From 0cee34e70b88345bdaf01d3e15fa33d339c81252 Mon Sep 17 00:00:00 2001
From: roby2014 <roby2x14@gmail.com>
Date: Tue, 24 Sep 2024 15:40:54 +0100
Subject: [PATCH] examples: add async mavlink-dump-raw example

---
 mavlink/Cargo.toml                            | 13 ++-
 .../mavlink-dump-raw-async/Cargo.toml         | 19 ++++
 .../mavlink-dump-raw-async/src/main.rs        | 99 +++++++++++++++++++
 3 files changed, 129 insertions(+), 2 deletions(-)
 create mode 100644 mavlink/examples/mavlink-dump-raw-async/Cargo.toml
 create mode 100644 mavlink/examples/mavlink-dump-raw-async/src/main.rs

diff --git a/mavlink/Cargo.toml b/mavlink/Cargo.toml
index 669d9b0752..5bae1e707b 100644
--- a/mavlink/Cargo.toml
+++ b/mavlink/Cargo.toml
@@ -26,6 +26,11 @@ name = "mavlink-dump"
 path = "examples/mavlink-dump/src/main.rs"
 required-features = ["ardupilotmega"]
 
+[[example]]
+name = "mavlink-dump-raw-async"
+path = "examples/mavlink-dump-raw-async/src/main.rs"
+required-features = ["tokio-1"]
+
 [dependencies]
 mavlink-core = { path = "../mavlink-core", default-features = false }
 num-traits = { workspace = true, default-features = false }
@@ -113,8 +118,12 @@ features = [
     "emit-extensions",
     "format-generated-code",
     "tokio-1",
-    "signing"
+    "signing",
 ]
 
 [dev-dependencies]
-tokio = { version = "1.0", default-features = false, features = ["macros", "rt", "time" ] }
+tokio = { version = "1.0", default-features = false, features = [
+    "macros",
+    "rt",
+    "time",
+] }
diff --git a/mavlink/examples/mavlink-dump-raw-async/Cargo.toml b/mavlink/examples/mavlink-dump-raw-async/Cargo.toml
new file mode 100644
index 0000000000..2cfb0cf81c
--- /dev/null
+++ b/mavlink/examples/mavlink-dump-raw-async/Cargo.toml
@@ -0,0 +1,19 @@
+[package]
+name = "mavlink-dump"
+authors = [
+    "Patrick José Pereira <patrickelectric@gmail.com>",
+    "Roberto Petrisoru <roby2x14@gmail.com>",
+]
+license = "MIT/Apache-2.0"
+edition = "2018"
+version = "0.1.0"
+
+[profile.release]
+opt-level = 3
+lto = true    # Performs "fat" LTO which attempts to perform optimizations across all crates within the dependency graph
+
+[dependencies.mavlink] # MAVLink library
+path = "../../"
+
+[dependencies]
+tokio = { version = "1.40.0", default-features = false }
diff --git a/mavlink/examples/mavlink-dump-raw-async/src/main.rs b/mavlink/examples/mavlink-dump-raw-async/src/main.rs
new file mode 100644
index 0000000000..33d406e9e1
--- /dev/null
+++ b/mavlink/examples/mavlink-dump-raw-async/src/main.rs
@@ -0,0 +1,99 @@
+use mavlink::error::MessageReadError;
+use std::{env, sync::Arc, thread, time::Duration};
+
+#[tokio::main(flavor = "current_thread")]
+async fn main() {
+    let args: Vec<_> = env::args().collect();
+
+    if args.len() < 2 {
+        println!(
+            "Usage: mavlink-dump-raw (tcpout|tcpin|udpout|udpin|udpbcast|serial|file):(ip|dev|path):(port|baud)"
+        );
+        return;
+    }
+
+    // It's possible to change the mavlink dialect to be used in the connect call
+    let mut mavconn = mavlink::connect_async::<mavlink::ardupilotmega::MavMessage>(&args[1])
+        .await
+        .unwrap();
+
+    let vehicle = Arc::new(mavconn);
+    vehicle
+        .send(&mavlink::MavHeader::default(), &request_parameters())
+        .await
+        .unwrap();
+    vehicle
+        .send(&mavlink::MavHeader::default(), &request_stream())
+        .await
+        .unwrap();
+
+    let vehicle_clone = vehicle.clone();
+    tokio::spawn(async move {
+        let res = vehicle_clone.send_default(&heartbeat_message()).await;
+        if res.is_ok() {
+            tokio::time::sleep(Duration::from_secs(1)).await;
+        } else {
+            println!("send failed: {res:?}");
+        }
+    });
+
+    loop {
+        match vehicle.recv_raw().await {
+            Ok(raw_msg) => match raw_msg {
+                mavlink::MAVLinkRawMessage::V1(msg) => {
+                    println!("received v1 raw message (id = {})", msg.message_id());
+                }
+                mavlink::MAVLinkRawMessage::V2(msg) => {
+                    println!("received v2 raw message (id = {})", msg.message_id());
+                }
+            },
+            Err(MessageReadError::Io(e)) => {
+                if e.kind() == std::io::ErrorKind::WouldBlock {
+                    //no messages currently available to receive -- wait a while
+                    tokio::time::sleep(Duration::from_secs(1)).await;
+                    continue;
+                } else {
+                    println!("recv error: {e:?}");
+                    break;
+                }
+            }
+            // messages that didn't get through due to parser errors are ignored
+            _ => {}
+        }
+    }
+}
+
+/// Create a heartbeat message using 'ardupilotmega' dialect
+pub fn heartbeat_message() -> mavlink::ardupilotmega::MavMessage {
+    mavlink::ardupilotmega::MavMessage::HEARTBEAT(mavlink::ardupilotmega::HEARTBEAT_DATA {
+        custom_mode: 0,
+        mavtype: mavlink::ardupilotmega::MavType::MAV_TYPE_QUADROTOR,
+        autopilot: mavlink::ardupilotmega::MavAutopilot::MAV_AUTOPILOT_ARDUPILOTMEGA,
+        base_mode: mavlink::ardupilotmega::MavModeFlag::empty(),
+        system_status: mavlink::ardupilotmega::MavState::MAV_STATE_STANDBY,
+        mavlink_version: 0x3,
+    })
+}
+
+/// Create a message requesting the parameters list
+pub fn request_parameters() -> mavlink::ardupilotmega::MavMessage {
+    mavlink::ardupilotmega::MavMessage::PARAM_REQUEST_LIST(
+        mavlink::ardupilotmega::PARAM_REQUEST_LIST_DATA {
+            target_system: 0,
+            target_component: 0,
+        },
+    )
+}
+
+/// Create a message enabling data streaming
+pub fn request_stream() -> mavlink::ardupilotmega::MavMessage {
+    mavlink::ardupilotmega::MavMessage::REQUEST_DATA_STREAM(
+        mavlink::ardupilotmega::REQUEST_DATA_STREAM_DATA {
+            target_system: 0,
+            target_component: 0,
+            req_stream_id: 0,
+            req_message_rate: 10,
+            start_stop: 1,
+        },
+    )
+}