Trait mavio::protocol::Versioned

source · 
pub trait Versioned: MaybeVersioned {
    // Required methods
    fn version() -> MavLinkVersion;
    fn ver(&self) -> MavLinkVersion;
    fn v() -> Self;
}
Expand description

🔒 Marks entities which have a specified MAVLink protocol version.

âš  This trait is sealed âš 

Such entities allow to discover their protocol version by Versioned::version and provide a static marker for themselves. This trait also enables converting V1 / V2 from type parameter to a type by Versioned::v and to treat them as unit type instances using Versioned::ver.

For example, Receiver::versioned constructs a protocol-specific receiver which looks up for frames only of a specific dialect.

§Examples

use mavio::prelude::*;

fn release_turbofish<V: Versioned>() {
    pass_argument(V::v());
    stay_with_enum(V::v().ver());
}

fn pass_argument<V: Versioned>(version: V) {
    stay_with_enum(version.ver());
}

fn stay_with_enum(version: MavLinkVersion) {
    match version {
        MavLinkVersion::V1 => { /* MAVLink1 specific */ }
        MavLinkVersion::V2 => { /* MAVLink2 specific */ }
    }
}

release_turbofish::<V2>();
pass_argument(V1);
stay_with_enum(MavLinkVersion::V2);

Required Methods§

source

fn version() -> MavLinkVersion

MAVLink protocol version of a type.

§Examples
use mavio::prelude::*;

fn feed_with_enum(version: MavLinkVersion) {
    match version {
        MavLinkVersion::V1 => { /* MAVLink1 specific */ }
        MavLinkVersion::V2 => { /* MAVLink2 specific */ }
    }
}

feed_with_enum(V1::version());
source

fn ver(&self) -> MavLinkVersion

MAVLink protocol version of a unit.

Allows to obtain MavLinkVersion from V1 / V2 as unit types.

§Examples
use mavio::prelude::*;

fn feed_with_argument<V: Versioned>(version: V) {
    feed_with_enum(version.ver());
}

fn feed_with_enum(version: MavLinkVersion) {
    match version {
        MavLinkVersion::V1 => { /* MAVLink1 specific */ }
        MavLinkVersion::V2 => { /* MAVLink1 specific */ }
    }
}

feed_with_argument(V1);
source

fn v() -> Self

Returns MAVLink version as V1 / V2 for type parameters.

Useful when Versioned is provided as a type parameter, but you need a corresponding marker. This allows to switch between regular arguments and turbofish syntax.

§Examples
use mavio::prelude::*;

fn gimme_argument<V: Versioned>(version: V) {
    gimme_turbofish::<V>();
}

fn gimme_turbofish<V: Versioned>() {
    // Hard way
    match V::version() {
        MavLinkVersion::V1 => gimme_argument(V1),
        MavLinkVersion::V2 => gimme_argument(V2),
    }
    // Easy way
    gimme_argument(V::v());
}

gimme_argument(V2);
gimme_turbofish::<V2>()

Object Safety§

This trait is not object safe.

Implementors§