async-mavlink

Async adapter for the mavlink crate

The mavlink crate offers a low level API for MAVLink connections. This crate adds a thin async API on top of that. The most important feature is a subscribe based communication model. It allows the user to subscribe to a certain type of message. All subsequent messages of that type then can be received in a async stream. In order for this to function, it is necessary to execute the event loop of the connector as a task. This crate aims to be executor independent, e.g. it should work with all async executors.

This so far is only a proof of concept. While it might serve your usecase well, expect things to break. Contributions and suggestions are wellcome!

Example: Pulling all Parameters from a Vehicle

In this example the subscribe method is utilized to collect all parameters of the vehicle.

```rust use std::collections::HashMap; use asyncmavlink::{AsyncMavConn, MavMessageType, tostring}; use mavlink::common::; use smol::prelude::;

smol::block_on(async { // connect let (conn, future) = AsyncMavConn::new("udpin:127.0.0.1:14551")?;

// start event loop
smol::spawn(async move { future.await }).detach();

// we want to subscribe to PARAM_VALUE messages
let msg_type = MavMessageType::new(&MavMessage::PARAM_VALUE(Default::default()));

// subscribe to PARAM_VALUE message
let mut stream = conn.subscribe(msg_type).await;

// and send one PARAM_REQUEST_LIST message
let msg_request = MavMessage::PARAM_REQUEST_LIST(Default::default());
conn.send_default(&msg_request).await?;
let mut parameters = HashMap::new();

// receive all parameters and store them in a HashMap
while let Some(MavMessage::PARAM_VALUE(data)) = (stream.next()).await {
    parameters.insert(to_string(&data.param_id), data.param_value);
    if data.param_count as usize == parameters.len(){
        break;
    }
}

// do something with parameters

}) ```

License: MIT OR Apache-2.0