INSTINCT Code Coverage Report

Directory: src/
File: Nodes/DataProvider/IMU/FileReader/VectorNavFile.cpp
Date: 2025-07-19 10:51:51
Exec Total Coverage
Lines: 958 1153 83.1%
Functions: 65 73 89.0%
Branches: 1274 2498 51.0%
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/NodeManager.hpp"
25 namespace nm = NAV::NodeManager;
26 #include "internal/FlowManager.hpp"
27
28 #include "NodeData/IMU/VectorNavBinaryOutput.hpp"
29 #include "Nodes/DataProvider/IMU/Sensors/VectorNavSensor.hpp"
30
31 161 NAV::VectorNavFile::VectorNavFile()
32
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 161 : Imu(typeStatic())
33 {
34 LOG_TRACE("{}: called", name);
35
36 161 _hasConfig = true;
37 161 _guiConfigDefaultWindowSize = { 630, 466 };
38
39
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 483 nm::CreateOutputPin(this, "Binary Output", Pin::Type::Flow, { NAV::VectorNavBinaryOutput::type() }, &VectorNavFile::pollData);
40 322 }
41
42 416 NAV::VectorNavFile::~VectorNavFile()
43 {
44 LOG_TRACE("{}: called", nameId());
45 416 }
46
47 275 std::string NAV::VectorNavFile::typeStatic()
48 {
49
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 550 return "VectorNavFile";
50 }
51
52 ✗ std::string NAV::VectorNavFile::type() const
53 {
54 ✗ return typeStatic();
55 }
56
57 114 std::string NAV::VectorNavFile::category()
58 {
59
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 228 return "Data Provider";
60 }
61
62 ✗ void NAV::VectorNavFile::guiConfig()
63 {
64 ✗ if (auto res = FileReader::guiConfig("Supported types (*.csv *.vnb){.csv,.vnb},.*", { ".csv", ".vnb" }, size_t(id), nameId()))
65 {
66 ✗ LOG_DEBUG("{}: Path changed to {}", nameId(), _path);
67 ✗ flow::ApplyChanges();
68 ✗ if (res == FileReader::PATH_CHANGED)
69 {
70 ✗ doReinitialize();
71 }
72 else
73 {
74 ✗ doDeinitialize();
75 }
76 }
77
78 ✗ Imu::guiConfig();
79
80 // Header info
81 ✗ if (ImGui::BeginTable(fmt::format("##VectorNavHeaders ({})", id.AsPointer()).c_str(), 6,
82 ImGuiTableFlags_Borders | ImGuiTableFlags_RowBg | ImGuiTableFlags_NoHostExtendX | ImGuiTableFlags_SizingFixedFit))
83 {
84 ✗ ImGui::TableSetupColumn("Time", ImGuiTableColumnFlags_WidthFixed);
85 ✗ ImGui::TableSetupColumn("IMU", ImGuiTableColumnFlags_WidthFixed);
86 ✗ ImGui::TableSetupColumn("GNSS1", ImGuiTableColumnFlags_WidthFixed);
87 ✗ ImGui::TableSetupColumn("Attitude", ImGuiTableColumnFlags_WidthFixed);
88 ✗ ImGui::TableSetupColumn("INS", ImGuiTableColumnFlags_WidthFixed);
89 ✗ ImGui::TableSetupColumn("GNSS2", ImGuiTableColumnFlags_WidthFixed);
90 ✗ ImGui::TableHeadersRow();
91
92 ✗ auto TextColored = [](int index, const char* label, bool enabled) {
93 ✗ ImGui::TableSetColumnIndex(index);
94 ✗ if (enabled)
95 {
96 ✗ ImGui::TextUnformatted(label);
97 }
98 else
99 {
100 ✗ ImGui::TextDisabled("%s", label);
101 }
102 ✗ };
103
104 ✗ for (size_t i = 0; i < 16; i++)
105 {
106 ✗ if (i < std::max({ /* VectorNavSensor::_binaryGroupCommon.size(), */ VectorNavSensor::_binaryGroupTime.size(), VectorNavSensor::_binaryGroupIMU.size(),
107 VectorNavSensor::_binaryGroupGNSS.size(), VectorNavSensor::_binaryGroupAttitude.size(), VectorNavSensor::_binaryGroupINS.size() }))
108 {
109 ✗ ImGui::TableNextRow();
110 }
111 ✗ if (i < VectorNavSensor::_binaryGroupTime.size())
112 {
113 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupTime.at(i);
114 ✗ TextColored(0, binaryGroupItem.name, _binaryOutputRegister.timeField & binaryGroupItem.flagsValue);
115 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
116 {
117 ✗ ImGui::BeginTooltip();
118 ✗ binaryGroupItem.tooltip();
119 ✗ ImGui::EndTooltip();
120 }
121 }
122 ✗ if (i < VectorNavSensor::_binaryGroupIMU.size())
123 {
124 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupIMU.at(i);
125 ✗ TextColored(1, binaryGroupItem.name, _binaryOutputRegister.imuField & binaryGroupItem.flagsValue);
126 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
127 {
128 ✗ ImGui::BeginTooltip();
129 ✗ binaryGroupItem.tooltip();
130 ✗ ImGui::EndTooltip();
131 }
132 }
133 ✗ if (i < VectorNavSensor::_binaryGroupGNSS.size())
134 {
135 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupGNSS.at(i);
136 ✗ TextColored(2, binaryGroupItem.name, _binaryOutputRegister.gpsField & binaryGroupItem.flagsValue);
137 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
138 {
139 ✗ ImGui::BeginTooltip();
140 ✗ binaryGroupItem.tooltip();
141 ✗ ImGui::EndTooltip();
142 }
143 }
144 ✗ if (i < VectorNavSensor::_binaryGroupAttitude.size())
145 {
146 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupAttitude.at(i);
147 ✗ TextColored(3, binaryGroupItem.name, _binaryOutputRegister.attitudeField & binaryGroupItem.flagsValue);
148 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
149 {
150 ✗ ImGui::BeginTooltip();
151 ✗ binaryGroupItem.tooltip();
152 ✗ ImGui::EndTooltip();
153 }
154 }
155 ✗ if (i < VectorNavSensor::_binaryGroupINS.size())
156 {
157 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupINS.at(i);
158 ✗ TextColored(4, binaryGroupItem.name, _binaryOutputRegister.insField & binaryGroupItem.flagsValue);
159 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
160 {
161 ✗ ImGui::BeginTooltip();
162 ✗ binaryGroupItem.tooltip();
163 ✗ ImGui::EndTooltip();
164 }
165 }
166 ✗ if (i < VectorNavSensor::_binaryGroupGNSS.size())
167 {
168 ✗ const auto& binaryGroupItem = VectorNavSensor::_binaryGroupGNSS.at(i);
169 ✗ TextColored(5, binaryGroupItem.name, _binaryOutputRegister.gps2Field & binaryGroupItem.flagsValue);
170 ✗ if (ImGui::IsItemHovered() && binaryGroupItem.tooltip != nullptr)
171 {
172 ✗ ImGui::BeginTooltip();
173 ✗ binaryGroupItem.tooltip();
174 ✗ ImGui::EndTooltip();
175 }
176 }
177 }
178
179 ✗ ImGui::EndTable();
180 }
181 ✗ }
182
183 ✗ [[nodiscard]] json NAV::VectorNavFile::save() const
184 {
185 LOG_TRACE("{}: called", nameId());
186
187 ✗ json j;
188
189 ✗ j["FileReader"] = FileReader::save();
190 ✗ j["Imu"] = Imu::save();
191
192 ✗ return j;
193 ✗ }
194
195 47 void NAV::VectorNavFile::restore(json const& j)
196 {
197 LOG_TRACE("{}: called", nameId());
198
199
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 47 if (j.contains("FileReader"))
200 {
201 47 FileReader::restore(j.at("FileReader"));
202 }
203
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 47 if (j.contains("Imu"))
204 {
205 47 Imu::restore(j.at("Imu"));
206 }
207 47 }
208
209 47 bool NAV::VectorNavFile::initialize()
210 {
211 LOG_TRACE("{}: called", nameId());
212
213 47 return FileReader::initialize();
214 }
215
216 47 void NAV::VectorNavFile::deinitialize()
217 {
218 LOG_TRACE("{}: called", nameId());
219
220 47 FileReader::deinitialize();
221 47 }
222
223 94 bool NAV::VectorNavFile::resetNode()
224 {
225 94 FileReader::resetReader();
226
227 94 _messageCount = 0;
228
229 94 return true;
230 }
231
232 46 NAV::FileReader::FileType NAV::VectorNavFile::determineFileType()
233 {
234 LOG_TRACE("called");
235
236
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 46 std::filesystem::path filepath = getFilepath();
237
238
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 47 auto filestreamHeader = std::ifstream(filepath);
239
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 47 if (good())
240 {
241 47 std::array<char, std::string_view("GpsCycle,GpsWeek,GpsTow").length()> buffer{};
242
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 94 filestreamHeader.read(buffer.data(), buffer.size());
243
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 47 filestreamHeader.close();
244
245
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 140 if (std::string(buffer.data(), buffer.size()).starts_with("Time [s]"))
246 {
247 41 _hasTimeColumn = true;
248 41 return FileType::ASCII;
249 }
250
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 15 if (std::string(buffer.data(), buffer.size()).starts_with("GpsCycle,GpsWeek,GpsTow"))
251 {
252 ✗ _hasTimeColumn = false;
253 ✗ return FileType::ASCII;
254 }
255
256 5 return FileType::BINARY;
257 }
258
259 ✗ LOG_ERROR("Could not open file {}", filepath);
260 ✗ return FileType::NONE;
261 46 }
262
263 47 void NAV::VectorNavFile::readHeader()
264 {
265
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 47 if (_fileType == FileType::ASCII)
266 {
267 42 _binaryOutputRegister.timeField = vn::protocol::uart::TimeGroup::TIMEGROUP_NONE;
268 42 _binaryOutputRegister.imuField = vn::protocol::uart::ImuGroup::IMUGROUP_NONE;
269 42 _binaryOutputRegister.gpsField = vn::protocol::uart::GpsGroup::GPSGROUP_NONE;
270 42 _binaryOutputRegister.attitudeField = vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE;
271 42 _binaryOutputRegister.insField = vn::protocol::uart::InsGroup::INSGROUP_NONE;
272 42 _binaryOutputRegister.gps2Field = vn::protocol::uart::GpsGroup::GPSGROUP_NONE;
273
274 // Read header line
275 42 std::string line;
276
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 41 getline(line);
277 // Remove any starting non text characters
278
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 84 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isalnum(ch); }));
279 // Convert line into stream
280
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 41 std::stringstream lineStream(line);
281 42 std::string cell;
282
283 41 int column = 0;
284 // Split line at comma
285 LOG_DATA("{}: Reading CSV header", nameId());
286
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 3241 while (std::getline(lineStream, cell, ','))
287 {
288 // Remove any trailing non text characters
289
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 79386 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
290
291 LOG_DATA("{}: {}", nameId(), cell);
292
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 3203 _headerColumns.push_back(cell);
293
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 3200 if (column++ > (_hasTimeColumn ? 3 : 2))
294 {
295
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 3037 std::string group = cell.substr(0, cell.find("::")); // Extract the group (Time::TimeUTC::year -> 'Time')
296
297
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 3034 cell = cell.substr(cell.find("::") + 2); // Remove the group -> 'TimeUTC::year'
298
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 3036 if (cell.find("::") != std::string::npos)
299 {
300
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 2640 cell = cell.substr(0, cell.find("::")); // Remove subgroups ('TimeUTC::year' -> 'TimeUTC')
301 }
302
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 3025 if (cell.find(' ') != std::string::npos)
303 {
304
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 250 cell = cell.substr(0, cell.find(' ')); // Remove everything after a blank, which is the unit ('TimeStartup [ns]' -> 'TimeStartup')
305 }
306
307 3032 bool identified = false;
308
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 3032 if (group == "Time")
309 {
310
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 1851 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupTime)
311 {
312
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 1854 if (cell == binaryGroupItem.name)
313 {
314
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 293 _binaryOutputRegister.timeField |= static_cast<vn::protocol::uart::TimeGroup>(binaryGroupItem.flagsValue);
315 292 identified = true;
316 292 break;
317 }
318 }
319 }
320
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 2737 else if (group == "IMU")
321 {
322
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 3480 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupIMU)
323 {
324
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 3480 if (cell == binaryGroupItem.name)
325 {
326
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 520 _binaryOutputRegister.imuField |= static_cast<vn::protocol::uart::ImuGroup>(binaryGroupItem.flagsValue);
327 520 identified = true;
328 520 break;
329 }
330
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 2960 if (cell == "DeltaTime")
331 {
332
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 20 _binaryOutputRegister.imuField |= vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA;
