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
//! # MAVLink dialects for [MAVSpec](https://crates.io/crates/mavspec)
//!
//! <span style="font-size:24px">[🇺🇦](https://mavka.gitlab.io/home/a_note_on_the_war_in_ukraine/)</span>
//! [](https://gitlab.com/mavka/libs/mavspec)
//! [](https://crates.io/crates/mavlink-dialects)
//! [](https://docs.rs/mavlink-dialects/latest/mavlink-dialects/)
//! [](https://gitlab.com/mavka/libs/mavspec/-/issues/)
//!
//! [MAVLink](https://mavlink.io/en/) messages bindings based on [MAVInspect](https://crates.io/crates/mavinspect).
//!
//! This library is a part of [MAVSpec](https://crates.io/crates/mavspec) code-generation
//! toolchain and is intended to use alongside with it. However, nothing prevents you from using
//! this crate independently.
//!
//! Since [MAVSpec](https://crates.io/crates/mavspec) is I/O agnostic, it and does not provide any
//! abstractions for transferring MAVLink messages. If you want to communicate with MAVLink devices,
//! use [Mavio](https://crates.io/crates/mavio) for embedded devices and simple tasks or
//! [Maviola](https://crates.io/crates/maviola) for advanced I/O in `std` environments (for ground
//! control stations, communication layers, and so on).
//!
//! # Usage
//!
//! ```rust
//! # #[cfg(not(feature = "dlct-minimal"))]
//! # fn main() {}
//! # #[cfg(feature = "dlct-minimal")]
//! # fn main() {
//! use dialect::enums::{MavAutopilot, MavModeFlag, MavState};
//! use dialect::messages::Heartbeat;
//! use dialect::Minimal as DialectMessage;
//! use mavlink_dialects::dialects::minimal as dialect;
//! use mavlink_dialects::spec::*;
//!
//! let message = Heartbeat {
//! autopilot: MavAutopilot::Armazila,
//! base_mode: MavModeFlag::HIL_ENABLED,
//! system_status: MavState::Active,
//! ..Default::default()
//! };
//!
//! // Check that this message indeed supports `MAVLink 1`.
//! assert_eq!(message.min_supported_mavlink_version(), MavLinkVersion::V1);
//!
//! // Encode to MAVLink payload.
//! let payload = message.encode(MavLinkVersion::V2).unwrap();
//! assert_eq!(payload.version(), MavLinkVersion::V2);
//! assert_eq!(payload.id(), message.id());
//!
//! // Decode from MAVLink payload, now without .
//! let dialect_message = DialectMessage::decode(&payload).unwrap();
//! match dialect_message {
//! DialectMessage::Heartbeat(msg) => {
//! assert_eq!(msg.id(), Heartbeat::ID);
//! }
//! _ => panic!("Unexpected dialect message: {:?}", dialect_message),
//! }
//! # }
//! ```
//!
//! # Features
//!
//! This library provides MAVLink abstractions to work with MAVLink messages and dialects.
//!
//! It also provides a set of additional tools to work with MAVLink
//! [microservices](https://mavlink.io/en/services/). Basic microservices support involves
//! generation of sub-dialects which include only required entities. For some microservices, like
//! mission, additional utilities are provided.
//!
//! ## Dialects
//!
//! Standard MAVLink dialect can be bundled with MAVSpec. This can be enabled by the corresponding
//! `dlct-<name>` feature flags.
//!
//! * [`minimal`]((https://mavlink.io/en/messages/minimal.html)) — minimal dialect required to
//! expose your presence to other MAVLink devices.
//! * [`standard`](https://mavlink.io/en/messages/standard.html) — a superset of `minimal` dialect,
//! that expected to be used by almost all flight stack.
//! * [`common`](https://mavlink.io/en/messages/common.html) — minimum viable dialect with most of
//! the features, a building block for other future-rich dialects.
//! * [`ardupilotmega`](https://mavlink.io/en/messages/common.html) — feature-full dialect used by
//! [ArduPilot](http://ardupilot.org). In most cases this dialect is the go-to choice if you want
//! to recognize almost all MAVLink messages used by existing flight stacks.
//! * [`all`](https://mavlink.io/en/messages/all.html) — meta-dialect which includes all other
//! standard dialects including those which were created for testing purposes. It is guaranteed
//! that namespaces of the dialects in `all` family do not collide.
//! * Other dialects from MAVLink XML [definitions](https://github.com/mavlink/mavlink/tree/master/message_definitions/v1.0):
//! `asluav`, `avssuas`, `csairlink`, `cubepilot`, `development`, `icarous`, `matrixpilot`,
//! `paparazzi`, `ualberta`, `uavionix`. These do not include `python_array_test` and `test`
//! dialects which should be either generated manually or as a part of `all` meta-dialect.
//!
//! ### Default Dialect
//!
//! When standard MAVLink dialects are used and at least `dlct-minimal` Cargo feature is enabled,
//! this library exposes [`default_dialect`] and [`DefaultDialect`] entities that allow to access
//! the most feature-rich enabled MAVLink dialect.
//!
//! ## Microservices
//!
//! MAVSpec allows to generate additional structures tailored for MAVLink
//! [microservices](https://mavlink.io/en/services/). Each microservice is a subdialect with only
//! those messages and enums which are necessary. To generate microservice subdialects use `msrv-*`
//! feature flags.
//!
//! At the moment, microservices are only generated for the [`default_dialect`] and, if enabled,
//! are available at [`default_dialect::microservices`] and as `microservices` module of the
//! corresponding default dialect.
//!
//! <section class="warning">
//! We do not recommend to enable microservices for libraries that perform generic MAVLink
//! operations as, if not used properly, this may increase compilation time and binary size.
//! </section>
//!
//! ## Fingerprints
//!
//! MAVSpec may skip code re-generation if dialects haven't changed. It uses 64-bit CRC fingerprint to monitor
//! changes. Set `fingerprints` feature flag to enable this behavior.
//!
//! This feature is useful for reducing build time during development and CI runs. Make sure that your releases are
//! clean and do not depend on fingerprints.
//!
//! # Caveats
//!
//! The API is straightforward and generally stable, however, incorrect use of certain features
//! may lead to issues during deployment and development.
//!
//! ## Binary Size
//!
//! For small applications that use only a small subset of messages, avoid using dialect enums as
//! they contain all message variants. Instead, decode messages directly from frames:
//!
//! This will help compiler to throw away unnecessary pieces of code.
//!
//! ## Unstable Features
//!
//! Certain features are considered unstable and available only when `unstable` feature flag is
//! enabled. Unstable features are marked with <sup>`⍚`</sup> and are may be changed in futures
//! versions.
//!
//! ## Incompatible Features
//!
//! - [Specta](https://crates.io/crates/specta) requires `std` feature to be enabled.
//!
//! # Feature Flags
//!
//! In most of the cases you will be interested in `dlct-*` and `msrv-*` feature families, and
//! `alloc` / `std` target specification. However, a more fine-grained control may be required.
//!
//
extern crate alloc;
extern crate core;
/// <sup>[`mavspec`](https://crates.io/crates/mavspec)</sup>
pub use mavspec_rust_derive as derive;
/// <sup>[`mavspec`](https://crates.io/crates/mavspec)</sup>
pub use mavspec_rust_spec as spec;
/// Rust bindings specifications left for compatibility with [MAVSpec](https://crates.io/crates/mavspec).
pub use dialects;
pub use ;
compile_error!;