extend esf packets api

Signed-off-by: Andrei Gherghescu <8067229+andrei-ng@users.noreply.github.com>

examples/adr-message-parsing/src/main.rs

@@ -271,6 +271,8 @@ impl Device {
 
     pub fn wait_for_ack<T: UbxPacketMeta>(&mut self) -> std::io::Result<()> {
         let mut found_packet = false;
+        let start = std::time::SystemTime::now();
+        let timeout = Duration::from_secs(3);
         while !found_packet {
             self.update(|packet| {
                 if let PacketRef::AckAck(ack) = packet {
@@ -279,6 +281,11 @@ impl Device {
                     }
                 }
             })?;
+
+            if start.elapsed().unwrap().as_millis() > timeout.as_millis() {
+                eprintln!("Did not receive ACK message for request");
+                break;
+            }
         }
         Ok(())
     }

examples/basic-cli/src/main.rs

@@ -450,6 +450,8 @@ impl Device {
 
     pub fn wait_for_ack<T: UbxPacketMeta>(&mut self) -> std::io::Result<()> {
         let mut found_packet = false;
+        let start = std::time::SystemTime::now();
+        let timeout = Duration::from_secs(3);
         while !found_packet {
             self.update(|packet| {
                 if let PacketRef::AckAck(ack) = packet {
@@ -458,6 +460,11 @@ impl Device {
                     }
                 }
             })?;
+
+            if start.elapsed().unwrap().as_millis() > timeout.as_millis() {
+                error!("Did not receive ACK message for request");
+                break;
+            }
         }
         Ok(())
     }

examples/tui/src/cli.rs

@@ -34,7 +34,7 @@ pub fn parse_args() -> clap::ArgMatches {
                 .short('p')
                 .long("port")
                 .required(true)
-                .help("Serial port to open"),
+                .help("Serial port to open. E.g., /dev/ttyACM0"),
         )
         .arg(
             Arg::new("baud")

examples/tui/src/main.rs

@@ -14,14 +14,15 @@ fn main() -> Result<(), Box<dyn Error>> {
     let cli = cli::parse_args();
 
     if cli.get_flag("debug-mode") {
-        debug_mode(&cli);
+        device_debug_mode(&cli);
     } else {
-        crate::tui::run(&cli)?;
+	let log_file = logging::initialize(&cli)?;
+        crate::tui::run(&cli, log_file)?;
     }
     Ok(())
 }
 
-fn debug_mode(cli: &ArgMatches) {
+fn device_debug_mode(cli: &ArgMatches) {
     use log::error;
     env_logger::Builder::new()
         .filter_level(log::LevelFilter::Info)

examples/tui/src/tui.rs

@@ -1,6 +1,7 @@
 use std::{
     error::Error,
     io,
+    path::PathBuf,
     sync::mpsc::{channel, Receiver},
     time::{Duration, Instant},
 };
@@ -24,11 +25,10 @@ use tracing::{debug, info, instrument};
 use crate::{
     app::{App, UbxStatus},
     device::Device,
-    logging, ui,
+    ui,
 };
 
-pub fn run(cli: &ArgMatches) -> Result<(), Box<dyn Error>> {
-    let log_file = logging::initialize(cli)?;
+pub fn run(cli: &ArgMatches, log_file: PathBuf) -> Result<(), Box<dyn Error>> {
     let tick_rate: u64 = *cli.get_one("tui-rate").ok_or("Missing tui-rate cli arg")?;
     let tick_rate = Duration::from_millis(tick_rate);
 

ublox/src/ubx_packets/packets.rs

@@ -3479,6 +3479,7 @@ impl core::iter::Iterator for EsfRawDataIter<'_> {
     }
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum EsfAlgStatus {
@@ -3524,6 +3525,9 @@ struct EsfAlg {
 pub struct EsfAlgFlags(u8);
 
 impl EsfAlgFlags {
+    pub fn flags_raw(&self) -> u8 {
+        self.0
+    }
     pub fn auto_imu_mount_alg_on(self) -> bool {
         (self.0) & 0x1 != 0
     }
@@ -3653,8 +3657,12 @@ pub enum EsfStatusFusionMode {
 pub struct EsfInitStatus1(u8);
 
 impl EsfInitStatus1 {
+    const WHEEL_TICK_MASK: u8 = 0x03;
+    const MOUNTING_ANGLE_STATUS_MASK: u8 = 0x07;
+    const INS_STATUS_MASK: u8 = 0x03;
+
     pub fn wheel_tick_init_status(self) -> EsfStatusWheelTickInit {
-        let bits = (self.0) & 0x03;
+        let bits = (self.0) & Self::WHEEL_TICK_MASK;
         match bits {
             0 => EsfStatusWheelTickInit::Off,
             1 => EsfStatusWheelTickInit::Initializing,
@@ -3665,8 +3673,12 @@ impl EsfInitStatus1 {
         }
     }
 
