Struct CommandProtocol

Source

pub struct CommandProtocol { /* private fields */ }

Expand description

Tracks one command awaiting its acknowledgement: which command, the retransmission confirmation count, and the retries left.

Implementations§

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impl CommandProtocol

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pub fn new(command: u16, max_retries: u8) -> Self

Starts tracking a command, allowing max_retries retransmissions.

§Arguments

command - the MAV_CMD id being sent.
max_retries - how many times the command may be resent after a timeout before the caller gives up.

§Returns

The protocol tracker, with confirmation at zero.

Source

pub fn command(&self) -> u16

Returns the command id being tracked.

§Returns

The command id.

Source

pub fn confirmation(&self) -> u8

Returns the confirmation count to stamp on the command being sent.

It is zero for the first transmission and increments on each retransmission, which is how an autopilot distinguishes a resend from a new command.

§Returns

The current confirmation count.

Source

pub fn on_ack(&self, ack: &CommandAck) -> AckOutcome

Classifies an incoming acknowledgement against the command in flight.

§Arguments

ack - the decoded acknowledgement.

§Returns

AckOutcome::Unrelated if the ack is for another command, AckOutcome::InProgress if the command is still running, or AckOutcome::Final with the result otherwise.

Source

pub fn on_timeout(&mut self) -> Option<u8>

Records a timeout and reports whether the command may be resent.

On a resend the confirmation count is incremented so the next call to confirmation stamps the new value.

§Returns

Some(confirmation) with the new count if a retry remains, or None once the retry budget is exhausted.

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impl CommandProtocol

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pub fn on_frame(&self, frame: &Frame) -> Result<Option<AckOutcome>>

Classifies an incoming frame against the command in flight, if it is an acknowledgement.

§Arguments

frame - the frame off the link.

§Returns

The outcome, or None if the frame is not a COMMAND_ACK.

§Errors

Never fails in practice; the Result mirrors the message layer, which zero-extends a short payload and ignores the tail of a long one rather than refusing either.

§Examples

use pamoja_mavlink::dialect::{encode_message, mav_cmd, mav_result, CommandAck};
use pamoja_mavlink::protocol::{AckOutcome, CommandProtocol};
use pamoja_mavlink::Header;

let arm = CommandProtocol::new(mav_cmd::COMPONENT_ARM_DISARM, 3);
let ack = CommandAck { command: mav_cmd::COMPONENT_ARM_DISARM, result: mav_result::ACCEPTED, ..CommandAck::zeroed() };
let outcome = arm.on_frame(&encode_message(Header::new(1, 1, 0), &ack)?)?;
assert_eq!(outcome, Some(AckOutcome::Final(mav_result::ACCEPTED)));