333 20 identified = true;
334 20 break;
335 }
336 }
337 }
338
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 2202 else if (group == "GNSS1")
339 {
340
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 18136 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupGNSS)
341 {
342
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 18137 if (cell == binaryGroupItem.name)
343 {
344
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 1440 _binaryOutputRegister.gpsField |= static_cast<vn::protocol::uart::GpsGroup>(binaryGroupItem.flagsValue);
345 1440 identified = true;
346 1440 break;
347 }
348 }
349 }
350
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 768 else if (group == "Att")
351 {
352
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 648 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupAttitude)
353 {
354
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 648 if (cell == binaryGroupItem.name)
355 {
356
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 165 _binaryOutputRegister.attitudeField |= static_cast<vn::protocol::uart::AttitudeGroup>(binaryGroupItem.flagsValue);
357 165 identified = true;
358 165 break;
359 }
360 }
361 }
362
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 601 else if (group == "INS")
363 {
364
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 1734 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupINS)
365 {
366
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 1734 if (cell == binaryGroupItem.name)
367 {
368
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 436 _binaryOutputRegister.insField |= static_cast<vn::protocol::uart::InsGroup>(binaryGroupItem.flagsValue);
369 436 identified = true;
370 436 break;
371 }
372 }
373 }
374
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 167 else if (group == "GNSS2")
375 {
376
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 1405 for (const auto& binaryGroupItem : VectorNavSensor::_binaryGroupGNSS)
377 {
378
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 1406 if (cell == binaryGroupItem.name)
379 {
380
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 168 _binaryOutputRegister.gps2Field |= static_cast<vn::protocol::uart::GpsGroup>(binaryGroupItem.flagsValue);
381 168 identified = true;
382 168 break;
383 }
384 }
385 }
386 else
387 {
388 ✗ LOG_ERROR("{}: Could not identify the group in CSV header - {}::{}", nameId(), group, cell);
389 ✗ doDeinitialize();
390 ✗ break;
391 }
392
393
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 3036 if (!identified)
394 {
395 ✗ LOG_ERROR("{}: Could not identify the field in CSV header - {}::{}", nameId(), group, cell);
396 ✗ doDeinitialize();
397 ✗ break;
398 }
399 3036 }
400 }
401 39 }
402 else // if (fileType == FileType::BINARY)
403 {
404 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.timeField), sizeof(vn::protocol::uart::TimeGroup));
405 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.imuField), sizeof(vn::protocol::uart::ImuGroup));
406 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.gpsField), sizeof(vn::protocol::uart::GpsGroup));
407 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.attitudeField), sizeof(vn::protocol::uart::AttitudeGroup));
408 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.insField), sizeof(vn::protocol::uart::InsGroup));
409 5 read(reinterpret_cast<char*>(&_binaryOutputRegister.gps2Field), sizeof(vn::protocol::uart::GpsGroup));
410 }
411 47 }
412
413 28724 std::shared_ptr<const NAV::NodeData> NAV::VectorNavFile::pollData()
414 {
415
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 28724 auto obs = std::make_shared<VectorNavBinaryOutput>(_imuPos);
416
417
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 28725 if (_fileType == FileType::ASCII)
418 {
419 // Read line
420 28590 std::string line;
421
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 28590 getline(line);
422 28594 _messageCount++;
423 // Remove any starting non text characters
424
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 57148 line.erase(line.begin(), std::ranges::find_if(line, [](int ch) { return std::isgraph(ch); }));
425 LOG_DATA("{}: Reading line {}: {}", nameId(), _messageCount + 1, line);
426
427
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 28592 if (line.empty())
428 {
429
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 39 LOG_DEBUG("{}: End of file reached after {} lines", nameId(), _messageCount);
430 39 return nullptr;
431 }
432
433 // Convert line into stream
434
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 28555 std::stringstream lineStream(line);
435
436 28555 size_t col = 0;
437 1268043 auto extractCell = [&lineStream, &col]() {
438
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 1268043 if (lineStream.eof())
439 {
440
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 3 throw std::runtime_error("End of file");
441 }
442 1267995 col++;
443
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 1267995 if (std::string cell; std::getline(lineStream, cell, ','))
444 {
445 // Remove any trailing non text characters
446
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 22728694 cell.erase(std::ranges::find_if(cell, [](int ch) { return std::iscntrl(ch); }), cell.end());
447
448 // LOG_DEBUG(" extractCell: {}", cell);
449 1267505 return cell;
450 1267513 }
451
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 12 return std::string("");
452 28555 };
453 2895794 auto extractRemoveTillDelimiter = [](std::string& str, const std::string& delimiter) {
454 2895794 std::string extract;
455
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 2895794 if (size_t pos = str.find(delimiter);
456 pos != std::string::npos)
457 {
458
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 2895794 extract = str.substr(0, pos);
459
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 2895794 str = str.substr(pos + 1);
460 }
461
462 2895794 return extract;
463 ✗ };
464
465 2308018 auto extractSingleValue = [&](auto& field, auto flag, auto& out) {
466 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)>
467 || std::is_same_v<int8_t&, decltype(out)> || std::is_same_v<int16_t&, decltype(out)> || std::is_same_v<int32_t&, decltype(out)>
468 || std::is_same_v<float&, decltype(out)> || std::is_same_v<double&, decltype(out)>
469 || std::is_same_v<std::string&, decltype(out)>);
470
471
2/2
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 2308018 auto cell = extractCell();
472 LOG_DATA("{}: Extracting {}: {}", nameId(), vn::protocol::uart::to_string(flag), cell);
473
474
2/2
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 2308036 if (cell.empty()) { return; }
475
476
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 2303636 field |= flag; // set the flag
477 if constexpr (std::is_same_v<bool&, decltype(out)>
478 || std::is_same_v<uint8_t&, decltype(out)>
479 || std::is_same_v<uint16_t&, decltype(out)>
480 || std::is_same_v<uint32_t&, decltype(out)>)
481 {
482
1/2
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 528332 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoul(cell));
483 }
484 else if constexpr (std::is_same_v<uint64_t&, decltype(out)>)
485 {
486
1/2
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 171458 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoull(cell));
487 }
488 else if constexpr (std::is_same_v<int8_t&, decltype(out)>
489 || std::is_same_v<int16_t&, decltype(out)>
490 || std::is_same_v<int32_t&, decltype(out)>)
491 {
492
1/2
✓ Branch 1 taken 29124 times.
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 58252 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stoi(cell));
493 }
494 else if constexpr (std::is_same_v<float&, decltype(out)>)
495 {
496
1/2
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 1495816 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stof(cell));
497 }
498 else if constexpr (std::is_same_v<double&, decltype(out)>)
499 {
500
1/2
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 39144 out = static_cast<std::remove_reference_t<decltype(out)>>(std::stod(cell));
501 }
502 else if constexpr (std::is_same_v<std::string&, decltype(out)>)
503 {
504
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 10664 out = cell;
505 }
506
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 2336531 };
507
508 1018110 auto extractValue = [&](auto& field, auto flag, auto&... out) {
509 1018110 (extractSingleValue(field, flag, out), ...);
510 1046671 };
511
512 try
513 {
514
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 28555 if (_hasTimeColumn) { extractCell(); } // Time [s]
515
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 28553 std::string gpsCycle = extractCell();
516
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 28555 std::string gpsWeek = extractCell();
517
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 28551 std::string gpsTow = extractCell();
518
6/8
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 28553 if (!gpsCycle.empty() && !gpsWeek.empty() && !gpsTow.empty())
519 {
520
4/8
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 28544 obs->insTime = InsTime(std::stoi(gpsCycle), std::stoi(gpsWeek), std::stold(gpsTow));
521 }
522 else
523 {
524 LOG_DATA("{}: Skipping message {}, as no InsTime set.", nameId(), _messageCount + 1);
525 10 return obs;
526 }
527
528
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 537794 for (; col < _headerColumns.size();)
529 {
530
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 509232 const auto& column = _headerColumns.at(col);
531 // Group 2 (Time)
532
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 509231 if (_binaryOutputRegister.timeField != vn::protocol::uart::TimeGroup::TIMEGROUP_NONE)
533 {
534
3/4
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 509241 if (!obs->timeOutputs) { obs->timeOutputs = std::make_shared<NAV::vendor::vectornav::TimeOutputs>(); }
535
536
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 509177 if (column == "Time::TimeStartup [ns]")
537 {
538
1/2
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 28538 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP, obs->timeOutputs->timeStartup);
539 28535 continue;
540 }
541
3/4
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 480553 if (column == "Time::TimeGps [ns]")
542 {
543
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS, obs->timeOutputs->timeGps);
544 31 continue;
545 }
546
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 480549 if (column == "Time::GpsTow [ns]")
547 {
548
2/2
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✓ Branch 6 taken 3 times.
 28537 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW, obs->timeOutputs->gpsTow);
549 28536 continue;
550 }
551
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 452018 if (column == "Time::GpsWeek")
552 {
553
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 28539 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK, obs->timeOutputs->gpsWeek);
554 28533 continue;
555 }
556
3/4
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 423505 if (column == "Time::TimeSyncIn [ns]")
557 {
558
1/2
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN, obs->timeOutputs->timeSyncIn);
559 31 continue;
560 }
561
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 423505 if (column == "Time::TimeGpsPps [ns]")
562 {
563
1/2
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS, obs->timeOutputs->timePPS);
564 31 continue;
565 }
566
3/4
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 423464 if (column == "Time::TimeUTC::year")
567 {
568
1/2
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 79 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC,
569 79 obs->timeOutputs->timeUtc.year, obs->timeOutputs->timeUtc.month, obs->timeOutputs->timeUtc.day,
570 79 obs->timeOutputs->timeUtc.hour, obs->timeOutputs->timeUtc.min, obs->timeOutputs->timeUtc.sec, obs->timeOutputs->timeUtc.ms);
571 78 continue;
572 }
573
3/4
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 423391 if (column == "Time::SyncInCnt")
574 {
575
1/2
✓ Branch 5 taken 31 times.
