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
//! # 🔒 Build extensions for synchronous MAVLink node
use std::marker::PhantomData;
use std::sync::Arc;
use crate::core::marker::{
Edge, HasComponentId, HasSystemId, MaybeComponentId, MaybeConnConf, MaybeSystemId, NodeKind,
Unset,
};
use crate::core::node::{Node, NodeBuilder, NodeConf};
use crate::core::utils::Guarded;
use crate::sync::io::ConnectionBuilder;
use crate::sync::marker::ConnConf;
use crate::sync::node::{EdgeNode, ProxyNode, SyncApi};
use crate::prelude::*;
impl NodeBuilder<Unset, Unset, Versionless, Unset, Unset> {
/// <sup>[`sync`](crate::sync)</sup>
/// Create node builder in synchronous mode.
pub fn synchronous() -> NodeBuilder<Unset, Unset, Versionless, Unset, SyncApi<Versionless>> {
NodeBuilder::default().sync()
}
}
impl<S: MaybeSystemId, C: MaybeComponentId, V: MaybeVersioned> NodeBuilder<S, C, V, Unset, Unset> {
/// <sup>[`sync`](crate::sync)</sup>
/// Turn node builder into synchronous mode.
pub fn sync(self) -> NodeBuilder<S, C, V, Unset, SyncApi<V>> {
NodeBuilder {
system_id: self.system_id,
component_id: self.component_id,
conn_conf: self.conn_conf,
heartbeat_timeout: self.heartbeat_timeout,
heartbeat_interval: self.heartbeat_interval,
dialects: self.dialects,
signer: self.signer,
compat: self.compat,
processors: self.processors,
_version: self._version,
_api: PhantomData,
}
}
}
impl<S: MaybeSystemId, C: MaybeComponentId, V: MaybeVersioned, CC: MaybeConnConf>
NodeBuilder<S, C, V, CC, SyncApi<V>>
{
/// <sup>[`sync`](crate::sync)</sup>
/// Set [`NodeConf::version`].
///
/// This method is available only when API is set to sync mode via [`NodeBuilder::sync`] or
/// builder was created as [`NodeBuilder::synchronous`].
pub fn version<Version: MaybeVersioned>(
self,
) -> NodeBuilder<S, C, Version, CC, SyncApi<Version>> {
NodeBuilder {
system_id: self.system_id,
component_id: self.component_id,
conn_conf: self.conn_conf,
heartbeat_timeout: self.heartbeat_timeout,
heartbeat_interval: self.heartbeat_interval,
dialects: self.dialects,
signer: self.signer,
compat: self.compat,
processors: self.processors,
_version: PhantomData,
_api: PhantomData,
}
}
}
impl<S: MaybeSystemId, C: MaybeComponentId, V: MaybeVersioned>
NodeBuilder<S, C, V, Unset, SyncApi<V>>
{
/// <sup>[`sync`](crate::sync)</sup>
/// Set synchronous [`NodeConf::connection`].
pub fn connection(
self,
conn_conf: impl ConnectionBuilder<V> + 'static,
) -> NodeBuilder<S, C, V, ConnConf<V>, SyncApi<V>> {
NodeBuilder {
system_id: self.system_id,
component_id: self.component_id,
conn_conf: ConnConf::new(conn_conf),
heartbeat_timeout: self.heartbeat_timeout,
heartbeat_interval: self.heartbeat_interval,
dialects: self.dialects,
signer: self.signer,
compat: self.compat,
processors: self.processors,
_version: self._version,
_api: self._api,
}
}
}
impl<K: NodeKind, V: MaybeVersioned> NodeConf<K, V, ConnConf<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Synchronous connection configuration.
pub fn connection(&self) -> &dyn ConnectionBuilder<V> {
self.connection_conf.connection()
}
}
impl<K: NodeKind, V: MaybeVersioned> NodeConf<K, V, ConnConf<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Creates a [`Node`] initialised with current configuration.
pub fn build(self) -> Result<Node<K, V, SyncApi<V>>> {
Node::try_from_conf(self)
}
}
impl<V: MaybeVersioned> NodeBuilder<Unset, Unset, V, ConnConf<V>, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Creates a [`ProxyNode`] with synchronous API.
pub fn build(self) -> Result<ProxyNode<V>> {
Node::try_from_conf(self.conf())
}
}
impl<V: MaybeVersioned> NodeBuilder<HasSystemId, HasComponentId, V, ConnConf<V>, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Creates an [`EdgeNode`] with synchronous API.
pub fn build(self) -> Result<EdgeNode<V>> {
Node::try_from_conf(self.conf())
}
}
impl<V: MaybeVersioned> NodeBuilder<HasSystemId, HasComponentId, V, Unset, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Creates a synchronous [`EdgeNode`] from an existing [`ProxyNode`] reusing its connection.
///
/// The new "dependant" edge nodes can be created only from a [`ProxyNode`] which means that
/// it is impossible to create nodes of nodes and so on. The common use case is when one need
/// several nodes per connection representing different MAVLink components.
///
/// The new edge node will inherit known dialects and frame processing settings from a "parent"
/// node. If [`signer`] and [`compat`] are not set explicitly, then they will be inherited as
/// well. All [custom processors](crate::docs::c3__custom_processing) from the "parent" node
/// will be added to the new one.
///
/// **âš ** The [`heartbeat_timeout`] setting of a "parent" [`ProxyNode`] node will be ignored!
///
/// # Examples
///
/// ```rust,no_run
/// use maviola::prelude::*;
/// use maviola::sync::prelude::*;
///
/// let proxy_node = Node::sync::<V2>()
/// .connection(TcpServer::new("127.0.0.1:5600").unwrap())
/// .build().unwrap();
///
/// // As you can see, Rust may infer a proper
/// // MAVLink version for us
/// let mut edge_node = Node::sync()
/// .id(MavLinkId::new(1, 17))
/// /* other node settings that do not include connection */
/// .build_from(&proxy_node);
///
/// // Activate the edge node to send heartbeats
/// edge_node.activate().unwrap();
/// ```
///
/// Yet, it is not possible to build a dependent node when connection is already set:
///
/// ```rust,compile_fail
/// # use maviola::prelude::*;
/// # use maviola::sync::prelude::*;
/// #
/// let proxy_node = Node::sync::<V2>()
/// .connection(TcpServer::new("127.0.0.1:5600").unwrap())
/// .build().unwrap();
///
/// let mut edge_node = Node::sync()
/// .id(MavLinkId::new(1, 17))
/// .connection(TcpClient::new("127.0.0.1:5600").unwrap())
/// /* compilation error */
/// .build_from(&proxy_node);
/// ```
///
/// [`signer`]: Self::signer
/// [`compat`]: Self::compat
/// [`heartbeat_timeout`]: Self::heartbeat_timeout
pub fn build_from(self, node: &ProxyNode<V>) -> EdgeNode<V> {
let processor = Arc::new(self.reuse_processor(node.processor.as_ref()));
let connection = node.api.connection().reuse();
Node {
kind: Edge::new(Endpoint::new(MavLinkId::new(
self.system_id.0,
self.component_id.0,
))),
api: SyncApi::new(connection, processor.clone()),
state: Default::default(),
is_active: Guarded::from(node.api.share_state()),
heartbeat_timeout: self.heartbeat_timeout,
heartbeat_interval: self.heartbeat_interval,
processor: processor.clone(),
_version: node._version,
}
}
}