From 701f7723208b7c344c415968684d6ac774dc3cb4 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico.lolli@skywarder.eu>
Date: Sat, 8 Mar 2025 13:22:23 +0000
Subject: [PATCH] Add get_field Method for Field Reflection
---
mavlink-bindgen/Cargo.toml | 28 +++++++++++++-----
mavlink-bindgen/src/parser.rs | 55 +++++++++++++++++++++++++++++++++++
mavlink-core/src/lib.rs | 4 ++-
3 files changed, 78 insertions(+), 9 deletions(-)
diff --git a/mavlink-bindgen/Cargo.toml b/mavlink-bindgen/Cargo.toml
index 2c23aee..80fcbb7 100644
--- a/mavlink-bindgen/Cargo.toml
+++ b/mavlink-bindgen/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "mavlink-bindgen"
-version = "0.13.2"
+version = "0.14.0"
edition.workspace = true
license = "MIT/Apache-2.0"
description = "Library used by rust-mavlink."
@@ -17,17 +17,29 @@ quote = "1"
proc-macro2 = "1.0.43"
lazy_static = "1.2.0"
serde = { version = "1.0.115", optional = true, features = ["derive"] }
-clap = { version = "~4.3.24", optional = true, default-features =false, features = ["derive", "help", "usage", "error-context"] }
+clap = { version = "~4.3.24", optional = true, default-features = false, features = [
+ "derive",
+ "help",
+ "usage",
+ "error-context",
+] }
thiserror = "1.0.56"
# Required to support MSRV 1.65.0
-clap_lex = { version = "=0.5.0", optional=true }
-clap_builder = { version = "~4.3.24", optional=true}
-anstyle = { version = "=1.0.2", optional=true }
-anstyle-query = { version = "=1.0.0", optional=true }
-anstyle-parse = { version = "=0.2.1", optional=true }
+clap_lex = { version = "=0.5.0", optional = true }
+clap_builder = { version = "~4.3.24", optional = true }
+anstyle = { version = "=1.0.2", optional = true }
+anstyle-query = { version = "=1.0.0", optional = true }
+anstyle-parse = { version = "=0.2.1", optional = true }
[features]
-cli = ["dep:clap", "dep:clap_lex", "dep:clap_builder", "dep:anstyle", "dep:anstyle-query", "dep:anstyle-parse"]
+cli = [
+ "dep:clap",
+ "dep:clap_lex",
+ "dep:clap_builder",
+ "dep:anstyle",
+ "dep:anstyle-query",
+ "dep:anstyle-parse",
+]
emit-extensions = []
emit-description = []
diff --git a/mavlink-bindgen/src/parser.rs b/mavlink-bindgen/src/parser.rs
index dce7263..feebda8 100644
--- a/mavlink-bindgen/src/parser.rs
+++ b/mavlink-bindgen/src/parser.rs
@@ -138,6 +138,7 @@ impl MavProfile {
let mav_message_default_from_id =
self.emit_mav_message_default_from_id(&enum_names, &struct_names);
let mav_message_serialize = self.emit_mav_message_serialize(&enum_names);
+ let mav_message_get_field = self.emit_mav_message_get_field(&enum_names);
quote! {
#comment
@@ -152,6 +153,8 @@ impl MavProfile {
#[allow(unused_imports)]
use bitflags::bitflags;
+ use std::any::Any;
+
use mavlink_core::{MavlinkVersion, Message, MessageData, bytes::Bytes, bytes_mut::BytesMut};
#[cfg(feature = "serde")]
@@ -172,6 +175,7 @@ impl MavProfile {
#mav_message_default_from_id
#mav_message_serialize
#mav_message_crc
+ #mav_message_get_field
}
}
}
@@ -279,6 +283,16 @@ impl MavProfile {
}
}
}
+
+ fn emit_mav_message_get_field(&self, enums: &[TokenStream]) -> TokenStream {
+ quote! {
+ fn get_field(&self, index: usize) -> Option<Box<dyn Any>> {
+ match self {
+ #(Self::#enums(body) => body.get_field(index),)*
+ }
+ }
+ }
+ }
}
#[derive(Debug, PartialEq, Eq, Clone, Default)]
@@ -565,6 +579,44 @@ impl MavMessage {
}
}
+ fn emit_get_field_impl(&self) -> TokenStream {
+ let field_names = self
+ .fields
+ .iter()
+ .enumerate()
+ .map(|(i, f)| {
+ let name = f.emit_name();
+ quote! {#i => Some(Box::new(self.#name)),}
+ })
+ .collect::<Vec<TokenStream>>();
+
+ let body = if field_names.is_empty() {
+ // struct has no fields
+ quote! {
+ None
+ }
+ } else {
+ quote! {
+ match index {
+ #(#field_names)*
+ _ => None,
+ }
+ }
+ };
+
+ let arg_name = if self.fields.is_empty() {
+ quote! {_index}
+ } else {
+ quote! {index}
+ };
+
+ quote! {
+ fn get_field(&self, #arg_name: usize) -> Option<Box<dyn Any>> {
+ #body
+ }
+ }
+ }
+
fn emit_default_impl(&self) -> TokenStream {
let msg_name = self.emit_struct_name();
quote! {
@@ -595,6 +647,7 @@ impl MavMessage {
let serialize_vars = self.emit_serialize_vars();
let const_default = self.emit_const_default();
let default_impl = self.emit_default_impl();
+ let get_field_impl = self.emit_get_field_impl();
#[cfg(feature = "emit-description")]
let description = self.emit_description();
@@ -632,6 +685,8 @@ impl MavMessage {
fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
#serialize_vars
}
+
+ #get_field_impl
}
}
}
diff --git a/mavlink-core/src/lib.rs b/mavlink-core/src/lib.rs
index 0cc5e87..e06a985 100644
--- a/mavlink-core/src/lib.rs
+++ b/mavlink-core/src/lib.rs
@@ -23,7 +23,7 @@
#![deny(clippy::all)]
#![warn(clippy::use_self)]
-use core::result::Result;
+use core::{any::Any, result::Result};
#[cfg(feature = "std")]
use std::io::{Read, Write};
@@ -102,6 +102,7 @@ where
fn message_id_from_name(name: &str) -> Result<u32, &'static str>;
fn default_message_from_id(id: u32) -> Result<Self, &'static str>;
fn extra_crc(id: u32) -> u8;
+ fn get_field(&self, index: usize) -> Option<Box<dyn Any>>;
}
pub trait MessageData: Sized {
@@ -114,6 +115,7 @@ pub trait MessageData: Sized {
fn ser(&self, version: MavlinkVersion, payload: &mut [u8]) -> usize;
fn deser(version: MavlinkVersion, payload: &[u8]) -> Result<Self, ParserError>;
+ fn get_field(&self, index: usize) -> Option<Box<dyn Any>>;
}
/// Metadata from a MAVLink packet header
--
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