mavlink_core/connection/
mod.rs

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

mavlink_core/connection/
mod.rs
