maviola 0.3.0

High-level MAVLink communication library with support for essential micro-services.
Documentation 
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

use std::marker::PhantomData;

use crate::core::io::{ConnectionDetails, ConnectionInfo};
use crate::core::marker::Unset;
use crate::core::utils::UniqueId;
use crate::sync::io::ConnectionBuilder;
use crate::sync::marker::ConnConf;

use crate::prelude::*;

impl Network<Versionless, Unset> {
    /// <sup>[`sync`](crate::sync)</sup>
    /// Creates a network builder with empty configuration.
    pub fn sync<V: MaybeVersioned>() -> Network<V, ConnConf<V>> {
        Network {
            info: ConnectionInfo::new(ConnectionDetails::Network),
            nodes: Default::default(),
            retry: Default::default(),
            stop_on_node_down: Default::default(),
            _version: PhantomData,
        }
    }
}

impl<V: MaybeVersioned> Network<V, ConnConf<V>> {
    /// <sup>[`sync`](crate::sync)</sup>
    /// Adds connection to a network.
    pub fn add_connection(
        mut self,
        conn_conf: impl ConnectionBuilder<V> + 'static,
    ) -> Network<V, ConnConf<V>> {
        let node = Node::sync::<V>().connection(conn_conf).conf();
        self.nodes.insert(UniqueId::new(), node);

        Network {
            nodes: self.nodes,
            ..self
        }
    }

    /// <sup>[`sync`](crate::sync)</sup>
    /// Adds a signed connection to a network.
    ///
    /// Signed connections will process incoming and outgoing frames according to corresponding
    /// signing strategies.
    pub fn add_signed_connection(
        mut self,
        conn_conf: impl ConnectionBuilder<V> + 'static,
        signer: FrameSigner,
    ) -> Network<V, ConnConf<V>> {
        let node = Node::sync::<V>()
            .connection(conn_conf)
            .signer(signer)
            .conf();
        self.nodes.insert(UniqueId::new(), node);

        Network {
            nodes: self.nodes,
            ..self
        }
    }
}

///////////////////////////////////////////////////////////////////////////////
//                                  Tests                                    //
///////////////////////////////////////////////////////////////////////////////

#[cfg(test)]
mod tests {
    use super::*;

    use std::thread;
    use std::time::Duration;

    use crate::core::consts::SERVER_HANG_UP_TIMEOUT;
    use crate::core::io::RetryStrategy;
    use crate::core::utils::net::pick_unused_port;
    use crate::protocol::dialects::minimal::messages::Heartbeat;

    use crate::sync::prelude::*;

    const RECONNECT_INTERVAL: Duration = SERVER_HANG_UP_TIMEOUT;
    // Should be at least twice as big, as `RECONNECT_INTERVAL` to make sure that tests will
    // run in parallel
    const WAIT_DURATION: Duration = Duration::from_millis(100);
    const RECV_TIMEOUT: Duration = WAIT_DURATION;

    fn wait() {
        thread::sleep(WAIT_DURATION);
    }

    #[test]
    fn basic_network_workflow() {
        let addr_1 = format!("127.0.0.1:{}", pick_unused_port().unwrap());
        let addr_2 = format!("127.0.0.1:{}", pick_unused_port().unwrap());

        let network = Network::sync()
            .add_node(Node::sync::<V2>().connection(TcpServer::new(addr_1.as_str()).unwrap()))
            .add_connection(TcpServer::new(addr_2.as_str()).unwrap());

        assert_eq!(network.nodes.len(), 2);

        let server = Node::sync::<V2>()
            .id(MavLinkId::new(1, 0))
            .connection(network)
            .build()
            .unwrap();
        wait();

        let client_1 = Node::sync::<V2>()
            .id(MavLinkId::new(1, 1))
            .connection(TcpClient::new(addr_1.as_str()).unwrap())
            .build()
            .unwrap();

        let client_2 = Node::sync::<V2>()
            .id(MavLinkId::new(1, 2))
            .connection(TcpClient::new(addr_2.as_str()).unwrap())
            .build()
            .unwrap();

        server.send(&Heartbeat::default()).unwrap();

        let (frame, _) = client_1.recv_frame_timeout(RECV_TIMEOUT).unwrap();
        assert_eq!(frame.system_id(), 1);
        assert_eq!(frame.component_id(), 0);

        let (frame, _) = client_2.recv_frame_timeout(RECV_TIMEOUT).unwrap();
        assert_eq!(frame.system_id(), 1);
        assert_eq!(frame.component_id(), 0);

        client_1.send(&Heartbeat::default()).unwrap();

        let (frame, _) = server.recv_frame_timeout(RECV_TIMEOUT).unwrap();
        assert_eq!(frame.system_id(), 1);
        assert_eq!(frame.component_id(), 1);
    }

    #[test]
    fn network_reconnect() {
        let addr = format!("127.0.0.1:{}", pick_unused_port().unwrap());

        let server_conf = Node::sync::<V2>()
            .id(MavLinkId::new(1, 0))
            .connection(TcpServer::new(addr.as_str()).unwrap())
            .conf();

        let server = Node::try_from_conf(server_conf.clone()).unwrap();
        wait();

        let network = Network::sync()
            .add_connection(TcpClient::new(addr.as_str()).unwrap())
            .retry(RetryStrategy::Always(RECONNECT_INTERVAL));
        let client = Node::sync::<V2>()
            .id(MavLinkId::new(1, 1))
            .connection(network)
            .build()
            .unwrap();
        wait();

        drop(server);
        wait();
        let server = Node::try_from_conf(server_conf.clone()).unwrap();

        // This frame will be lost
        client.send(&Heartbeat::default()).unwrap();
        wait();

        client.send(&Heartbeat::default()).unwrap();
        server.recv_frame_timeout(RECV_TIMEOUT).unwrap();
    }
}