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//! # 🔒 Synchronous I/O extensions for node
use std::marker::PhantomData;
use std::sync::Arc;
use std::time::Duration;
use crate::core::marker::{Edge, NodeKind, Proxy};
use crate::core::node::{NodeBuilder, NodeConf};
use crate::core::utils::Guarded;
use crate::error::{NodeError, RecvResult, RecvTimeoutResult, TryRecvResult};
use crate::protocol::{Peer, Unset};
use crate::sync::marker::ConnConf;
use crate::prelude::*;
use crate::sync::prelude::*;
impl Node<Proxy, Versionless, Unset> {
/// <sup>[`sync`](crate::sync)</sup>
/// Instantiate an empty [`NodeBuilder`] with specified MAVLink protocol version in asynchronous
/// mode.
///
/// The version either should be specified using [turbofish](https://turbo.fish/about) syntax
/// or can be derived by Rust compiler.
pub fn sync<V: MaybeVersioned>() -> NodeBuilder<Unset, Unset, V, Unset, SyncApi<V>> {
NodeBuilder::synchronous().version::<V>()
}
}
impl<K: NodeKind, V: MaybeVersioned> Node<K, V, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Instantiates node from synchronous configuration.
///
/// Creates an instance of [`Node`] from [`NodeConf`].
pub fn try_from_conf(conf: NodeConf<K, V, ConnConf<V>>) -> Result<Self> {
let (conn, conn_handler) = conf.connection().build()?;
let processor = Arc::new(conf.make_processor());
let api = SyncApi::new(conn, processor.clone());
let state = api.share_state();
let is_active = Guarded::from(&state);
let node = Self {
kind: conf.kind,
api,
state,
is_active,
heartbeat_timeout: conf.heartbeat_timeout,
heartbeat_interval: conf.heartbeat_interval,
processor,
_version: PhantomData,
};
node.api.start_default_handlers(node.heartbeat_timeout);
node.api.handle_conn_stop(conn_handler);
Ok(node)
}
/// <sup>[`sync`](crate::sync)</sup>
/// Returns `true` if node has connected MAVLink peers.
///
/// Disconnected node will always return `false`.
pub fn has_peers(&self) -> bool {
self.api.has_peers()
}
/// <sup>[`sync`](crate::sync)</sup>
/// Returns an iterator over current peers.
///
/// This method will return a snapshot of the current peers relevant to the time when it was
/// called. A more reliable approach to peer management is to use [`Node::events`] and track
/// [`Event::NewPeer`] / [`Event::PeerLost`] events.
pub fn peers(&self) -> impl Iterator<Item = Peer> {
self.api.peers()
}
/// <sup>[`sync`](crate::sync)</sup>
/// Returns a reference to an event receiver.
///
/// This receiver can be cloned and passed to other threads.
///
/// **âš ** In order to have access to [`EventReceiver`] methods, you have to import
/// [`ReceiveEvent`] and [`ReceiveFrame`] traits. You may import [`sync::prelude`] as well.
///
/// [`sync::prelude`]: crate::sync::prelude
#[inline(always)]
pub fn receiver(&self) -> &EventReceiver<V> {
self.api.event_receiver()
}
#[inline(always)]
pub(in crate::sync) fn frame_sender(&self) -> &FrameSender<V, Proxy> {
self.api.frame_sender()
}
}
impl<V: MaybeVersioned> Node<Proxy, V, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Returns a new instance of a frame sender.
///
/// Senders can be cloned and passed to other threads.
///
/// Senders returned by [`Proxy`] nodes (i.e. [`ProxyNode`]) can't create frames from MAVLink
/// messages. This is only possible for [`Edge`] nodes ([`EdgeNode`]) with specified system and
/// component `ID`s.
pub fn sender(&self) -> FrameSender<V, Proxy> {
self.api.frame_sender().clone()
}
}
impl<V: MaybeVersioned> Node<Edge<V>, V, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Returns a new instance of a frame sender that will use the same endpoint settings as the
/// parent node.
///
/// Senders can be cloned and passed to other threads.
pub fn sender(&self) -> FrameSender<V, Edge<V>> {
self.api.frame_sender().clone().into_edge(self.kind.clone())
}
}
impl<V: Versioned> Node<Edge<V>, V, SyncApi<V>> {
/// <sup>[`sync`](crate::sync)</sup>
/// Activates the node.
///
/// Active nodes emit heartbeats and perform other operations which do not depend on user
/// initiative directly.
///
/// This method is available only for nodes which are [`Edge`] and [`Versioned`].
///
/// [`Node::activate`] is idempotent while node is connected. Otherwise, it will return
/// [`NodeError::Inactive`] variant of [`Error::Node`].
pub fn activate(&mut self) -> Result<()> {
if self.state.is_closed() {
return Err(Error::Node(NodeError::Inactive));
}
if self.is_active.is() {
return Ok(());
}
self.is_active.set(true);
self.api.start_sending_heartbeats(
self.kind.endpoint.clone(),
self.heartbeat_interval,
self.is_active.clone(),
self.dialect().version(),
);
Ok(())
}
}
impl<K: NodeKind, V: MaybeVersioned> ReceiveEvent<V> for Node<K, V, SyncApi<V>> {
#[inline(always)]
fn recv(&self) -> RecvResult<Event<V>> {
self.receiver().recv()
}
#[inline(always)]
fn recv_timeout(&self, timeout: Duration) -> RecvTimeoutResult<Event<V>> {
self.receiver().recv_timeout(timeout)
}
#[inline(always)]
fn try_recv(&self) -> TryRecvResult<Event<V>> {
self.receiver().try_recv()
}
#[inline(always)]
fn events(&self) -> impl Iterator<Item = Event<V>> {
self.receiver().events()
}
}
impl<K: NodeKind, V: MaybeVersioned> ReceiveFrame<V> for Node<K, V, SyncApi<V>> {}