INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/IMU/FileReader/VectorNavFile.cpp
Date: 2025-11-25 23:34:18
Exec Total Coverage
Lines: 958 1153 83.1%
Functions: 65 73 89.0%
Branches: 1275 2496 51.1%
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 <cstdint>
12 #include <exception>
13 #include <limits>
14 #include "Navigation/GNSS/Core/SatelliteIdentifier.hpp"
15 #include "Navigation/GNSS/Core/SatelliteSystem.hpp"
16 #include "util/Vendor/VectorNav/VectorNavTypes.hpp"
17 #include <vn/types.h>
18
19 #include "util/Logger.hpp"
20 #include "util/Assert.h"
21 #include "util/StringUtil.hpp"
22 #include "Navigation/Transformations/CoordinateFrames.hpp"
23
24 #include "internal/FlowManager.hpp"
25
26 #include "NodeData/IMU/VectorNavBinaryOutput.hpp"
27 #include "Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp"
28
29 161 NAV::VectorNavFile::VectorNavFile()
30
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 161 : Imu(typeStatic())
31 {
32 LOG_TRACE("{}: called", name);
33
34 161 _hasConfig = true;
35 161 _guiConfigDefaultWindowSize = { 630, 466 };
36
37
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 483 CreateOutputPin("Binary Output", Pin::Type::Flow, { NAV::VectorNavBinaryOutput::type() }, &VectorNavFile::pollData);
38 322 }
39
40 416 NAV::VectorNavFile::~VectorNavFile()
41 {
42 LOG_TRACE("{}: called", nameId());
43 416 }
44
45 275 std::string NAV::VectorNavFile::typeStatic()
46 {
47
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 550 return "VectorNavFile";
48 }
49
50 ✗ std::string NAV::VectorNavFile::type() const
51 {
52 ✗ return typeStatic();
53 }
54
55 114 std::string NAV::VectorNavFile::category()
56 {
57
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 228 return "Data Provider";
58 }
59
60 ✗ void NAV::VectorNavFile::guiConfig()
61 {
62 ✗ if (auto res = FileReader::guiConfig("Supported types (*.csv *.vnb){.csv,.vnb},.*", { ".csv", ".vnb" }, size_t(id), nameId()))
63 {
64 ✗ LOG_DEBUG("{}: Path changed to {}", nameId(), _path);
65 ✗ flow::ApplyChanges();
66 ✗ if (res == FileReader::PATH_CHANGED)
67 {
68 ✗ doReinitialize();
69 }
70 else
71 {
72 ✗ doDeinitialize();
73 }
74 }
75
76 ✗ Imu::guiConfig();
77
78 // Header info
79 ✗ if (ImGui::BeginTable(fmt::format("##VectorNavHeaders ({})", id.AsPointer()).c_str(), 6,
80 ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_NoHostExtendX | ImGuiTableFlags_SizingFixedFit))
81 {
82 ✗ ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed);
83 ✗ ImGui::TableSetupColumn("IMU", ImGuiTableColumnFlags_WidthFixed);
84 ✗ ImGui::TableSetupColumn("GNSS1", ImGuiTableColumnFlags_WidthFixed);
85 ✗ ImGui::TableSetupColumn("Attitude", ImGuiTableColumnFlags_WidthFixed);
86 ✗ ImGui::TableSetupColumn("INS", ImGuiTableColumnFlags_WidthFixed);
87 ✗ ImGui::TableSetupColumn("GNSS2", ImGuiTableColumnFlags_WidthFixed);
88 ✗ ImGui::TableHeadersRow();
89
90 ✗ auto TextColored = [](int index, const char* label, bool enabled) {
91 ✗ ImGui::TableSetColumnIndex(index);
92 ✗ if (enabled)
93 {
94 ✗ ImGui::TextUnformatted(label);
95 }
96 else
97 {
98 ✗ ImGui::TextDisabled("%s", label);
99 }
100 ✗ };
101
102 ✗ for (size_t i = 0; i < 16; i++)
103 {
104 ✗ if (i < std::max({ /* VectorNavSensor::_binaryGroupCommon.size(), */ VectorNavSensor::_binaryGroupTime.size(), VectorNavSensor::_binaryGroupIMU.size(),
105 VectorNavSensor::_binaryGroupGNSS.size(), VectorNavSensor::_binaryGroupAttitude.size(), VectorNavSensor::_binaryGroupINS.size() }))
106 {
107 ✗ ImGui::TableNextRow();
108 }
109 ✗ if (i < VectorNavSensor::_binaryGroupTime.size())
110 {
111 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupTime.at(i);
112 ✗ TextColored(0, binaryGroupItem.name, _binaryOutputRegister.timeField & binaryGroupItem.flagsValue);
113 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
114 {
115 ✗ ImGui::BeginTooltip();
116 ✗ binaryGroupItem.tooltip();
117 ✗ ImGui::EndTooltip();
118 }
119 }
120 ✗ if (i < VectorNavSensor::_binaryGroupIMU.size())
121 {
122 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupIMU.at(i);
123 ✗ TextColored(1, binaryGroupItem.name, _binaryOutputRegister.imuField & binaryGroupItem.flagsValue);
124 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
125 {
126 ✗ ImGui::BeginTooltip();
127 ✗ binaryGroupItem.tooltip();
128 ✗ ImGui::EndTooltip();
129 }
130 }
131 ✗ if (i < VectorNavSensor::_binaryGroupGNSS.size())
132 {
133 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupGNSS.at(i);
134 ✗ TextColored(2, binaryGroupItem.name, _binaryOutputRegister.gpsField & binaryGroupItem.flagsValue);
135 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
136 {
137 ✗ ImGui::BeginTooltip();
138 ✗ binaryGroupItem.tooltip();
139 ✗ ImGui::EndTooltip();
140 }
141 }
142 ✗ if (i < VectorNavSensor::_binaryGroupAttitude.size())
143 {
144 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupAttitude.at(i);
145 ✗ TextColored(3, binaryGroupItem.name, _binaryOutputRegister.attitudeField & binaryGroupItem.flagsValue);
146 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
147 {
148 ✗ ImGui::BeginTooltip();
149 ✗ binaryGroupItem.tooltip();
150 ✗ ImGui::EndTooltip();
151 }
152 }
153 ✗ if (i < VectorNavSensor::_binaryGroupINS.size())
154 {
155 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupINS.at(i);
156 ✗ TextColored(4, binaryGroupItem.name, _binaryOutputRegister.insField & binaryGroupItem.flagsValue);
157 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
158 {
159 ✗ ImGui::BeginTooltip();
160 ✗ binaryGroupItem.tooltip();
161 ✗ ImGui::EndTooltip();
162 }
163 }
164 ✗ if (i < VectorNavSensor::_binaryGroupGNSS.size())
165 {
166 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupGNSS.at(i);
167 ✗ TextColored(5, binaryGroupItem.name, _binaryOutputRegister.gps2Field & binaryGroupItem.flagsValue);
168 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
169 {
170 ✗ ImGui::BeginTooltip();
171 ✗ binaryGroupItem.tooltip();
172 ✗ ImGui::EndTooltip();
173 }
174 }
175 }
176
177 ✗ ImGui::EndTable();
178 }
179 ✗ }
180
181 ✗ [[nodiscard]] json NAV::VectorNavFile::save() const
182 {
183 LOG_TRACE("{}: called", nameId());
184
185 ✗ json j;
186
187 ✗ j["FileReader"] = FileReader::save();
188 ✗ j["Imu"] = Imu::save();
189
190 ✗ return j;
191 ✗ }
192
193 47 void NAV::VectorNavFile::restore(json const& j)
194 {
195 LOG_TRACE("{}: called", nameId());
196
197
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 47 if (j.contains("FileReader"))
198 {
199 47 FileReader::restore(j.at("FileReader"));
200 }
201
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 47 if (j.contains("Imu"))
202 {
203 47 Imu::restore(j.at("Imu"));
204 }
205 47 }
206
207 47 bool NAV::VectorNavFile::initialize()
208 {
209 LOG_TRACE("{}: called", nameId());
210
211 47 return FileReader::initialize();
212 }
213
214 47 void NAV::VectorNavFile::deinitialize()
215 {
216 LOG_TRACE("{}: called", nameId());
217
218 47 FileReader::deinitialize();
219 47 }
220
221 94 bool NAV::VectorNavFile::resetNode()
222 {
223 94 FileReader::resetReader();
224
225 94 _messageCount = 0;
226
227 94 return true;
228 }
229
230 46 NAV::FileReader::FileType NAV::VectorNavFile::determineFileType()
231 {
232 LOG_TRACE("called");
233
234
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 46 std::filesystem::path filepath = getFilepath();
235
236
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 47 auto filestreamHeader = std::ifstream(filepath);
237
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 47 if (good())
238 {
239 47 std::array<char, std::string_view("GpsCycle,GpsWeek,GpsTow").length()> buffer{};
240
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 94 filestreamHeader.read(buffer.data(), buffer.size());
241
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 47 filestreamHeader.close();
242
243
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 139 if (std::string(buffer.data(), buffer.size()).starts_with("Time [s]"))
244 {
245 40 _hasTimeColumn = true;
246 40 return FileType::ASCII;
247 }
248
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 15 if (std::string(buffer.data(), buffer.size()).starts_with("GpsCycle,GpsWeek,GpsTow"))
249 {
250 ✗ _hasTimeColumn = false;
251 ✗ return FileType::ASCII;
252 }
253
254 5 return FileType::BINARY;
255 }
256
257 ✗ LOG_ERROR("Could not open file {}", filepath);
258 ✗ return FileType::NONE;
259 45 }
260
261 46 void NAV::VectorNavFile::readHeader()
262 {
263
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 46 if (_fileType == FileType::ASCII)
264 {
265 41 _binaryOutputRegister.timeField = vn::protocol::uart::TimeGroup::TIMEGROUP_NONE;
266 41 _binaryOutputRegister.imuField = vn::protocol::uart::ImuGroup::IMUGROUP_NONE;
267 41 _binaryOutputRegister.gpsField = vn::protocol::uart::GpsGroup::GPSGROUP_NONE;
268 41 _binaryOutputRegister.attitudeField = vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE;
269 41 _binaryOutputRegister.insField = vn::protocol::uart::InsGroup::INSGROUP_NONE;
270 41 _binaryOutputRegister.gps2Field = vn::protocol::uart::GpsGroup::GPSGROUP_NONE;
271
272 // Read header line
273 41 std::string line;
274
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 42 getline(line);
275 // Remove any starting non text characters
276
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 78 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isalnum(ch); }));
277 // Convert line into stream
278
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 41 std::stringstream lineStream(line);
279 40 std::string cell;
280
281 41 int column = 0;
282 // Split line at comma
283 LOG_DATA("{}: Reading CSV header", nameId());
284
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 3234 while (std::getline(lineStream, cell, ','))
285 {
286 // Remove any trailing non text characters
287
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 78824 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
288
289 LOG_DATA("{}: {}", nameId(), cell);
290
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 3194 _headerColumns.push_back(cell);
291
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 3192 if (column++ > (_hasTimeColumn ? 3 : 2))
292 {
293
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 3029 std::string group = cell.substr(0, cell.find("::")); // Extract the group (Time::TimeUTC::year -> 'Time')
294
295
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 3018 cell = cell.substr(cell.find("::") + 2); // Remove the group -> 'TimeUTC::year'
296
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 3026 if (cell.find("::") != std::string::npos)
297 {
298
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 2637 cell = cell.substr(0, cell.find("::")); // Remove subgroups ('TimeUTC::year' -> 'TimeUTC')
299 }
300
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 3032 if (cell.find(' ') != std::string::npos)
301 {
302
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 251 cell = cell.substr(0, cell.find(' ')); // Remove everything after a blank, which is the unit ('TimeStartup [ns]' -> 'TimeStartup')
303 }
304
305 3027 bool identified = false;
306
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 3027 if (group == "Time")
307 {
308
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 1806 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupTime)
309 {
310
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 1808 if (cell == binaryGroupItem.name)
311 {
312
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 283 _binaryOutputRegister.timeField |= static_cast<vn::protocol::uart::TimeGroup>(binaryGroupItem.flagsValue);
313 288 identified = true;
314 288 break;
315 }
316 }
317 }
318
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 2735 else if (group == "IMU")
319 {
320
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 3479 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupIMU)
321 {
322
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 3478 if (cell == binaryGroupItem.name)
323 {
324
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 520 _binaryOutputRegister.imuField |= static_cast<vn::protocol::uart::ImuGroup>(binaryGroupItem.flagsValue);
325 520 identified = true;
326 520 break;
327 }
328
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 2957 if (cell == "DeltaTime")
329 {
330
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 20 _binaryOutputRegister.imuField |= vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA;
331 20 identified = true;
332 20 break;
333 }
334 }
335 }
336
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 2194 else if (group == "GNSS1")
337 {
338
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 18167 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupGNSS)
339 {
340
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 18169 if (cell == binaryGroupItem.name)
341 {
342
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 1440 _binaryOutputRegister.gpsField |= static_cast<vn::protocol::uart::GpsGroup>(binaryGroupItem.flagsValue);
