mavlink_core/async_connection/
file.rs

1//! Async File MAVLINK connection
2
3use core::ops::DerefMut;
4
5use super::{AsyncConnectable, AsyncMavConnection};
6use crate::connectable::FileConnectable;
7use crate::error::{MessageReadError, MessageWriteError};
8
9use crate::ReadVersion;
10use crate::{async_peek_reader::AsyncPeekReader, MavHeader, MavlinkVersion, Message};
11
12use async_trait::async_trait;
13use tokio::fs::File;
14use tokio::io;
15use tokio::sync::Mutex;
16
17#[cfg(not(feature = "signing"))]
18use crate::read_versioned_msg_async;
19
20#[cfg(feature = "signing")]
21use crate::{read_versioned_msg_async_signed, SigningConfig, SigningData};
22
23pub async fn open(file_path: &str) -> io::Result<AsyncFileConnection> {
24    let file = File::open(file_path).await?;
25    Ok(AsyncFileConnection {
26        file: Mutex::new(AsyncPeekReader::new(file)),
27        protocol_version: MavlinkVersion::V2,
28        recv_any_version: false,
29        #[cfg(feature = "signing")]
30        signing_data: None,
31    })
32}
33
34pub struct AsyncFileConnection {
35    file: Mutex<AsyncPeekReader<File>>,
36    protocol_version: MavlinkVersion,
37    recv_any_version: bool,
38    #[cfg(feature = "signing")]
39    signing_data: Option<SigningData>,
40}
41
42#[async_trait::async_trait]
43impl<M: Message + Sync + Send> AsyncMavConnection<M> for AsyncFileConnection {
44    async fn recv(&self) -> Result<(MavHeader, M), crate::error::MessageReadError> {
45        let mut file = self.file.lock().await;
46        let version = ReadVersion::from_async_conn_cfg::<_, M>(self);
47        loop {
48            #[cfg(not(feature = "signing"))]
49            let result = read_versioned_msg_async(file.deref_mut(), version).await;
50            #[cfg(feature = "signing")]
51            let result = read_versioned_msg_async_signed(
52                file.deref_mut(),
53                version,
54                self.signing_data.as_ref(),
55            )
56            .await;
57            match result {
58                ok @ Ok(..) => {
59                    return ok;
60                }
61                Err(MessageReadError::Io(e)) => {
62                    if e.kind() == io::ErrorKind::UnexpectedEof {
63                        return Err(MessageReadError::Io(e));
64                    }
65                }
66                _ => {}
67            }
68        }
69    }
70
71    async fn send(&self, _header: &MavHeader, _data: &M) -> Result<usize, MessageWriteError> {
72        Ok(0)
73    }
74
75    fn set_protocol_version(&mut self, version: MavlinkVersion) {
76        self.protocol_version = version;
77    }
78
79    fn protocol_version(&self) -> MavlinkVersion {
80        self.protocol_version
81    }
82
83    fn set_allow_recv_any_version(&mut self, allow: bool) {
84        self.recv_any_version = allow
85    }
86
87    fn allow_recv_any_version(&self) -> bool {
88        self.recv_any_version
89    }
90
91    #[cfg(feature = "signing")]
92    fn setup_signing(&mut self, signing_data: Option<SigningConfig>) {
93        self.signing_data = signing_data.map(SigningData::from_config)
94    }
95}
96
97#[async_trait]
98impl AsyncConnectable for FileConnectable {
99    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
100    where
101        M: Message + Sync + Send,
102    {
103        Ok(Box::new(open(&self.address).await?))
104    }
105}
mavlink_core/async_connection/file.rs

mavlink_core/async_connection/
file.rs
