Struct mavio::protocol::Frame

pub struct Frame { /* private fields */ }

MAVLink frame.

Since MAVLink frames has a complex internal structure depending on [MavLinkVersion], encoded [MessageImpl] and presence of Signature, there are no constructor for this struct. Frame can be either received as they were sent by remote or built from FrameBuilder.

Use Frame::builder to create a new unsigned message and Frame::add_signature/Frame::replace_signature to manage signature of exising frame.

Implementations

impl Frame

pub fn builder() -> FrameBuilder

Instantiates a builder for Frame.

An instance of FrameBuilder returned by this function is initialized with default values. Once desired frame parameters are set, use FrameBuilder::build or FrameBuilder::build_for to obtain a valid instance of Frame.

pub fn header(&self) -> &Header

Generic MAVLink header.

Links

• Header implementation.

pub fn mavlink_version(&self) -> MavLinkVersion

MAVLink protocol version defined by Header.

Links

• [MavLinkVersion]
• Header::mavlink_version

pub fn incompat_flags(&self) -> Option<u8>

Incompatibility flags for MAVLink 2 header.

Flags that must be understood for MAVLink compatibility (implementation discards packet if it does not understand flag).

See: MAVLink 2 incompatibility flags.

pub fn compat_flags(&self) -> Option<u8>

Compatibility flags for MAVLink 2 header.

Flags that can be ignored if not understood (implementation can still handle packet even if it does not understand flag).

See: MAVLink 2 compatibility flags.

pub fn payload_length(&self) -> u8

Payload length.

Indicates length of the following payload section. This may be affected by payload truncation.

Links

• Header::payload_length.

pub fn sequence(&self) -> u8

Packet sequence number.

Used to detect packet loss. Components increment value for each message sent.

Links

• Header::sequence.

pub fn system_id(&self) -> u8

System ID.

ID of system (vehicle) sending the message. Used to differentiate systems on network.

Note that the broadcast address 0 may not be used in this field as it is an invalid source address.

Links

• Header::system_id.

pub fn component_id(&self) -> u8

Component ID.

ID of component sending the message. Used to differentiate components in a system (e.g. autopilot and a camera). Use appropriate values in MAV_COMPONENT.

Note that the broadcast address MAV_COMP_ID_ALL may not be used in this field as it is an invalid source address.

Links

• Header::component_id.

pub fn message_id(&self) -> MessageId

Message ID.

ID of MAVLink message. Defines how payload will be encoded and decoded.

Links

• Header::message_id.

pub fn payload(&self) -> &Payload

Payload data.

Message data. Content depends on message type (i.e. message_id).

Links

• Payload implementation: [Payload].

pub fn checksum(&self) -> Checksum

MAVLink packet checksum.

CRC-16/MCRF4XX checksum for message (excluding magic byte).

Includes CRC_EXTRA byte.

Checksum is encoded with little endian (low byte, high byte).

Links

• Frame::calculate_crc for implementation.
• MAVLink checksum definition.
• CRC-16/MCRF4XX (PDF).

pub fn signature(&self) -> Option<&Signature>

MAVLink 2 signature.

Returns signature that ensures the link is tamper-proof.

Available only for signed MAVLink 2 frame. For MAVLink 1 always return None.

Links

• Frame::is_signed.
• Frame::link_id and Frame::timestamp provide direct access to signature fields.
• MAVLink 2 message signing.

pub fn link_id(&self) -> Option<SignatureLinkId>

MAVLink 2 signature link_id, a 8-bit identifier of a MAVLink channel.

Peers may have different semantics or rules for different links. For example, some links may have higher priority over another during routing. Or even different secret keys for authorization.

Available only for signed MAVLink 2 frame. For MAVLink 1 always return None.

Links

• Self::signature from which Signature can be obtained. The former contains all signature-related fields (if applicable).
• MAVLink 2 message signing.

pub fn timestamp(&self) -> Option<MavTimestamp>

MAVLink 2 signature MavTimestamp, a 48-bit value that specifies the moment when message was sent.

