1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412
//! Async adapter for the [mavlink](https://docs.rs/mavlink/) crate //! //! The mavlink crate offers a low level API for MAVLink connections. This crate adds a thin //! async API on top of that. The most important feature is a subscribe based communication model. //! It allows the user to subscribe to a certain type of message. All subsequent messages of that //! type then can be received in a async stream. In order for this to function, it is necessary to //! execute the event loop of the connector as a task. This crate aims to be executor independent, //! e.g. it should work with all async executors. //! //! This so far is only a proof of concept. While it might serve your usecase well, expect things //! to break. Contributions and suggestions are wellcome! //! //! # Example: Pulling all Parameters from a Vehicle //! //! In this example the subscribe method is utilized to collect all parameters of the vehicle. //! //! ``` //! use std::collections::HashMap; //! use async_mavlink::{AsyncMavConn, MavMessageType, to_string}; //! use mavlink::common::*; //! use smol::prelude::*; //! //! # fn main()->std::io::Result<()>{ //! smol::block_on(async { //! # smol::spawn(async { //! # let mut conn = mavlink::connect("udpout:127.0.0.1:14551").unwrap(); //! # conn.set_protocol_version(mavlink::MavlinkVersion::V1); //! # loop { //! # let mut value = PARAM_VALUE_DATA::default(); //! # value.param_id = async_mavlink::to_char_arr("param_1"); //! # value.param_value = 13.0; //! # value.param_count = 1; //! # conn.send_default(&MavMessage::PARAM_VALUE(value)); //! # smol::Timer::after(std::time::Duration::from_millis(10)).await; //! # } //! # }).detach(); //! // connect //! let (conn, future) = AsyncMavConn::new("udpin:127.0.0.1:14551")?; //! //! // start event loop //! smol::spawn(async move { future.await }).detach(); //! //! // we want to subscribe to PARAM_VALUE messages //! let msg_type = MavMessageType::new(&MavMessage::PARAM_VALUE(Default::default())); //! //! // subscribe to PARAM_VALUE message //! let mut stream = conn.subscribe(msg_type).await; //! //! // and send one PARAM_REQUEST_LIST message //! let msg_request = MavMessage::PARAM_REQUEST_LIST(Default::default()); //! conn.send_default(&msg_request).await?; //! let mut parameters = HashMap::new(); //! //! // receive all parameters and store them in a HashMap //! while let Some(MavMessage::PARAM_VALUE(data)) = (stream.next()).await { //! parameters.insert(to_string(&data.param_id), data.param_value); //! if data.param_count as usize == parameters.len(){ //! break; //! } //! } //! //! // do something with parameters //! # Ok(()) //! }) //! # } //! ``` #![deny(missing_docs)] #![deny(unsafe_code)] use std::collections::HashMap; use std::io; use std::pin::Pin; use std::sync::Arc; use std::time::Instant; use arc_swap::ArcSwapOption; use blocking::Unblock; use futures::{ channel::mpsc::{self as channel, UnboundedSender}, future::Either, prelude::*, StreamExt, }; use mavlink::{MavHeader, Message}; mod types; mod util; pub use types::MavMessageType; pub use util::*; /// A async adapter for a MAVLink connection /// /// Offers high level functionality to interact with a MAVLink vehicle in an async fashion. pub struct AsyncMavConn<M: mavlink::Message> { tx: UnboundedSender<Operation<M>>, last_heartbeat: ArcSwapOption<Instant>, } enum Operation<M: mavlink::Message> { Emit { header: MavHeader, message: M, }, Subscribe { message_type: MavMessageType<M>, backchannel: UnboundedSender<M>, }, } // TODO make this failable if no heartbeat is received impl<M: 'static + mavlink::Message + Clone + Send + Sync> AsyncMavConn<M> { /// Construct a new MavlinkConnectionHandler /// /// # Arguments /// /// * `address` - MAVLink connection `&str`. Equivalent to the `address` argument in /// [mavlink::connect](https://docs.rs/mavlink/*/mavlink/fn.connect.html) /// /// # Examples /// /// ``` /// use async_mavlink::AsyncMavConn; /// use mavlink::common::MavMessage; /// use smol::prelude::*; /// /// # fn main() -> std::io::Result<()> { /// smol::block_on(async { /// let (conn, future) = AsyncMavConn::new("udpbcast:127.0.0.2:14551")?; /// smol::spawn(async move { future.await }).detach(); /// // ... /// # conn.send_default(&MavMessage::HEARTBEAT(Default::default())).await?; /// # Ok(()) /// }) /// # } /// ``` pub fn new(address: &str) -> io::Result<(Self, impl Future<Output = impl Send> + Send)> { let mut conn = mavlink::connect::<M>(address)?; conn.set_protocol_version(mavlink::MavlinkVersion::V1); let (tx, rx) = channel::unbounded(); let last_heartbeat = ArcSwapOption::from(None); // the ectual event loop let f = { let last_heartbeat = last_heartbeat.clone(); async move { let mut map: HashMap<_, Vec<UnboundedSender<M>>> = HashMap::new(); let conn = Arc::new(conn); let messages_iter = std::iter::repeat_with({ let conn = conn.clone(); move || conn.recv() }); let messages = Unblock::new(messages_iter).map(Either::Right); let operations = rx.map(Either::Left); let mut combined = stream::select(operations, messages); let heartbeat_id = mavlink::common::MavMessage::HEARTBEAT(Default::default()).message_id(); loop { match combined.next().await.unwrap() { Either::Left(Operation::Subscribe { message_type, backchannel, }) => { let subs = map .entry(message_type) .or_insert_with(|| Vec::with_capacity(1)); subs.push(backchannel); } Either::Left(Operation::Emit { header, message }) => { conn.send(&header, &message).expect("Oh no!"); } Either::Right(Ok((_header, msg))) => { if msg.message_id() == heartbeat_id { last_heartbeat.rcu(|_| Some(Arc::new(Instant::now()))); } map.entry(MavMessageType::new(&msg)) .or_insert(Vec::new()) .retain(|mut backchannel| match backchannel.is_closed() { true => false, false => { futures::executor::block_on(backchannel.send(msg.clone())) .expect("unable to do this"); true } }); } _ => {} } } } }; Ok((Self { tx, last_heartbeat }, Box::pin(f))) } /// Subscribe to all new MavMessages of the given MavMessageType /// /// This returns a never-ending Stream of MavMessages. /// /// # Arguments /// /// * `message_type` - `MavMessageType` of the desired messages /// /// # Examples /// /// ``` /// # use std::time::Duration; /// # use futures::prelude::*; /// use async_mavlink::{AsyncMavConn, MavMessageType}; /// use mavlink::common::MavMessage; /// /// # fn main() -> std::io::Result<()> { /// # smol::block_on(async { /// # let (conn, future) = AsyncMavConn::new("udpin:127.0.0.3:14551")?; /// # smol::spawn(async move { future.await; }).detach(); /// # smol::spawn(async { /// # let mut conn = mavlink::connect("udpout:127.0.0.3:14551").unwrap(); /// # conn.set_protocol_version(mavlink::MavlinkVersion::V1); /// # loop { /// # conn.send_default(&MavMessage::PARAM_VALUE(Default::default())); /// # smol::Timer::after(Duration::from_millis(10)).await; /// # } /// # }).detach(); /// let message_type = MavMessageType::new(&MavMessage::PARAM_VALUE(Default::default())); /// let mut stream = conn.subscribe(message_type).await; /// while let Some(MavMessage::PARAM_VALUE(data)) = (stream.next()).await { /// // do something with `data` /// # break; /// } /// # Ok(()) })} /// ``` pub async fn subscribe( &self, message_type: MavMessageType<M>, ) -> Pin<Box<dyn Stream<Item = M>>> { let (backchannel, rx) = channel::unbounded(); self.tx .clone() .send(Operation::Subscribe { message_type, backchannel, }) .await .unwrap(); // infailable Box::pin(rx) } /// Awaits the next MavMessage of the given MavMessageType /// /// # Arguments /// /// * `message_type` - `MavMessageType` of the desired messages /// /// # Examples /// /// ``` /// # use std::time::Duration; /// # use futures::prelude::*; /// use