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 31 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT, obs->timeOutputs->syncInCnt);
576 31 continue;
577 }
578
3/4
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 423364 if (column == "Time::SyncOutCnt")
579 {
580
1/2
✓ Branch 5 taken 38 times.
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 38 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT, obs->timeOutputs->syncOutCnt);
581 38 continue;
582 }
583
3/4
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 423313 if (column == "Time::TimeStatus::timeOk") // "Time::TimeStatus::dateOk", "Time::TimeStatus::utcTimeValid"
584 {
585 28538 uint8_t timeOk{};
586 28538 uint8_t dateOk{};
587 28538 uint8_t utcTimeValid{};
588
1/2
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 28538 extractValue(obs->timeOutputs->timeField, vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS, timeOk, dateOk, utcTimeValid);
589 28537 obs->timeOutputs->timeStatus = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
590 28532 continue;
591 28532 }
592 }
593 // Group 3 (IMU)
594
2/2
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 394806 if (_binaryOutputRegister.imuField != vn::protocol::uart::ImuGroup::IMUGROUP_NONE)
595 {
596
3/4
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✓ Branch 5 taken 25847 times.
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 336240 if (!obs->imuOutputs) { obs->imuOutputs = std::make_shared<NAV::vendor::vectornav::ImuOutputs>(); }
597
598
2/4
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✓ Branch 4 taken 336240 times.
 336240 if (column == "IMU::ImuStatus")
599 {
600 ✗ extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS, obs->imuOutputs->imuStatus);
601 ✗ continue;
602 }
603
2/2
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✓ Branch 2 taken 310389 times.
 336240 if (column.starts_with("IMU::UncompMag::X")) // "IMU::UncompMag::Y [Gauss]", "IMU::UncompMag::Z [Gauss]"
604 {
605
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG,
606
3/6
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 25847 obs->imuOutputs->uncompMag.x(), obs->imuOutputs->uncompMag.y(), obs->imuOutputs->uncompMag.z());
607 25848 continue;
608 }
609
2/2
✓ Branch 1 taken 25848 times.
✓ Branch 2 taken 284541 times.
 310389 if (column.starts_with("IMU::UncompAccel::X")) // "IMU::UncompAccel::Y [m/s^2]", "IMU::UncompAccel::Z [m/s^2]"
610 {
611
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL,
612
3/6
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 25848 obs->imuOutputs->uncompAccel.x(), obs->imuOutputs->uncompAccel.y(), obs->imuOutputs->uncompAccel.z());
613 25848 continue;
614 }
615
2/2
✓ Branch 1 taken 25848 times.
✓ Branch 2 taken 258693 times.
 284541 if (column.starts_with("IMU::UncompGyro::X")) // "IMU::UncompGyro::Y [rad/s]", "IMU::UncompGyro::Z [rad/s]"
616 {
617
1/2
✓ Branch 2 taken 25848 times.
✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO,
618
3/6
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 25848 obs->imuOutputs->uncompGyro.x(), obs->imuOutputs->uncompGyro.y(), obs->imuOutputs->uncompGyro.z());
619 25848 continue;
620 }
621
2/2
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✓ Branch 2 taken 232847 times.
 258693 if (column.starts_with("IMU::Temp"))
622 {
623
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_TEMP, obs->imuOutputs->temp);
624 25848 continue;
625 }
626
2/2
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 232847 if (column.starts_with("IMU::Pres"))
627 {
628
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_PRES, obs->imuOutputs->pres);
629 25848 continue;
630 }
631
2/2
✓ Branch 1 taken 25848 times.
✓ Branch 2 taken 181152 times.
 206999 if (column.starts_with("IMU::DeltaTime")) // "IMU::DeltaTheta::X [deg]", "IMU::DeltaTheta::Y [deg]", "IMU::DeltaTheta::Z [deg]"
632 {
633
1/2
✓ Branch 2 taken 25848 times.
✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA,
634
3/6
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 25848 obs->imuOutputs->deltaTime, obs->imuOutputs->deltaTheta.x(), obs->imuOutputs->deltaTheta.y(), obs->imuOutputs->deltaTheta.z());
635 25848 continue;
636 }
637
2/2
✓ Branch 1 taken 25848 times.
✓ Branch 2 taken 155304 times.
 181152 if (column.starts_with("IMU::DeltaVel::X")) // "IMU::DeltaVel::Y [m/s]", "IMU::DeltaVel::Z [m/s]"
638 {
639
1/2
✓ Branch 2 taken 25848 times.
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL,
640
3/6
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 25848 obs->imuOutputs->deltaV.x(), obs->imuOutputs->deltaV.y(), obs->imuOutputs->deltaV.z());
641 25848 continue;
642 }
643
2/2
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✓ Branch 2 taken 129455 times.
 155304 if (column.starts_with("IMU::Mag::X")) // "IMU::Mag::Y [Gauss]", "IMU::Mag::Z [Gauss]"
644 {
645
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_MAG,
646
3/6
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 25848 obs->imuOutputs->mag.x(), obs->imuOutputs->mag.y(), obs->imuOutputs->mag.z());
647 25848 continue;
648 }
649
2/2
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✓ Branch 2 taken 103607 times.
 129455 if (column.starts_with("IMU::Accel::X")) // "IMU::Accel::Y [m/s^2]", "IMU::Accel::Z [m/s^2]"
650 {
651
1/2
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 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL,
652
3/6
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 25848 obs->imuOutputs->accel.x(), obs->imuOutputs->accel.y(), obs->imuOutputs->accel.z());
653 25848 continue;
654 }
655
2/2
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✓ Branch 2 taken 77760 times.
 103607 if (column.starts_with("IMU::AngularRate::X")) // "IMU::AngularRate::Y [rad/s]", "IMU::AngularRate::Z [rad/s]"
656 {
657
1/2
✓ Branch 2 taken 25848 times.
✗ Branch 3 not taken.
 25848 extractValue(obs->imuOutputs->imuField, vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE,
658
3/6
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 25848 obs->imuOutputs->angularRate.x(), obs->imuOutputs->angularRate.y(), obs->imuOutputs->angularRate.z());
659 25848 continue;
660 }
661 }
662 // Group 4 (GNSS1)
663
1/2
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 136326 if (_binaryOutputRegister.gpsField != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
664 {
665
3/4
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✓ Branch 3 taken 107936 times.
✓ Branch 5 taken 28542 times.
✗ Branch 6 not taken.
 136491 if (!obs->gnss1Outputs) { obs->gnss1Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>(); }
666
667
3/4
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✗ Branch 2 not taken.
✓ Branch 3 taken 48 times.
✓ Branch 4 taken 136428 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"
668 {
669
1/2
✓ Branch 2 taken 48 times.
✗ Branch 3 not taken.
 48 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_UTC,
670 48 obs->gnss1Outputs->timeUtc.year, obs->gnss1Outputs->timeUtc.month, obs->gnss1Outputs->timeUtc.day,
671 48 obs->gnss1Outputs->timeUtc.hour, obs->gnss1Outputs->timeUtc.min, obs->gnss1Outputs->timeUtc.sec, obs->gnss1Outputs->timeUtc.ms);
672 48 continue;
673 }
674
3/4
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✓ Branch 3 taken 28509 times.
✓ Branch 4 taken 107915 times.
 136428 if (column == "GNSS1::Tow [ns]")
675 {
676
1/2
✓ Branch 5 taken 28511 times.
✗ Branch 6 not taken.
 28509 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TOW, obs->gnss1Outputs->tow);
677 28511 continue;
678 }
679
3/4
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✓ Branch 4 taken 79412 times.
 107915 if (column == "GNSS1::Week")
680 {
681
1/2
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✗ Branch 6 not taken.
 28510 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_WEEK, obs->gnss1Outputs->week);
682 28511 continue;
683 }
684
3/4
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✓ Branch 4 taken 76727 times.
 79412 if (column == "GNSS1::NumSats")
685 {
686
1/2
✓ Branch 5 taken 2687 times.
✗ Branch 6 not taken.
 2687 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS, obs->gnss1Outputs->numSats);
687 2687 continue;
688 }
689
3/4
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✓ Branch 4 taken 74031 times.
 76727 if (column == "GNSS1::Fix")
690 {
691
1/2
✓ Branch 5 taken 2693 times.
✗ Branch 6 not taken.
 2694 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_FIX, obs->gnss1Outputs->fix);
692 2693 continue;
693 }
694
3/4
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✓ Branch 3 taken 2663 times.
✓ Branch 4 taken 71370 times.
 74031 if (column == "GNSS1::PosLla::latitude [deg]") // "GNSS1::PosLla::longitude [deg]", "GNSS1::PosLla::altitude [m]"
695 {
696
1/2
✓ Branch 2 taken 2663 times.
✗ Branch 3 not taken.
 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA,
697
3/6
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✗ Branch 14 not taken.