343 1440 identified = true;
344 1440 break;
345 }
346 }
347 }
348
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 766 else if (group == "Att")
349 {
350
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 648 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupAttitude)
351 {
352
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 648 if (cell == binaryGroupItem.name)
353 {
354
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 165 _binaryOutputRegister.attitudeField |= static_cast<vn::protocol::uart::AttitudeGroup>(binaryGroupItem.flagsValue);
355 165 identified = true;
356 165 break;
357 }
358 }
359 }
360
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 604 else if (group == "INS")
361 {
362
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 1735 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupINS)
363 {
364
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 1735 if (cell == binaryGroupItem.name)
365 {
366
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 436 _binaryOutputRegister.insField |= static_cast<vn::protocol::uart::InsGroup>(binaryGroupItem.flagsValue);
367 436 identified = true;
368 436 break;
369 }
370 }
371 }
372
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 168 else if (group == "GNSS2")
373 {
374
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 1411 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupGNSS)
375 {
376
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 1411 if (cell == binaryGroupItem.name)
377 {
378
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 168 _binaryOutputRegister.gps2Field |= static_cast<vn::protocol::uart::GpsGroup>(binaryGroupItem.flagsValue);
379 168 identified = true;
380 168 break;
381 }
382 }
383 }
384 else
385 {
386 ✗ LOG_ERROR("{}: Could not identify the group in CSV header - {}::{}", nameId(), group, cell);
387 ✗ doDeinitialize();
388 ✗ break;
389 }
390
391
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 3034 if (!identified)
392 {
393 ✗ LOG_ERROR("{}: Could not identify the field in CSV header - {}::{}", nameId(), group, cell);
394 ✗ doDeinitialize();
395 ✗ break;
396 }
397 3034 }
398 }
399 42 }
400 else // if (fileType == FileType::BINARY)
401 {
402 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.timeField), sizeof(vn::protocol::uart::TimeGroup));
403 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.imuField), sizeof(vn::protocol::uart::ImuGroup));
404 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.gpsField), sizeof(vn::protocol::uart::GpsGroup));
405 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.attitudeField), sizeof(vn::protocol::uart::AttitudeGroup));
406 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.insField), sizeof(vn::protocol::uart::InsGroup));
407 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.gps2Field), sizeof(vn::protocol::uart::GpsGroup));
408 }
409 47 }
410
411 28725 std::shared_ptr<const NAV::NodeData> NAV::VectorNavFile::pollData()
412 {
413
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 28725 auto obs = std::make_shared<VectorNavBinaryOutput>(_imuPos);
414
415
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 28723 if (_fileType == FileType::ASCII)
416 {
417 // Read line
418 28590 std::string line;
419
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 28585 getline(line);
420 28594 _messageCount++;
421 // Remove any starting non text characters
422
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 57148 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); }));
423 LOG_DATA("{}: Reading line {}: {}", nameId(), _messageCount + 1, line);
424
425
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 28593 if (line.empty())
426 {
427
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 39 LOG_DEBUG("{}: End of file reached after {} lines", nameId(), _messageCount);
428 39 return nullptr;
429 }
430
431 // Convert line into stream
432
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 28552 std::stringstream lineStream(line);
433
434 28555 size_t col = 0;
435 1268026 auto extractCell = [&lineStream, &col]() {
436
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 1268026 if (lineStream.eof())
437 {
438
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 3 throw std::runtime_error("End of file");
439 }
440 1268049 col++;
441
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 1268049 if (std::string cell; std::getline(lineStream, cell, ','))
442 {
443 // Remove any trailing non text characters
444
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 22618048 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
445
446 // LOG_DEBUG(" extractCell: {}", cell);
447 1267475 return cell;
448 1267105 }
449
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 12 return std::string("");
450 28555 };
451 2895794 auto extractRemoveTillDelimiter = [](std::string& str, const std::string& delimiter) {
452 2895794 std::string extract;
453
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 2895794 if (size_t pos = str.find(delimiter);
454 pos != std::string::npos)
455 {
456
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 2895794 extract = str.substr(0, pos);
457
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 2895794 str = str.substr(pos + 1);
458 }
459
460 2895794 return extract;
461 ✗ };
462
463 2308072 auto extractSingleValue = [&](auto& field, auto flag, auto& out) {
464 static_assert(std::is_same_v<bool&, decltype(out)> || 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)>
465 || std::is_same_v<int8_t&, decltype(out)> || std::is_same_v<int16_t&, decltype(out)> || std::is_same_v<int32_t&, decltype(out)>
466 || std::is_same_v<float&, decltype(out)> || std::is_same_v<double&, decltype(out)>
467 || std::is_same_v<std::string&, decltype(out)>);
468
469
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 2308072 auto cell = extractCell();
470 LOG_DATA("{}: Extracting {}: {}", nameId(), vn::protocol::uart::to_string(flag), cell);
471
472
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 2308054 if (cell.empty()) { return; }
473
474
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 2303686 field |= flag; // set the flag
475 if constexpr (std::is_same_v<bool&, decltype(out)>
476 || std::is_same_v<uint8_t&, decltype(out)>
477 || std::is_same_v<uint16_t&, decltype(out)>
478 || std::is_same_v<uint32_t&, decltype(out)>)
479 {
480
1/2
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 528362 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoul(cell));
481 }
482 else if constexpr (std::is_same_v<uint64_t&, decltype(out)>)
483 {
484
1/2
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 171466 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoull(cell));
485 }
486 else if constexpr (std::is_same_v<int8_t&, decltype(out)>
487 || std::is_same_v<int16_t&, decltype(out)>
488 || std::is_same_v<int32_t&, decltype(out)>)
489 {
490
1/2
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 58252 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoi(cell));
491 }
492 else if constexpr (std::is_same_v<float&, decltype(out)>)
493 {
494
1/2
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 1495816 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stof(cell));
495 }
496 else if constexpr (std::is_same_v<double&, decltype(out)>)
497 {
498
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 39146 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stod(cell));
499 }
500 else if constexpr (std::is_same_v<std::string&, decltype(out)>)
501 {
502
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 10664 out = cell;
503 }
504
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 2336637 };
505
506 1018136 auto extractValue = [&](auto& field, auto flag, auto&... out) {
507 1018136 (extractSingleValue(field, flag, out), ...);
508 1046697 };
509
510 try
511 {
512
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 28555 if (_hasTimeColumn) { extractCell(); } // Time [s]
513
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 28556 std::string gpsCycle = extractCell();
514
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 28554 std::string gpsWeek = extractCell();
515
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 28555 std::string gpsTow = extractCell();
516
6/8
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 28553 if (!gpsCycle.empty() && !gpsWeek.empty() && !gpsTow.empty())
517 {
518
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 28545 obs->insTime = InsTime(std::stoi(gpsCycle), std::stoi(gpsWeek), std::stold(gpsTow));
519 }
520 else
521 {
522 LOG_DATA("{}: Skipping message {}, as no InsTime set.", nameId(), _messageCount + 1);
523 10 return obs;
524 }
525
526
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 537796 for (; col < _headerColumns.size();)
527 {
528
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 509247 const auto& column = _headerColumns.at(col);
529 // Group 2 (Time)
530
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 509235 if (_binaryOutputRegister.timeField != vn::protocol::uart::TimeGroup::TIMEGROUP_NONE)
531 {
532
3/4
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 509243 if (!obs->timeOutputs) { obs->timeOutputs = std::make_shared<NAV::vendor::vectornav::TimeOutputs>(); }
533
534
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 509185 if (column == "Time::TimeStartup [ns]")
535 {
536
1/2
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 28539 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP, obs->timeOutputs->timeStartup);
537 28541 continue;
538 }
539
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 480532 if (column == "Time::TimeGps [ns]")
540 {
541
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS, obs->timeOutputs->timeGps);
542 31 continue;
543 }
544
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 480530 if (column == "Time::GpsTow [ns]")
545 {
546
2/2
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✓ Branch 6 taken 3 times.
 28539 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW, obs->timeOutputs->gpsTow);
547 28538 continue;
548 }
549
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 451972 if (column == "Time::GpsWeek")
550 {
551
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 28538 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK, obs->timeOutputs->gpsWeek);
552 28536 continue;
553 }
554
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 423443 if (column == "Time::TimeSyncIn [ns]")
555 {
556
1/2
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN, obs->timeOutputs->timeSyncIn);
557 31 continue;
558 }
559
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 423469 if (column == "Time::TimeGpsPps [ns]")
560 {
561
1/2
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS, obs->timeOutputs->timePPS);
562 31 continue;
563 }
564
3/4
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 423455 if (column == "Time::TimeUTC::year")
565 {
566
1/2
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 79 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC,
567 79 obs->timeOutputs->timeUtc.year, obs->timeOutputs->timeUtc.month, obs->timeOutputs->timeUtc.day,
568 79 obs->timeOutputs->timeUtc.hour, obs->timeOutputs->timeUtc.min, obs->timeOutputs->timeUtc.sec, obs->timeOutputs->timeUtc.ms);
569 79 continue;
570 }
571
3/4
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 423382 if (column == "Time::SyncInCnt")
572 {
573
1/2
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT, obs->timeOutputs->syncInCnt);
574 31 continue;
575 }
576
3/4
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 423367 if (column == "Time::SyncOutCnt")
577 {
578
1/2
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 38 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT, obs->timeOutputs->syncOutCnt);
579 38 continue;
580 }
581
3/4
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 423317 if (column == "Time::TimeStatus::timeOk") // "Time::TimeStatus::dateOk", "Time::TimeStatus::utcTimeValid"
582 {
583 28537 uint8_t timeOk{};
584 28537 uint8_t dateOk{};
585 28537 uint8_t utcTimeValid{};
586
1/2
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 28537 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS, timeOk, dateOk, utcTimeValid);
587 28539 obs->timeOutputs->timeStatus = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
588 28537 continue;
589 28537 }
590 }
591 // Group 3 (IMU)
592
2/2
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 394764 if (_binaryOutputRegister.imuField != vn::protocol::uart::ImuGroup::IMUGROUP_NONE)
593 {
594
3/4
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 336240 if (!obs->imuOutputs) { obs->imuOutputs = std::make_shared<NAV::vendor::vectornav::ImuOutputs>(); }
595
596
2/4
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✓ Branch 4 taken 336240 times.
