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Merged
merged 5 commits into from
Apr 16, 2025
Merged

Minor corrections and improvements #75

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7dd4124
build: parser: Add support to f64
patrickelectric Apr 16, 2025
4d24847
build: parser: Fix float handle
patrickelectric Apr 16, 2025
00cf413
build: parser: Create name function
patrickelectric Apr 16, 2025
4b6c33a
message: MessageInfo: Add name function
patrickelectric Apr 16, 2025
e03a47d
device: Add error message for invalid messages
patrickelectric Apr 16, 2025
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15 changes: 12 additions & 3 deletions build/parser.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -27,6 +27,7 @@ enum PayloadType {
I16,
I32,
F32,
F64,
VECTOR(Box<VectorType>),
}

Expand All @@ -41,6 +42,7 @@ impl PayloadType {
"i16" | "int16_t" => PayloadType::I16,
"i32" | "int32_t" => PayloadType::I32,
"float" => PayloadType::F32,
"double" => PayloadType::F64,
"vector" => panic!("Can't convert vector with from_string."),
something => panic!("No available type: {:#?}", something),
}
Expand Down Expand Up @@ -73,6 +75,7 @@ impl PayloadType {
PayloadType::I16 => quote! {i16},
PayloadType::I32 => quote! {i32},
PayloadType::F32 => quote! {f32},
PayloadType::F64 => quote! {f64},
PayloadType::VECTOR(_vector) => panic!("Can't convert vector to rust."),
}
}
Expand All @@ -82,6 +85,7 @@ impl PayloadType {
PayloadType::CHAR | PayloadType::U8 | PayloadType::I8 => 1,
PayloadType::U16 | PayloadType::I16 => 2,
PayloadType::U32 | PayloadType::I32 | PayloadType::F32 => 4,
PayloadType::F64 => 8,
PayloadType::VECTOR(_) => 0,
}
}
Expand Down Expand Up @@ -383,7 +387,7 @@ impl MessageDefinition {
b += field.typ.to_size();
value
}
PayloadType::U16 | PayloadType::I16 | PayloadType::U32 | PayloadType::I32 | PayloadType::F32 => {
PayloadType::U16 | PayloadType::I16 | PayloadType::U32 | PayloadType::I32 | PayloadType::F32 | PayloadType::F64 => {
let data_type = field.typ.to_rust();
let data_size = field.typ.to_size();
let field_token = quote! {
Expand Down Expand Up @@ -411,11 +415,12 @@ impl MessageDefinition {
PayloadType::U32 |
PayloadType::I16 |
PayloadType::I32 |
PayloadType::F32 => quote! {
PayloadType::F32 |
PayloadType::F64=> quote! {
payload[#b + #length_size..payload.len()]
.chunks_exact(#data_size)
.into_iter()
.map(|a| u16::from_le_bytes((*a).try_into().expect("Wrong slice length")))
.map(|a| #data_type::from_le_bytes((*a).try_into().expect("Wrong slice length")))
.collect::<Vec<#data_type>>()
},
PayloadType::VECTOR(_) => unimplemented!("Vector of vectors are not supported"),
Expand All @@ -442,6 +447,7 @@ impl MessageDefinition {
.collect();

let id = self.id;
let name = self.name.clone();
quote! {
#[derive(Debug, Clone, PartialEq, Default)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
Expand Down Expand Up @@ -470,6 +476,9 @@ impl MessageDefinition {
fn id() -> u16 {
#id
}
fn name() -> &'static str {
#name
}
}
}
}
Expand Down
12 changes: 11 additions & 1 deletion src/device.rs
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Expand Up @@ -152,7 +152,17 @@ pub trait PingDevice {
};
let message = Messages::try_from(&answer)
.map_err(|_e| PingError::TryFromError(answer))?;
return Ok(message.inner::<T>().unwrap().clone());
match message.inner::<T>() {
Some(message) => return Ok(message.clone()),
None => {
error!(
"Received message is not of type `{}` ({}), receiving: {:?}",
T::name(),
T::id(),
message,
);
}
}
}
Err(broadcast::error::RecvError::Lagged(_)) => continue,
Err(e) => return Err(e.into()),
Expand Down
1 change: 1 addition & 0 deletions src/message.rs
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Expand Up @@ -147,6 +147,7 @@ pub trait DeserializePayload {

pub trait MessageInfo {
fn id() -> u16;
fn name() -> &'static str;
}

pub trait DeserializeGenericMessage
Expand Down