+    pub fn wheel_tick_init_status_raw(self) -> u8 {
+        self.wheel_tick_init_status() as u8
+    }
+
     pub fn mounting_angle_status(self) -> EsfStatusMountAngle {
-        let bits = (self.0 >> 2) & 0x07;
+        let bits = (self.0 >> 2) & Self::MOUNTING_ANGLE_STATUS_MASK;
         match bits {
             0 => EsfStatusMountAngle::Off,
             1 => EsfStatusMountAngle::Initializing,
@@ -3678,8 +3690,12 @@ impl EsfInitStatus1 {
         }
     }
 
+    pub fn mount_angle_status_raw(self) -> u8 {
+        self.mounting_angle_status() as u8
+    }
+
     pub fn ins_initialization_status(self) -> EsfStatusInsInit {
-        let bits = (self.0 >> 5) & 0x03;
+        let bits = (self.0 >> 5) & Self::INS_STATUS_MASK;
         match bits {
             0 => EsfStatusInsInit::Off,
             1 => EsfStatusInsInit::Initializing,
@@ -3689,6 +3705,10 @@ impl EsfInitStatus1 {
             },
         }
     }
+
+    pub fn ins_initialization_status_raw(self) -> u8 {
+        self.ins_initialization_status() as u8
+    }
 }
 
 impl fmt::Debug for EsfInitStatus1 {
@@ -3701,6 +3721,7 @@ impl fmt::Debug for EsfInitStatus1 {
     }
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum EsfStatusWheelTickInit {
@@ -3709,6 +3730,7 @@ pub enum EsfStatusWheelTickInit {
     Initialized = 2,
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum EsfStatusMountAngle {
@@ -3717,6 +3739,7 @@ pub enum EsfStatusMountAngle {
     Initialized = 2,
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum EsfStatusInsInit {
@@ -3731,6 +3754,10 @@ pub enum EsfStatusInsInit {
 pub struct EsfInitStatus2(u8);
 
 impl EsfInitStatus2 {
+    pub fn imu_init_status_raw(self) -> u8 {
+        self.imu_init_status() as u8
+    }
+
     pub fn imu_init_status(self) -> EsfStatusImuInit {
         let bits = (self.0) & 0x02;
         match bits {
@@ -3752,6 +3779,7 @@ impl fmt::Debug for EsfInitStatus2 {
     }
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize, serde::Deserialize))]
 pub enum EsfStatusImuInit {
@@ -3778,10 +3806,18 @@ impl EsfSensorStatus {
         self.faults
     }
 
+    pub fn faults_raw(&self) -> u8 {
+        self.faults().into_raw()
+    }
+
     pub fn sensor_type(&self) -> EsfSensorType {
         self.sens_status1.sensor_type
     }
 
+    pub fn sensor_type_raw(&self) -> u8 {
+        self.sensor_type() as u8
+    }
+
     pub fn sensor_used(&self) -> bool {
         self.sens_status1.used
     }
@@ -3794,9 +3830,17 @@ impl EsfSensorStatus {
         self.sens_status2.calibration_status
     }
 
+    pub fn calibration_status_raw(&self) -> u8 {
+        self.calibration_status() as u8
+    }
+
     pub fn time_status(&self) -> EsfSensorStatusTime {
         self.sens_status2.time_status
     }
+
+    pub fn time_status_raw(&self) -> u8 {
+        self.time_status() as u8
+    }
 }
 
 #[derive(Clone, Debug)]
@@ -3846,6 +3890,7 @@ impl From<u8> for SensorStatus1 {
     }
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize))]
 pub enum EsfSensorType {
@@ -3908,6 +3953,7 @@ impl From<u8> for SensorStatus2 {
     }
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize))]
 pub enum EsfSensorStatusCalibration {
@@ -3927,6 +3973,7 @@ impl From<u8> for EsfSensorStatusCalibration {
     }
 }
 
+#[repr(u8)]
 #[derive(Copy, Clone, Debug)]
 #[cfg_attr(feature = "serde", derive(serde::Serialize))]
 pub enum EsfSensorStatusTime {
@@ -3951,13 +3998,13 @@ impl From<u8> for EsfSensorStatusTime {
 #[ubx_extend_bitflags]
 #[ubx(from, into_raw, rest_reserved)]
 bitflags! {
-#[derive(Debug, Default, Clone, Copy)]
-pub struct EsfSensorFaults: u8 {
-    const BAD_MEASUREMENT = 1;
-    const BAD_TIME_TAG = 2;
-    const MISSING_MEASUREMENT = 4;
-    const NOISY_MEASUREMENT = 8;
-}
+    #[derive(Debug, Default, Clone, Copy)]
+    pub struct EsfSensorFaults: u8 {
+        const BAD_MEASUREMENT = 1;
+        const BAD_TIME_TAG = 2;
+        const MISSING_MEASUREMENT = 4;
+        const NOISY_MEASUREMENT = 8;
+    }
 }
 
 impl From<u8> for EsfSensorFaults {