 336240 if (column == "IMU::ImuStatus")
597 {
598 ✗ extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS, obs->imuOutputs->imuStatus);
599 ✗ continue;
600 }
601
2/2
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 336240 if (column.starts_with("IMU::UncompMag::X")) // "IMU::UncompMag::Y [Gauss]", "IMU::UncompMag::Z [Gauss]"
602 {
603
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG,
604
3/6
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 25848 obs->imuOutputs->uncompMag.x(), obs->imuOutputs->uncompMag.y(), obs->imuOutputs->uncompMag.z());
605 25848 continue;
606 }
607
2/2
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✓ Branch 2 taken 284543 times.
 310391 if (column.starts_with("IMU::UncompAccel::X")) // "IMU::UncompAccel::Y [m/s^2]", "IMU::UncompAccel::Z [m/s^2]"
608 {
609
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL,
610
3/6
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 25848 obs->imuOutputs->uncompAccel.x(), obs->imuOutputs->uncompAccel.y(), obs->imuOutputs->uncompAccel.z());
611 25848 continue;
612 }
613
2/2
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✓ Branch 2 taken 258696 times.
 284543 if (column.starts_with("IMU::UncompGyro::X")) // "IMU::UncompGyro::Y [rad/s]", "IMU::UncompGyro::Z [rad/s]"
614 {
615
1/2
✓ Branch 2 taken 25848 times.
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO,
616
3/6
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 25848 obs->imuOutputs->uncompGyro.x(), obs->imuOutputs->uncompGyro.y(), obs->imuOutputs->uncompGyro.z());
617 25848 continue;
618 }
619
2/2
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 258696 if (column.starts_with("IMU::Temp"))
620 {
621
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_TEMP, obs->imuOutputs->temp);
622 25848 continue;
623 }
624
2/2
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 232848 if (column.starts_with("IMU::Pres"))
625 {
626
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_PRES, obs->imuOutputs->pres);
627 25848 continue;
628 }
629
2/2
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✓ Branch 2 taken 181152 times.
 207000 if (column.starts_with("IMU::DeltaTime")) // "IMU::DeltaTheta::X [deg]", "IMU::DeltaTheta::Y [deg]", "IMU::DeltaTheta::Z [deg]"
630 {
631
1/2
✓ Branch 2 taken 25848 times.
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA,
632
3/6
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 25848 obs->imuOutputs->deltaTime, obs->imuOutputs->deltaTheta.x(), obs->imuOutputs->deltaTheta.y(), obs->imuOutputs->deltaTheta.z());
633 25848 continue;
634 }
635
2/2
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✓ Branch 2 taken 155304 times.
 181152 if (column.starts_with("IMU::DeltaVel::X")) // "IMU::DeltaVel::Y [m/s]", "IMU::DeltaVel::Z [m/s]"
636 {
637
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL,
638
3/6
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 25848 obs->imuOutputs->deltaV.x(), obs->imuOutputs->deltaV.y(), obs->imuOutputs->deltaV.z());
639 25848 continue;
640 }
641
2/2
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 155304 if (column.starts_with("IMU::Mag::X")) // "IMU::Mag::Y [Gauss]", "IMU::Mag::Z [Gauss]"
642 {
643
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_MAG,
644
3/6
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 25848 obs->imuOutputs->mag.x(), obs->imuOutputs->mag.y(), obs->imuOutputs->mag.z());
645 25848 continue;
646 }
647
2/2
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✓ Branch 2 taken 103608 times.
 129456 if (column.starts_with("IMU::Accel::X")) // "IMU::Accel::Y [m/s^2]", "IMU::Accel::Z [m/s^2]"
648 {
649
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL,
650
3/6
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 25848 obs->imuOutputs->accel.x(), obs->imuOutputs->accel.y(), obs->imuOutputs->accel.z());
651 25848 continue;
652 }
653
2/2
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✓ Branch 2 taken 77760 times.
 103608 if (column.starts_with("IMU::AngularRate::X")) // "IMU::AngularRate::Y [rad/s]", "IMU::AngularRate::Z [rad/s]"
654 {
655
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE,
656
3/6
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 25848 obs->imuOutputs->angularRate.x(), obs->imuOutputs->angularRate.y(), obs->imuOutputs->angularRate.z());
657 25848 continue;
658 }
659 }
660 // Group 4 (GNSS1)
661
1/2
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 136284 if (_binaryOutputRegister.gpsField != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
662 {
663
3/4
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✓ Branch 3 taken 107934 times.
✓ Branch 5 taken 28540 times.
✗ Branch 6 not taken.
 136494 if (!obs->gnss1Outputs) { obs->gnss1Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>(); }
664
665
3/4
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✓ Branch 3 taken 48 times.
✓ Branch 4 taken 136409 times.
 136475 if (column == "GNSS1::UTC::year") // "GNSS1::UTC::month", "GNSS1::UTC::day", "GNSS1::UTC::hour", "GNSS1::UTC::min", "GNSS1::UTC::sec", "GNSS1::UTC::ms"
666 {
667
1/2
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✗ Branch 3 not taken.
 48 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_UTC,
668 48 obs->gnss1Outputs->timeUtc.year, obs->gnss1Outputs->timeUtc.month, obs->gnss1Outputs->timeUtc.day,
669 48 obs->gnss1Outputs->timeUtc.hour, obs->gnss1Outputs->timeUtc.min, obs->gnss1Outputs->timeUtc.sec, obs->gnss1Outputs->timeUtc.ms);
670 48 continue;
671 }
672
3/4
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✓ Branch 4 taken 107898 times.
 136409 if (column == "GNSS1::Tow [ns]")
673 {
674
1/2
✓ Branch 5 taken 28511 times.
✗ Branch 6 not taken.
 28507 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TOW, obs->gnss1Outputs->tow);
675 28511 continue;
676 }
677
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✓ Branch 4 taken 79396 times.
 107898 if (column == "GNSS1::Week")
678 {
679
1/2
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✗ Branch 6 not taken.
 28510 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_WEEK, obs->gnss1Outputs->week);
680 28510 continue;
681 }
682
3/4
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 79396 if (column == "GNSS1::NumSats")
683 {
684
1/2
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 2687 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS, obs->gnss1Outputs->numSats);
685 2687 continue;
686 }
687
3/4
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 76728 if (column == "GNSS1::Fix")
688 {
689
1/2
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✗ Branch 6 not taken.
 2694 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_FIX, obs->gnss1Outputs->fix);
690 2694 continue;
691 }
692
3/4
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✓ Branch 3 taken 2663 times.
✓ Branch 4 taken 71370 times.
 74032 if (column == "GNSS1::PosLla::latitude [deg]") // "GNSS1::PosLla::longitude [deg]", "GNSS1::PosLla::altitude [m]"
693 {
694
1/2
✓ Branch 2 taken 2663 times.
✗ Branch 3 not taken.
 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA,
695
3/6
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 2663 obs->gnss1Outputs->posLla.x(), obs->gnss1Outputs->posLla.y(), obs->gnss1Outputs->posLla.z());
696 2663 continue;
697 }
698
3/4
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✓ Branch 3 taken 48 times.
✓ Branch 4 taken 71324 times.