The unit of measurement is the number of millisecond * 10 since MAVLink epoch (1st January 2015 GMT).

According to MAVLink protocol, the sender must guarantee that the next timestamp is greater than the previous one.

Available only for signed MAVLink 2 frame. For MAVLink 1 always return None.

Links

• Self::signature from which Signature can be obtained. The former contains all signature-related fields (if applicable).
• MavTimestamp type which has utility function for converting from and into Unix timestamp.
• Timestamp handling in MAVLink documentation.

pub fn is_signed(&self) -> bool

Whether a Frame is signed.

Returns true if Frame contains Signature. Correctness of signature is not validated.

For MAVLink 1 always returns false.

pub fn body_length(&self) -> usize

Body length.

Returns the length of the entire Frame body. The frame body consist of [Payload::bytes], Checksum, and optional Signature (for MAVLink 2 protocol).

Links

• Header::body_length.

pub fn calculate_crc(&self, crc_extra: CrcExtra) -> Checksum

Calculates CRC for Frame within crc_extra.

Provided crc_extra depends on a dialect and contains a digest of message XML definition.

Links

• Frame::checksum.
• MAVLink checksum definition.
• CRC-16/MCRF4XX (PDF).

pub fn validate_checksum(&self, dialect_spec: &dyn DialectSpec) -> Result<()>

Validates frame in the context of specific dialect.

Receives dialect specification in dialect_spec, ensures that message with such ID exists in this dialect, and compares checksums using EXTRA_CRC.

Errors

• Returns CoreError::Message if message discovery failed.
• Returns FrameError::InvalidChecksum (wrapped by CoreError) if checksum validation failed.

Links

• [DialectSpec] for dialect specification.
• Frame::calculate_crc for CRC implementation details.

pub fn validate_checksum_with_crc_extra( &self, crc_extra: CrcExtra ) -> Result<()>

Validates Frame::checksum using provided crc_extra.

Links

• Frame::calculate_crc for CRC implementation details.

pub fn add_signature( &mut self, signer: &mut dyn Sign, conf: SignatureConf ) -> Result<&mut Self>

Adds signature to MAVLink 2 frame.

Signs MAVLink 2 frame with provided instance of signer that implements Sign trait and signature configuration specified as SignatureConf.

Errors

Returns FrameError::SigningIsNotSupported when caller attempts to sign MAVLink 1 frame.

Links

• Sign trait.
• Signature struct which contains frame signature.
• MAVLink 2 message signing.

pub fn replace_signature( &mut self, signer: &mut dyn Sign, conf: SignatureConf ) -> Result<&mut Self>

Replaces existing signature for MAVLink 2 frame.

Re-signs MAVLink 2 frame with provided instance of signer that implements Sign. An instance of Frame should already have a (possibly invalid) signature.

Errors

• Returns FrameError::SigningIsNotSupported when caller attempts to sign MAVLink 1 frame.
• Returns FrameError::SignatureFieldsAreMissing if frame is not already signed.

Links

• Sign trait.
• Signature struct which contains frame signature.
• MAVLink 2 message signing.

pub fn remove_signature(&mut self) -> &mut Self

Removes MAVLink 2 signature from Frame.

Applicable only for MAVLink 2 frames.

pub fn calculate_signature( &self, signer: &mut dyn Sign, secret_key: &SecretKey ) -> Result<SignatureValue>

Calculates MAVLink 2 signature.

Calculates MAVLink 2 frame signature with provided instance of signer that implements Sign trait and signature configuration specified as SignatureConf.

Errors

Returns FrameError::SigningIsNotSupported when caller attempts to sign MAVLink 1 frame.

Links

• Sign trait.
• Signature struct which contains frame signature.
• MAVLink 2 message signing.

Trait Implementations

impl Clone for Frame

fn clone(&self) -> Frame

Returns a copy of the value.

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

Performs copy-assignment from source.

impl Debug for Frame

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

Formats the value using the given formatter.

impl<'de> Deserialize<'de> for Frame

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

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for Frame

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

where __S: Serializer,

Serialize this value into the given Serde serializer.