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String parsing for char[] #193

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String parsing for char[] #193

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fd23f91
String parsing for char[]
gbin Sep 10, 2023
90f31da
remove log dep
gbin Sep 10, 2023
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1 change: 1 addition & 0 deletions Cargo.toml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,7 @@ byteorder = { version = "1.3.4", default-features = false }
embedded-hal = { version = "0.2", optional = true }
nb = { version = "1.0", optional = true }
serde_arrays = { version = "0.1.0", optional = true }
arrayvec = { version = "0.7.4", features = ["serde"] }

[features]
"all" = [
Expand Down
38 changes: 36 additions & 2 deletions build/parser.rs
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Expand Up @@ -461,7 +461,7 @@ impl MavMessage {
// If sent by an implementation that doesn't have the extensions fields
// then the recipient will see zero values for the extensions fields.
let serde_default = if field.is_extension {
if field.enumtype.is_some() {
if field.enumtype.is_some() || matches!(field.mavtype, MavType::String(_)) {
quote!(#[cfg_attr(feature = "serde", serde(default))])
} else {
quote!(#[cfg_attr(feature = "serde", serde(default = "crate::RustDefault::rust_default"))])
Expand Down Expand Up @@ -770,6 +770,7 @@ pub enum MavType {
Char,
Float,
Double,
String(usize),
Array(Box<MavType>, usize),
}

Expand Down Expand Up @@ -801,7 +802,11 @@ impl MavType {
let start = s.find('[')?;
let size = s[start + 1..(s.len() - 1)].parse::<usize>().ok()?;
let mtype = Self::parse_type(&s[0..start])?;
Some(Array(Box::new(mtype), size))
if mtype == Char {
Some(String(size))
} else {
Some(Array(Box::new(mtype), size))
}
} else {
None
}
Expand All @@ -825,6 +830,18 @@ impl MavType {
Int64 => quote! {#val = #buf.get_i64_le();},
Float => quote! {#val = #buf.get_f32_le();},
Double => quote! {#val = #buf.get_f64_le();},
String(length) => {
let r = Char.rust_reader(&quote!(let next_char), buf);
quote! {
for _ in 0..#length {
#r
if next_char == 0 {
break;
}
#val.push(next_char as char);
}
}
}
Array(t, _) => {
let r = t.rust_reader(&quote!(let val), buf);
quote! {
Expand Down Expand Up @@ -853,6 +870,15 @@ impl MavType {
UInt64 => quote! {#buf.put_u64_le(#val);},
Int64 => quote! {#buf.put_i64_le(#val);},
Double => quote! {#buf.put_f64_le(#val);},
String(_size) => {
let w = Char.rust_writer(&quote!(*val), buf);
quote! {
let slice = #val.as_bytes();
for val in slice {
#w
}
}
}
Array(t, _size) => {
let w = t.rust_writer(&quote!(*val), buf);
quote! {
Expand All @@ -872,6 +898,7 @@ impl MavType {
UInt16 | Int16 => 2,
UInt32 | Int32 | Float => 4,
UInt64 | Int64 | Double => 8,
String(size) => Char.len() * size,
Array(t, size) => t.len() * size,
}
}
Expand All @@ -884,6 +911,7 @@ impl MavType {
UInt16 | Int16 => 2,
UInt32 | Int32 | Float => 4,
UInt64 | Int64 | Double => 8,
String(_) => Char.len(),
Array(t, _) => t.len(),
}
}
Expand All @@ -904,6 +932,7 @@ impl MavType {
UInt64 => "uint64_t".into(),
Int64 => "int64_t".into(),
Double => "double".into(),
String(_) => "char".into(),
Array(t, _) => t.primitive_type(),
}
}
Expand All @@ -924,6 +953,7 @@ impl MavType {
UInt64 => "u64".into(),
Int64 => "i64".into(),
Double => "f64".into(),
String(size) => format!("arrayvec::ArrayString<{}>", size),
Array(t, size) => format!("[{};{}]", t.rust_type(), size),
}
}
Expand All @@ -943,6 +973,7 @@ impl MavType {
UInt64 => quote!(0_u64),
Int64 => quote!(0_i64),
Double => quote!(0.0_f64),
String(size) => quote!(arrayvec::ArrayString::<#size>::new_const()),
Array(ty, size) => {
let default_value = ty.emit_default_value();
quote!([#default_value; #size])
Expand Down Expand Up @@ -1397,6 +1428,9 @@ pub fn extra_crc(msg: &MavMessage) -> u8 {
crc.digest(field.name.as_bytes());
}
crc.digest(" ".as_bytes());
if let MavType::String(size) = field.mavtype {
crc.digest(&[size as u8]);
}
if let MavType::Array(_, size) = field.mavtype {
crc.digest(&[size as u8]);
}
Expand Down
3 changes: 0 additions & 3 deletions src/lib.rs
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Expand Up @@ -43,7 +43,6 @@ use utils::{remove_trailing_zeroes, RustDefault};
use serde::{Deserialize, Serialize};

use crate::{bytes::Bytes, error::ParserError};

use crc_any::CRCu16;

// include generate definitions
Expand Down Expand Up @@ -600,7 +599,6 @@ pub fn read_v2_raw_message<R: Read>(
message.0[0] = MAV_STX_V2;
reader.read_exact(message.mut_header())?;
reader.read_exact(message.mut_payload_and_checksum_and_sign())?;

Ok(message)
}

Expand All @@ -611,7 +609,6 @@ pub fn read_v2_msg<M: Message, R: Read>(
loop {
let message = read_v2_raw_message(read)?;
if !message.has_valid_crc::<M>() {
// bad crc: ignore message
continue;
}

Expand Down
39 changes: 39 additions & 0 deletions tests/v2_encode_decode_tests.rs
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Expand Up @@ -60,6 +60,45 @@ mod test_v2_encode_decode {
assert_eq!(&v[..], HEARTBEAT_V2);
}

pub const STATUSTEXT_V2: &[u8] = &[
mavlink::MAV_STX_V2,
0x06, // payload is 6 bytes.``
0x00,
0x00,
0x05,
0x2a,
0x04,
0xfd, // This is STATUSTEXT
0x00,
0x00,
0x02, // Severity
0x79, // "y"
0x6f, // "o"
0x75, // "u"
0x70, // "p"
0x69, // "i"
0x49, // CRC
0x00, // CRC
];

/// It is in the V2 tests because of the trail of 0s that gets truncated at the end.
#[test]
pub fn test_read_string() {
let mut r = STATUSTEXT_V2;
let (_header, recv_msg) =
mavlink::read_v2_msg(&mut r).expect("Failed to parse COMMAND_LONG_TRUNCATED_V2");

if let mavlink::common::MavMessage::STATUSTEXT(recv_msg) = recv_msg {
assert_eq!(
recv_msg.severity,
mavlink::common::MavSeverity::MAV_SEVERITY_CRITICAL
);
assert_eq!(recv_msg.text.as_str(), "youpi");
} else {
panic!("Decoded wrong message type")
}
}

/// A COMMAND_LONG message with a truncated payload (allowed for empty fields)
pub const COMMAND_LONG_TRUNCATED_V2: &[u8] = &[
mavlink::MAV_STX_V2,
Expand Down
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