 71370 if (column == "GNSS1::PosEcef::X [m]") // "GNSS1::PosEcef::Y [m]", "GNSS1::PosEcef::Z [m]"
699 {
700
1/2
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 48 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF,
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 48 obs->gnss1Outputs->posEcef.x(), obs->gnss1Outputs->posEcef.y(), obs->gnss1Outputs->posEcef.z());
702 48 continue;
703 }
704
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 71324 if (column == "GNSS1::VelNed::N [m/s]") // "GNSS1::VelNed::E [m/s]", "GNSS1::VelNed::D [m/s]"
705 {
706
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 2656 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELNED,
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 2656 obs->gnss1Outputs->velNed.x(), obs->gnss1Outputs->velNed.y(), obs->gnss1Outputs->velNed.z());
708 2656 continue;
709 }
710
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 68665 if (column == "GNSS1::VelEcef::X [m/s]") // "GNSS1::VelEcef::Y [m/s]", "GNSS1::VelEcef::Z [m/s]"
711 {
712
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 55 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF,
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 55 obs->gnss1Outputs->velEcef.x(), obs->gnss1Outputs->velEcef.y(), obs->gnss1Outputs->velEcef.z());
714 55 continue;
715 }
716
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 68609 if (column == "GNSS1::PosU::N [m]") // "GNSS1::PosU::E [m]", "GNSS1::PosU::D [m]"
717 {
718
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 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSU,
719
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 2663 obs->gnss1Outputs->posU.x(), obs->gnss1Outputs->posU.y(), obs->gnss1Outputs->posU.z());
720 2663 continue;
721 }
722
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 65914 if (column == "GNSS1::VelU [m/s]")
723 {
724
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 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELU, obs->gnss1Outputs->velU);
725 2663 continue;
726 }
727
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 63286 if (column == "GNSS1::TimeU [s]")
728 {
729
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 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU, obs->gnss1Outputs->timeU);
730 2663 continue;
731 }
732
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 60626 if (column == "GNSS1::TimeInfo::Status::timeOk") // "GNSS1::TimeInfo::Status::dateOk", "GNSS1::TimeInfo::Status::utcTimeValid", "GNSS1::TimeInfo::LeapSeconds"
733 {
734 28542 uint8_t timeOk{};
735 28542 uint8_t dateOk{};
736 28542 uint8_t utcTimeValid{};
737
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 28542 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO, timeOk, dateOk, utcTimeValid, obs->gnss1Outputs->timeInfo.leapSeconds);
738 28542 obs->gnss1Outputs->timeInfo.status = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
739 28542 continue;
740 28542 }
741
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 32077 if (column == "GNSS1::DOP::g") // "GNSS1::DOP::p","GNSS1::DOP::t","GNSS1::DOP::v","GNSS1::DOP::h","GNSS1::DOP::n","GNSS1::DOP::e"
742 {
743
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 48 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_DOP,
744 48 obs->gnss1Outputs->dop.gDop, obs->gnss1Outputs->dop.pDop, obs->gnss1Outputs->dop.tDop, obs->gnss1Outputs->dop.vDop,
745 48 obs->gnss1Outputs->dop.hDop, obs->gnss1Outputs->dop.nDop, obs->gnss1Outputs->dop.eDop);
746 48 continue;
747 }
748
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 32044 if (column == "GNSS1::SatInfo::NumSats")
749 {
750
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, obs->gnss1Outputs->satInfo.numSats);
751 2646 continue;
752 }
753
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 29398 if (column == "GNSS1::SatInfo::Satellites")
754 {
755 2639 std::string satellites;
756
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 2639 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, satellites);
757
758
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 71414 for (size_t i = 0; i < obs->gnss1Outputs->satInfo.numSats; i++)
759 {
760
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 68775 satellites = satellites.substr(1); // Remove leading '['
761
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 137550 auto sys = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
762
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 137550 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
763
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 137550 auto flagHealthy = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
764
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 137550 auto flagAlmanac = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
765
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 137550 auto flagEphemeris = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
766
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 137550 auto flagDifferentialCorrection = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
767
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 137550 auto flagUsedForNavigation = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
768
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 137550 auto flagAzimuthElevationValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
769
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 68775 auto flagUsedForRTK = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
770 68775 auto flags = static_cast<uint8_t>(flagHealthy << 0U
771 68775 | flagAlmanac << 1U
772 68775 | flagEphemeris << 2U
773 68775 | flagDifferentialCorrection << 3U
774 68775 | flagUsedForNavigation << 4U
775 68775 | flagAzimuthElevationValid << 5U
776 68775 | flagUsedForRTK << 6U);
777
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 137550 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
778
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 137550 auto qi = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
779
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 137550 auto el = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
780
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 68775 auto az = static_cast<int16_t>(std::stoi(extractRemoveTillDelimiter(satellites, "]")));
781
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 68775 obs->gnss1Outputs->satInfo.satellites.emplace_back(sys, svId, flags, cno, qi, el, az);
782 }
783 2639 continue;
784 2639 }
785
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 26757 if (column.starts_with("GNSS1::SatInfo::") && column.ends_with(" - flag Healthy"))
786 {
787
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 224 std::string columnText = column.substr(16);
788
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 224 SatId satId(extractRemoveTillDelimiter(columnText, " -"));
789 LOG_DATA("{}: SatInfo {}", nameId(), satId);
790 224 bool flagHealthy{};
791 224 bool flagAlmanac{};
792 224 bool flagEphemeris{};
793 224 bool flagDifferentialCorrection{};
794 224 bool flagUsedForNavigation{};
795 224 bool flagAzimuthElevationValid{};
796 224 bool flagUsedForRTK{};
797 224 auto cno = std::numeric_limits<uint8_t>::max();
798 224 uint8_t qi{};
799 224 int8_t el{};
800 224 int16_t az{};
801
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 224 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO,
802 flagHealthy, flagAlmanac, flagEphemeris, flagDifferentialCorrection,
803 flagUsedForNavigation, flagAzimuthElevationValid, flagUsedForRTK,
804 cno, qi, el, az);
805
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 224 if (cno == std::numeric_limits<uint8_t>::max())
806 {
807 LOG_DATA("{}: Skipping {} as empty", nameId(), satId);
808 98 continue;
809 }
810 126 auto flags = static_cast<uint8_t>(flagHealthy << 0U
811 126 | flagAlmanac << 1U
812 126 | flagEphemeris << 2U
813 126 | flagDifferentialCorrection << 3U
814 126 | flagUsedForNavigation << 4U
815 126 | flagAzimuthElevationValid << 5U
816 126 | flagUsedForRTK << 6U);
817
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 252 obs->gnss1Outputs->satInfo.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satId.satSys)),
818
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 126 static_cast<uint8_t>(satId.satNum), flags, cno, qi, el, az);
819 126 continue;
820 224 }
821
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 26534 if (column == "GNSS1::RawMeas::Tow [s]")
822 {
823
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss1Outputs->raw.tow);
824 2646 continue;
825 }
826
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 23888 if (column == "GNSS1::RawMeas::Week")
827 {
828
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss1Outputs->raw.week);
829 2646 continue;
830 }
831
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 21242 if (column == "GNSS1::RawMeas::NumSats")
832 {
833
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss1Outputs->raw.numSats);
834 2646 continue;
835 }
836
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 18596 if (column == "GNSS1::RawMeas::Satellites")
837 {
838 2639 std::string satellites;
839
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 2639 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, satellites);
840
841
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 112814 for (size_t i = 0; i < obs->gnss1Outputs->raw.numSats; i++)
842 {
843
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 110175 satellites = satellites.substr(1); // Remove leading '['
844
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 220350 auto sys = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
845
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 220350 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
846
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 220350 auto freq = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
847
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 220350 auto chan = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
848
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 220350 auto slot = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
849
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 220350 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
850
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 220350 auto flagSearching = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
851
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 220350 auto flagTracking = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
852
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 220350 auto flagTimeValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
853
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 220350 auto flagCodeLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
854
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 220350 auto flagPhaseLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
855
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 220350 auto flagPhaseHalfAmbiguity = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
856
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 220350 auto flagPhaseHalfSub = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
857
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 220350 auto flagPhaseSlip = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
858
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 110175 auto flagPseudorangeSmoothed = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
859 110175 auto flags = static_cast<uint16_t>(flagSearching << 0U
860 110175 | flagTracking << 1U
861 110175 | flagTimeValid << 2U
862 110175 | flagCodeLock << 3U
863 110175 | flagPhaseLock << 4U
864 110175 | flagPhaseHalfAmbiguity << 5U
865 110175 | flagPhaseHalfSub << 6U
866 110175 | flagPhaseSlip << 7U
867 110175 | flagPseudorangeSmoothed << 8U);
868
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 220350 auto pr = std::stod(extractRemoveTillDelimiter(satellites, "|"));
869
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 220350 auto cp = std::stod(extractRemoveTillDelimiter(satellites, "|"));
870
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 110175 auto dp = std::stof(extractRemoveTillDelimiter(satellites, "]"));
871
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 110175 obs->gnss1Outputs->raw.satellites.emplace_back(sys, svId, freq, chan, slot, cno, flags, pr, cp, dp);
872 }
873 2639 continue;
874 2639 }
875
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 15958 if (column.starts_with("GNSS1::RawMeas::") && column.ends_with(" - freq"))
876 {
877
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 147 std::string columnText = column.substr(16);
878
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 147 auto identifier = extractRemoveTillDelimiter(columnText, " - freq");
879 LOG_DATA("{}: RawMeas {}", nameId(), identifier);
880 147 SatelliteSystem satSys;
881 147 uint16_t satNum{};
882
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 147 if (identifier.length() == 6)
883 {
884
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 7 SatSigId satSigId(identifier);
885
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 7 satSys = satSigId.toSatId().satSys;
886 7 satNum = satSigId.satNum;
887 }
888 else
889 {
890
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 140 SatId satId(identifier);
891 140 satSys = satId.satSys;
892 140 satNum = satId.satNum;
893 }
894 147 auto freq = std::numeric_limits<uint8_t>::max();
895 147 uint8_t chan{};
896 147 int8_t slot{};
897 147 uint8_t cno{};
898 147 uint8_t flagSearching{};
899 147 uint8_t flagTracking{};
900 147 uint8_t flagTimeValid{};
901 147 uint8_t flagCodeLock{};
902 147 uint8_t flagPhaseLock{};