 2663 obs->gnss1Outputs->posLla.x(), obs->gnss1Outputs->posLla.y(), obs->gnss1Outputs->posLla.z());
698 2663 continue;
699 }
700
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]"
701 {
702
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());
704 48 continue;
705 }
706
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 71324 if (column == "GNSS1::VelNed::N [m/s]") // "GNSS1::VelNed::E [m/s]", "GNSS1::VelNed::D [m/s]"
707 {
708
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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());
710 2656 continue;
711 }
712
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 68670 if (column == "GNSS1::VelEcef::X [m/s]") // "GNSS1::VelEcef::Y [m/s]", "GNSS1::VelEcef::Z [m/s]"
713 {
714
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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());
716 55 continue;
717 }
718
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 68615 if (column == "GNSS1::PosU::N [m]") // "GNSS1::PosU::E [m]", "GNSS1::PosU::D [m]"
719 {
720
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 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSU,
721
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 2663 obs->gnss1Outputs->posU.x(), obs->gnss1Outputs->posU.y(), obs->gnss1Outputs->posU.z());
722 2663 continue;
723 }
724
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 65949 if (column == "GNSS1::VelU [m/s]")
725 {
726
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 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELU, obs->gnss1Outputs->velU);
727 2663 continue;
728 }
729
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 63284 if (column == "GNSS1::TimeU [s]")
730 {
731
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 2663 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU, obs->gnss1Outputs->timeU);
732 2663 continue;
733 }
734
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 60624 if (column == "GNSS1::TimeInfo::Status::timeOk") // "GNSS1::TimeInfo::Status::dateOk", "GNSS1::TimeInfo::Status::utcTimeValid", "GNSS1::TimeInfo::LeapSeconds"
735 {
736 28542 uint8_t timeOk{};
737 28542 uint8_t dateOk{};
738 28542 uint8_t utcTimeValid{};
739
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 28542 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO, timeOk, dateOk, utcTimeValid, obs->gnss1Outputs->timeInfo.leapSeconds);
740 28541 obs->gnss1Outputs->timeInfo.status = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
741 28542 continue;
742 28542 }
743
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 32087 if (column == "GNSS1::DOP::g") // "GNSS1::DOP::p","GNSS1::DOP::t","GNSS1::DOP::v","GNSS1::DOP::h","GNSS1::DOP::n","GNSS1::DOP::e"
744 {
745
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 48 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_DOP,
746 48 obs->gnss1Outputs->dop.gDop, obs->gnss1Outputs->dop.pDop, obs->gnss1Outputs->dop.tDop, obs->gnss1Outputs->dop.vDop,
747 48 obs->gnss1Outputs->dop.hDop, obs->gnss1Outputs->dop.nDop, obs->gnss1Outputs->dop.eDop);
748 48 continue;
749 }
750
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 32043 if (column == "GNSS1::SatInfo::NumSats")
751 {
752
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, obs->gnss1Outputs->satInfo.numSats);
753 2646 continue;
754 }
755
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 29398 if (column == "GNSS1::SatInfo::Satellites")
756 {
757 2639 std::string satellites;
758
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 2639 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, satellites);
759
760
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 71414 for (size_t i = 0; i < obs->gnss1Outputs->satInfo.numSats; i++)
761 {
762
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 68775 satellites = satellites.substr(1); // Remove leading '['
763
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 137550 auto sys = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
764
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 137550 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
765
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 137550 auto flagHealthy = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
766
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 137550 auto flagAlmanac = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
767
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 137550 auto flagEphemeris = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
768
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 137550 auto flagDifferentialCorrection = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
769
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 137550 auto flagUsedForNavigation = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
770
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 137550 auto flagAzimuthElevationValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
771
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 68775 auto flagUsedForRTK = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
772 68775 auto flags = static_cast<uint8_t>(flagHealthy << 0U
773 68775 | flagAlmanac << 1U
774 68775 | flagEphemeris << 2U
775 68775 | flagDifferentialCorrection << 3U
776 68775 | flagUsedForNavigation << 4U
777 68775 | flagAzimuthElevationValid << 5U
778 68775 | flagUsedForRTK << 6U);
779
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 137550 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
780
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 137550 auto qi = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
781
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 137550 auto el = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
782
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 68775 auto az = static_cast<int16_t>(std::stoi(extractRemoveTillDelimiter(satellites, "]")));
783
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 68775 obs->gnss1Outputs->satInfo.satellites.emplace_back(sys, svId, flags, cno, qi, el, az);
784 }
785 2639 continue;
786 2639 }
787
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 26759 if (column.starts_with("GNSS1::SatInfo::") && column.ends_with(" - flag Healthy"))
788 {
789
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 224 std::string columnText = column.substr(16);
790
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 224 SatId satId(extractRemoveTillDelimiter(columnText, " -"));
791 LOG_DATA("{}: SatInfo {}", nameId(), satId);
792 224 bool flagHealthy{};
793 224 bool flagAlmanac{};
794 224 bool flagEphemeris{};
795 224 bool flagDifferentialCorrection{};
796 224 bool flagUsedForNavigation{};
797 224 bool flagAzimuthElevationValid{};
798 224 bool flagUsedForRTK{};
799 224 auto cno = std::numeric_limits<uint8_t>::max();
800 224 uint8_t qi{};
801 224 int8_t el{};
802 224 int16_t az{};
803
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 224 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO,
804 flagHealthy, flagAlmanac, flagEphemeris, flagDifferentialCorrection,
805 flagUsedForNavigation, flagAzimuthElevationValid, flagUsedForRTK,
806 cno, qi, el, az);
807
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 224 if (cno == std::numeric_limits<uint8_t>::max())
808 {
809 LOG_DATA("{}: Skipping {} as empty", nameId(), satId);
810 98 continue;
811 }
812 126 auto flags = static_cast<uint8_t>(flagHealthy << 0U
813 126 | flagAlmanac << 1U
814 126 | flagEphemeris << 2U
815 126 | flagDifferentialCorrection << 3U
816 126 | flagUsedForNavigation << 4U
817 126 | flagAzimuthElevationValid << 5U
818 126 | flagUsedForRTK << 6U);
819
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 252 obs->gnss1Outputs->satInfo.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satId.satSys)),
820
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 126 static_cast<uint8_t>(satId.satNum), flags, cno, qi, el, az);
821 126 continue;
822 224 }
823
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 26534 if (column == "GNSS1::RawMeas::Tow [s]")
824 {
825
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss1Outputs->raw.tow);
826 2646 continue;
827 }
828
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 23886 if (column == "GNSS1::RawMeas::Week")
829 {
830
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss1Outputs->raw.week);
831 2646 continue;
832 }
833
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 21241 if (column == "GNSS1::RawMeas::NumSats")
834 {
835
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 2646 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss1Outputs->raw.numSats);
836 2646 continue;
837 }
838
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 18595 if (column == "GNSS1::RawMeas::Satellites")
839 {
840 2639 std::string satellites;
841
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 2639 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, satellites);
842
843
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 112814 for (size_t i = 0; i < obs->gnss1Outputs->raw.numSats; i++)
844 {
845
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 110175 satellites = satellites.substr(1); // Remove leading '['
846
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 220350 auto sys = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
847
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 220350 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
848
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 220350 auto freq = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
849
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 220350 auto chan = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
850
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 220350 auto slot = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
851
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 220350 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
852
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 220350 auto flagSearching = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
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 220350 auto flagTracking = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
854
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 220350 auto flagTimeValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
855
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 220350 auto flagCodeLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
856
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 220350 auto flagPhaseLock = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
857
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 220350 auto flagPhaseHalfAmbiguity = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
858
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 220350 auto flagPhaseHalfSub = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
859
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 220350 auto flagPhaseSlip = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
860
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 110175 auto flagPseudorangeSmoothed = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
861 110175 auto flags = static_cast<uint16_t>(flagSearching << 0U
862 110175 | flagTracking << 1U
863 110175 | flagTimeValid << 2U
864 110175 | flagCodeLock << 3U
865 110175 | flagPhaseLock << 4U
866 110175 | flagPhaseHalfAmbiguity << 5U
867 110175 | flagPhaseHalfSub << 6U
868 110175 | flagPhaseSlip << 7U
869 110175 | flagPseudorangeSmoothed << 8U);
870
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 220350 auto pr = std::stod(extractRemoveTillDelimiter(satellites, "|"));
871
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 220350 auto cp = std::stod(extractRemoveTillDelimiter(satellites, "|"));
872
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 110175 auto dp = std::stof(extractRemoveTillDelimiter(satellites, "]"));
873
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 110175 obs->gnss1Outputs->raw.satellites.emplace_back(sys, svId, freq, chan, slot, cno, flags, pr, cp, dp);
874 }
875 2639 continue;
876 2639 }
877
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 15954 if (column.starts_with("GNSS1::RawMeas::") && column.ends_with(" - freq"))
878 {
879
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 147 std::string columnText = column.substr(16);
880
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 147 auto identifier = extractRemoveTillDelimiter(columnText, " - freq");
881 LOG_DATA("{}: RawMeas {}", nameId(), identifier);
882 147 SatelliteSystem satSys;
883 147 uint16_t satNum{};
884
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 147 if (identifier.length() == 6)
885 {
886
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 7 SatSigId satSigId(identifier);
887
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 7 satSys = satSigId.toSatId().satSys;
888 7 satNum = satSigId.satNum;
889 }
890 else
891 {
892
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 140 SatId satId(identifier);
893 140 satSys = satId.satSys;
894 140 satNum = satId.satNum;
895 }
896 147 auto freq = std::numeric_limits<uint8_t>::max();
897 147 uint8_t chan{};
898 147 int8_t slot{};
899 147 uint8_t cno{};
900 147 uint8_t flagSearching{};
901 147 uint8_t flagTracking{};
902 147 uint8_t flagTimeValid{};
903 147 uint8_t flagCodeLock{};
904 147 uint8_t flagPhaseLock{};
905 147 uint8_t flagPhaseHalfAmbiguity{};
906 147 uint8_t flagPhaseHalfSub{};
907 147 uint8_t flagPhaseSlip{};
908 147 uint8_t flagPseudorangeSmoothed{};
909 147 double pr{};
910 147 double cp{};
911 147 float dp{};
912
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 147 extractValue(obs->gnss1Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS,
913 freq, chan, slot, cno,
914 flagSearching, flagTracking, flagTimeValid, flagCodeLock, flagPhaseLock,
