Struct MavlinkReader 

pub struct MavlinkReader<R> { /* private fields */ }

Incrementally reads complete MAVLink frames from a blocking byte stream.

The reader keeps partial and read-ahead data between calls. Use the same MAVLink dialect M for the lifetime of a stream, because CRC validation is dialect-specific.

Implementations

impl<R> MavlinkReader<R>

pub fn new(source: R) -> MavlinkReader<R>

where R: Read,

Available on crate feature std only.

Creates a reader around source with the default read-ahead capacity.

The buffer is allocated once and reused for the reader’s lifetime.

pub fn with_capacity(capacity: usize, source: R) -> MavlinkReader<R>

where R: Read,

Available on crate feature std only.

Creates a reader with at least capacity bytes of read-ahead space.

Capacities smaller than one maximum-size MAVLink frame are raised to consts::MAX_FRAME_SIZE. The buffer is allocated once and reused for the lifetime of the reader.

pub const fn get_ref(&self) -> &R

Returns a shared reference to the underlying source.

pub const fn get_mut(&mut self) -> &mut R

Returns a mutable reference to the underlying source.

Reading directly from the source can skip bytes already buffered by this reader and should therefore be avoided.

pub fn into_inner(self) -> R

Returns the underlying source.

Any bytes read ahead by this reader are discarded.

impl<R> MavlinkReader<R>

where R: Read,

pub fn read_message<M>( &mut self, version: MavlinkVersion, ) -> Result<(MavHeader, M), MessageReadError>

where M: Message,

Available on crate feature std, or crate feature embedded and non-crate feature std only.

Reads and parses the next CRC-valid message accepted by version.

pub fn read_any_message<M>( &mut self, ) -> Result<(MavHeader, M), MessageReadError>

where M: Message,

Available on crate feature std, or crate feature embedded and non-crate feature std only.

Reads and parses the next CRC-valid MAVLink 1 or MAVLink 2 message.

pub fn read_raw_message<M>( &mut self, version: MavlinkVersion, ) -> Result<MAVLinkMessageRaw, MessageReadError>

where M: Message,

Available on crate feature std, or crate feature embedded and non-crate feature std only.

Reads the next CRC-valid raw message accepted by version.

pub fn read_any_raw_message<M>( &mut self, ) -> Result<MAVLinkMessageRaw, MessageReadError>

where M: Message,

Available on crate feature std, or crate feature embedded and non-crate feature std only.

Reads the next CRC-valid MAVLink 1 or MAVLink 2 raw message.

pub fn read_message_signed<M>( &mut self, version: MavlinkVersion, signing_data: Option<&SigningData>, ) -> Result<(MavHeader, M), MessageReadError>

where M: Message,

Available on crate feature mav2-message-signing and (crate feature std, or crate feature embedded and non-crate feature std) only.

Reads, verifies, and parses the next message accepted by version.

With signing data, MAVLink 1 and unsigned MAVLink 2 frames require SigningConfig::allow_unsigned; signed MAVLink 2 frames must have a valid signature. With None, signature verification is skipped.

pub fn read_any_message_signed<M>( &mut self, signing_data: Option<&SigningData>, ) -> Result<(MavHeader, M), MessageReadError>

where M: Message,

Available on crate feature mav2-message-signing and (crate feature std, or crate feature embedded and non-crate feature std) only.

Reads, verifies, and parses the next MAVLink 1 or MAVLink 2 message. With signing data, MAVLink 1 frames follow SigningConfig::allow_unsigned. With None, signature verification is skipped.

pub fn read_raw_message_signed<M>( &mut self, version: MavlinkVersion, signing_data: Option<&SigningData>, ) -> Result<MAVLinkMessageRaw, MessageReadError>

where M: Message,

Available on crate feature mav2-message-signing and (crate feature std, or crate feature embedded and non-crate feature std) only.

Reads and verifies the next raw message accepted by version.

With signing data, MAVLink 1 and unsigned MAVLink 2 frames require SigningConfig::allow_unsigned; signed MAVLink 2 frames must have a valid signature. With None, signature verification is skipped.

pub fn read_any_raw_message_signed<M>( &mut self, signing_data: Option<&SigningData>, ) -> Result<MAVLinkMessageRaw, MessageReadError>

where M: Message,

Available on crate feature mav2-message-signing and (crate feature std, or crate feature embedded and non-crate feature std) only.

Reads and verifies the next MAVLink 1 or MAVLink 2 raw message. With signing data, MAVLink 1 frames follow SigningConfig::allow_unsigned. With None, signature verification is skipped.