903 147 uint8_t flagPhaseHalfAmbiguity{};
904 147 uint8_t flagPhaseHalfSub{};
905 147 uint8_t flagPhaseSlip{};
906 147 uint8_t flagPseudorangeSmoothed{};
907 147 double pr{};
908 147 double cp{};
909 147 float dp{};
910
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 147 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS,
911 freq, chan, slot, cno,
912 flagSearching, flagTracking, flagTimeValid, flagCodeLock, flagPhaseLock,
913 flagPhaseHalfAmbiguity, flagPhaseHalfSub, flagPhaseSlip, flagPseudorangeSmoothed,
914 pr, cp, dp);
915
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 147 if (freq == std::numeric_limits<uint8_t>::max())
916 {
917 LOG_DATA("{}: Skipping {} as empty", nameId(), identifier);
918 69 continue;
919 }
920 78 auto flags = static_cast<uint16_t>(flagSearching << 0U
921 78 | flagTracking << 1U
922 78 | flagTimeValid << 2U
923 78 | flagCodeLock << 3U
924 78 | flagPhaseLock << 4U
925 78 | flagPhaseHalfAmbiguity << 5U
926 78 | flagPhaseHalfSub << 6U
927 78 | flagPhaseSlip << 7U
928 78 | flagPseudorangeSmoothed << 8U);
929
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 156 obs->gnss1Outputs->raw.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satSys)),
930
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 78 static_cast<uint8_t>(satNum), freq, chan, slot, cno, flags, pr, cp, dp);
931
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 78 if (obs->gnss1Outputs->raw.satellites.back().toCode() == Code::None)
932 {
933 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid Code. Skipping item. (sys {}, freq {}, chan {})", nameId(), _messageCount + 1,
934 obs->gnss1Outputs->raw.satellites.back().sys, obs->gnss1Outputs->raw.satellites.back().freq, obs->gnss1Outputs->raw.satellites.back().chan);
935 ✗ obs->gnss1Outputs->raw.satellites.pop_back();
936 }
937
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 78 if (identifier.length() == 6 && SatSigId(identifier) != obs->gnss1Outputs->raw.satellites.back().toSatSigId())
938 {
939 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid SatSigId. Skipping item. (sys {}, freq {}, chan {} = [{}], column was [{}])", nameId(), _messageCount + 1,
940 obs->gnss1Outputs->raw.satellites.back().sys, obs->gnss1Outputs->raw.satellites.back().freq, obs->gnss1Outputs->raw.satellites.back().chan,
941 obs->gnss1Outputs->raw.satellites.back().toSatSigId(), identifier);
942 ✗ obs->gnss1Outputs->raw.satellites.pop_back();
943 }
944 78 continue;
945 147 }
946 }
947 // Group 5 (Attitude)
948
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 15598 if (_binaryOutputRegister.attitudeField != vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE)
949 {
950
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 15808 if (!obs->attitudeOutputs) { obs->attitudeOutputs = std::make_shared<NAV::vendor::vectornav::AttitudeOutputs>(); }
951
952
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 15808 if (column == "Att::VpeStatus::AttitudeQuality") // "Att::VpeStatus::GyroSaturation", "Att::VpeStatus::GyroSaturationRecovery", "Att::VpeStatus::MagDisturbance", "Att::VpeStatus::MagSaturation", "Att::VpeStatus::AccDisturbance", "Att::VpeStatus::AccSaturation", "Att::VpeStatus::KnownMagDisturbance", "Att::VpeStatus::KnownAccelDisturbance"
953 {
954 ✗ uint8_t attitudeQuality{}; // return ((_status & (1U << 0U | 1U << 1U)) >> 0U);
955 ✗ uint8_t gyroSaturation{}; // return ((_status & (1U << 2U)) >> 2U);
956 ✗ uint8_t gyroSaturationRecovery{}; // return ((_status & (1U << 3U)) >> 3U);
957 ✗ uint8_t magDisturbance{}; // return ((_status & (1U << 4U | 1U << 5U)) >> 4U);
958 ✗ uint8_t magSaturation{}; // return ((_status & (1U << 6U)) >> 6U);
959 ✗ uint8_t accDisturbance{}; // return ((_status & (1U << 7U | 1U << 8U)) >> 7U);
960 ✗ uint8_t accSaturation{}; // return ((_status & (1U << 9U)) >> 9U);
961 ✗ uint8_t knownMagDisturbance{}; // return ((_status & (1U << 11U)) >> 11U);
962 ✗ uint8_t knownAccelDisturbance{}; // return ((_status & (1U << 12U)) >> 12U);
963 ✗ extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS,
964 attitudeQuality, gyroSaturation, gyroSaturationRecovery, magDisturbance, magSaturation, accDisturbance, accSaturation, knownMagDisturbance, knownAccelDisturbance);
965 ✗ obs->attitudeOutputs->vpeStatus = static_cast<uint16_t>(attitudeQuality << 0U
966 ✗ | gyroSaturation << 2U
967 ✗ | gyroSaturationRecovery << 3U
968 ✗ | magDisturbance << 4U
969 ✗ | magSaturation << 6U
970 ✗ | accDisturbance << 7U
971 ✗ | accSaturation << 9U
972 ✗ | knownMagDisturbance << 11U
973 ✗ | knownAccelDisturbance << 12U);
974 ✗ continue;
975 ✗ }
976
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 15808 if (column == "Att::YawPitchRoll::Y [deg]") // "Att::YawPitchRoll::P [deg]", "Att::YawPitchRoll::R [deg]"
977 {
978
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 2766 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL,
979
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 2766 obs->attitudeOutputs->ypr.x(), obs->attitudeOutputs->ypr.y(), obs->attitudeOutputs->ypr.z());
980 2766 continue;
981 }
982
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 13042 if (column == "Att::Quaternion::w") // "Att::Quaternion::x", "Att::Quaternion::y", "Att::Quaternion::z"
983 {
984
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 151 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION,
985
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 151 obs->attitudeOutputs->qtn.w(), obs->attitudeOutputs->qtn.x(), obs->attitudeOutputs->qtn.y(), obs->attitudeOutputs->qtn.z());
986 151 continue;
987 }
988
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 12893 if (column == "Att::DCM::0-0") // "Att::DCM::0-1", "Att::DCM::0-2", "Att::DCM::1-0", "Att::DCM::1-1", "Att::DCM::1-2", "Att::DCM::2-0", "Att::DCM::2-1", "Att::DCM::2-2"
989 {
990
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM,
991
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 31 obs->attitudeOutputs->dcm(0, 0), obs->attitudeOutputs->dcm(0, 1), obs->attitudeOutputs->dcm(0, 2),
992
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 31 obs->attitudeOutputs->dcm(1, 0), obs->attitudeOutputs->dcm(1, 1), obs->attitudeOutputs->dcm(1, 2),
993
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 31 obs->attitudeOutputs->dcm(2, 0), obs->attitudeOutputs->dcm(2, 1), obs->attitudeOutputs->dcm(2, 2));
994 31 continue;
995 }
996
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 12863 if (column == "Att::MagNed::N [Gauss]") // "Att::MagNed::E [Gauss]", "Att::MagNed::D [Gauss]"
997 {
998
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED,
999
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 31 obs->attitudeOutputs->magNed.x(), obs->attitudeOutputs->magNed.y(), obs->attitudeOutputs->magNed.z());
1000 31 continue;
1001 }
1002
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 12831 if (column == "Att::AccelNed::N [m/s^2]") // "Att::AccelNed::E [m/s^2]", "Att::AccelNed::D [m/s^2]"
1003 {
1004
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED,
1005
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 31 obs->attitudeOutputs->accelNed.x(), obs->attitudeOutputs->accelNed.y(), obs->attitudeOutputs->accelNed.z());
1006 31 continue;
1007 }
1008
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 12800 if (column == "Att::LinearAccelBody::X [m/s^2]") // "Att::LinearAccelBody::Y [m/s^2]", "Att::LinearAccelBody::Z [m/s^2]"
1009 {
1010
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY,
1011
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 31 obs->attitudeOutputs->linearAccelBody.x(), obs->attitudeOutputs->linearAccelBody.y(), obs->attitudeOutputs->linearAccelBody.z());
1012 31 continue;
1013 }
1014
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 12770 if (column == "Att::LinearAccelNed::N [m/s^2]") // "Att::LinearAccelNed::E [m/s^2]", "Att::LinearAccelNed::D [m/s^2]"
1015 {
1016
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED,
1017
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 31 obs->attitudeOutputs->linearAccelNed.x(), obs->attitudeOutputs->linearAccelNed.y(), obs->attitudeOutputs->linearAccelNed.z());
1018 31 continue;
1019 }
1020
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 12738 if (column == "Att::YprU::Y [deg]") // "Att::YprU::P [deg]", "Att::YprU::R [deg]"
1021 {
1022
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 158 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU,
1023
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 158 obs->attitudeOutputs->yprU.x(), obs->attitudeOutputs->yprU.y(), obs->attitudeOutputs->yprU.z());
1024 158 continue;
1025 }
1026 }
1027 // Group 6 (INS)
1028
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 12370 if (_binaryOutputRegister.insField != vn::protocol::uart::InsGroup::INSGROUP_NONE)
1029 {
1030
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 12580 if (!obs->insOutputs) { obs->insOutputs = std::make_shared<NAV::vendor::vectornav::InsOutputs>(); }
1031
1032
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 12580 if (column == "INS::InsStatus::Mode") // "INS::InsStatus::GpsFix", "INS::InsStatus::Error::IMU", "INS::InsStatus::Error::MagPres", "INS::InsStatus::Error::GNSS", "INS::InsStatus::GpsHeadingIns", "INS::InsStatus::GpsCompass"
1033 {
1034 2694 uint8_t mode{};
1035 2694 uint8_t gpsFix{};
1036 2694 uint8_t errorImu{};
1037 2694 uint8_t errorMagPres{};
1038 2694 uint8_t errorGnss{};
1039 2694 uint8_t gpsHeadingIns{};
1040 2694 uint8_t gpsCompass{};
1041
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 2694 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS,
1042 mode, gpsFix, errorImu, errorMagPres, errorGnss, gpsHeadingIns, gpsCompass);
1043 2694 obs->insOutputs->insStatus.status() = static_cast<uint16_t>(mode << 0U | gpsFix << 2U
1044 2694 | errorImu << 4U | errorMagPres << 5U | errorGnss << 6U
1045 2694 | gpsHeadingIns << 8U | gpsCompass << 9U);
1046 2694 continue;
1047 2694 }
1048
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 9885 if (column == "INS::PosLla::latitude [deg]") // "INS::PosLla::longitude [deg]", "INS::PosLla::altitude [m]"
1049 {
1050
1/2
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 2687 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSLLA,
1051
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 2687 obs->insOutputs->posLla.x(), obs->insOutputs->posLla.y(), obs->insOutputs->posLla.z());
1052 2687 continue;
1053 }
1054
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 7199 if (column == "INS::PosEcef::X [m]") // "INS::PosEcef::Y [m]", "INS::PosEcef::Z [m]"
1055 {
1056
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSECEF,
1057
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 86 obs->insOutputs->posEcef.x(), obs->insOutputs->posEcef.y(), obs->insOutputs->posEcef.z());
1058 86 continue;
1059 }
1060
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 7113 if (column == "INS::VelBody::X [m/s]") // "INS::VelBody::Y [m/s]", "INS::VelBody::Z [m/s]"
1061 {
1062
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 79 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELBODY,
1063
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 79 obs->insOutputs->velBody.x(), obs->insOutputs->velBody.y(), obs->insOutputs->velBody.z());
1064 79 continue;
1065 }
1066
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 7035 if (column == "INS::VelNed::N [m/s]") // "INS::VelNed::E [m/s]", "INS::VelNed::D [m/s]"
1067 {
1068
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 2687 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELNED,
1069
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 2687 obs->insOutputs->velNed.x(), obs->insOutputs->velNed.y(), obs->insOutputs->velNed.z());
1070 2687 continue;
1071 }
1072
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 4348 if (column == "INS::VelEcef::X [m/s]") // "INS::VelEcef::Y [m/s]", "INS::VelEcef::Z [m/s]"
1073 {
1074
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELECEF,
1075
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 86 obs->insOutputs->velEcef.x(), obs->insOutputs->velEcef.y(), obs->insOutputs->velEcef.z());
1076 86 continue;
1077 }
1078
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 4262 if (column == "INS::MagEcef::X [Gauss]") // "INS::MagEcef::Y [Gauss]", "INS::MagEcef::Z [Gauss]"
1079 {
1080
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 79 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_MAGECEF,
1081
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 79 obs->insOutputs->magEcef.x(), obs->insOutputs->magEcef.y(), obs->insOutputs->magEcef.z());
1082 79 continue;
1083 }
1084
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 4183 if (column == "INS::AccelEcef::X [m/s^2]") // "INS::AccelEcef::Y [m/s^2]", "INS::AccelEcef::Z [m/s^2]"
1085 {
1086
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 79 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF,
1087
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 79 obs->insOutputs->accelEcef.x(), obs->insOutputs->accelEcef.y(), obs->insOutputs->accelEcef.z());
1088 79 continue;
1089 }
1090
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 4104 if (column == "INS::LinearAccelEcef::X [m/s^2]") // "INS::LinearAccelEcef::Y [m/s^2]", "INS::LinearAccelEcef::Z [m/s^2]"
1091 {
1092
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 2687 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF,
1093
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 2687 obs->insOutputs->linearAccelEcef.x(), obs->insOutputs->linearAccelEcef.y(), obs->insOutputs->linearAccelEcef.z());
1094 2687 continue;
1095 }
1096
3/4
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 1417 if (column == "INS::PosU [m]")
1097 {
1098
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSU, obs->insOutputs->posU);
1099 86 continue;
1100 }