915 flagPhaseHalfAmbiguity, flagPhaseHalfSub, flagPhaseSlip, flagPseudorangeSmoothed,
916 pr, cp, dp);
917
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 147 if (freq == std::numeric_limits<uint8_t>::max())
918 {
919 LOG_DATA("{}: Skipping {} as empty", nameId(), identifier);
920 69 continue;
921 }
922 78 auto flags = static_cast<uint16_t>(flagSearching << 0U
923 78 | flagTracking << 1U
924 78 | flagTimeValid << 2U
925 78 | flagCodeLock << 3U
926 78 | flagPhaseLock << 4U
927 78 | flagPhaseHalfAmbiguity << 5U
928 78 | flagPhaseHalfSub << 6U
929 78 | flagPhaseSlip << 7U
930 78 | flagPseudorangeSmoothed << 8U);
931
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 156 obs->gnss1Outputs->raw.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satSys)),
932
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 78 static_cast<uint8_t>(satNum), freq, chan, slot, cno, flags, pr, cp, dp);
933
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 78 if (obs->gnss1Outputs->raw.satellites.back().toCode() == Code::None)
934 {
935 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid Code. Skipping item. (sys {}, freq {}, chan {})", nameId(), _messageCount + 1,
936 obs->gnss1Outputs->raw.satellites.back().sys, obs->gnss1Outputs->raw.satellites.back().freq, obs->gnss1Outputs->raw.satellites.back().chan);
937 ✗ obs->gnss1Outputs->raw.satellites.pop_back();
938 }
939
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 78 if (identifier.length() == 6 && SatSigId(identifier) != obs->gnss1Outputs->raw.satellites.back().toSatSigId())
940 {
941 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid SatSigId. Skipping item. (sys {}, freq {}, chan {} = [{}], column was [{}])", nameId(), _messageCount + 1,
942 obs->gnss1Outputs->raw.satellites.back().sys, obs->gnss1Outputs->raw.satellites.back().freq, obs->gnss1Outputs->raw.satellites.back().chan,
943 obs->gnss1Outputs->raw.satellites.back().toSatSigId(), identifier);
944 ✗ obs->gnss1Outputs->raw.satellites.pop_back();
945 }
946 78 continue;
947 147 }
948 }
949 // Group 5 (Attitude)
950
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 15643 if (_binaryOutputRegister.attitudeField != vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE)
951 {
952
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 15808 if (!obs->attitudeOutputs) { obs->attitudeOutputs = std::make_shared<NAV::vendor::vectornav::AttitudeOutputs>(); }
953
954
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 15807 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"
955 {
956 ✗ uint8_t attitudeQuality{}; // return ((_status & (1U << 0U | 1U << 1U)) >> 0U);
957 ✗ uint8_t gyroSaturation{}; // return ((_status & (1U << 2U)) >> 2U);
958 ✗ uint8_t gyroSaturationRecovery{}; // return ((_status & (1U << 3U)) >> 3U);
959 ✗ uint8_t magDisturbance{}; // return ((_status & (1U << 4U | 1U << 5U)) >> 4U);
960 ✗ uint8_t magSaturation{}; // return ((_status & (1U << 6U)) >> 6U);
961 ✗ uint8_t accDisturbance{}; // return ((_status & (1U << 7U | 1U << 8U)) >> 7U);
962 ✗ uint8_t accSaturation{}; // return ((_status & (1U << 9U)) >> 9U);
963 ✗ uint8_t knownMagDisturbance{}; // return ((_status & (1U << 11U)) >> 11U);
964 ✗ uint8_t knownAccelDisturbance{}; // return ((_status & (1U << 12U)) >> 12U);
965 ✗ extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_VPESTATUS,
966 attitudeQuality, gyroSaturation, gyroSaturationRecovery, magDisturbance, magSaturation, accDisturbance, accSaturation, knownMagDisturbance, knownAccelDisturbance);
967 ✗ obs->attitudeOutputs->vpeStatus = static_cast<uint16_t>(attitudeQuality << 0U
968 ✗ | gyroSaturation << 2U
969 ✗ | gyroSaturationRecovery << 3U
970 ✗ | magDisturbance << 4U
971 ✗ | magSaturation << 6U
972 ✗ | accDisturbance << 7U
973 ✗ | accSaturation << 9U
974 ✗ | knownMagDisturbance << 11U
975 ✗ | knownAccelDisturbance << 12U);
976 ✗ continue;
977 ✗ }
978
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 15810 if (column == "Att::YawPitchRoll::Y [deg]") // "Att::YawPitchRoll::P [deg]", "Att::YawPitchRoll::R [deg]"
979 {
980
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 2765 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL,
981
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 2765 obs->attitudeOutputs->ypr.x(), obs->attitudeOutputs->ypr.y(), obs->attitudeOutputs->ypr.z());
982 2765 continue;
983 }
984
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 13044 if (column == "Att::Quaternion::w") // "Att::Quaternion::x", "Att::Quaternion::y", "Att::Quaternion::z"
985 {
986
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 151 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_QUATERNION,
987
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 151 obs->attitudeOutputs->qtn.w(), obs->attitudeOutputs->qtn.x(), obs->attitudeOutputs->qtn.y(), obs->attitudeOutputs->qtn.z());
988 151 continue;
989 }
990
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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"
991 {
992
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_DCM,
993
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 31 obs->attitudeOutputs->dcm(0, 0), obs->attitudeOutputs->dcm(0, 1), obs->attitudeOutputs->dcm(0, 2),
994
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 31 obs->attitudeOutputs->dcm(1, 0), obs->attitudeOutputs->dcm(1, 1), obs->attitudeOutputs->dcm(1, 2),
995
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 31 obs->attitudeOutputs->dcm(2, 0), obs->attitudeOutputs->dcm(2, 1), obs->attitudeOutputs->dcm(2, 2));
996 31 continue;
997 }
998
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 12862 if (column == "Att::MagNed::N [Gauss]") // "Att::MagNed::E [Gauss]", "Att::MagNed::D [Gauss]"
999 {
1000
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_MAGNED,
1001
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 31 obs->attitudeOutputs->magNed.x(), obs->attitudeOutputs->magNed.y(), obs->attitudeOutputs->magNed.z());
1002 31 continue;
1003 }
1004
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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]"
1005 {
1006
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_ACCELNED,
1007
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 31 obs->attitudeOutputs->accelNed.x(), obs->attitudeOutputs->accelNed.y(), obs->attitudeOutputs->accelNed.z());
1008 31 continue;
1009 }
1010
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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]"
1011 {
1012
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELBODY,
1013
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 31 obs->attitudeOutputs->linearAccelBody.x(), obs->attitudeOutputs->linearAccelBody.y(), obs->attitudeOutputs->linearAccelBody.z());
1014 31 continue;
1015 }
1016
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 12769 if (column == "Att::LinearAccelNed::N [m/s^2]") // "Att::LinearAccelNed::E [m/s^2]", "Att::LinearAccelNed::D [m/s^2]"
1017 {
1018
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 31 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_LINEARACCELNED,
1019
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 31 obs->attitudeOutputs->linearAccelNed.x(), obs->attitudeOutputs->linearAccelNed.y(), obs->attitudeOutputs->linearAccelNed.z());
1020 31 continue;
1021 }
1022
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 12739 if (column == "Att::YprU::Y [deg]") // "Att::YprU::P [deg]", "Att::YprU::R [deg]"
1023 {
1024
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 158 extractValue(obs->attitudeOutputs->attitudeField, vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YPRU,
1025
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 158 obs->attitudeOutputs->yprU.x(), obs->attitudeOutputs->yprU.y(), obs->attitudeOutputs->yprU.z());
1026 158 continue;
1027 }
1028 }
1029 // Group 6 (INS)
1030
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 12415 if (_binaryOutputRegister.insField != vn::protocol::uart::InsGroup::INSGROUP_NONE)
1031 {
1032
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 12580 if (!obs->insOutputs) { obs->insOutputs = std::make_shared<NAV::vendor::vectornav::InsOutputs>(); }
1033
1034
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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"
1035 {
1036 2694 uint8_t mode{};
1037 2694 uint8_t gpsFix{};
1038 2694 uint8_t errorImu{};
1039 2694 uint8_t errorMagPres{};
1040 2694 uint8_t errorGnss{};
1041 2694 uint8_t gpsHeadingIns{};
1042 2694 uint8_t gpsCompass{};
1043
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 2694 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_INSSTATUS,
1044 mode, gpsFix, errorImu, errorMagPres, errorGnss, gpsHeadingIns, gpsCompass);
1045 2694 obs->insOutputs->insStatus.status() = static_cast<uint16_t>(mode << 0U | gpsFix << 2U
1046 2694 | errorImu << 4U | errorMagPres << 5U | errorGnss << 6U
1047 2694 | gpsHeadingIns << 8U | gpsCompass << 9U);
1048 2694 continue;
1049 2694 }
1050
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 9887 if (column == "INS::PosLla::latitude [deg]") // "INS::PosLla::longitude [deg]", "INS::PosLla::altitude [m]"
1051 {
1052
1/2
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 2687 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSLLA,
1053
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 2687 obs->insOutputs->posLla.x(), obs->insOutputs->posLla.y(), obs->insOutputs->posLla.z());
1054 2687 continue;
1055 }
1056
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 7200 if (column == "INS::PosEcef::X [m]") // "INS::PosEcef::Y [m]", "INS::PosEcef::Z [m]"
1057 {
1058
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSECEF,
1059
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 86 obs->insOutputs->posEcef.x(), obs->insOutputs->posEcef.y(), obs->insOutputs->posEcef.z());
1060 86 continue;
1061 }
1062
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 7114 if (column == "INS::VelBody::X [m/s]") // "INS::VelBody::Y [m/s]", "INS::VelBody::Z [m/s]"
1063 {
1064
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 79 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELBODY,
1065
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 79 obs->insOutputs->velBody.x(), obs->insOutputs->velBody.y(), obs->insOutputs->velBody.z());
1066 79 continue;
1067 }
1068
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 7034 if (column == "INS::VelNed::N [m/s]") // "INS::VelNed::E [m/s]", "INS::VelNed::D [m/s]"
1069 {
1070
1/2
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 2687 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELNED,
1071
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 2687 obs->insOutputs->velNed.x(), obs->insOutputs->velNed.y(), obs->insOutputs->velNed.z());
1072 2687 continue;
1073 }
1074
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 4346 if (column == "INS::VelEcef::X [m/s]") // "INS::VelEcef::Y [m/s]", "INS::VelEcef::Z [m/s]"
1075 {
1076
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELECEF,
1077
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 86 obs->insOutputs->velEcef.x(), obs->insOutputs->velEcef.y(), obs->insOutputs->velEcef.z());
1078 86 continue;
1079 }
1080
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 4262 if (column == "INS::MagEcef::X [Gauss]") // "INS::MagEcef::Y [Gauss]", "INS::MagEcef::Z [Gauss]"
1081 {
1082
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 79 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_MAGECEF,
1083
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 79 obs->insOutputs->magEcef.x(), obs->insOutputs->magEcef.y(), obs->insOutputs->magEcef.z());
1084 79 continue;
1085 }
1086
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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]"
1087 {
1088
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 79 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF,
1089
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 79 obs->insOutputs->accelEcef.x(), obs->insOutputs->accelEcef.y(), obs->insOutputs->accelEcef.z());
1090 79 continue;
1091 }
1092
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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]"
1093 {
1094
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 2687 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_LINEARACCELECEF,
1095
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 2687 obs->insOutputs->linearAccelEcef.x(), obs->insOutputs->linearAccelEcef.y(), obs->insOutputs->linearAccelEcef.z());
1096 2687 continue;
1097 }
1098
3/4
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 1417 if (column == "INS::PosU [m]")
1099 {
1100
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_POSU, obs->insOutputs->posU);
1101 86 continue;
1102 }
1103
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 1331 if (column == "INS::VelU [m/s]")
1104 {
1105
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 86 extractValue(obs->insOutputs->insField, vn::protocol::uart::InsGroup::INSGROUP_VELU, obs->insOutputs->velU);
1106 86 continue;
1107 }
1108 }
1109 // Group 7 (GNSS2)
1110
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 1080 if (_binaryOutputRegister.gps2Field != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1111 {
1112
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 951 if (!obs->gnss2Outputs) { obs->gnss2Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>(); }
1113
1114
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"
1115 {
1116
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_UTC,
1117 48 obs->gnss2Outputs->timeUtc.year, obs->gnss2Outputs->timeUtc.month, obs->gnss2Outputs->timeUtc.day,
1118 48 obs->gnss2Outputs->timeUtc.hour, obs->gnss2Outputs->timeUtc.min, obs->gnss2Outputs->timeUtc.sec, obs->gnss2Outputs->timeUtc.ms);
1119 48 continue;
1120 }
1121
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 903 if (column == "GNSS2::Tow [ns]")
1122 {
1123
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TOW, obs->gnss2Outputs->tow);
