mavlink_core/async_connection/
mod.rs

1use async_trait::async_trait;
2use std::io;
3
4use crate::{
5    connectable::ConnectionAddress, MAVLinkMessageRaw, MavFrame, MavHeader, MavlinkVersion, Message,
6};
7#[cfg(feature = "tcp")]
8mod tcp;
9
10#[cfg(feature = "udp")]
11mod udp;
12
13#[cfg(feature = "direct-serial")]
14mod direct_serial;
15
16mod file;
17
18#[cfg(feature = "signing")]
19use crate::SigningConfig;
20
21/// An async MAVLink connection
22#[async_trait::async_trait]
23pub trait AsyncMavConnection<M: Message + Sync + Send> {
24    /// Receive a mavlink message.
25    ///
26    /// Yield until a valid frame is received, ignoring invalid messages.
27    async fn recv(&self) -> Result<(MavHeader, M), crate::error::MessageReadError>;
28
29    /// Receive a raw, unparsed mavlink message.
30    ///
31    /// Yield until a valid frame is received, ignoring invalid messages.
32    async fn recv_raw(&self) -> Result<MAVLinkMessageRaw, crate::error::MessageReadError>;
33
34    /// Send a mavlink message
35    async fn send(
36        &self,
37        header: &MavHeader,
38        data: &M,
39    ) -> Result<usize, crate::error::MessageWriteError>;
40
41    /// Sets the MAVLink version to use for receiving (when `allow_recv_any_version()` is `false`) and sending messages.
42    fn set_protocol_version(&mut self, version: MavlinkVersion);
43    /// Gets the currently used MAVLink version
44    fn protocol_version(&self) -> MavlinkVersion;
45
46    /// Set wether MAVLink messages of either version may be received.
47    ///
48    /// If set to false only messages of the version configured with `set_protocol_version()` are received.
49    fn set_allow_recv_any_version(&mut self, allow: bool);
50    /// Wether messages of any MAVLink version may be received
51    fn allow_recv_any_version(&self) -> bool;
52
53    /// Write whole frame
54    async fn send_frame(
55        &self,
56        frame: &MavFrame<M>,
57    ) -> Result<usize, crate::error::MessageWriteError> {
58        self.send(&frame.header, &frame.msg).await
59    }
60
61    /// Read whole frame
62    async fn recv_frame(&self) -> Result<MavFrame<M>, crate::error::MessageReadError> {
63        let (header, msg) = self.recv().await?;
64        let protocol_version = self.protocol_version();
65        Ok(MavFrame {
66            header,
67            msg,
68            protocol_version,
69        })
70    }
71
72    /// Send a message with default header
73    async fn send_default(&self, data: &M) -> Result<usize, crate::error::MessageWriteError> {
74        let header = MavHeader::default();
75        self.send(&header, data).await
76    }
77
78    /// Setup secret key used for message signing, or disable message signing
79    #[cfg(feature = "signing")]
80    fn setup_signing(&mut self, signing_data: Option<SigningConfig>);
81}
82
83/// Connect asynchronously to a MAVLink node by address string.
84///
85/// The address must be in one of the following formats:
86///
87///  * `tcpin:<addr>:<port>` to create a TCP server, listening for an incoming connection
88///  * `tcpout:<addr>:<port>` to create a TCP client
89///  * `udpin:<addr>:<port>` to create a UDP server, listening for incoming packets
90///  * `udpout:<addr>:<port>` to create a UDP client
91///  * `udpbcast:<addr>:<port>` to create a UDP broadcast
92///  * `serial:<port>:<baudrate>` to create a serial connection
93///  * `file:<path>` to extract file data, writing to such a connection does nothing
94///
95/// The type of the connection is determined at runtime based on the address type, so the
96/// connection is returned as a trait object.
97///
98/// # Errors
99///
100/// - [`AddrNotAvailable`] if the address string could not be parsed as a valid MAVLink address
101/// - When the connection could not be established a corresponding [`io::Error`] is returned
102///
103/// [`AddrNotAvailable`]: io::ErrorKind::AddrNotAvailable
104pub async fn connect_async<M: Message + Sync + Send>(
105    address: &str,
106) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>> {
107    ConnectionAddress::parse_address(address)?
108        .connect_async::<M>()
109        .await
110}
111
112/// Returns the socket address for the given address.
113#[cfg(any(feature = "tcp", feature = "udp"))]
114pub(crate) fn get_socket_addr<T: std::net::ToSocketAddrs>(
115    address: T,
116) -> Result<std::net::SocketAddr, io::Error> {
117    let addr = match address.to_socket_addrs()?.next() {
118        Some(addr) => addr,
119        None => {
120            return Err(io::Error::other("Host address lookup failed"));
121        }
122    };
123    Ok(addr)
124}
125
126/// A MAVLink connection address that can be connected to, establishing an [`AsyncMavConnection`]
127///
128/// This is the `async` version of `Connectable`.
129#[async_trait]
130pub trait AsyncConnectable {
131    /// Attempt to establish an asynchronous MAVLink connection
132    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
133    where
134        M: Message + Sync + Send;
135}
136
137#[async_trait]
138impl AsyncConnectable for ConnectionAddress {
139    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
140    where
141        M: Message + Sync + Send,
142    {
143        match self {
144            #[cfg(feature = "tcp")]
145            Self::Tcp(connectable) => connectable.connect_async::<M>().await,
146            #[cfg(feature = "udp")]
147            Self::Udp(connectable) => connectable.connect_async::<M>().await,
148            #[cfg(feature = "direct-serial")]
149            Self::Serial(connectable) => connectable.connect_async::<M>().await,
150            Self::File(connectable) => connectable.connect_async::<M>().await,
151        }
152    }
153}
mavlink_core/async_connection/mod.rs

mavlink_core/async_connection/
mod.rs
