mavlink_core/connection/
mod.rs

1use crate::{
2    connectable::ConnectionAddress, MAVLinkMessageRaw, MavFrame, MavHeader, MavlinkVersion, Message,
3};
4
5use core::fmt::Display;
6use std::io::{self};
7
8#[cfg(feature = "tcp")]
9pub mod tcp;
10
11#[cfg(feature = "udp")]
12pub mod udp;
13
14#[cfg(feature = "direct-serial")]
15pub mod direct_serial;
16
17#[cfg(feature = "signing")]
18use crate::SigningConfig;
19
20pub mod file;
21
22/// A MAVLink connection
23pub trait MavConnection<M: Message> {
24    /// Receive a MAVLink message.
25    ///
26    /// Blocks until a valid frame is received, ignoring invalid messages.
27    fn recv(&self) -> Result<(MavHeader, M), crate::error::MessageReadError>;
28
29    /// Receive a raw, unparsed MAVLink message.
30    ///
31    /// Blocks until a valid frame is received, ignoring invalid messages.
32    fn recv_raw(&self) -> Result<MAVLinkMessageRaw, crate::error::MessageReadError>;
33
34    /// Try to receive a MAVLink message.
35    ///
36    /// Non-blocking variant of `recv()`, returns immediately with a `MessageReadError`
37    /// if there is an error or no message is available.
38    fn try_recv(&self) -> Result<(MavHeader, M), crate::error::MessageReadError>;
39
40    /// Send a MAVLink message
41    fn send(&self, header: &MavHeader, data: &M) -> Result<usize, crate::error::MessageWriteError>;
42
43    /// Sets the MAVLink version to use for receiving (when `allow_recv_any_version()` is `false`) and sending messages.
44    fn set_protocol_version(&mut self, version: MavlinkVersion);
45    /// Gets the currently used MAVLink version
46    fn protocol_version(&self) -> MavlinkVersion;
47
48    /// Set wether MAVLink messages of either version may be received.
49    ///
50    /// If set to false only messages of the version configured with `set_protocol_version()` are received.
51    fn set_allow_recv_any_version(&mut self, allow: bool);
52    /// Wether messages of any MAVLink version may be received
53    fn allow_recv_any_version(&self) -> bool;
54
55    /// Write whole frame
56    fn send_frame(&self, frame: &MavFrame<M>) -> Result<usize, crate::error::MessageWriteError> {
57        self.send(&frame.header, &frame.msg)
58    }
59
60    /// Read whole frame
61    fn recv_frame(&self) -> Result<MavFrame<M>, crate::error::MessageReadError> {
62        let (header, msg) = self.recv()?;
63        let protocol_version = self.protocol_version();
64        Ok(MavFrame {
65            header,
66            msg,
67            protocol_version,
68        })
69    }
70
71    /// Send a message with default header
72    fn send_default(&self, data: &M) -> Result<usize, crate::error::MessageWriteError> {
73        let header = MavHeader::default();
74        self.send(&header, data)
75    }
76
77    /// Setup secret key used for message signing, or disable message signing
78    #[cfg(feature = "signing")]
79    fn setup_signing(&mut self, signing_data: Option<SigningConfig>);
80}
81
82/// Connect to a MAVLink node by address string.
83///
84/// The address must be in one of the following formats:
85///
86///  * `tcpin:<addr>:<port>` to create a TCP server, listening an incoming connection
87///  * `tcpout:<addr>:<port>` to create a TCP client
88///  * `udpin:<addr>:<port>` to create a UDP server, listening for incoming packets
89///  * `udpout:<addr>:<port>` to create a UDP client
90///  * `udpbcast:<addr>:<port>` to create a UDP broadcast
91///  * `serial:<port>:<baudrate>` to create a serial connection
92///  * `file:<path>` to extract file data, writing to such a connection does nothing
93///
94/// The type of the connection is determined at runtime based on the address type, so the
95/// connection is returned as a trait object.
96pub fn connect<M: Message + Sync + Send>(
97    address: &str,
98) -> io::Result<Box<dyn MavConnection<M> + Sync + Send>> {
99    ConnectionAddress::parse_address(address)?.connect::<M>()
100}
101
102/// Returns the socket address for the given address.
103#[cfg(any(feature = "tcp", feature = "udp"))]
104pub(crate) fn get_socket_addr<T: std::net::ToSocketAddrs>(
105    address: &T,
106) -> Result<std::net::SocketAddr, io::Error> {
107    address.to_socket_addrs()?.next().ok_or(io::Error::new(
108        io::ErrorKind::Other,
109        "Host address lookup failed",
110    ))
111}
112
113/// A MAVLink connection address that can be connected to, establishing a [`MavConnection`]
114pub trait Connectable: Display {
115    /// Attempt to establish a blocking MAVLink connection
116    fn connect<M: Message>(&self) -> io::Result<Box<dyn MavConnection<M> + Sync + Send>>;
117}
118
119impl Connectable for ConnectionAddress {
120    fn connect<M>(&self) -> std::io::Result<Box<dyn crate::MavConnection<M> + Sync + Send>>
121    where
122        M: Message,
123    {
124        match self {
125            #[cfg(feature = "tcp")]
126            Self::Tcp(config) => config.connect::<M>(),
127            #[cfg(feature = "udp")]
128            Self::Udp(config) => config.connect::<M>(),
129            #[cfg(feature = "direct-serial")]
130            Self::Serial(config) => config.connect::<M>(),
131            Self::File(config) => config.connect::<M>(),
132        }
133    }
134}
mavlink_core/connection/mod.rs

mavlink_core/connection/
mod.rs
