Adding support for other message sets (mavlink#40)

* MavMessage::parse now maps results instead of unwrapping them, so there's no panic

* also compile ardupilotmega.xml

* rustfmt

* updated connections to be generic

* it builds! support for ardupilotmega messages added, still need parsing + tests

* it all works! it also no longer compiles on rust 1.40.0 for some reason, but it works fine on rust stable 1.41.1 so i don't think it's a big deal

* documented features, added build binder

* fixed Cargo.toml

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* added ability to patch mavlink schemas

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* removed extraneous println statements

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* mavlink should no longer rebuild every single time

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* fixed extra_crc

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* fixed travis ci

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* fixed travis ci again?

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* fixed merge mistake

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* rustfmt + fix merge mistake part 2

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* updated readme and crate documentation

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* tests are now feature-gated + added common feature

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* feature-gated the rest of the tests + added common as a default feature

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* build with all features on docs.rs

Signed-off-by: Ibiyemi Abiodun <[email protected]>

* fixed imports in tests

Signed-off-by: Ibiyemi Abiodun <[email protected]>

Author: laptou

.travis.yml

@@ -1,2 +1,5 @@
 language: rust
 cache: cargo
+script:
+  - cargo build --verbose --all-features
+  - cargo test --verbose --all-features

Cargo.toml

@@ -1,8 +1,8 @@
 
 [package]
 name = "mavlink"
-version = "0.7.0"
-authors = ["Todd Stellanova", "Michal Podhradsky", "Kevin Mehall", "Tim Ryan", "Patrick José Pereira"]
+version = "0.8.0"
+authors = ["Todd Stellanova", "Michal Podhradsky", "Kevin Mehall", "Tim Ryan", "Patrick José Pereira", "Ibiyemi Abiodun"]
 build = "build/main.rs"
 description = "Implements the MAVLink data interchange format for UAVs."
 readme = "README.md"
@@ -15,12 +15,12 @@ crc16 = "0.3.3"
 bytes = "0.4"
 xml-rs = "0.2"
 quote = "0.3"
-rustfmt = "0.9"
 lazy_static = "1.2.0"
-serde = { version = "1.0.101", optional = true }
+serde = { version = "1.0.101", optional = true, features = ["derive"] }
 
 [[bin]]
 name = "mavlink-dump"
+required-features = ["common"]
 
 [dependencies]
 crc16 = "0.3.3"
@@ -30,17 +30,33 @@ num-derive = "0.2"
 bitflags = "1.0.4"
 serial = { version = "0.4", optional = true }
 serde = { version = "1.0.101", optional = true }
-
-[dependencies.byteorder]
-version = "0.5.3"
-optional = true
-
+byteorder = { version = "0.5", optional = true }
 
 [features]
+"ardupilotmega" = []
+"asluav" = []
+"autoquad" = []
+"matrixpilot" = []
+"minimal" = []
+"paparazzi" = []
+"python_array_test" = []
+"slugs" = []
+"standard" = []
+"test" = []
+"ualberta" = []
+"uavionix" = []
+"icarous" = []
+"common" = []
+
 "emit-description" = []
 "emit-extensions" = []
 "std" = ["byteorder"]
 "udp" = []
 "tcp" = []
 "direct-serial" = []
-default= ["std", "tcp", "udp", "direct-serial", "serial", "serde"]
+default= ["std", "tcp", "udp", "direct-serial", "serial", "serde", "common"]
+
+# build with all features on docs.rs so that users viewing documentation
+# can see everything
+[package.metadata.docs.rs]
+all-features = true

README.md

@@ -5,12 +5,12 @@
 [![Documentation](https://docs.rs/mavlink/badge.svg)](https://docs.rs/mavlink)
 
 Rust implementation of the [MAVLink](http://qgroundcontrol.org/mavlink/start) UAV messaging protocol,
-with bindings for the [common message set](http://mavlink.org/messages/common).
+with bindings for all message sets.
 