1124 48 continue;
1125 }
1126
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 854 if (column == "GNSS2::Week")
1127 {
1128
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_WEEK, obs->gnss2Outputs->week);
1129 48 continue;
1130 }
1131
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 807 if (column == "GNSS2::NumSats")
1132 {
1133
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 79 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_NUMSATS, obs->gnss2Outputs->numSats);
1134 79 continue;
1135 }
1136
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 728 if (column == "GNSS2::Fix")
1137 {
1138
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 79 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_FIX, obs->gnss2Outputs->fix);
1139 79 continue;
1140 }
1141
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 649 if (column == "GNSS2::PosLla::latitude [deg]") // "GNSS2::PosLla::longitude [deg]", "GNSS2::PosLla::altitude [m]"
1142 {
1143
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSLLA,
1144
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 48 obs->gnss2Outputs->posLla.x(), obs->gnss2Outputs->posLla.y(), obs->gnss2Outputs->posLla.z());
1145 48 continue;
1146 }
1147
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 601 if (column == "GNSS2::PosEcef::X [m]") // "GNSS2::PosEcef::Y [m]", "GNSS2::PosEcef::Z [m]"
1148 {
1149
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSECEF,
1150
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 48 obs->gnss2Outputs->posEcef.x(), obs->gnss2Outputs->posEcef.y(), obs->gnss2Outputs->posEcef.z());
1151 48 continue;
1152 }
1153
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 553 if (column == "GNSS2::VelNed::N [m/s]") // "GNSS2::VelNed::E [m/s]", "GNSS2::VelNed::D [m/s]"
1154 {
1155
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELNED,
1156
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 48 obs->gnss2Outputs->velNed.x(), obs->gnss2Outputs->velNed.y(), obs->gnss2Outputs->velNed.z());
1157 48 continue;
1158 }
1159
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 505 if (column == "GNSS2::VelEcef::X [m/s]") // "GNSS2::VelEcef::Y [m/s]", "GNSS2::VelEcef::Z [m/s]"
1160 {
1161
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELECEF,
1162
3/6
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 48 obs->gnss2Outputs->velEcef.x(), obs->gnss2Outputs->velEcef.y(), obs->gnss2Outputs->velEcef.z());
1163 48 continue;
1164 }
1165
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 457 if (column == "GNSS2::PosU::N [m]") // "GNSS2::PosU::E [m]", "GNSS2::PosU::D [m]"
1166 {
1167
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_POSU,
1168
3/6
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 48 obs->gnss2Outputs->posU.x(), obs->gnss2Outputs->posU.y(), obs->gnss2Outputs->posU.z());
1169 48 continue;
1170 }
1171
3/4
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 409 if (column == "GNSS2::VelU [m/s]")
1172 {
1173
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_VELU, obs->gnss2Outputs->velU);
1174 48 continue;
1175 }
1176
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 361 if (column == "GNSS2::TimeU [s]")
1177 {
1178
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEU, obs->gnss2Outputs->timeU);
1179 48 continue;
1180 }
1181
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 313 if (column == "GNSS2::TimeInfo::Status::timeOk") // "GNSS2::TimeInfo::Status::dateOk", "GNSS2::TimeInfo::Status::utcTimeValid", "GNSS2::TimeInfo::LeapSeconds"
1182 {
1183 79 uint8_t timeOk{};
1184 79 uint8_t dateOk{};
1185 79 uint8_t utcTimeValid{};
1186
1/2
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 79 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_TIMEINFO, timeOk, dateOk, utcTimeValid, obs->gnss2Outputs->timeInfo.leapSeconds);
1187 79 obs->gnss2Outputs->timeInfo.status = static_cast<uint8_t>(timeOk << 0U | dateOk << 1U | utcTimeValid << 2U);
1188 79 continue;
1189 79 }
1190
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"
1191 {
1192
1/2
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 48 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_DOP,
1193 48 obs->gnss2Outputs->dop.gDop, obs->gnss2Outputs->dop.pDop, obs->gnss2Outputs->dop.tDop, obs->gnss2Outputs->dop.vDop,
1194 48 obs->gnss2Outputs->dop.hDop, obs->gnss2Outputs->dop.nDop, obs->gnss2Outputs->dop.eDop);
1195 48 continue;
1196 }
1197
3/4
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 186 if (column == "GNSS2::SatInfo::NumSats")
1198 {
1199
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, obs->gnss2Outputs->satInfo.numSats);
1200 31 continue;
1201 }
1202
3/4
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 155 if (column == "GNSS2::SatInfo::Satellites")
1203 {
1204 31 std::string satellites;
1205
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO, satellites);
1206
1207
2/2
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 679 for (size_t i = 0; i < obs->gnss2Outputs->satInfo.numSats; i++)
1208 {
1209
1/2
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 648 satellites = satellites.substr(1); // Remove leading '['
1210
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 1296 auto sys = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
1211
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 1296 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1212
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 1296 auto flagHealthy = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1213
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 1296 auto flagAlmanac = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1214
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 1296 auto flagEphemeris = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1215
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 1296 auto flagDifferentialCorrection = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1216
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 1296 auto flagUsedForNavigation = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1217
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 1296 auto flagAzimuthElevationValid = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1218
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 648 auto flagUsedForRTK = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1219 648 auto flags = static_cast<uint8_t>(flagHealthy << 0U
1220 648 | flagAlmanac << 1U
1221 648 | flagEphemeris << 2U
1222 648 | flagDifferentialCorrection << 3U
1223 648 | flagUsedForNavigation << 4U
1224 648 | flagAzimuthElevationValid << 5U
1225 648 | flagUsedForRTK << 6U);
1226
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 1296 auto cno = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1227
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 1296 auto qi = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1228
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 1296 auto el = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
1229
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 648 auto az = static_cast<int16_t>(std::stoi(extractRemoveTillDelimiter(satellites, "]")));
1230
1/2
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 648 obs->gnss2Outputs->satInfo.satellites.emplace_back(sys, svId, flags, cno, qi, el, az);
1231 }
1232 31 continue;
1233 31 }
1234
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 124 if (column.starts_with("GNSS2::SatInfo::") && column.ends_with(" - flag Healthy"))
1235 {
1236 ✗ std::string columnText = column.substr(16);
1237 ✗ SatId satId(extractRemoveTillDelimiter(columnText, " -"));
1238 LOG_DATA("{}: SatInfo {}", nameId(), satId);
1239 ✗ bool flagHealthy{};
1240 ✗ bool flagAlmanac{};
1241 ✗ bool flagEphemeris{};
1242 ✗ bool flagDifferentialCorrection{};
1243 ✗ bool flagUsedForNavigation{};
1244 ✗ bool flagAzimuthElevationValid{};
1245 ✗ bool flagUsedForRTK{};
1246 ✗ auto cno = std::numeric_limits<uint8_t>::max();
1247 ✗ uint8_t qi{};
1248 ✗ int8_t el{};
1249 ✗ int16_t az{};
1250 ✗ extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_SATINFO,
1251 flagHealthy, flagAlmanac, flagEphemeris, flagDifferentialCorrection,
1252 flagUsedForNavigation, flagAzimuthElevationValid, flagUsedForRTK,
1253 cno, qi, el, az);
1254 ✗ if (cno == std::numeric_limits<uint8_t>::max())
1255 {
1256 LOG_DATA("{}: Skipping {} as empty", nameId(), satId);
1257 ✗ continue;
1258 }
1259 ✗ auto flags = static_cast<uint8_t>(flagHealthy << 0U
1260 ✗ | flagAlmanac << 1U
1261 ✗ | flagEphemeris << 2U
1262 ✗ | flagDifferentialCorrection << 3U
1263 ✗ | flagUsedForNavigation << 4U
1264 ✗ | flagAzimuthElevationValid << 5U
1265 ✗ | flagUsedForRTK << 6U);
1266 ✗ obs->gnss2Outputs->satInfo.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satId.satSys)),
1267 ✗ static_cast<uint8_t>(satId.satNum), flags, cno, qi, el, az);
1268 ✗ continue;
1269 ✗ }
1270
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 124 if (column == "GNSS2::RawMeas::Tow [s]")
1271 {
1272
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss2Outputs->raw.tow);
1273 31 continue;
1274 }
1275
3/4
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 93 if (column == "GNSS2::RawMeas::Week")
1276 {
1277
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss2Outputs->raw.week);
1278 31 continue;
1279 }
1280
3/4
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 62 if (column == "GNSS2::RawMeas::NumSats")
1281 {
1282
1/2
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, obs->gnss2Outputs->raw.numSats);
1283 LOG_DATA("{}: GNSS2::NumSats: {}", nameId(), obs->gnss2Outputs->raw.numSats); // HACK
1284 31 continue;
1285 }
1286
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 31 if (column == "GNSS2::RawMeas::Satellites")
1287 {
1288 31 std::string satellites;
1289
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 31 extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS, satellites);
1290 LOG_DATA("{}: numSats: {}", nameId(), obs->gnss2Outputs->raw.numSats); // HACK
1291 LOG_DATA("{}: satellites: {}", nameId(), satellites); // HACK
1292
1293
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 574 for (size_t i = 0; i < obs->gnss2Outputs->raw.numSats; i++)
1294 {
1295
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 543 satellites = satellites.substr(1); // Remove leading '['
1296
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 1086 auto sys = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1297
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 1086 auto svId = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1298
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 1086 auto freq = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1299
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 1086 auto chan = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1300
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 1086 auto slot = static_cast<int8_t>(std::stoi(extractRemoveTillDelimiter(satellites, "|")));
1301
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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, "|")));
1308
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 1086 auto flagPhaseHalfSub = static_cast<uint8_t>(std::stoul(extractRemoveTillDelimiter(satellites, "|")));
1309
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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, "|")));
1311 543 auto flags = static_cast<uint16_t>(flagSearching << 0U
1312 543 | flagTracking << 1U
1313 543 | flagTimeValid << 2U
1314 543 | flagCodeLock << 3U
1315 543 | flagPhaseLock << 4U
1316 543 | flagPhaseHalfAmbiguity << 5U
1317 543 | flagPhaseHalfSub << 6U
1318 543 | flagPhaseSlip << 7U
1319 543 | flagPseudorangeSmoothed << 8U);
1320
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 1086 auto pr = std::stod(extractRemoveTillDelimiter(satellites, "|"));
1321
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 1086 auto cp = std::stod(extractRemoveTillDelimiter(satellites, "|"));
1322
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 543 auto dp = std::stof(extractRemoveTillDelimiter(satellites, "]"));
1323
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 543 obs->gnss2Outputs->raw.satellites.emplace_back(sys, svId, freq, chan, slot, cno, flags, pr, cp, dp);
1324 }
1325 31 continue;
1326 31 }
1327 ✗ if (column.starts_with("GNSS2::RawMeas::") && column.ends_with(" - freq"))
1328 {
1329 ✗ std::string columnText = column.substr(16);
1330 ✗ auto identifier = extractRemoveTillDelimiter(columnText, " - freq");
1331 LOG_DATA("{}: RawMeas {}", nameId(), identifier);
1332 ✗ SatelliteSystem satSys;
1333 ✗ uint16_t satNum{};
1334 ✗ if (identifier.length() == 6)
1335 {
1336 ✗ SatSigId satSigId(identifier);
1337 ✗ satSys = satSigId.toSatId().satSys;
1338 ✗ satNum = satSigId.satNum;
1339 }
1340 else
1341 {
1342 ✗ SatId satId(identifier);
1343 ✗ satSys = satId.satSys;
1344 ✗ satNum = satId.satNum;
1345 }
1346 ✗ auto freq = std::numeric_limits<uint8_t>::max();
1347 ✗ uint8_t chan{};
1348 ✗ int8_t slot{};
1349 ✗ uint8_t cno{};
1350 ✗ uint8_t flagSearching{};
1351 ✗ uint8_t flagTracking{};
1352 ✗ uint8_t flagTimeValid{};
1353 ✗ uint8_t flagCodeLock{};
1354 ✗ uint8_t flagPhaseLock{};
1355 ✗ uint8_t flagPhaseHalfAmbiguity{};
1356 ✗ uint8_t flagPhaseHalfSub{};
1357 ✗ uint8_t flagPhaseSlip{};
1358 ✗ uint8_t flagPseudorangeSmoothed{};
1359 ✗ double pr{};
1360 ✗ double cp{};
1361 ✗ float dp{};
1362 ✗ extractValue(obs->gnss2Outputs->gnssField, vn::protocol::uart::GpsGroup::GPSGROUP_RAWMEAS,
1363 freq, chan, slot, cno,
1364 flagSearching, flagTracking, flagTimeValid, flagCodeLock, flagPhaseLock,
1365 flagPhaseHalfAmbiguity, flagPhaseHalfSub, flagPhaseSlip, flagPseudorangeSmoothed,
1366 pr, cp, dp);
1367 ✗ if (freq == std::numeric_limits<uint8_t>::max())
1368 {
1369 LOG_DATA("{}: Skipping {} as empty", nameId(), identifier);
1370 ✗ continue;
1371 }
