Update to latest version of mavlink

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

Author: patrickelectric

Cargo.toml

@@ -33,7 +33,7 @@ include_dir = "0.7"
 lazy_static = "1.4.0"
 log = "0.4"
 env_logger = "0.8"
-mavlink = { version = "0.10.11", features = [ "ardupilotmega", "emit-extensions"] }
+mavlink = { version = "0.16.1", features = [ "ardupilotmega", "emit-extensions"] }
 paperclip = { version = "0.8", features = ["actix3", "v3", "paperclip-actix", "swagger-ui"] }
 regex = "1"
 serde = "1.0.115"

src/endpoints.rs

@@ -120,19 +120,14 @@ pub async fn helper_mavlink(
     let message_name = query.into_inner().name;
 
     let result = match mavlink::ardupilotmega::MavMessage::message_id_from_name(&message_name) {
-        Ok(id) => mavlink::Message::default_message_from_id(id),
-        Err(error) => Err(error),
+        Some(id) => mavlink::ardupilotmega::MavMessage::default_message_from_id(id)
+            .ok_or("Invalid message name."),
+        None => Err("Invalid message name."),
     };
 
     match result {
         Ok(result) => {
             let msg = match result {
-                mavlink::ardupilotmega::MavMessage::common(msg) => {
-                    parse_query(&data::MAVLinkMessage {
-                        header: mavlink::MavHeader::default(),
-                        message: msg,
-                    })
-                }
                 msg => parse_query(&data::MAVLinkMessage {
                     header: mavlink::MavHeader::default(),
                     message: msg,
@@ -176,27 +171,6 @@ pub async fn mavlink_post(
         },
         Err(err) => {
             debug!("Failed to parse ardupilotmega message: {err:?}");
-        }
-    }
-
-    match json5::from_str::<data::MAVLinkMessage<mavlink::common::MavMessage>>(&json_string) {
-        Ok(content) => {
-            let content_ardupilotmega = mavlink::ardupilotmega::MavMessage::common(content.message);
-            match data
-                .lock()
-                .unwrap()
-                .send(&content.header, &content_ardupilotmega)
-            {
-                Ok(_result) => {
-                    data::update((content.header, content_ardupilotmega));
-                    return HttpResponse::Ok().await;
-                }
-                Err(err) => {
-                    return not_found_response(format!("Failed to send message: {err:?}")).await;
-                }
-            }
-        }
-        Err(err) => {
             let error_message =
                 format!("Failed to parse message, not a valid MAVLinkMessage: {err:?}");
             debug!("{error_message}");

src/main.rs

@@ -70,19 +70,6 @@ fn ws_callback(
             data::update((content.header, content.message));
         }
 
-        format!("{result:?}")
-    } else if let Ok(content @ MAVLinkMessage::<mavlink::common::MavMessage> { .. }) =
-        serde_json::from_str(value)
-    {
-        let content_ardupilotmega = mavlink::ardupilotmega::MavMessage::common(content.message);
-        let result = inner_vehicle
-            .lock()
-            .unwrap()
-            .send(&content.header, &content_ardupilotmega);
-        if result.is_ok() {
-            data::update((content.header, content_ardupilotmega));
-        }
-
         format!("{result:?}")
     } else {
         String::from("Could not convert input message.")

src/mavlink_vehicle.rs

@@ -18,6 +18,10 @@ impl<M: mavlink::Message> MAVLinkVehicle<M> {
         // Convert from mavlink error to io error
         match result {
             Err(mavlink::error::MessageWriteError::Io(error)) => Err(error),
+            Err(mavlink::error::MessageWriteError::MAVLink2Only) => Err(std::io::Error::new(
+                std::io::ErrorKind::Other,
+                "MAVLink2Only",
+            )),
             Ok(something) => Ok(something),
         }
     }
@@ -33,7 +37,7 @@ pub struct MAVLinkVehicleHandle<M: mavlink::Message> {
     pub thread_rx_channel: std::sync::mpsc::Receiver<(mavlink::MavHeader, M)>,
 }
 
-impl<M: mavlink::Message> MAVLinkVehicle<M> {
+impl<M: mavlink::Message + Send + Sync> MAVLinkVehicle<M> {
     fn new(
         mavlink_connection_string: &str,
         version: mavlink::MavlinkVersion,
@@ -55,20 +59,23 @@ impl<M: mavlink::Message> MAVLinkVehicle<M> {
     }
 }
 