async_mavlink::{AsyncMavConn, MavMessageType}; /// use mavlink::common::MavMessage; /// /// # fn main() -> std::io::Result<()> { /// # smol::block_on(async { /// # let (conn, future) = AsyncMavConn::new("udpin:127.0.0.4:14551")?; /// # smol::spawn(async move { future.await; }).detach(); /// # smol::spawn(async { /// # let mut conn = mavlink::connect("udpout:127.0.0.4:14551").unwrap(); /// # conn.set_protocol_version(mavlink::MavlinkVersion::V1); /// # loop { /// # let mut header = mavlink::MavHeader::default(); /// # header.system_id = 0; /// # conn.send(&header, &MavMessage::PARAM_VALUE(Default::default())); /// # smol::Timer::after(Duration::from_millis(10)).await; /// # } /// # }).detach(); /// let message_type = MavMessageType::new(&MavMessage::PARAM_VALUE(Default::default())); /// /// if let MavMessage::PARAM_VALUE(data) = conn.request(message_type).await { /// // do something with `data` /// } /// # Ok(()) })} /// ``` pub async fn request(&self, message_type: MavMessageType<M>) -> M { let (backchannel, mut rx) = channel::unbounded(); self.tx .clone() .send(Operation::Subscribe { message_type, backchannel, }) .await .unwrap(); //this may never fail rx.next().map(|m| m.expect("Oh no!")).await } /// Send a `MavMessage` to the vehicle /// /// # Arguments /// /// * `message` - `MavMessage` to send /// /// # Examples /// /// ``` /// # use std::time::Duration; /// # use futures::prelude::*; /// # use async_mavlink::AsyncMavConn; /// use async_mavlink::MavMessageType; /// use mavlink::{MavHeader, common::*}; /// /// # fn main() -> std::io::Result<()> { /// # smol::block_on(async { /// # let (conn, future) = AsyncMavConn::new("udpbcast:127.0.0.5:14551")?; /// let header = MavHeader::default(); /// let message = MavMessage::PARAM_REQUEST_LIST(PARAM_REQUEST_LIST_DATA { /// target_component: 0, /// target_system: 0, /// }); /// /// conn.send(&header, &message).await?; /// # Ok(()) /// # })} /// ``` pub async fn send(&self, header: &MavHeader, message: &M) -> io::Result<()> { self.tx .clone() // TODO get rid of clone .send(Operation::Emit { header: *header, message: message.clone(), }) .await .map_err(|e| io::Error::new(io::ErrorKind::BrokenPipe, e)) } /// Send a `MavMessage` to the vehicle /// /// # Arguments /// /// * `message` - `MavMessage` to send /// /// # Examples /// /// ``` /// # use async_mavlink::AsyncMavConn; /// use mavlink::common::*; /// /// # fn main() -> std::io::Result<()> { /// # smol::block_on(async { /// # let (conn, future) = AsyncMavConn::new("udpbcast:127.0.0.6:14551")?; /// let message = MavMessage::PARAM_REQUEST_LIST(PARAM_REQUEST_LIST_DATA { /// target_component: 0, /// target_system: 0, /// }); /// /// conn.send_default(&message).await?; /// # Ok(()) /// # })} /// ``` pub async fn send_default(&self, message: &M) -> io::Result<()> { Ok(self.send(&MavHeader::default(), message).await?) } /// Returns the `Instant` from the last received HEARTBEAT pub async fn last_heartbeat(&self) -> Option<Instant> { self.last_heartbeat.load_full().map(|arc| *arc) } } #[cfg(test)] mod test { use super::*; use mavlink::common::MavMessage; use std::time::Duration; #[test] fn test_subscribe() -> std::io::Result<()> { smol::block_on(async { let (conn, future) = AsyncMavConn::new("udpin:127.0.0.7:14551")?; smol::spawn(async move { future.await }).detach(); smol::spawn(async move { let mut conn = mavlink::connect("udpout:127.0.0.7:14551").unwrap(); conn.set_protocol_version(mavlink::MavlinkVersion::V1); loop { conn.send_default(&MavMessage::HEARTBEAT(Default::default())) .unwrap(); smol::Timer::after(Duration::from_millis(10)).await; } }) .detach(); let message_type = MavMessageType::new(&MavMessage::HEARTBEAT(Default::default())); let mut stream = conn.subscribe(message_type).await; let mut i = 0; while let Some(MavMessage::HEARTBEAT(_data)) = (stream.next()).await { i += 1; if i > 5 { break; } } Ok(()) }) } }