Struct MAVLinkV2MessageRaw

pub struct MAVLinkV2MessageRaw(/* private fields */);

Byte buffer containing the raw representation of a MAVLink 2 message beginning with the STX marker.

Follow protocol definition: https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format. Maximum size is 280 bytes.

Implementations

impl MAVLinkV2MessageRaw

pub const fn new() -> MAVLinkV2MessageRaw

Create an new raw MAVLink 2 message filled with zeros.

pub fn header(&self) -> &[u8]

Reference to the 9 byte header slice of the message

pub fn payload_length(&self) -> u8

Size of the payload of the message

pub fn incompatibility_flags(&self) -> u8

Incompatiblity flags of the message

Currently the only supported incompatebility flag is MAVLINK_IFLAG_SIGNED.

pub fn incompatibility_flags_mut(&mut self) -> &mut u8

Mutable reference to the incompatiblity flags of the message

Currently the only supported incompatebility flag is MAVLINK_IFLAG_SIGNED.

pub fn compatibility_flags(&self) -> u8

Compatibility Flags of the message

pub fn sequence(&self) -> u8

Packet sequence number

pub fn system_id(&self) -> u8

Message sender System ID

pub fn component_id(&self) -> u8

Message sender Component ID

pub fn message_id(&self) -> u32

Message ID

pub fn payload(&self) -> &[u8]

Reference to the payload byte slice of the message

pub fn checksum(&self) -> u16

CRC-16 checksum field of the message

pub fn checksum_bytes(&self) -> &[u8]

Reference to the 2 checksum bytes of the message

pub fn signature_link_id(&self) -> u8

Signature Link ID

If the message is not signed this 0.

pub fn signature_link_id_mut(&mut self) -> &mut u8

Mutable reference to the signature Link ID

pub fn signature_timestamp(&self) -> u64

Message signature timestamp

The timestamp is a 48 bit number with units of 10 microseconds since 1st January 2015 GMT. The offset since 1st January 1970 (the unix epoch) is 1420070400 seconds. Since all timestamps generated must be at least 1 more than the previous timestamp this timestamp may get ahead of GMT time if there is a burst of packets at a rate of more than 100000 packets per second.

pub fn signature_timestamp_bytes(&self) -> &[u8]

48 bit signature timestamp byte slice

If the message is not signed this contains zeros.

pub fn signature_timestamp_bytes_mut(&mut self) -> &mut [u8]

Mutable reference to the 48 bit signature timestams byte slice

pub fn signature_value(&self) -> &[u8]

Reference to the 48 bit message signature byte slice

If the message is not signed this contains zeros.

pub fn signature_value_mut(&mut self) -> &mut [u8]

Mutable reference to the 48 bit message signature byte slice

pub fn has_valid_crc<M>(&self) -> bool

where M: Message,

Checks wether the message’s CRC-16 checksum calculation matches its checksum field.

pub fn calculate_signature( &self, secret_key: &[u8], target_buffer: &mut [u8; 6], )

Calculates the messages sha256_48 signature.

This calculates the SHA-256 checksum of messages appended to the 32 byte secret key and copies the first 6 bytes of the result into the target buffer.

pub fn raw_bytes(&self) -> &[u8]

Raw byte slice of the message

pub fn serialize_message<M>(&mut self, header: MavHeader, message: &M)

where M: Message,

Serialize a Message with a given header into this raw message buffer.

This does not set any compatiblity or incompatiblity flags.

pub fn serialize_message_for_signing<M>( &mut self, header: MavHeader, message: &M, )

where M: Message,

Serialize a Message with a given header into this raw message buffer and sets the MAVLINK_IFLAG_SIGNED incompatiblity flag.

This does not update the message’s signature fields. This does not set any compatiblity flags.

pub fn serialize_message_data<D>(&mut self, header: MavHeader, message_data: &D)

where D: MessageData,

Trait Implementations

impl Clone for MAVLinkV2MessageRaw

fn clone(&self) -> MAVLinkV2MessageRaw

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for MAVLinkV2MessageRaw

fn fmt(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter.

impl Default for MAVLinkV2MessageRaw

fn default() -> MAVLinkV2MessageRaw

Returns the “default value” for a type.

impl PartialEq for MAVLinkV2MessageRaw

fn eq(&self, other: &MAVLinkV2MessageRaw) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for MAVLinkV2MessageRaw

impl Eq for MAVLinkV2MessageRaw

impl StructuralPartialEq for MAVLinkV2MessageRaw