-impl<
-        M: 'static + mavlink::Message + std::fmt::Debug + From<mavlink::common::MavMessage> + Send,
-    > MAVLinkVehicleHandle<M>
-{
+impl MAVLinkVehicleHandle<mavlink::ardupilotmega::MavMessage> {
     pub fn new(
         connection_string: &str,
         version: mavlink::MavlinkVersion,
         system_id: u8,
         component_id: u8,
         send_initial_heartbeats: bool,
     ) -> Self {
-        let mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<M>>> = Arc::new(Mutex::new(
-            MAVLinkVehicle::<M>::new(connection_string, version, system_id, component_id),
-        ));
+        let mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<mavlink::ardupilotmega::MavMessage>>> =
+            Arc::new(Mutex::new(MAVLinkVehicle::<
+                mavlink::ardupilotmega::MavMessage,
+            >::new(
+                connection_string,
+                version,
+                system_id,
+                component_id,
+            )));
 
         // PX4 requires a initial heartbeat to be sent to wake up the connection, otherwise it will
         // not send any messages
@@ -88,7 +95,8 @@ impl<
         let heartbeat_mavlink_vehicle = mavlink_vehicle.clone();
         let receive_message_mavlink_vehicle = mavlink_vehicle.clone();
 
-        let (tx_channel, rx_channel) = mpsc::channel::<(mavlink::MavHeader, M)>();
+        let (tx_channel, rx_channel) =
+            mpsc::channel::<(mavlink::MavHeader, mavlink::ardupilotmega::MavMessage)>();
 
         Self {
             mavlink_vehicle,
@@ -101,11 +109,9 @@ impl<
     }
 }
 
-fn receive_message_loop<
-    M: mavlink::Message + std::fmt::Debug + From<mavlink::common::MavMessage>,
->(
-    mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<M>>>,
-    channel: std::sync::mpsc::Sender<(mavlink::MavHeader, M)>,
+fn receive_message_loop(
+    mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<mavlink::ardupilotmega::MavMessage>>>,
+    channel: std::sync::mpsc::Sender<(mavlink::MavHeader, mavlink::ardupilotmega::MavMessage)>,
 ) {
     let mavlink_vehicle = mavlink_vehicle.as_ref().lock().unwrap();
 
@@ -132,34 +138,30 @@ fn receive_message_loop<
     }
 }
 
-fn send_heartbeat<M: mavlink::Message + From<mavlink::common::MavMessage>>(
-    mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<M>>>,
-) {
+fn send_heartbeat(mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<mavlink::ardupilotmega::MavMessage>>>) {
     let mavlink_vehicle = mavlink_vehicle.as_ref().lock().unwrap();
     let vehicle = mavlink_vehicle.vehicle.clone();
     let mut header = mavlink_vehicle.header.lock().unwrap();
-    if let Err(error) = vehicle.as_ref().send(&header, &heartbeat_message().into()) {
+    if let Err(error) = vehicle.as_ref().send(&header, &heartbeat_message()) {
         error!("Failed to send heartbeat: {:?}", error);
     }
     header.sequence = header.sequence.wrapping_add(1);
 }
 
-fn heartbeat_loop<M: mavlink::Message + From<mavlink::common::MavMessage>>(
-    mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<M>>>,
-) {
+fn heartbeat_loop(mavlink_vehicle: Arc<Mutex<MAVLinkVehicle<mavlink::ardupilotmega::MavMessage>>>) {
     loop {
         std::thread::sleep(std::time::Duration::from_secs(1));
         send_heartbeat(mavlink_vehicle.clone());
     }
 }
 
-pub fn heartbeat_message() -> mavlink::common::MavMessage {
-    mavlink::common::MavMessage::HEARTBEAT(mavlink::common::HEARTBEAT_DATA {
+pub fn heartbeat_message() -> mavlink::ardupilotmega::MavMessage {
+    mavlink::ardupilotmega::MavMessage::HEARTBEAT(mavlink::ardupilotmega::HEARTBEAT_DATA {
         custom_mode: 0,
-        mavtype: mavlink::common::MavType::MAV_TYPE_ONBOARD_CONTROLLER,
-        autopilot: mavlink::common::MavAutopilot::MAV_AUTOPILOT_INVALID,
-        base_mode: mavlink::common::MavModeFlag::default(),
-        system_status: mavlink::common::MavState::MAV_STATE_STANDBY,
+        mavtype: mavlink::ardupilotmega::MavType::MAV_TYPE_ONBOARD_CONTROLLER,
+        autopilot: mavlink::ardupilotmega::MavAutopilot::MAV_AUTOPILOT_INVALID,
+        base_mode: mavlink::ardupilotmega::MavModeFlag::default(),
+        system_status: mavlink::ardupilotmega::MavState::MAV_STATE_STANDBY,
         mavlink_version: 0x3,
     })
 }