Struct Connection 

pub struct Connection<L> { /* private fields */ }

A MAVLink endpoint over a ByteLink: sends and receives whole messages, and signs and verifies them when configured to.

A connection owns its sending identity and sequence counter, a streaming Parser for the bytes it reads, and optional signing. Attach a Signer to sign every outgoing frame and a Verifier to check every signed incoming one.

Implementations

impl<L: ByteLink> Connection<L>

pub fn new(link: L, system_id: u8, component_id: u8) -> Self

Creates a connection that sends as the given system and component.

Arguments

• link - the byte stream to carry frames over.
• system_id - this endpoint’s system id.
• component_id - this endpoint’s component id.

Returns

The connection, with signing off.

pub fn with_signer(self, signer: Signer) -> Self

Signs every outgoing frame with signer.

Arguments

• signer - the signer to stamp outgoing frames with.

Returns

The connection, for chaining.

pub fn with_verifier(self, verifier: Verifier) -> Self

Verifies signed incoming frames with verifier, and rejects unsigned ones.

Arguments

• verifier - the verifier to check incoming signed frames with.

Returns

The connection, for chaining.

pub async fn send<M: Message>(&mut self, message: &M) -> Result<()>

Sends a typed message, signing it if a signer is attached.

Arguments

• message - the message to send.

Returns

Ok(()) once the frame has been written to the link.

Errors

Returns MavlinkError::PayloadTooLong if the message does not fit a frame, or a link error from the underlying ByteLink.

pub async fn recv(&mut self) -> Result<Frame>

Receives the next whole frame from the link, verifying its signature if required.

Returns

The next valid frame.

Errors

Returns MavlinkError::Closed if the link ends before a frame arrives, MavlinkError::Unsigned if a signature is required but the frame is unsigned, MavlinkError::BadSignature or MavlinkError::ReplayedTimestamp if a signed frame does not verify, or a link error from the underlying ByteLink.

pub fn link(&self) -> &L

Returns a shared reference to the underlying link.

Returns

The link.