1372 ✗ auto flags = static_cast<uint16_t>(flagSearching << 0U
1373 ✗ | flagTracking << 1U
1374 ✗ | flagTimeValid << 2U
1375 ✗ | flagCodeLock << 3U
1376 ✗ | flagPhaseLock << 4U
1377 ✗ | flagPhaseHalfAmbiguity << 5U
1378 ✗ | flagPhaseHalfSub << 6U
1379 ✗ | flagPhaseSlip << 7U
1380 ✗ | flagPseudorangeSmoothed << 8U);
1381 ✗ obs->gnss2Outputs->raw.satellites.emplace_back(static_cast<uint8_t>(vendor::vectornav::fromSatelliteSystem(satSys)),
1382 ✗ static_cast<uint8_t>(satNum), freq, chan, slot, cno, flags, pr, cp, dp);
1383 ✗ if (obs->gnss2Outputs->raw.satellites.back().toCode() == Code::None)
1384 {
1385 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid Code. Skipping item. (sys {}, freq {}, chan {})", nameId(), _messageCount + 1,
1386 obs->gnss2Outputs->raw.satellites.back().sys, obs->gnss2Outputs->raw.satellites.back().freq, obs->gnss2Outputs->raw.satellites.back().chan);
1387 ✗ obs->gnss2Outputs->raw.satellites.pop_back();
1388 }
1389 ✗ if (identifier.length() == 6 && SatSigId(identifier) != obs->gnss2Outputs->raw.satellites.back().toSatSigId())
1390 {
1391 ✗ LOG_ERROR("{}: Line {}: Could not convert to valid SatSigId. Skipping item. (sys {}, freq {}, chan {} = [{}], column was [{}])", nameId(), _messageCount + 1,
1392 obs->gnss2Outputs->raw.satellites.back().sys, obs->gnss2Outputs->raw.satellites.back().freq, obs->gnss2Outputs->raw.satellites.back().chan,
1393 obs->gnss2Outputs->raw.satellites.back().toSatSigId(), identifier);
1394 ✗ obs->gnss2Outputs->raw.satellites.pop_back();
1395 }
1396 ✗ continue;
1397 ✗ }
1398 }
1399
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 129 extractCell();
1401 }
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 28518 if (obs->gnss1Outputs) { obs->gnss1Outputs->raw.numSats = static_cast<uint8_t>(obs->gnss1Outputs->raw.satellites.size()); }
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 28541 if (obs->gnss2Outputs) { obs->gnss2Outputs->raw.numSats = static_cast<uint8_t>(obs->gnss2Outputs->raw.satellites.size()); }
1404 28581 }
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 3 catch (const std::exception& e)
1406 {
1407
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 3 LOG_ERROR("{}: Could not read line {} completely: {}", nameId(), _messageCount + 1, e.what());
1408 3 return nullptr;
1409 3 }
1410 28605 }
1411 else // if (fileType == FileType::BINARY)
1412 {
1413 394 auto readFromFilestream = [&, this](char* __s, std::streamsize __n) {
1414 394 read(__s, __n);
1415
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 395 if (!good())
1416 {
1417
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 5 throw std::runtime_error("End of file reached");
1418 }
1419 389 };
1420
1421 try
1422 {
1423 135 _messageCount++;
1424 LOG_DATA("{}: Reading message {}", nameId(), _messageCount);
1425 135 int32_t gpsCycle = 0;
1426 135 int32_t gpsWeek = 0;
1427 135 double tow = 0.0;
1428
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 135 readFromFilestream(reinterpret_cast<char*>(&gpsCycle), sizeof(gpsCycle));
1429
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 129 readFromFilestream(reinterpret_cast<char*>(&gpsWeek), sizeof(gpsWeek));
1430
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 130 readFromFilestream(reinterpret_cast<char*>(&tow), sizeof(tow));
1431
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 130 if (gpsCycle || gpsWeek)
1432 {
1433
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 91 obs->insTime = InsTime(gpsCycle, gpsWeek, tow);
1434 }
1435
1436 // Group 2 (Time)
1437
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 130 if (_binaryOutputRegister.timeField != vn::protocol::uart::TimeGroup::TIMEGROUP_NONE)
1438 {
1439
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 130 if (!obs->timeOutputs)
1440 {
1441
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 129 obs->timeOutputs = std::make_shared<NAV::vendor::vectornav::TimeOutputs>();
1442
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 130 obs->timeOutputs->timeField |= _binaryOutputRegister.timeField;
1443 }
1444
1445
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTARTUP)
1446 {
1447
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->timeStartup), sizeof(obs->timeOutputs->timeStartup));
1448 }
1449
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPS)
1450 {
1451
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timeGps), sizeof(obs->timeOutputs->timeGps));
1452 }
1453
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSTOW)
1454 {
1455
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->gpsTow), sizeof(obs->timeOutputs->gpsTow));
1456 }
1457
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_GPSWEEK)
1458 {
1459
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->gpsWeek), sizeof(obs->timeOutputs->gpsWeek));
1460 }
1461
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 129 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESYNCIN)
1462 {
1463
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timeSyncIn), sizeof(obs->timeOutputs->timeSyncIn));
1464 }
1465
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEGPSPPS)
1466 {
1467
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->timePPS), sizeof(obs->timeOutputs->timePPS));
1468 }
1469
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMEUTC)
1470 {
1471
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.year), sizeof(obs->timeOutputs->timeUtc.year));
1472
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.month), sizeof(obs->timeOutputs->timeUtc.month));
1473
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.day), sizeof(obs->timeOutputs->timeUtc.day));
1474
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.hour), sizeof(obs->timeOutputs->timeUtc.hour));
1475
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.min), sizeof(obs->timeOutputs->timeUtc.min));
1476
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.sec), sizeof(obs->timeOutputs->timeUtc.sec));
1477
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 94 read(reinterpret_cast<char*>(&obs->timeOutputs->timeUtc.ms), sizeof(obs->timeOutputs->timeUtc.ms));
1478 }
1479
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCINCNT)
1480 {
1481
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->syncInCnt), sizeof(obs->timeOutputs->syncInCnt));
1482 }
1483
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_SYNCOUTCNT)
1484 {
1485
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 70 read(reinterpret_cast<char*>(&obs->timeOutputs->syncOutCnt), sizeof(obs->timeOutputs->syncOutCnt));
1486 }
1487
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 130 if (obs->timeOutputs->timeField & vn::protocol::uart::TimeGroup::TIMEGROUP_TIMESTATUS)
1488 {
1489
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 130 read(reinterpret_cast<char*>(&obs->timeOutputs->timeStatus.status()), sizeof(obs->timeOutputs->timeStatus.status()));
1490 }
1491 }
1492 // Group 3 (IMU)
1493
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 130 if (_binaryOutputRegister.imuField != vn::protocol::uart::ImuGroup::IMUGROUP_NONE)
1494 {
1495
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 36 if (!obs->imuOutputs)
1496 {
1497
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 36 obs->imuOutputs = std::make_shared<NAV::vendor::vectornav::ImuOutputs>();
1498
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 36 obs->imuOutputs->imuField |= _binaryOutputRegister.imuField;
1499 }
1500
1501
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_IMUSTATUS)
1502 {
1503 ✗ read(reinterpret_cast<char*>(&obs->imuOutputs->imuStatus), sizeof(obs->imuOutputs->imuStatus));
1504 }
1505
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPMAG)
1506 {
1507
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompMag.data()), sizeof(obs->imuOutputs->uncompMag));
1508 }
1509
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPACCEL)
1510 {
1511
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompAccel.data()), sizeof(obs->imuOutputs->uncompAccel));
1512 }
1513
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_UNCOMPGYRO)
1514 {
1515
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->uncompGyro.data()), sizeof(obs->imuOutputs->uncompGyro));
1516 }
1517
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_TEMP)
1518 {
1519
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 36 read(reinterpret_cast<char*>(&obs->imuOutputs->temp), sizeof(obs->imuOutputs->temp));
1520 }
1521
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_PRES)
1522 {
1523
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 36 read(reinterpret_cast<char*>(&obs->imuOutputs->pres), sizeof(obs->imuOutputs->pres));
1524 }
1525
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTATHETA)
1526 {
1527
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 36 read(reinterpret_cast<char*>(&obs->imuOutputs->deltaTime), sizeof(obs->imuOutputs->deltaTime));
1528
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->deltaTheta.data()), sizeof(obs->imuOutputs->deltaTheta));
1529 }
1530
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_DELTAVEL)
1531 {
1532
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->deltaV.data()), sizeof(obs->imuOutputs->deltaV));
1533 }
1534
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_MAG)
1535 {
1536
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->mag.data()), sizeof(obs->imuOutputs->mag));
1537 }
1538
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ACCEL)
1539 {
1540
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 36 read(reinterpret_cast<char*>(obs->imuOutputs->accel.data()), sizeof(obs->imuOutputs->accel));
1541 }
1542
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 36 if (obs->imuOutputs->imuField & vn::protocol::uart::ImuGroup::IMUGROUP_ANGULARRATE)
1543 {
1544
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✓ Branch 3 taken 36 times.
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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));
1545 }
1546 }
1547 // Group 4 (GNSS1)
1548
1/2
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✗ Branch 1 not taken.
 130 if (_binaryOutputRegister.gpsField != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1549 {
1550
1/2
✓ Branch 2 taken 130 times.
✗ Branch 3 not taken.
 130 if (!obs->gnss1Outputs)
1551 {
1552
1/2
✓ Branch 1 taken 130 times.
✗ Branch 2 not taken.
 130 obs->gnss1Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
1553
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 obs->gnss1Outputs->gnssField |= _binaryOutputRegister.gpsField;
1554 }
1555
1556
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)
1557 {
1558
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));
1559
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));
1560
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));
1561
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));
1562
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));
1563
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));
1564
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));
1565 }
1566
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)
1567 {
1568
1/2
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
 60 read(reinterpret_cast<char*>(&obs->gnss1Outputs->tow), sizeof(obs->gnss1Outputs->tow));
1569 }
1570
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)
1571 {
1572
1/2
✓ Branch 3 taken 60 times.
✗ Branch 4 not taken.
 60 read(reinterpret_cast<char*>(&obs->gnss1Outputs->week), sizeof(obs->gnss1Outputs->week));
1573 }
1574
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)
1575 {
1576
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss1Outputs->numSats), sizeof(obs->gnss1Outputs->numSats));
1577 }
1578
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)
1579 {
1580
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss1Outputs->fix), sizeof(obs->gnss1Outputs->fix));
1581 }
1582
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)
1583 {
1584
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));
1585 }
1586
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)
1587 {
1588
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));
1589 }
1590
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)
1591 {
1592
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));
1593 }
1594
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)
1595 {
1596
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));
1597 }
1598
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)
1599 {
1600
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));
1601 }
1602
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)
1603 {
1604
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->velU), sizeof(obs->gnss1Outputs->velU));
1605 }
1606
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)
1607 {
1608
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss1Outputs->timeU), sizeof(obs->gnss1Outputs->timeU));
1609 }
1610
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)
1611 {
1612
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()));
1613
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));
1614 }
1615
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)
1616 {
1617
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));
1618
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));
1619
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));
1620
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));
1621
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));
1622
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));
1623
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));
1624 }
1625
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)
1626 {
1627
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));
1628
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss1Outputs->satInfo.satellites.resize(obs->gnss1Outputs->satInfo.numSats);
1629
1630
2/2
✓ Branch 7 taken 1121 times.
