mavlink_core/async_connection/
mod.rs

1use async_trait::async_trait;
2use tokio::io;
3
4use crate::{connectable::ConnectionAddress, MavFrame, MavHeader, MavlinkVersion, Message};
5
6#[cfg(feature = "tcp")]
7mod tcp;
8
9#[cfg(feature = "udp")]
10mod udp;
11
12#[cfg(feature = "direct-serial")]
13mod direct_serial;
14
15mod file;
16
17#[cfg(feature = "signing")]
18use crate::SigningConfig;
19
20/// An async MAVLink connection
21#[async_trait::async_trait]
22pub trait AsyncMavConnection<M: Message + Sync + Send> {
23    /// Receive a mavlink message.
24    ///
25    /// Yield until a valid frame is received, ignoring invalid messages.
26    async fn recv(&self) -> Result<(MavHeader, M), crate::error::MessageReadError>;
27
28    /// Send a mavlink message
29    async fn send(
30        &self,
31        header: &MavHeader,
32        data: &M,
33    ) -> Result<usize, crate::error::MessageWriteError>;
34
35    /// Sets the MAVLink version to use for receiving (when `allow_recv_any_version()` is `false`) and sending messages.
36    fn set_protocol_version(&mut self, version: MavlinkVersion);
37    /// Gets the currently used MAVLink version
38    fn protocol_version(&self) -> MavlinkVersion;
39
40    /// Set wether MAVLink messages of either version may be received.
41    ///
42    /// If set to false only messages of the version configured with `set_protocol_version()` are received.
43    fn set_allow_recv_any_version(&mut self, allow: bool);
44    /// Wether messages of any MAVLink version may be received
45    fn allow_recv_any_version(&self) -> bool;
46
47    /// Write whole frame
48    async fn send_frame(
49        &self,
50        frame: &MavFrame<M>,
51    ) -> Result<usize, crate::error::MessageWriteError> {
52        self.send(&frame.header, &frame.msg).await
53    }
54
55    /// Read whole frame
56    async fn recv_frame(&self) -> Result<MavFrame<M>, crate::error::MessageReadError> {
57        let (header, msg) = self.recv().await?;
58        let protocol_version = self.protocol_version();
59        Ok(MavFrame {
60            header,
61            msg,
62            protocol_version,
63        })
64    }
65
66    /// Send a message with default header
67    async fn send_default(&self, data: &M) -> Result<usize, crate::error::MessageWriteError> {
68        let header = MavHeader::default();
69        self.send(&header, data).await
70    }
71
72    /// Setup secret key used for message signing, or disable message signing
73    #[cfg(feature = "signing")]
74    fn setup_signing(&mut self, signing_data: Option<SigningConfig>);
75}
76
77/// Connect asynchronously to a MAVLink node by address string.
78///
79/// The address must be in one of the following formats:
80///
81///  * `tcpin:<addr>:<port>` to create a TCP server, listening for an incoming connection
82///  * `tcpout:<addr>:<port>` to create a TCP client
83///  * `udpin:<addr>:<port>` to create a UDP server, listening for incoming packets
84///  * `udpout:<addr>:<port>` to create a UDP client
85///  * `udpbcast:<addr>:<port>` to create a UDP broadcast
86///  * `serial:<port>:<baudrate>` to create a serial connection
87///  * `file:<path>` to extract file data, writing to such a connection does nothing
88///
89/// The type of the connection is determined at runtime based on the address type, so the
90/// connection is returned as a trait object.
91pub async fn connect_async<M: Message + Sync + Send>(
92    address: &str,
93) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>> {
94    ConnectionAddress::parse_address(address)?
95        .connect_async::<M>()
96        .await
97}
98
99/// Returns the socket address for the given address.
100#[cfg(any(feature = "tcp", feature = "udp"))]
101pub(crate) fn get_socket_addr<T: std::net::ToSocketAddrs>(
102    address: T,
103) -> Result<std::net::SocketAddr, io::Error> {
104    let addr = match address.to_socket_addrs()?.next() {
105        Some(addr) => addr,
106        None => {
107            return Err(io::Error::new(
108                io::ErrorKind::Other,
109                "Host address lookup failed",
110            ));
111        }
112    };
113    Ok(addr)
114}
115
116/// A MAVLink connection address that can be connected to, establishing an [`AsyncMavConnection`]
117///
118/// This is the `async` version of `Connectable`.
119#[async_trait]
120pub trait AsyncConnectable {
121    /// Attempt to establish an asynchronous MAVLink connection
122    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
123    where
124        M: Message + Sync + Send;
125}
126
127#[async_trait]
128impl AsyncConnectable for ConnectionAddress {
129    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
130    where
131        M: Message + Sync + Send,
132    {
133        match self {
134            #[cfg(feature = "tcp")]
135            Self::Tcp(connectable) => connectable.connect_async::<M>().await,
136            #[cfg(feature = "udp")]
137            Self::Udp(connectable) => connectable.connect_async::<M>().await,
138            #[cfg(feature = "direct-serial")]
139            Self::Serial(connectable) => connectable.connect_async::<M>().await,
140            Self::File(connectable) => connectable.connect_async::<M>().await,
141        }
142    }
143}
mavlink_core/async_connection/mod.rs

mavlink_core/async_connection/
mod.rs
