Outputs->raw.numSats));
1366
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss2Outputs->raw.satellites.resize(obs->gnss2Outputs->raw.numSats);
1367
1368
2/2
✓ Branch 7 taken 543 times.
✓ Branch 8 taken 70 times.
 613 for (auto& satellite : obs->gnss2Outputs->raw.satellites)
1369 {
1370
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1371
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1372
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.freq), sizeof(satellite.freq));
1373
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.chan), sizeof(satellite.chan));
1374
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.slot), sizeof(satellite.slot));
1375
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1376
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1377
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.pr), sizeof(satellite.pr));
1378
1/2
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✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.cp), sizeof(satellite.cp));
1379
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.dp), sizeof(satellite.dp));
1380 }
1381 }
1382 }
1383 }
1384
1/2
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 5 catch (const std::exception& e)
1385 {
1386
3/6
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✓ Branch 9 taken 5 times.
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 5 LOG_DEBUG("{}: {} after {} messages", nameId(), e.what(), _messageCount);
1387 5 return nullptr;
1388 5 }
1389 }
1390
1391
2/14
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✓ Branch 25 taken 28673 times.
 28674 if (!obs->timeOutputs && !obs->imuOutputs && !obs->gnss1Outputs && !obs->attitudeOutputs && !obs->insOutputs && !obs->gnss2Outputs)
1392 {
1393 ✗ return nullptr;
1394 }
1395
1396 28673 _messageCount++;
1397
1398
1/2
✓ Branch 2 taken 28675 times.
✗ Branch 3 not taken.
 28673 invokeCallbacks(OUTPUT_PORT_INDEX_VECTORNAV_BINARY_OUTPUT, obs);
1399 28670 return obs;
1400 28718 }
1401