Expand description
Bindings to the uORB messaging system.
Message definitions
This crate provides a way to import a message definition from a .msg
file:
ⓘ
use px4::px4_message;
#[px4_message("msg/foo.msg")] pub struct foo;This will read msg/foo.msg, relative to the root of the crate (where your
Cargo.toml is), parse its contents, and generate the equivalent Rust
struct. In addition, Message, Clone and Debug
are derived automatically.
Subscribing
Subscribing is done through the Subscribe trait,
which is automatically implemented for all messages.
ⓘ
use px4::uorb::Subscribe;
let sub = foo::subscribe().unwrap();
info!("Latest foo: {:?}", sub.get().unwrap());Publishing
Publishing is done through the Publish trait,
which is automatically implemented for all messages.
ⓘ
use px4::uorb::Publish;
let publ = foo { timestamp: 123, a: 1, b: 2 }.advertise().unwrap();
publ.publish(&foo { timestamp: 456, a: 3, b: 4 }).unwrap();