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    fn set_protocol_version(&mut self, version: MavlinkVersion);
36    fn get_protocol_version(&self) -> MavlinkVersion;
37
38    /// Write whole frame
39    async fn send_frame(
40        &self,
41        frame: &MavFrame<M>,
42    ) -> Result<usize, crate::error::MessageWriteError> {
43        self.send(&frame.header, &frame.msg).await
44    }
45
46    /// Read whole frame
47    async fn recv_frame(&self) -> Result<MavFrame<M>, crate::error::MessageReadError> {
48        let (header, msg) = self.recv().await?;
49        let protocol_version = self.get_protocol_version();
50        Ok(MavFrame {
51            header,
52            msg,
53            protocol_version,
54        })
55    }
56
57    /// Send a message with default header
58    async fn send_default(&self, data: &M) -> Result<usize, crate::error::MessageWriteError> {
59        let header = MavHeader::default();
60        self.send(&header, data).await
61    }
62
63    /// Setup secret key used for message signing, or disable message signing
64    #[cfg(feature = "signing")]
65    fn setup_signing(&mut self, signing_data: Option<SigningConfig>);
66}
67
68/// Connect asynchronously to a MAVLink node by address string.
69///
70/// The address must be in one of the following formats:
71///
72///  * `tcpin:<addr>:<port>` to create a TCP server, listening for incoming connections
73///  * `tcpout:<addr>:<port>` to create a TCP client
74///  * `udpin:<addr>:<port>` to create a UDP server, listening for incoming packets
75///  * `udpout:<addr>:<port>` to create a UDP client
76///  * `udpbcast:<addr>:<port>` to create a UDP broadcast
77///  * `serial:<port>:<baudrate>` to create a serial connection
78///  * `file:<path>` to extract file data
79///
80/// The type of the connection is determined at runtime based on the address type, so the
81/// connection is returned as a trait object.
82pub async fn connect_async<M: Message + Sync + Send>(
83    address: &str,
84) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>> {
85    ConnectionAddress::parse_address(address)?
86        .connect_async::<M>()
87        .await
88}
89
90/// Returns the socket address for the given address.
91pub(crate) fn get_socket_addr<T: std::net::ToSocketAddrs>(
92    address: T,
93) -> Result<std::net::SocketAddr, io::Error> {
94    let addr = match address.to_socket_addrs()?.next() {
95        Some(addr) => addr,
96        None => {
97            return Err(io::Error::new(
98                io::ErrorKind::Other,
99                "Host address lookup failed",
100            ));
101        }
102    };
103    Ok(addr)
104}
105
106#[async_trait]
107pub trait AsyncConnectable {
108    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
109    where
110        M: Message + Sync + Send;
111}
112
113#[async_trait]
114impl AsyncConnectable for ConnectionAddress {
115    async fn connect_async<M>(&self) -> io::Result<Box<dyn AsyncMavConnection<M> + Sync + Send>>
116    where
117        M: Message + Sync + Send,
118    {
119        match self {
120            Self::Tcp(connectable) => connectable.connect_async::<M>().await,
121            Self::Udp(connectable) => connectable.connect_async::<M>().await,
122            Self::Serial(connectable) => connectable.connect_async::<M>().await,
123            Self::File(connectable) => connectable.connect_async::<M>().await,
124        }
125    }
126}
mavlink_core/async_connection/mod.rs

mavlink_core/async_connection/
mod.rs