1101
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 1331 if (column == "INS::VelU [m/s]")
1102 {
1103
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELU, obs->insOutputs->velU);
1104 86 continue;
1105 }
1106 }
1107 // Group 7 (GNSS2)
1108
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 1035 if (_binaryOutputRegister.gps2Field != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1109 {
1110
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 951 if (!obs->gnss2Outputs) { obs->gnss2Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>(); }
1111
1112
3/4
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 951 if (column == "GNSS2::UTC::year") // "GNSS2::UTC::month", "GNSS2::UTC::day", "GNSS2::UTC::hour", "GNSS2::UTC::min", "GNSS2::UTC::sec", "GNSS2::UTC::ms"
1113 {
1114
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_UTC,
1115 48 obs->gnss2Outputs->timeUtc.year, obs->gnss2Outputs->timeUtc.month, obs->gnss2Outputs->timeUtc.day,
1116 48 obs->gnss2Outputs->timeUtc.hour, obs->gnss2Outputs->timeUtc.min, obs->gnss2Outputs->timeUtc.sec, obs->gnss2Outputs->timeUtc.ms);
1117 48 continue;
1118 }
1119
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 903 if (column == "GNSS2::Tow [ns]")
1120 {
1121
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TOW, obs->gnss2Outputs->tow);
1122 48 continue;
1123 }
1124
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 855 if (column == "GNSS2::Week")
1125 {
1126
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_WEEK, obs->gnss2Outputs->week);
1127 48 continue;
1128 }
1129
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 807 if (column == "GNSS2::NumSats")
1130 {
1131
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 79 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS, obs->gnss2Outputs->numSats);
1132 79 continue;
1133 }
1134
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 728 if (column == "GNSS2::Fix")
1135 {
1136
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 79 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_FIX, obs->gnss2Outputs->fix);
1137 79 continue;
1138 }
1139
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 649 if (column == "GNSS2::PosLla::latitude [deg]") // "GNSS2::PosLla::longitude [deg]", "GNSS2::PosLla::altitude [m]"
1140 {
1141
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA,
1142
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 48 obs->gnss2Outputs->posLla.x(), obs->gnss2Outputs->posLla.y(), obs->gnss2Outputs->posLla.z());
1143 48 continue;
1144 }
1145
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 601 if (column == "GNSS2::PosEcef::X [m]") // "GNSS2::PosEcef::Y [m]", "GNSS2::PosEcef::Z [m]"
1146 {
1147
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF,
1148
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 48 obs->gnss2Outputs->posEcef.x(), obs->gnss2Outputs->posEcef.y(), obs->gnss2Outputs->posEcef.z());
1149 48 continue;
1150 }
1151
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 553 if (column == "GNSS2::VelNed::N [m/s]") // "GNSS2::VelNed::E [m/s]", "GNSS2::VelNed::D [m/s]"
1152 {
1153
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELNED,
1154
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 48 obs->gnss2Outputs->velNed.x(), obs->gnss2Outputs->velNed.y(), obs->gnss2Outputs->velNed.z());
1155 48 continue;
1156 }
1157
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 505 if (column == "GNSS2::VelEcef::X [m/s]") // "GNSS2::VelEcef::Y [m/s]", "GNSS2::VelEcef::Z [m/s]"
1158 {
1159
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF,
1160
3/6
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 48 obs->gnss2Outputs->velEcef.x(), obs->gnss2Outputs->velEcef.y(), obs->gnss2Outputs->velEcef.z());
1161 48 continue;
1162 }
1163
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 457 if (column == "GNSS2::PosU::N [m]") // "GNSS2::PosU::E [m]", "GNSS2::PosU::D [m]"
1164 {
1165
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSU,
1166
3/6
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 48 obs->gnss2Outputs->posU.x(), obs->gnss2Outputs->posU.y(), obs->gnss2Outputs->posU.z());
1167 48 continue;
1168 }
1169
3/4
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 409 if (column == "GNSS2::VelU [m/s]")
1170 {
1171
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELU, obs->gnss2Outputs->velU);
1172 48 continue;
1173 }
1174
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 361 if (column == "GNSS2::TimeU [s]")
1175 {
1176
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU, obs->gnss2Outputs->timeU);
1177 48 continue;
1178 }
1179
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 313 if (column == "GNSS2::TimeInfo::Status::timeOk") // "GNSS2::TimeInfo::Status::dateOk", "GNSS2::TimeInfo::Status::utcTimeValid", "GNSS2::TimeInfo::LeapSeconds"
1180 {
1181 79 uint8_t timeOk{};
1182 79 uint8_t dateOk{};
1183 79 uint8_t utcTimeValid{};
1184
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 79 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO, timeOk, dateOk, utcTimeValid, obs->gnss2Outputs->timeInfo.leapSeconds);
1185 79 obs->gnss2Outputs->timeInfo.status = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
1186 79 continue;
1187 79 }
1188
3/4
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 234 if (column == "GNSS2::DOP::g") // "GNSS2::DOP::p","GNSS2::DOP::t","GNSS2::DOP::v","GNSS2::DOP::h","GNSS2::DOP::n","GNSS2::DOP::e"
1189 {
1190
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_DOP,
1191 48 obs->gnss2Outputs->dop.gDop, obs->gnss2Outputs->dop.pDop, obs->gnss2Outputs->dop.tDop, obs->gnss2Outputs->dop.vDop,
1192 48 obs->gnss2Outputs->dop.hDop, obs->gnss2Outputs->dop.nDop, obs->gnss2Outputs->dop.eDop);
1193 48 continue;
1194 }
1195
3/4
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 186 if (column == "GNSS2::SatInfo::NumSats")
1196 {
1197
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, obs->gnss2Outputs->satInfo.numSats);
1198 31 continue;
1199 }
1200
3/4
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 155 if (column == "GNSS2::SatInfo::Satellites")
1201 {
1202 31 std::string satellites;
1203
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, satellites);
1204
1205
2/2
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 679 for (size_t i = 0; i < obs->gnss2Outputs->satInfo.numSats; i++)
1206 {
1207
1/2
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 648 satellites = satellites.substr(1); // Remove leading '['
1208
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 1296 auto sys = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
1209
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 1296 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1210
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 1296 auto flagHealthy = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1211
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 1296 auto flagAlmanac = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1212
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 1296 auto flagEphemeris = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1213
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 1296 auto flagDifferentialCorrection = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1214
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 1296 auto flagUsedForNavigation = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1215
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 1296 auto flagAzimuthElevationValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1216
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 648 auto flagUsedForRTK = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1217 648 auto flags = static_cast<uint8_t>(flagHealthy << 0U
1218 648 | flagAlmanac << 1U
1219 648 | flagEphemeris << 2U
1220 648 | flagDifferentialCorrection << 3U
1221 648 | flagUsedForNavigation << 4U
1222 648 | flagAzimuthElevationValid << 5U
1223 648 | flagUsedForRTK << 6U);
1224
3/6
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 1296 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1225
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 1296 auto qi = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1226
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 1296 auto el = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
1227
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 648 auto az = static_cast<int16_t>(std::stoi(extractRemoveTillDelimiter(satellites, "]")));
1228
1/2
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 648 obs->gnss2Outputs->satInfo.satellites.emplace_back(sys, svId, flags, cno, qi, el, az);
1229 }
1230 31 continue;
1231 31 }
1232
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 124 if (column.starts_with("GNSS2::SatInfo::") && column.ends_with(" - flag Healthy"))
1233 {
1234 ✗ std::string columnText = column.substr(16);
1235 ✗ SatId satId(extractRemoveTillDelimiter(columnText, " -"));
1236 LOG_DATA("{}: SatInfo {}", nameId(), satId);
1237 ✗ bool flagHealthy{};
1238 ✗ bool flagAlmanac{};
1239 ✗ bool flagEphemeris{};
1240 ✗ bool flagDifferentialCorrection{};
1241 ✗ bool flagUsedForNavigation{};
1242 ✗ bool flagAzimuthElevationValid{};
1243 ✗ bool flagUsedForRTK{};
1244 ✗ auto cno = std::numeric_limits<uint8_t>::max();
1245 ✗ uint8_t qi{};
1246 ✗ int8_t el{};
1247 ✗ int16_t az{};
1248 ✗ extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO,
1249 flagHealthy, flagAlmanac, flagEphemeris, flagDifferentialCorrection,
1250 flagUsedForNavigation, flagAzimuthElevationValid, flagUsedForRTK,
1251 cno, qi, el, az);
1252 ✗ if (cno == std::numeric_limits<uint8_t>::max())
1253 {
1254 LOG_DATA("{}: Skipping {} as empty", nameId(), satId);
1255 ✗ continue;
1256 }
1257 ✗ auto flags = static_cast<uint8_t>(flagHealthy << 0U
1258 ✗ | flagAlmanac << 1U
1259 ✗ | flagEphemeris << 2U
1260 ✗ | flagDifferentialCorrection << 3U
1261 ✗ | flagUsedForNavigation << 4U
1262 ✗ | flagAzimuthElevationValid << 5U
1263 ✗ | flagUsedForRTK << 6U);
1264 ✗ obs->gnss2Outputs->satInfo.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satId.satSys)),
1265 ✗ static_cast<uint8_t>(satId.satNum), flags, cno, qi, el, az);
1266 ✗ continue;
1267 ✗ }
1268
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 124 if (column == "GNSS2::RawMeas::Tow [s]")
1269 {
1270
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss2Outputs->raw.tow);
1271 31 continue;
1272 }
1273
3/4
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 93 if (column == "GNSS2::RawMeas::Week")
1274 {
1275
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss2Outputs->raw.week);
1276 31 continue;
1277 }
1278
3/4
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 62 if (column == "GNSS2::RawMeas::NumSats")
1279 {
1280
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss2Outputs->raw.numSats);
1281 LOG_DATA("{}: GNSS2::NumSats: {}", nameId(), obs->gnss2Outputs->raw.numSats); // HACK
1282 31 continue;
1283 }
1284
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 31 if (column == "GNSS2::RawMeas::Satellites")
1285 {
1286 31 std::string satellites;
1287
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, satellites);
1288 LOG_DATA("{}: numSats: {}", nameId(), obs->gnss2Outputs->raw.numSats); // HACK
1289 LOG_DATA("{}: satellites: {}", nameId(), satellites); // HACK
1290
1291
2/2
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 574 for (size_t i = 0; i < obs->gnss2Outputs->raw.numSats; i++)
1292 {
1293
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 543 satellites = satellites.substr(1); // Remove leading '['
1294
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 1086 auto sys = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1295
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 1086 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1296
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 1086 auto freq = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1297
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 1086 auto chan = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1298
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 1086 auto slot = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
1299
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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, "|")));
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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, "|")));
1306
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 1086 auto flagPhaseHalfSub = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 1086 auto flagPhaseSlip = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 543 auto flagPseudorangeSmoothed = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1309 543 auto flags = static_cast<uint16_t>(flagSearching << 0U
1310 543 | flagTracking << 1U
1311 543 | flagTimeValid << 2U
1312 543 | flagCodeLock << 3U
1313 543 | flagPhaseLock << 4U
1314 543 | flagPhaseHalfAmbiguity << 5U
1315 543 | flagPhaseHalfSub << 6U
1316 543 | flagPhaseSlip << 7U
1317 543 | flagPseudorangeSmoothed << 8U);
1318
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 1086 auto pr = std::stod(extractRemoveTillDelimiter(satellites, "|"));
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 1086 auto cp = std::stod(extractRemoveTillDelimiter(satellites, "|"));
1320
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 543 auto dp = std::stof(extractRemoveTillDelimiter(satellites, "]"));
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 543 obs->gnss2Outputs->raw.satellites.emplace_back(sys, svId, freq, chan, slot, cno, flags, pr, cp, dp);
1322 }
1323 31 continue;
1324 31 }
1325 ✗ if (column.starts_with("GNSS2::RawMeas::") && column.ends_with(" - freq"))
1326 {
1327 ✗ std::string columnText = column.substr(16);