 Add to your Cargo.toml:
 
 ```
-mavlink = "0.7"
+mavlink = "0.8"
 ```
 
 ## Examples

build/binder.rs

@@ -0,0 +1,27 @@
+use quote::Ident;
+use std::io::Write;
+
+pub fn generate<W: Write>(modules: Vec<String>, out: &mut W) {
+    let modules_tokens = modules.into_iter().map(|module| {
+        let file_name = module.clone() + ".rs";
+        let module_ident = Ident::from(module.clone());
+
+        quote! {
+            #[allow(non_camel_case_types)]
+            #[allow(non_snake_case)]
+            #[allow(unused_variables)]
+            #[allow(unused_mut)]
+            #[cfg(feature = #module)]
+            pub mod #module_ident {
+                use crate::MavlinkVersion; //TODO verify
+                include!(#file_name);
+            }
+        }
+    });
+
+    let tokens = quote! {
+        #(#modules_tokens)*
+    };
+
+    writeln!(out, "{}", tokens).unwrap();
+}

build/main.rs

@@ -1,14 +1,17 @@
-#![recursion_limit="256"]
+#![recursion_limit = "256"]
 #[macro_use]
 extern crate quote;
 
 extern crate crc16;
 extern crate xml;
 
+mod binder;
 mod parser;
+mod util;
 
+use crate::util::to_module_name;
 use std::env;
-use std::fs::File;
+use std::fs::{read_dir, File};
 use std::path::{Path, PathBuf};
 use std::process::Command;
 
@@ -23,28 +26,89 @@ pub fn main() {
         .current_dir(&src_dir)
         .status()
     {
-        Ok(content) => println!("{}", content),
+        Ok(_) => {}
         Err(error) => eprintln!("{}", error),
     }
 
+    // find & apply patches to XML definitions to avoid crashes
+    let mut patch_dir = src_dir.to_path_buf();
+    patch_dir.push("build/patches");
+    let mut mavlink_dir = src_dir.to_path_buf();
+    mavlink_dir.push("mavlink");
+
+    if let Ok(dir) = read_dir(patch_dir) {
+        for entry in dir {
+            if let Ok(entry) = entry {
+                match Command::new("git")
+                    .arg("apply")
+                    .arg(entry.path().as_os_str())
+                    .current_dir(&mavlink_dir)
+                    .status()
+                {
+                    Ok(_) => (),
+                    Err(error) => eprintln!("{}", error),
+                }
+            }
+        }
+    }
+
     let mut definitions_dir = src_dir.to_path_buf();
     definitions_dir.push("mavlink/message_definitions/v1.0");
-    let definition_file = PathBuf::from("common.xml");
-    let mut definition_rs = definition_file.clone();
-    definition_rs.set_extension("rs");
-
-    let in_path = Path::new(&definitions_dir).join(&definition_file);
-    let mut inf = File::open(&in_path).unwrap();
 
     let out_dir = env::var("OUT_DIR").unwrap();
-    let dest_path = Path::new(&out_dir).join(definition_rs);
-    let mut outf = File::create(&dest_path).unwrap();
 
-    parser::generate(&mut inf, &mut outf);
+    let mut modules = vec![];
+
+    for entry in read_dir(&definitions_dir).expect("could not read definitions directory") {
+        let entry = entry.expect("could not read directory entry");
+
+        let definition_file = entry.file_name();
+        let module_name = to_module_name(&definition_file);
+
+        let mut definition_rs = PathBuf::from(&module_name);
+        definition_rs.set_extension("rs");
+
+        modules.push(module_name);
+
+        let in_path = Path::new(&definitions_dir).join(&definition_file);
+        let mut inf = File::open(&in_path).unwrap();
 
-    // Re-run build if common.xml changes
-    println!(
-        "cargo:rerun-if-changed={}",
-        definition_file.file_name().unwrap().to_str().unwrap()
-    );
+        let dest_path = Path::new(&out_dir).join(definition_rs);
+        let mut outf = File::create(&dest_path).unwrap();
+
+        // generate code
+        parser::generate(&mut inf, &mut outf);
+
+        // format code
+        match Command::new("rustfmt")
+            .arg(dest_path.as_os_str())
+            .current_dir(&out_dir)
+            .status()
+        {
+            Ok(_) => (),
+            Err(error) => eprintln!("{}", error),
+        }
+
+        // Re-run build if common.xml changes
+        println!("cargo:rerun-if-changed={}", entry.path().to_string_lossy());
+    }
+
+    // output mod.rs
+    {
+        let dest_path = Path::new(&out_dir).join("mod.rs");
+        let mut outf = File::create(&dest_path).unwrap();
+
+        // generate code
+        binder::generate(modules, &mut outf);
+
+        // format code
+        match Command::new("rustfmt")
+            .arg(dest_path.as_os_str())
+            .current_dir(&out_dir)
+            .status()
+        {
+            Ok(_) => (),
+            Err(error) => eprintln!("{}", error),
+        }
+    }
 }