✓ Branch 8 taken 70 times.
 1191 for (auto& satellite : obs->gnss1Outputs->satInfo.satellites)
1631 {
1632
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1633
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1634
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1635
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1636
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.qi), sizeof(satellite.qi));
1637
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.el), sizeof(satellite.el));
1638
1/2
✓ Branch 1 taken 1121 times.
✗ Branch 2 not taken.
 1121 read(reinterpret_cast<char*>(&satellite.az), sizeof(satellite.az));
1639 }
1640 }
1641
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)
1642 {
1643
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));
1644
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));
1645
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));
1646
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss1Outputs->raw.satellites.resize(obs->gnss1Outputs->raw.numSats);
1647
1648
2/2
✓ Branch 7 taken 655 times.
✓ Branch 8 taken 70 times.
 725 for (auto& satellite : obs->gnss1Outputs->raw.satellites)
1649 {
1650
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1651
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1652
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.freq), sizeof(satellite.freq));
1653
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.chan), sizeof(satellite.chan));
1654
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.slot), sizeof(satellite.slot));
1655
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1656
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1657
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.pr), sizeof(satellite.pr));
1658
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.cp), sizeof(satellite.cp));
1659
1/2
✓ Branch 1 taken 655 times.
✗ Branch 2 not taken.
 655 read(reinterpret_cast<char*>(&satellite.dp), sizeof(satellite.dp));
1660 }
1661 }
1662 }
1663 // Group 5 (Attitude)
1664
1/2
✓ Branch 0 taken 130 times.
✗ Branch 1 not taken.
 130 if (_binaryOutputRegister.attitudeField != vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_NONE)
1665 {
1666
1/2
✓ Branch 2 taken 130 times.
✗ Branch 3 not taken.
 130 if (!obs->attitudeOutputs)
1667 {
1668
1/2
✓ Branch 1 taken 129 times.
✗ Branch 2 not taken.
 130 obs->attitudeOutputs = std::make_shared<NAV::vendor::vectornav::AttitudeOutputs>();
1669
1/2
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
 130 obs->attitudeOutputs->attitudeField |= _binaryOutputRegister.attitudeField;
1670 }
1671
1672
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)
1673 {
1674 ✗ read(reinterpret_cast<char*>(&obs->attitudeOutputs->vpeStatus.status()), sizeof(obs->attitudeOutputs->vpeStatus.status()));
1675 }
1676
2/4
✓ Branch 3 taken 129 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 129 times.
✗ Branch 6 not taken.
 130 if (obs->attitudeOutputs->attitudeField & vn::protocol::uart::AttitudeGroup::ATTITUDEGROUP_YAWPITCHROLL)
1677 {
1678
2/4
✓ Branch 3 taken 130 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 130 times.
✗ Branch 7 not taken.
 129 read(reinterpret_cast<char*>(obs->attitudeOutputs->ypr.data()), sizeof(obs->attitudeOutputs->ypr));
1679 }
1680
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)
1681 {
1682
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));
1683 }
1684
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)
1685 {
1686
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));
1687 }
1688
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)
1689 {
1690
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));
1691 }
1692
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)
1693 {
1694
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));
1695 }
1696
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)
1697 {
1698
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));
1699 }
1700
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)
1701 {
1702
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));
1703 }
1704
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)
1705 {
1706
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));
1707 }
1708 }
1709 // Group 6 (INS)
1710
2/2
✓ Branch 0 taken 94 times.
✓ Branch 1 taken 36 times.
 130 if (_binaryOutputRegister.insField != vn::protocol::uart::InsGroup::INSGROUP_NONE)
1711 {
1712
1/2
✓ Branch 2 taken 94 times.
✗ Branch 3 not taken.
 94 if (!obs->insOutputs)
1713 {
1714
1/2
✓ Branch 1 taken 94 times.
✗ Branch 2 not taken.
 94 obs->insOutputs = std::make_shared<NAV::vendor::vectornav::InsOutputs>();
1715
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 obs->insOutputs->insField |= _binaryOutputRegister.insField;
1716 }
1717
1718
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)
1719 {
1720
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()));
1721 }
1722
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)
1723 {
1724
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));
1725 }
1726
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)
1727 {
1728
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));
1729 }
1730
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)
1731 {
1732
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));
1733 }
1734
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)
1735 {
1736
2/4
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 94 read(reinterpret_cast<char*>(obs->insOutputs->velNed.data()), sizeof(obs->insOutputs->velNed));
1737 }
1738
2/4
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✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELECEF)
1739 {
1740
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->velEcef.data()), sizeof(obs->insOutputs->velEcef));
1741 }
1742
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)
1743 {
1744
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->magEcef.data()), sizeof(obs->insOutputs->magEcef));
1745 }
1746
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_ACCELECEF)
1747 {
1748
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 6 taken 94 times.
✗ Branch 7 not taken.
 94 read(reinterpret_cast<char*>(obs->insOutputs->accelEcef.data()), sizeof(obs->insOutputs->accelEcef));
1749 }
1750
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)
1751 {
1752
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));
1753 }
1754
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)
1755 {
1756
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->posU), sizeof(obs->insOutputs->posU));
1757 }
1758
2/4
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
✓ Branch 5 taken 94 times.
✗ Branch 6 not taken.
 94 if (obs->insOutputs->insField & vn::protocol::uart::InsGroup::INSGROUP_VELU)
1759 {
1760
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->insOutputs->velU), sizeof(obs->insOutputs->velU));
1761 }
1762 }
1763 // Group 7 (GNSS2)
1764
2/2
✓ Branch 0 taken 94 times.
✓ Branch 1 taken 36 times.
 130 if (_binaryOutputRegister.gps2Field != vn::protocol::uart::GpsGroup::GPSGROUP_NONE)
1765 {
1766
1/2
✓ Branch 2 taken 94 times.
✗ Branch 3 not taken.
 94 if (!obs->gnss2Outputs)
1767 {
1768
1/2
✓ Branch 1 taken 94 times.
✗ Branch 2 not taken.
 94 obs->gnss2Outputs = std::make_shared<NAV::vendor::vectornav::GnssOutputs>();
1769
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 obs->gnss2Outputs->gnssField |= _binaryOutputRegister.gps2Field;
1770 }
1771
1772
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)
1773 {
1774
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));
1775
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));
1776
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));
1777
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));
1778
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));
1779
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));
1780
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));
1781 }
1782
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)
1783 {
1784
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->tow), sizeof(obs->gnss2Outputs->tow));
1785 }
1786
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)
1787 {
1788
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->week), sizeof(obs->gnss2Outputs->week));
1789 }
1790
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)
1791 {
1792
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->numSats), sizeof(obs->gnss2Outputs->numSats));
1793 }
1794
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)
1795 {
1796
1/2
✓ Branch 3 taken 94 times.
✗ Branch 4 not taken.
 94 read(reinterpret_cast<char*>(&obs->gnss2Outputs->fix), sizeof(obs->gnss2Outputs->fix));
1797 }
1798
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)
1799 {
1800
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));
1801 }
1802
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)
1803 {
1804
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));
1805 }
1806
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)
1807 {
1808
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));
1809 }
1810
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)
1811 {
1812
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));
1813 }
1814
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)
1815 {
1816
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));
1817 }
1818
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)
1819 {
1820
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->velU), sizeof(obs->gnss2Outputs->velU));
1821 }
1822
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)
1823 {
1824
1/2
✓ Branch 3 taken 24 times.
✗ Branch 4 not taken.
 24 read(reinterpret_cast<char*>(&obs->gnss2Outputs->timeU), sizeof(obs->gnss2Outputs->timeU));
1825 }
1826
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)
1827 {
1828
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()));
1829
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));
1830 }
1831
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)
1832 {
1833
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));
1834
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));
1835
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));
1836
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));
1837
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));
1838
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));
1839
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));
1840 }
1841
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)
1842 {
1843
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));
1844
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss2Outputs->satInfo.satellites.resize(obs->gnss2Outputs->satInfo.numSats);
1845
1846
2/2
✓ Branch 7 taken 1146 times.
✓ Branch 8 taken 70 times.
 1216 for (auto& satellite : obs->gnss2Outputs->satInfo.satellites)
1847 {
1848
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1849
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1850
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1851
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1852
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.qi), sizeof(satellite.qi));
1853
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.el), sizeof(satellite.el));
1854
1/2
✓ Branch 1 taken 1146 times.
✗ Branch 2 not taken.
 1146 read(reinterpret_cast<char*>(&satellite.az), sizeof(satellite.az));
1855 }
1856 }
1857
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)
1858 {
1859
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));
1860
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));
1861
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));
1862
1/2
✓ Branch 5 taken 70 times.
✗ Branch 6 not taken.
 70 obs->gnss2Outputs->raw.satellites.resize(obs->gnss2Outputs->raw.numSats);
1863
1864
2/2
✓ Branch 7 taken 543 times.
✓ Branch 8 taken 70 times.
 613 for (auto& satellite : obs->gnss2Outputs->raw.satellites)
1865 {
1866
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.sys), sizeof(satellite.sys));
1867
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.svId), sizeof(satellite.svId));
1868
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.freq), sizeof(satellite.freq));
1869
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.chan), sizeof(satellite.chan));
1870
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.slot), sizeof(satellite.slot));
1871
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.cno), sizeof(satellite.cno));
1872
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.flags), sizeof(satellite.flags));
1873
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.pr), sizeof(satellite.pr));
1874
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.cp), sizeof(satellite.cp));
1875
1/2
✓ Branch 1 taken 543 times.
✗ Branch 2 not taken.
 543 read(reinterpret_cast<char*>(&satellite.dp), sizeof(satellite.dp));
1876 }
1877 }
1878 }
1879 }
1880
1/2
✗ Branch 0 not taken.
✓ Branch 1 taken 5 times.
 5 catch (const std::exception& e)
1881 {
1882
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);
1883 5 return nullptr;
1884 5 }
1885 }
1886
1887
3/14
✗ Branch 2 not taken.
✓ Branch 3 taken 28670 times.
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✗ Branch 18 not taken.
✗ Branch 19 not taken.
✗ Branch 22 not taken.
✓ Branch 23 taken 2 times.
✗ Branch 24 not taken.
✓ Branch 25 taken 28672 times.
 28672 if (!obs->timeOutputs && !obs->imuOutputs && !obs->gnss1Outputs && !obs->attitudeOutputs && !obs->insOutputs && !obs->gnss2Outputs)
1888 {
1889 LOG_DATA("{}: Nothing read at message {}. Ending reading.", nameId(), _messageCount);
1890 ✗ return nullptr;
1891 }
1892
2/2
✓ Branch 2 taken 39 times.
✓ Branch 3 taken 28631 times.
 28672 if (obs->insTime.empty())
1893 {
1894 LOG_DATA("{}: Skipping message {}, as no InsTime set.", nameId(), _messageCount);
1895 39 return obs;
1896 }
1897
1898
1/2
✓ Branch 2 taken 28633 times.
✗ Branch 3 not taken.
 28631 invokeCallbacks(OUTPUT_PORT_INDEX_VECTORNAV_BINARY_OUTPUT, obs);
1899 28631 return obs;
1900 28729 }
1901