[−][src]Crate async_mavlink
Async adapter for the 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::*; smol::block_on(async { // 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 })
Structs
AsyncMavConn | A async adapter for a MAVLink connection |
MavMessageType | Representation of the type of a specific MavMessage |
Functions
to_char_arr | Create char array for mavlink's PARAM_VALUE_DATA struct |
to_string | Extract String from mavlink's PARAM_VALUE_DATA struct |