Implement HasTime for Frames [DEVINFRA-516]

[adrian-kong]

Intended for with_rover_time, important to not do redundant to_sbp calls after, so this just assumes that we want

(Frame, Time)
since we cant easily convert from sbp -> frame,

or maybe alternatively we can retain frame and sbp.

This is so that we can do
Framer::new(...).with_rover_time() for (Frame, Time) tuple
instead of only
sbp::iter_messages(...).with_rover_time() for (Sbp, Time) tuple

[joelynch]

Seems good

[notoriaga]

One thing that bothers me a bit about this is that if you have

for (frame, time) in Framer::new(...).with_rover_time() {
    ....
    let msg = frame.to_sbp();
    ...
}

you end up converting the frame twice.

or maybe alternatively we can retain frame and sbp.

would avoid that, but not sure what a clean way to do that is. maybe we could add a method to Framer that returns both

impl Framer {
    pub fn with_messages(self) -> impl Iterator<Item=(Frame, Result<Sbp>)> {
        self.map(|f| (f, f.to_sbp()))
    }
}

and then you can impl HasTime for (Frame, Result<Sbp>) as well. Either way I think it's fine as is

[silverjam]

One thing that bothers me a bit about this is that if you have

for (frame, time) in Framer::new(...).with_rover_time() {
    ....
    let msg = frame.to_sbp();
    ...
}

you end up converting the frame twice.

or maybe alternatively we can retain frame and sbp.

would avoid that, but not sure what a clean way to do that is. maybe we could add a method to Framer that returns both

impl Framer {
    pub fn with_messages(self) -> impl Iterator<Item=(Frame, Result<Sbp>)> {
        self.map(|f| (f, f.to_sbp()))
    }
}

and then you can impl HasTime for (Frame, Result<Sbp>) as well. Either way I think it's fine as is

Let's track with an issue and revisit @adrian-kong

[adrian-kong]

created https://swift-nav.atlassian.net/browse/DEVINFRA-1028