From 9b9dcd1cf3e234a9d6a0b51d8c278c3048a5de75 Mon Sep 17 00:00:00 2001
From: Steven Meyer <smeyer@fastmail.com>
Date: Tue, 14 Nov 2023 10:29:07 -0800
Subject: [PATCH] rust: check more messages for time validity  (#1376)

# Description

Same as https://github.com/swift-nav/libsbp/pull/1375 but accounts for
the other 3 time messages and msg_odometry

@swift-nav/devinfra

<!-- Changes proposed in this PR -->

# API compatibility

Does this change introduce a API compatibility risk?

<!-- Provide a short explanation why or why not -->

## API compatibility plan

If the above is "Yes", please detail the compatibility (or migration)
plan:

<!-- Provide a short explanation plan here -->

# JIRA Reference

https://swift-nav.atlassian.net/browse/BOARD-XXXX
---
 generator/sbpg/targets/rust.py      | 20 ++++++++++++++------
 rust/sbp/src/messages/navigation.rs | 17 +++++++++++++----
 rust/sbp/src/messages/vehicle.rs    |  3 +++
 3 files changed, 30 insertions(+), 10 deletions(-)

diff --git a/generator/sbpg/targets/rust.py b/generator/sbpg/targets/rust.py
index d12b7a383f..44c73102be 100644
--- a/generator/sbpg/targets/rust.py
+++ b/generator/sbpg/targets/rust.py
@@ -59,12 +59,13 @@
 
 BASE_TIME_MSGS = ["MSG_OBS", "MSG_OSR", "MSG_SSR"]
 
-CUSTOM_GPS_TIME_MSGS = {
-    "MSG_GPS_TIME": """
-if !matches!(self.time_source(), Ok(TimeSource::GnssSolution) | Ok(TimeSource::Propagated)) {
+CHECK_FLAGS = """
+if self.time_source().ok()? == TimeSource::None {
     return None;
 }
-""".strip() + GPS_TIME,
+"""
+
+CUSTOM_GPS_TIME_MSGS = {
     "MSG_IMU_RAW": """
 const IMU_RAW_TIME_STATUS_MASK: u32 = (1 << 30) | (1 << 31);
 if self.tow & IMU_RAW_TIME_STATUS_MASK != 0 {
@@ -223,10 +224,13 @@ def gen_body():
                 tow = True
             elif f.identifier == "wn":
                 wn = True
+        res = ""
+        if msg.has_timesource:
+            res = CHECK_FLAGS
         if tow and wn:
-            return GPS_TIME
+            return res + GPS_TIME
         elif tow:
-            return GPS_TIME_ONLY_TOW
+            return res + GPS_TIME_ONLY_TOW
         else:
             return None
 
@@ -361,11 +365,15 @@ def __init__(self, msg, package, package_specs):
         self.is_real_message = msg.is_real_message
         self.fields = []
         self.has_bitfield = False
+        self.has_timesource = False
         for f in msg.fields:
             field = FieldItem(msg, package_specs, f)
             self.fields.append(field)
             if len(field.bitfield) > 0:
                 self.has_bitfield = True
+                for b in field.bitfield:
+                    if b["type_name"] == "TimeSource":
+                        self.has_timesource = True
         self.gps_time_fn = gps_time_fn(self)
         self.friendly_name = msg.friendly_name
 
diff --git a/rust/sbp/src/messages/navigation.rs b/rust/sbp/src/messages/navigation.rs
index a744c90b98..5cc00ca1c4 100644
--- a/rust/sbp/src/messages/navigation.rs
+++ b/rust/sbp/src/messages/navigation.rs
@@ -1888,10 +1888,7 @@ pub mod msg_gps_time {
 
         #[cfg(feature = "swiftnav")]
         fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
-            if !matches!(
-                self.time_source(),
-                Ok(TimeSource::GnssSolution) | Ok(TimeSource::Propagated)
-            ) {
+            if self.time_source().ok()? == TimeSource::None {
                 return None;
             }
             let tow_s = (self.tow as f64) / 1000.0;
@@ -2200,6 +2197,9 @@ pub mod msg_gps_time_gnss {
 
         #[cfg(feature = "swiftnav")]
         fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
+            if self.time_source().ok()? == TimeSource::None {
+                return None;
+            }
             let tow_s = (self.tow as f64) / 1000.0;
             #[allow(clippy::useless_conversion)]
             let wn: i16 = match self.wn.try_into() {
@@ -2469,6 +2469,9 @@ pub mod msg_pose_relative {
 
         #[cfg(feature = "swiftnav")]
         fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
+            if self.time_source().ok()? == TimeSource::None {
+                return None;
+            }
             let tow_s = (self.tow as f64) / 1000.0;
             let gps_time = match time::GpsTime::new(0, tow_s) {
                 Ok(gps_time) => gps_time.tow(),
@@ -7223,6 +7226,9 @@ pub mod msg_utc_time {
 
         #[cfg(feature = "swiftnav")]
         fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
+            if self.time_source().ok()? == TimeSource::None {
+                return None;
+            }
             let tow_s = (self.tow as f64) / 1000.0;
             let gps_time = match time::GpsTime::new(0, tow_s) {
                 Ok(gps_time) => gps_time.tow(),
@@ -7478,6 +7484,9 @@ pub mod msg_utc_time_gnss {
 
         #[cfg(feature = "swiftnav")]
         fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
+            if self.time_source().ok()? == TimeSource::None {
+                return None;
+            }
             let tow_s = (self.tow as f64) / 1000.0;
             let gps_time = match time::GpsTime::new(0, tow_s) {
                 Ok(gps_time) => gps_time.tow(),
diff --git a/rust/sbp/src/messages/vehicle.rs b/rust/sbp/src/messages/vehicle.rs
index a034f62f49..4018707d93 100644
--- a/rust/sbp/src/messages/vehicle.rs
+++ b/rust/sbp/src/messages/vehicle.rs
@@ -128,6 +128,9 @@ pub mod msg_odometry {
 
         #[cfg(feature = "swiftnav")]
         fn gps_time(&self) -> Option<std::result::Result<time::MessageTime, time::GpsTimeError>> {
+            if self.time_source().ok()? == TimeSource::None {
+                return None;
+            }
             let tow_s = (self.tow as f64) / 1000.0;
             let gps_time = match time::GpsTime::new(0, tow_s) {
                 Ok(gps_time) => gps_time.tow(),