From f94c9630b80fa9f779a57562a5fd309cfb3956f4 Mon Sep 17 00:00:00 2001
From: Federico Lolli <federico123579@gmail.com>
Date: Sun, 13 Apr 2025 13:55:50 +0200
Subject: [PATCH] feat: add set_read_timeout and set_write_timeout to
MavConnection
---
mavlink-core/src/connection/direct_serial.rs | 15 +++++++++++++++
mavlink-core/src/connection/file.rs | 15 +++++++++++++++
mavlink-core/src/connection/mod.rs | 3 +++
mavlink-core/src/connection/tcp.rs | 10 ++++++++++
mavlink-core/src/connection/udp.rs | 11 +++++++++++
5 files changed, 54 insertions(+)
diff --git a/mavlink-core/src/connection/direct_serial.rs b/mavlink-core/src/connection/direct_serial.rs
index 85c771b..f961359 100644
--- a/mavlink-core/src/connection/direct_serial.rs
+++ b/mavlink-core/src/connection/direct_serial.rs
@@ -7,6 +7,7 @@ use crate::{MavHeader, MavlinkVersion, Message};
use core::ops::DerefMut;
use std::io;
use std::sync::Mutex;
+use std::time::Duration;
use crate::error::{MessageReadError, MessageWriteError};
use serial::{prelude::*, SystemPort};
@@ -85,6 +86,20 @@ impl<M: Message> MavConnection<M> for SerialConnection {
self.protocol_version
}
+ fn set_read_timeout(&mut self, timeout: Option<Duration>) -> io::Result<()> {
+ let mut guard = self.port.lock().unwrap();
+ let timeout = timeout.unwrap_or(Duration::ZERO);
+ guard.reader_mut().set_timeout(timeout)?;
+ Ok(())
+ }
+
+ fn set_write_timeout(&mut self, timeout: Option<Duration>) -> io::Result<()> {
+ let mut guard = self.port.lock().unwrap();
+ let timeout = timeout.unwrap_or(Duration::ZERO);
+ guard.reader_mut().set_timeout(timeout)?;
+ Ok(())
+ }
+
#[cfg(feature = "signing")]
fn setup_signing(&mut self, signing_data: Option<SigningConfig>) {
self.signing_data = signing_data.map(SigningData::from_config)
diff --git a/mavlink-core/src/connection/file.rs b/mavlink-core/src/connection/file.rs
index 176a4a8..0cafa72 100644
--- a/mavlink-core/src/connection/file.rs
+++ b/mavlink-core/src/connection/file.rs
@@ -9,6 +9,7 @@ use core::ops::DerefMut;
use std::fs::File;
use std::io;
use std::sync::Mutex;
+use std::time::Duration;
#[cfg(not(feature = "signing"))]
use crate::read_versioned_msg;
@@ -76,6 +77,20 @@ impl<M: Message> MavConnection<M> for FileConnection {
self.protocol_version
}
+ fn set_read_timeout(&mut self, _timeout: Option<Duration>) -> io::Result<()> {
+ Err(io::Error::new(
+ io::ErrorKind::Other,
+ "File connection does not support read timeout",
+ ))
+ }
+
+ fn set_write_timeout(&mut self, _timeout: Option<Duration>) -> io::Result<()> {
+ Err(io::Error::new(
+ io::ErrorKind::Other,
+ "File connection does not support write timeout",
+ ))
+ }
+
#[cfg(feature = "signing")]
fn setup_signing(&mut self, signing_data: Option<SigningConfig>) {
self.signing_data = signing_data.map(SigningData::from_config)
diff --git a/mavlink-core/src/connection/mod.rs b/mavlink-core/src/connection/mod.rs
index 5fff34b..4861b01 100644
--- a/mavlink-core/src/connection/mod.rs
+++ b/mavlink-core/src/connection/mod.rs
@@ -30,6 +30,9 @@ pub trait MavConnection<M: Message> {
fn set_protocol_version(&mut self, version: MavlinkVersion);
fn protocol_version(&self) -> MavlinkVersion;
+ fn set_write_timeout(&mut self, timeout: Option<std::time::Duration>) -> io::Result<()>;
+ fn set_read_timeout(&mut self, timeout: Option<std::time::Duration>) -> io::Result<()>;
+
/// Write whole frame
fn send_frame(&self, frame: &MavFrame<M>) -> Result<usize, crate::error::MessageWriteError> {
self.send(&frame.header, &frame.msg)
diff --git a/mavlink-core/src/connection/tcp.rs b/mavlink-core/src/connection/tcp.rs
index 3f83c2d..b251b36 100644
--- a/mavlink-core/src/connection/tcp.rs
+++ b/mavlink-core/src/connection/tcp.rs
@@ -126,6 +126,16 @@ impl<M: Message> MavConnection<M> for TcpConnection {
self.protocol_version
}
+ fn set_read_timeout(&mut self, timeout: Option<Duration>) -> io::Result<()> {
+ let mut guard = self.reader.lock().unwrap();
+ guard.reader_mut().set_read_timeout(timeout)
+ }
+
+ fn set_write_timeout(&mut self, timeout: Option<Duration>) -> io::Result<()> {
+ let guard = self.writer.lock().unwrap();
+ guard.socket.set_write_timeout(timeout)
+ }
+
#[cfg(feature = "signing")]
fn setup_signing(&mut self, signing_data: Option<SigningConfig>) {
self.signing_data = signing_data.map(SigningData::from_config)
diff --git a/mavlink-core/src/connection/udp.rs b/mavlink-core/src/connection/udp.rs
index 25f5662..208a404 100644
--- a/mavlink-core/src/connection/udp.rs
+++ b/mavlink-core/src/connection/udp.rs
@@ -1,6 +1,7 @@
//! UDP MAVLink connection
use std::collections::VecDeque;
+use std::time::Duration;
use crate::connectable::{UdpConnectable, UdpMode};
use crate::connection::MavConnection;
@@ -142,6 +143,16 @@ impl<M: Message> MavConnection<M> for UdpConnection {
self.protocol_version
}
+ fn set_read_timeout(&mut self, timeout: Option<Duration>) -> io::Result<()> {
+ let mut guard = self.reader.lock().unwrap();
+ guard.reader_mut().socket.set_read_timeout(timeout)
+ }
+
+ fn set_write_timeout(&mut self, timeout: Option<Duration>) -> io::Result<()> {
+ let guard = self.writer.lock().unwrap();
+ guard.socket.set_write_timeout(timeout)
+ }
+
#[cfg(feature = "signing")]
fn setup_signing(&mut self, signing_data: Option<SigningConfig>) {
self.signing_data = signing_data.map(SigningData::from_config)
--
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