1328 ✗ auto identifier = extractRemoveTillDelimiter(columnText, " - freq");
1329 LOG_DATA("{}: RawMeas {}", nameId(), identifier);
1330 ✗ SatelliteSystem satSys;
1331 ✗ uint16_t satNum{};
1332 ✗ if (identifier.length() == 6)
1333 {
1334 ✗ SatSigId satSigId(identifier);
1335 ✗ satSys = satSigId.toSatId().satSys;
1336 ✗ satNum = satSigId.satNum;
1337 }
1338 else
1339 {
1340 ✗ SatId satId(identifier);
1341 ✗ satSys = satId.satSys;
1342 ✗ satNum = satId.satNum;
1343 }
1344 ✗ auto freq = std::numeric_limits<uint8_t>::max();
1345 ✗ uint8_t chan{};
1346 ✗ int8_t slot{};
1347 ✗ uint8_t cno{};
1348 ✗ uint8_t flagSearching{};
1349 ✗ uint8_t flagTracking{};
1350 ✗ uint8_t flagTimeValid{};
1351 ✗ uint8_t flagCodeLock{};
1352 ✗ uint8_t flagPhaseLock{};
1353 ✗ uint8_t flagPhaseHalfAmbiguity{};
1354 ✗ uint8_t flagPhaseHalfSub{};
1355 ✗ uint8_t flagPhaseSlip{};
1356 ✗ uint8_t flagPseudorangeSmoothed{};
1357 ✗ double pr{};
1358 ✗ double cp{};
1359 ✗ float dp{};
1360 ✗ extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS,
1361 freq, chan, slot, cno,
1362 flagSearching, flagTracking, flagTimeValid, flagCodeLock, flagPhaseLock,
1363 flagPhaseHalfAmbiguity, flagPhaseHalfSub, flagPhaseSlip, flagPseudorangeSmoothed,
1364 pr, cp, dp);
1365 ✗ if (freq == std::numeric_limits<uint8_t>::max())
1366 {
1367 LOG_DATA("{}: Skipping {} as empty", nameId(), identifier);
1368 ✗ continue;
1369 }
1370 ✗ auto flags = static_cast<uint16_t>(flagSearching << 0U
1371 ✗ | flagTracking << 1U
1372 ✗ | flagTimeValid << 2U
1373 ✗ | flagCodeLock << 3U
1374 ✗ | flagPhaseLock << 4U
1375 ✗ | flagPhaseHalfAmbiguity << 5U
1376 ✗ | flagPhaseHalfSub << 6U
1377 ✗ | flagPhaseSlip << 7U
1378 ✗ | flagPseudorangeSmoothed << 8U);
1379 ✗ obs->gnss2Outputs->raw.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satSys)),
1380 ✗ static_cast<uint8_t>(satNum), freq, chan, slot, cno, flags, pr, cp, dp);
1381 ✗ if (obs->gnss2Outputs->raw.satellites.back().toCode() == Code::None)
1382 {
1383 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid Code. Skipping item. (sys {}, freq {}, chan {})", nameId(), _messageCount + 1,
1384 obs->gnss2Outputs->raw.satellites.back().sys, obs->gnss2Outputs->raw.satellites.back().freq, obs->gnss2Outputs->raw.satellites.back().chan);
1385 ✗ obs->gnss2Outputs->raw.satellites.pop_back();
1386 }
1387 ✗ if (identifier.length() == 6 && SatSigId(identifier) != obs->gnss2Outputs->raw.satellites.back().toSatSigId())
1388 {
1389 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid SatSigId. Skipping item. (sys {}, freq {}, chan {} = [{}], column was [{}])", nameId(), _messageCount + 1,
1390 obs->gnss2Outputs->raw.satellites.back().sys, obs->gnss2Outputs->raw.satellites.back().freq, obs->gnss2Outputs->raw.satellites.back().chan,
1391 obs->gnss2Outputs->raw.satellites.back().toSatSigId(), identifier);
1392 ✗ obs->gnss2Outputs->raw.satellites.pop_back();
1393 }
1394 ✗ continue;
1395 ✗ }
1396 }
1397
1398
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 84 extractCell();
1399 }
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 28519 if (obs->gnss1Outputs) { obs->gnss1Outputs->raw.numSats = static_cast<uint8_t>(obs->gnss1Outputs->raw.satellites.size()); }
1401
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 28541 if (obs->gnss2Outputs) { obs->gnss2Outputs->raw.numSats = static_cast<uint8_t>(obs->gnss2Outputs->raw.satellites.size()); }
1402 28580 }
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 3 catch (const std::exception& e)
1404 {
1405
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 3 LOG_ERROR("{}: Could not read line {} completely: {}", nameId(), _messageCount + 1, e.what());
1406 3 return nullptr;
1407 3 }
1408 28607 }
1409 else // if (fileType == FileType::BINARY)
1410 {
1411 395 auto readFromFilestream = [&, this](char* __s, std::streamsize __n) {
1412 395 read(__s, __n);
1413
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 395 if (!good())
1414 {
1415
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 5 throw std::runtime_error("End of file reached");
1416 }
1417 390 };
1418
1419 try
1420 {
1421 133 _messageCount++;
1422 LOG_DATA("{}: Reading message {}", nameId(), _messageCount);
1423 133 int32_t gpsCycle = 0;
1424 133 int32_t gpsWeek = 0;
1425 133 double tow = 0.0;
1426
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 133 readFromFilestream(reinterpret_cast<char*>(&gpsCycle), sizeof(gpsCycle));
1427
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 130 readFromFilestream(reinterpret_cast<char*>(&gpsWeek), sizeof(gpsWeek));
1428
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 130 readFromFilestream(reinterpret_cast<char*>(&tow), sizeof(tow));
1429
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 130 if (gpsCycle || gpsWeek)
1430 {
1431
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 91 obs->insTime = InsTime(gpsCycle, gpsWeek, tow);
1432 }
1433
1434 // Group 2 (Time)
1435
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 130 if (_binaryOutputRegister.timeField != vn::protocol::uart::TimeGroup::TIMEGROUP_NONE)
1436 {
1437
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 130 if (!obs->timeOutputs)
1438 {
1439
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 130 obs->timeOutputs = std::make_shared<NAV::vendor::vectornav::TimeOutputs>();
1440
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 130 obs->timeOutputs->timeField |= _binaryOutputRegister.timeField;
1441 }
1442
1443
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)
1444 {
1445
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->timeStartup), sizeof(obs->timeOutputs->timeStartup));
1446 }
1447
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)
1448 {
1449
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timeGps), sizeof(obs->timeOutputs->timeGps));
1450 }
1451
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)
1452 {
1453
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->gpsTow), sizeof(obs->timeOutputs->gpsTow));
1454 }
1455
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)
1456 {
1457
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->gpsWeek), sizeof(obs->timeOutputs->gpsWeek));
1458 }
1459
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)
1460 {
1461
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timeSyncIn), sizeof(obs->timeOutputs->timeSyncIn));
1462 }
1463
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)
1464 {
1465
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timePPS), sizeof(obs->timeOutputs->timePPS));
1466 }
1467
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)
1468 {
1469
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.year), sizeof(obs->timeOutputs->timeUtc.year));
1470
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.month), sizeof(obs->timeOutputs->timeUtc.month));
1471
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.day), sizeof(obs->timeOutputs->timeUtc.day));
1472
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.hour), sizeof(obs->timeOutputs->timeUtc.hour));
1473
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.min), sizeof(obs->timeOutputs->timeUtc.min));
1474
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.sec), sizeof(obs->timeOutputs->timeUtc.sec));
1475
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.ms), sizeof(obs->timeOutputs->timeUtc.ms));
1476 }
1477
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)
1478 {
1479
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->syncInCnt), sizeof(obs->timeOutputs->syncInCnt));
1480 }
1481
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)
1482 {
1483
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->syncOutCnt), sizeof(obs->timeOutputs->syncOutCnt));
1484 }
1485
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)
1486 {
1487
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->timeStatus.status()), sizeof(obs->timeOutputs->timeStatus.status()));
1488 }
1489 }
1490 // Group 3 (IMU)
1491
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 130 if (_binaryOutputRegister.imuField != vn::protocol::uart::ImuGroup::IMUGROUP_NONE)
1492 {
1493
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 36 if (!obs->imuOutputs)
1494 {
1495
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 36 obs->imuOutputs = std::make_shared<NAV::vendor::vectornav::ImuOutputs>();
1496
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 36 obs->imuOutputs->imuField |= _binaryOutputRegister.imuField;
1497 }
1498
1499
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)
1500 {
1501 ✗ read(reinterpret_cast<char*>(&obs->imuOutputs->imuStatus), sizeof(obs->imuOutputs->imuStatus));
1502 }
1503
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)
1504 {
1505
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompMag.data()), sizeof(obs->imuOutputs->uncompMag));
1506 }
1507
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)
1508 {
1509
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompAccel.data()), sizeof(obs->imuOutputs->uncompAccel));
1510 }
1511
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)
1512 {
1513
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompGyro.data()), sizeof(obs->imuOutputs->uncompGyro));
1514 }
1515
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)
1516 {
1517
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 36 read(reinterpret_cast<char*>(&obs->imuOutputs->temp), sizeof(obs->imuOutputs->temp));
1518 }
1519
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)
1520 {
1521
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 36 read(reinterpret_cast<char*>(&obs->imuOutputs->pres), sizeof(obs->imuOutputs->pres));
1522 }
1523
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)
1524 {
1525
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 36 read(reinterpret_cast<char*>(&obs->imuOutputs->deltaTime), sizeof(obs->imuOutputs->deltaTime));
1526
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->deltaTheta.data()), sizeof(obs->imuOutputs->deltaTheta));
1527 }
1528
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)
1529 {
1530
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->deltaV.data()), sizeof(obs->imuOutputs->deltaV));
1531 }
1532
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)
1533 {
1534
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->mag.data()), sizeof(obs->imuOutputs->mag));
1535 }
1536
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)
1537 {
1538
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->accel.data()), sizeof(obs->imuOutputs->accel));
1539 }
1540
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)
1541 {
1542
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✓ Branch 6 taken 36 times.
✗ Branch 7 not taken.
 36 read(reinterpret_cast<char*>(obs->imuOutputs->angularRate.data()), sizeof(obs->imuOutputs->angularRate));
1543 }
1544 }
1545 // Group 4 (GNSS1)
1546
1/2
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✗ Branch 1 not taken.
 130 if (_binaryOutputRegister.gpsField != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1547 {
1548
1/2
✓ Branch 2 taken 130 times.
✗ Branch 3 not taken.
 130 if (!obs->gnss1Outputs)
1549 {
1550
1/2
✓ Branch 1 taken 130 times.
✗ Branch 2 not taken.
 130 obs->gnss1Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
1551
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 obs->gnss1Outputs->gnssField |= _binaryOutputRegister.gpsField;
1552 }
1553
1554
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)
1555 {
1556
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));
1557
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));
1558
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));
1559
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));
1560
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));
1561
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));
1562
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));
1563 }
1564
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)
1565 {
1566
1/2
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
 60 read(reinterpret_cast<char*>(&obs->gnss1Outputs->tow), sizeof(obs->gnss1Outputs->tow));
1567 }
1568
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)
1569 {
1570
1/2
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
 60 read(reinterpret_cast<char*>(&obs->gnss1Outputs->week), sizeof(obs->gnss1Outputs->week));
1571 }
1572
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)
1573 {
1574
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss1Outputs->numSats), sizeof(obs->gnss1Outputs->numSats));
1575 }
1576
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)
1577 {
1578
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss1Outputs->fix), sizeof(obs->gnss1Outputs->fix));
1579 }
1580
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)
1581 {
1582
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));
1583 }
1584
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)
1585 {
1586
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));
1587 }
1588
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)
1589 {
1590
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));
1591 }
1592
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)
1593 {
1594
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));
1595 }
1596
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)
1597 {
1598
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));
1599 }
1600
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)
1601 {
1602
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->velU), sizeof(obs->gnss1Outputs->velU));
1603 }
1604
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_TIMEU)
1605 {
1606
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeU), sizeof(obs->gnss1Outputs->timeU));
1607 }
1608
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 130 times.
