Struct mavinspect::protocol::Filter

pub struct Filter { /* private fields */ }

Filter options for Dialect and Protocol.

Filters messages, commands, and enums by the following filters:

• Filter::microservices: filter by MAVLink microservices. If Filter::messages, Filter::enums, or Filter::commands are set, then these additional entities will be retained.
• Filter::messages: include only specified MAVLink messages.
• Filter::enums: include only specified MAVLink enums.
• Filter::commands: include only specified MAVLink commands.

In the case of Filter::messages, Filter::enums, and Filter::commands, if Filter::microservices is specified, then these entities will be retained in addition to micro-services specification.

Both Filter::messages, Filter::enums, and Filter::commands support wildcards in postfix positions. For example, * and MAV_CMD_DO_* are both valid specifications.

The decision of which enums and their entries to keep is based on whether enum is referenced in MessageField or it was referenced by another already included enum in one of the enum parameters (EnumEntryMavCmdParam).

Micro-service specifications are similar to filters and have Microservices::messages, Microservices::enums, and Microservices::commands methods that provide lists of required entities.

Usage

use mavinspect::protocol::{Filter, Microservices};

/* obtain protocol with `common` dialect */

// Filter
let filtered_protocol = protocol.filtered(
    &Filter::by_microservices(Microservices::HEARTBEAT | Microservices::MISSION)
    .with_messages(&["FILE_TRANSFER_PROTOCOL"])
    .with_enums(&["GIMBAL_DEVICE_CAP_FLAGS"])
    .with_commands(&["MAV_CMD_SET_*"])
);

// Let's inspect `common` dialect
let common = filtered_protocol.get_dialect_by_canonical_name("common").unwrap();

// it should contain `HEARTBEAT` messages
assert!(common.contains_message_with_name("HEARTBEAT"));
// and `COMMAND_LONG` message since `MISSION` microservice depends on some commands
assert!(common.contains_message_with_name("COMMAND_LONG"));
// `FILE_TRANSFER_PROTOCOL` (part of file transfer protocol) was explicitly required by `set_messages`
assert!(common.contains_message_with_name("FILE_TRANSFER_PROTOCOL"));

// but these messages should be filtered out
assert!(!common.contains_message_with_name("PROTOCOL_VERSION"));
assert!(!common.contains_message_with_name("CAMERA_TRIGGER"));

// this enum was explicitly requested
assert!(common.contains_enum_with_name("GIMBAL_DEVICE_CAP_FLAGS"));
// since we have commands, then `MAV_CMD` enum should be present
assert!(common.contains_enum_with_name("MAV_CMD"));
// and this command was explicitly requested by `MAV_CMD_SET_*` pattern
assert!(common.contains_command_with_name("MAV_CMD_SET_MESSAGE_INTERVAL"));
// as well as these commands should be present as a part of mission protocol
assert!(common.contains_command_with_name("MAV_CMD_DO_SET_MISSION_CURRENT"));
assert!(common.contains_command_with_name("MAV_CMD_NAV_WAYPOINT"));
// but not these
assert!(!common.contains_command_with_name("MAV_CMD_INJECT_FAILURE"));
assert!(!common.contains_command_with_name("MAV_CMD_GET_HOME_POSITION"));

Implementations

impl Filter

pub fn new() -> Self

Default constructor.

pub fn by_microservices(microservices: Microservices) -> Self

Constructs Filter that filter by specified microservices.

pub fn messages(&self) -> Option<&[impl AsRef<str>]>

Messages to filter.

pub fn enums(&self) -> Option<&[impl AsRef<str>]>

Enums to filter.

pub fn commands(&self) -> Option<&[impl AsRef<str>]>

Commands to filter.

pub fn microservices(&self) -> Option<Microservices>

Microservices to filter.

pub fn with_messages(self, messages: &[impl AsRef<str>]) -> Self

Set Self::messages filter option.

pub fn with_enums(self, enums: &[impl ToString]) -> Self

Set Self::enums filter option.

pub fn with_commands(self, commands: &[impl ToString]) -> Self

Set Self::commands filter option.

pub fn with_microservices(self, microservices: Microservices) -> Self

Set Self::microservices filter option.

pub fn is_some(&self) -> bool

Returns true if at least one filter is set.

pub fn is_none(&self) -> bool

Returns true if no filters are set.

Trait Implementations

impl Clone for Filter

fn clone(&self) -> Filter

Returns a copy of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Filter

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for Filter

fn default() -> Filter

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for Filter

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Filter

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.