Expand description
§Maviola
A high-level MAVLink communication library written in Rust.
Maviola provides abstractions such as communication nodes, networks, or devices and implements stateful features of MAVLink protocol: sequencing, message signing, automatic heartbeats, and so on.
This library is a part of Mavka toolchain. It is based on Mavio, a low-level MAVLink library, and compatible with MAVSpec MAVLink dialects generator.
§📖 Documentation
If you want to learn how to use Maviola, start from reading Maviola Playbook. This page contains only a brief introduction.
§Usage
Maviola provides both synchronous and asynchronous API. The synchronous API is available
in sync module and can be enabled by sync feature flag. The asynchronous API is based on
Tokio, it can be found in asnc module and is enabled by async feature
flag.
Here is a simple example of a synchronous TCP server:
use maviola::prelude::*;
use maviola::sync::prelude::*;
// Create a synchronous MAVLink node
// with MAVLink protocol version set to `V2`
let server = Node::sync::<V2>()
// Set device system and component IDs
.id(MavLinkId::new(17, 42))
// Define connection settings
.connection(TcpServer::new("127.0.0.1:5600")?)
.build()?;
// Handle node events
for event in server.events() {
match event {
// Handle incoming MAVLink frame
Event::Frame(frame, callback) => {
// Handle heartbeat message
if let Ok(DefaultDialect::Heartbeat(msg)) = frame.decode::<DefaultDialect>() {
// Respond with the same heartbeat message to all clients,
// except the one that sent this message
callback.broadcast(&server.next_frame(&msg)?)?;
}
}
_ => {
/* Handle other node events */
}
}
}You can learn more about this example in Quickstart section that gets into details.
Also check Overview, Synchronous API, and Asynchronous API documentation sections for details on how to use different types of API.
§Features
Maviola is designed to hide most of its functionality under corresponding feature flags. If you need certain features, you have to explicitly opt-in.
§API Modes
syncenables synchronous API (seesyncmodule and Synchronous API).asyncenables asynchronous API (seeasncmodule and Asynchronous API).
These features are not mutually exclusive, you can use both synchronous and asynchronous API in different parts of the project.
§MAVLink Dialects
Maviola packages standard MAVLink dialects under corresponding feature flags. It is possible to define your own dialects with XML message definitions using MAVSpec or even create your ad-hoc dialects using pure Rust.
Check Dialects documentation section for details.
§Unstable Features
Some parts of the API are still considered to be unstable and available only under the
unstable feature flag. We mark unstable and experimental entities with ⍚ in
documentation.
§Embedded Devices
Maviola is based on Mavio, a low-level library with
no-std support. If you are looking for a solution for embedded devices, then Mavio would
probably be a better option.