Struct mavio::Endpoint

pub struct Endpoint<V: MaybeVersioned> { /* private fields */ }

MAVLink device with defined ID and internal frame sequence counter.

Examples

use mavio::dialects::minimal::messages::Heartbeat;
use mavio::prelude::*;

// Create a `MAVLink2` device with system and component ids
let device = Endpoint::v2(MavLinkId::new(17, 42));
device.advance(3).discard();

// Build a new frame from the provided message
let frame = device.next_frame(&Heartbeat::default()).unwrap();

assert_eq!(frame.sequence(), 3, "should be correct sequence number");
assert_eq!(frame.system_id(), 17, "should be the defined system `ID`");
assert_eq!(frame.component_id(), 42, "should be the defined component `ID`");

Implementations

impl Endpoint<Versionless>

pub fn new<V: MaybeVersioned>(id: MavLinkId) -> Endpoint<V>

Creates a new device with specified MavLinkId.

pub fn v1(id: MavLinkId) -> Endpoint<V1>

Creates a MAVLink1 device with specified MavLinkId.

pub fn v2(id: MavLinkId) -> Endpoint<V2>

Creates a MAVLink2 device with specified MavLinkId.

pub fn versionless(id: MavLinkId) -> Endpoint<Versionless>

Creates a device without a specified MAVLink protocol version.

pub fn next_frame<V: Versioned>( &self, message: &dyn Message ) -> Result<Frame<Versionless>>

Produces a next versionless frame from MAVLink message.

The actual protocol version still has to be specified as a generic parameter using turbofish syntax.

impl<V: MaybeVersioned> Endpoint<V>

pub fn id(&self) -> MavLinkId

Device ID.

pub fn system_id(&self) -> SystemId

MAVLink system ID.

pub fn component_id(&self) -> ComponentId

MAVLink component ID.

pub fn next_sequence(&self) -> Sequence

Next MAVLink frame sequence.

pub fn sequencer(&self) -> &Sequencer

Returns a reference to internal Sequencer.

pub fn advance(&self, increment: Sequence) -> Behold<Sequence>

Skips increment items in sequence and return the updated current value.

The return value is wrapped in Behold since it is not guaranteed in multithreaded environments, that the Endpoint::next_frame will use the same value of a sequence in this thread.

pub fn fork(&self) -> Self

Forks existing endpoint.

Forking is similar to cloning, except the internal frame Sequencer will be forked to start from the next value. This method is available for all targets, while cloning is possible only for alloc targets.

See Sequencer::fork for details.

pub fn sync<Version: MaybeVersioned>(&self, other: &Endpoint<Version>)

Synchronizes this endpoint with another one.

Synchronizes internal sequencer with the sequencer of the other Endpoint.

See Sequencer::sync for details.

pub fn join<Version: MaybeVersioned>(&self, other: &mut Endpoint<Version>)

^alloc Joins another endpoint with current one.

From this moment internal sequencers will share the same counter. The current sequencer will be synced with the one it joins.

Available only when alloc feature is enabled.

See Sequencer::join for details.

impl<V: Versioned> Endpoint<V>

pub fn next_frame(&self, message: &dyn Message) -> Result<Frame<V>>

Produces a next frame from MAVLink message.

Trait Implementations

impl<V: MaybeVersioned> Clone for Endpoint<V>

fn clone(&self) -> Self

Returns a copy of the value.

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

Performs copy-assignment from source.

impl<V: Debug + MaybeVersioned> Debug for Endpoint<V>

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

Formats the value using the given formatter.