✗ Branch 6 not taken.
 130 if (obs->gnss1Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO)
1609 {
1610
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()));
1611
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));
1612 }
1613
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)
1614 {
1615
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));
1616
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));
1617
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));
1618
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));
1619
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));
1620
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));
1621
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));
1622 }
1623
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)
1624 {
1625
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));
1626
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss1Outputs->satInfo.satellites.resize(obs->gnss1Outputs->satInfo.numSats);
1627
1628
2/2
✓ Branch 7 taken 1121 times.
✓ Branch 8 taken 70 times.
 1191 for (auto& satellite : obs->gnss1Outputs->satInfo.satellites)
1629 {
1630
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1631
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1632
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1633
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1634
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.qi), sizeof(satellite.qi));
1635
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.el), sizeof(satellite.el));
1636
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.az), sizeof(satellite.az));
1637 }
1638 }
1639
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)
1640 {
1641
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));
1642
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));
1643
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));
1644
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss1Outputs->raw.satellites.resize(obs->gnss1Outputs->raw.numSats);
1645
1646
2/2
✓ Branch 7 taken 655 times.
✓ Branch 8 taken 70 times.
 725 for (auto& satellite : obs->gnss1Outputs->raw.satellites)
1647 {
1648
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1649
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1650
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.freq), sizeof(satellite.freq));
1651
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.chan), sizeof(satellite.chan));
1652
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.slot), sizeof(satellite.slot));
1653
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1654
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1655
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.pr), sizeof(satellite.pr));
1656
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.cp), sizeof(satellite.cp));
1657
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.dp), sizeof(satellite.dp));
1658 }
1659 }
1660 }
1661 // Group 5 (Attitude)
1662
1/2
✓ Branch 0 taken 130 times.
✗ Branch 1 not taken.
 130 if (_binaryOutputRegister.attitudeField != vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE)
1663 {
1664
1/2
✓ Branch 2 taken 130 times.
✗ Branch 3 not taken.
 130 if (!obs->attitudeOutputs)
1665 {
1666
1/2
✓ Branch 1 taken 130 times.
✗ Branch 2 not taken.
 130 obs->attitudeOutputs = std::make_shared<NAV::vendor::vectornav::AttitudeOutputs>();
1667
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 obs->attitudeOutputs->attitudeField |= _binaryOutputRegister.attitudeField;
1668 }
1669
1670
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)
1671 {
1672 ✗ read(reinterpret_cast<char*>(&obs->attitudeOutputs->vpeStatus.status()), sizeof(obs->attitudeOutputs->vpeStatus.status()));
1673 }
1674
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)
1675 {
1676
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));
1677 }
1678
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)
1679 {
1680
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));
1681 }
1682
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)
1683 {
1684
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));
1685 }
1686
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)
1687 {
1688
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));
1689 }
1690
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)
1691 {
1692
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));
1693 }
1694
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)
1695 {
1696
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));
1697 }
1698
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)
1699 {
1700
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));
1701 }
1702
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)
1703 {
1704
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));
1705 }
1706 }
1707 // Group 6 (INS)
1708
2/2
✓ Branch 0 taken 94 times.
✓ Branch 1 taken 36 times.
 130 if (_binaryOutputRegister.insField != vn::protocol::uart::InsGroup::INSGROUP_NONE)
1709 {
1710
1/2
✓ Branch 2 taken 94 times.
✗ Branch 3 not taken.
 94 if (!obs->insOutputs)
1711 {
1712
1/2
✓ Branch 1 taken 94 times.
✗ Branch 2 not taken.
 94 obs->insOutputs = std::make_shared<NAV::vendor::vectornav::InsOutputs>();
1713
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 obs->insOutputs->insField |= _binaryOutputRegister.insField;
1714 }
1715
1716
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)
1717 {
1718
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()));
1719 }
1720
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)
1721 {
1722
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));
1723 }
1724
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)
1725 {
1726
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));
1727 }
1728
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)
1729 {
1730
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));
1731 }
1732
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)
1733 {
1734
2/4
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 94 read(reinterpret_cast<char*>(obs->insOutputs->velNed.data()), sizeof(obs->insOutputs->velNed));
1735 }
1736
2/4
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✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)
1737 {
1738
2/4
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✓ Branch 6 taken 94 times.
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 94 read(reinterpret_cast<char*>(obs->insOutputs->velEcef.data()), sizeof(obs->insOutputs->velEcef));
1739 }
1740
2/4
✓ Branch 3 taken 94 times.
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✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_MAGECEF)
1741 {
1742
2/4
✓ Branch 3 taken 94 times.
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✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->magEcef.data()), sizeof(obs->insOutputs->magEcef));
1743 }
1744
2/4
✓ Branch 3 taken 94 times.
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✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)
1745 {
1746
2/4
✓ Branch 3 taken 94 times.
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✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->accelEcef.data()), sizeof(obs->insOutputs->accelEcef));
1747 }
1748
2/4
✓ Branch 3 taken 94 times.
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✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF)
1749 {
1750
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));
1751 }
1752
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)
1753 {
1754
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->posU), sizeof(obs->insOutputs->posU));
1755 }
1756
2/4
✓ Branch 3 taken 94 times.
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✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)
1757 {
1758
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->velU), sizeof(obs->insOutputs->velU));
1759 }
1760 }
1761 // Group 7 (GNSS2)
1762
2/2
✓ Branch 0 taken 94 times.
✓ Branch 1 taken 36 times.
 130 if (_binaryOutputRegister.gps2Field != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1763 {
1764
1/2
✓ Branch 2 taken 94 times.
✗ Branch 3 not taken.
 94 if (!obs->gnss2Outputs)
1765 {
1766
1/2
✓ Branch 1 taken 94 times.
✗ Branch 2 not taken.
 94 obs->gnss2Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
1767
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 obs->gnss2Outputs->gnssField |= _binaryOutputRegister.gps2Field;
1768 }
1769
1770
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)
1771 {
1772
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));
1773
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));
1774
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));
1775
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));
1776
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));
1777
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));
1778
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));
1779 }
1780
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)
1781 {
1782
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->tow), sizeof(obs->gnss2Outputs->tow));
1783 }
1784
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)
1785 {
1786
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->week), sizeof(obs->gnss2Outputs->week));
1787 }
1788
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)
1789 {
1790
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->numSats), sizeof(obs->gnss2Outputs->numSats));
1791 }
1792
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)
1793 {
1794
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->fix), sizeof(obs->gnss2Outputs->fix));
1795 }
1796
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)
1797 {
1798
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));
1799 }
1800
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)
1801 {
1802
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));
1803 }
1804
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)
1805 {
1806
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));
1807 }
1808
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)
1809 {
1810
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));
1811 }
1812
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)
1813 {
1814
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));
1815 }
1816
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)
1817 {
1818
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->velU), sizeof(obs->gnss2Outputs->velU));
1819 }
1820
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_TIMEU)
1821 {
1822
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeU), sizeof(obs->gnss2Outputs->timeU));
1823 }
1824
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_TIMEINFO)
1825 {
1826
1/2
✓ Branch 4 taken 94 times.
✗ Branch 5 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeInfo.status.status()), sizeof(obs->gnss2Outputs->timeInfo.status.status()));
1827
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeInfo.leapSeconds), sizeof(obs->gnss2Outputs->timeInfo.leapSeconds));
1828 }
1829
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_DOP)
1830 {
1831
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.gDop), sizeof(obs->gnss2Outputs->dop.gDop));
1832
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.pDop), sizeof(obs->gnss2Outputs->dop.pDop));
1833
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.tDop), sizeof(obs->gnss2Outputs->dop.tDop));
1834
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.vDop), sizeof(obs->gnss2Outputs->dop.vDop));
1835
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.hDop), sizeof(obs->gnss2Outputs->dop.hDop));
1836
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.nDop), sizeof(obs->gnss2Outputs->dop.nDop));
1837
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->dop.eDop), sizeof(obs->gnss2Outputs->dop.eDop));
1838 }
1839
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 24 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO)
1840 {
1841
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));
1842
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss2Outputs->satInfo.satellites.resize(obs->gnss2Outputs->satInfo.numSats);
1843
1844
2/2
✓ Branch 7 taken 1146 times.
✓ Branch 8 taken 70 times.
 1216 for (auto& satellite : obs->gnss2Outputs->satInfo.satellites)
1845 {
1846
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1847
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1848
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1849
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1850
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.qi), sizeof(satellite.qi));
1851
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.el), sizeof(satellite.el));
1852
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.az), sizeof(satellite.az));
1853 }
1854 }
1855
3/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 70 times.
✓ Branch 6 taken 24 times.
 94 if (obs->gnss2Outputs->gnssField & vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS)
1856 {
1857
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));
1858
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));
1859
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));
1860
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss2Outputs->raw.satellites.resize(obs->gnss2Outputs->raw.numSats);
1861
1862
2/2
✓ Branch 7 taken 543 times.
✓ Branch 8 taken 70 times.
 613 for (auto& satellite : obs->gnss2Outputs->raw.satellites)
1863 {
1864
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1865
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1866
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.freq), sizeof(satellite.freq));
1867
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.chan), sizeof(satellite.chan));
1868
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.slot), sizeof(satellite.slot));
1869
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1870
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1871
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.pr), sizeof(satellite.pr));
1872
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.cp), sizeof(satellite.cp));
1873
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.dp), sizeof(satellite.dp));
1874 }
1875 }
1876 }
1877 }
1878
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 5 times.
 5 catch (const std::exception& e)
1879 {
1880
3/6
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✗ Branch 2 not taken.
✓ Branch 5 taken 5 times.
✗ Branch 6 not taken.
✓ Branch 9 taken 5 times.
✗ Branch 10 not taken.
 5 LOG_DEBUG("{}: {} after {} messages", nameId(), e.what(), _messageCount);
1881 5 return nullptr;
1882 5 }
1883 }
1884
1885
2/14
✗ Branch 2 not taken.
✓ Branch 3 taken 28671 times.
✗ Branch 6 not taken.
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✗ Branch 22 not taken.
✗ Branch 23 not taken.
✗ Branch 24 not taken.
✓ Branch 25 taken 28671 times.
 28671 if (!obs->timeOutputs && !obs->imuOutputs && !obs->gnss1Outputs && !obs->attitudeOutputs && !obs->insOutputs && !obs->gnss2Outputs)
1886 {
1887 LOG_DATA("{}: Nothing read at message {}. Ending reading.", nameId(), _messageCount);
1888 ✗ return nullptr;
1889 }
1890
2/2
✓ Branch 2 taken 39 times.
✓ Branch 3 taken 28632 times.
 28671 if (obs->insTime.empty())
1891 {
1892 LOG_DATA("{}: Skipping message {}, as no InsTime set.", nameId(), _messageCount);
1893 39 return obs;
1894 }
1895
1896
1/2
✓ Branch 2 taken 28631 times.
✗ Branch 3 not taken.
 28632 invokeCallbacks(OUTPUT_PORT_INDEX_VECTORNAV_BINARY_OUTPUT, obs);
1897 28631 return obs;
1898 28725 }
1899