Templates (in progress)

README.md

@@ -42,14 +42,13 @@ Version received: Version { flight_sw_major: 1, flight_sw_minor: 10, flight_sw_p
 - `mocap`
 ```bash
 $ cargo run --example mocap
-Finished dev [unoptimized + debuginfo] target(s) in 0.31s
- Running `target/debug/examples/mocap`
+    Finished dev [unoptimized + debuginfo] target(s) in 0.31s
+     Running `target/debug/examples/mocap`
 All sended successfully!
 ```
 - `telemetry`
 ```bash
 $ cargo run --example telemery
-   Compiling libmavsdk v0.1.0 (/home/ildar/sw/mavsdk-rust)
     Finished dev [unoptimized + debuginfo] target(s) in 4.92s
      Running `target/debug/examples/telemetry`
 Odometry: Odometry { time_usec: 0, frame_id: EstimNed, child_frame_id: Undef, position_body: PositionBody { x_m: 0.0, y_m: 0.0, z_m: -3.483048 }, q: Quaternion { w: 0.6384722, x: -0.004061609, y: 0.079110526, z: 0.76555747 }, speed_body: SpeedBody { velocity_x_m_s: 0.0042169667, velocity_y_m_s: -0.0015938352, velocity_z_m_s: -0.014632007 }, angular_velocity_body: AngularVelocityBody { roll_rad_s: 0.0005086092, pitch_rad_s: 0.00023366197, yaw_rad_s: -0.0002803828 }, pose_covariance: Covariance { covariance_matrix: [0.0079130605, 0.0, 0.0, 0.0, 0.0, 0.0, 0.007913225, 0.0, 0.0, 0.0, 0.0, 0.044821125, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] }, velocity_covariance: Covariance { covariance_matrix: [0.0052988436, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0052990587, 0.0, 0.0, 0.0, 0.0, 0.0045366324, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] } }

src/generated/telemetry/mod.rs

@@ -23,6 +23,12 @@ pub enum MavFrame {
     EstimNed = 18,
 }
 
+impl From<&i32> for MavFrame {
+    fn from(rpc_mav_frame: &i32) -> Self {
+        MavFrame::from_i32(*rpc_mav_frame).unwrap()
+    }
+}
+
 /// Odometry message type.
 #[derive(Clone, PartialEq, Debug, Default)]
 pub struct Odometry {
@@ -138,26 +144,30 @@ pub struct Covariance {
     pub covariance_matrix: ::std::vec::Vec<f32>,
 }
 
-impl From<pb::Odometry> for Odometry {
-    fn from(rpc_odometry: pb::Odometry) -> Odometry {
+impl From<&pb::Covariance> for Covariance {
+    fn from(rpc_covariance: &pb::Covariance) -> Self {
+        Covariance {
+            covariance_matrix: rpc_covariance.covariance_matrix.clone(),
+        }
+    }
+}
+
+impl From<&pb::Odometry> for Odometry {
+    fn from(rpc_odometry: &pb::Odometry) -> Odometry {
         Odometry {
-            time_usec: 0,
-            frame_id: MavFrame::from_i32(rpc_odometry.frame_id).unwrap(),
-            child_frame_id: MavFrame::from_i32(rpc_odometry.child_frame_id).unwrap(),
-            position_body: PositionBody::from(&rpc_odometry.position_body.unwrap()),
-            q: Quaternion::from(&rpc_odometry.q.unwrap()),
-            speed_body: SpeedBody::from(
-                &rpc_odometry.speed_body.unwrap_or(pb::SpeedBody::default()),
-            ),
+            time_usec: rpc_odometry.time_usec,
+            frame_id: MavFrame::from(&rpc_odometry.frame_id),
+            child_frame_id: MavFrame::from(&rpc_odometry.child_frame_id),
+            position_body: PositionBody::from(rpc_odometry.position_body.as_ref().unwrap()),
+            q: Quaternion::from(rpc_odometry.q.as_ref().unwrap()),
+            speed_body: SpeedBody::from(rpc_odometry.speed_body.as_ref().unwrap()),
             angular_velocity_body: AngularVelocityBody::from(
-                &rpc_odometry.angular_velocity_body.unwrap(),
+                rpc_odometry.angular_velocity_body.as_ref().unwrap(),
+            ),
+            pose_covariance: Covariance::from(rpc_odometry.pose_covariance.as_ref().unwrap()),
+            velocity_covariance: Covariance::from(
+                rpc_odometry.velocity_covariance.as_ref().unwrap(),
             ),
-            pose_covariance: Covariance {
-                covariance_matrix: rpc_odometry.pose_covariance.unwrap().covariance_matrix,
-            },
-            velocity_covariance: Covariance {
-                covariance_matrix: rpc_odometry.velocity_covariance.unwrap().covariance_matrix,
-            },
         }
     }
 }
@@ -257,7 +267,7 @@ impl Stream for OdometryStream {
             Poll::Ready(None) => Poll::Ready(None),
             Poll::Ready(Some(rpc_result)) => match rpc_result {
                 Ok(odometry_response) => match odometry_response.odometry {
-                    Some(rpc_odometry) => Poll::Ready(Some(Ok(Odometry::from(rpc_odometry)))),
+                    Some(rpc_odometry) => Poll::Ready(Some(Ok(Odometry::from(&rpc_odometry)))),
                     None => Poll::Ready(Some(Err(MavErr(TelemetryError::Unknown(
                         "Unexpected value".into(),
                     ))))),

templates/enum.j2

@@ -1,5 +1,13 @@
-#[derive(PartialEq, Clone, Debug)]
-pub enum Result {
-    // TODO
+#[derive(Clone, Copy, Debug, PartialEq, Eq, Hash, PartialOrd, Ord, ::prost::Enumeration)]
+pub enum {{ name.upper_camel_case }} {
+    {% for value in values %}
+    /// {{ value.description }}
+    {{ value.name.upper_camel_case }} = {{ loop.index - 1 }}
+    {%- endfor %}
 }
 
+impl From<&i32> for {{ nested_enum.name.upper_camel_case }} {
+    fn from(rpc_{{ nested_enum.name.lower_snake_case }}: &i32) -> Self {
+        {{ nested_enum.name.upper_camel_case }}::from_i32(rpc_{{ nested_enum.name.lower_snake_case }}).unwrap()
+    }
+}

templates/file.j2

@@ -1,9 +1,16 @@
-mod {{ plugin_name.lower_snake_case }}_grpc;
-mod {{ plugin_name.lower_snake_case }};
+use super::super::FromRpcResponse;
+use super::super::RequestError::{MavErr, RpcErr};
+use super::super::RequestResult;
+use super::super::TonicResult;
+use futures::stream::{Stream, StreamExt};
+use futures::task::{Context, Poll};
+use std::convert::From;
+use std::convert::Into;
+use std::pin::Pin;
 
-use {{ plugin_name.lower_snake_case }}::{{ plugin_name.upper_camel_case }}Result_Result;
-
-impl {{ plugin_name.upper_camel_case }} {
+mod pb {
+    include!("mavsdk.rpc.{{ plugin_name.lower_snake_case }}.rs");
+}
 
 {%- for enum in enums %}
 {{ indent(enum, 1) }}
@@ -17,7 +24,6 @@ impl {{ plugin_name.upper_camel_case }} {
 {{ indent(method, 1) }}
 {%- endfor %}
 
-}
 
 impl super::super::FromChannel for {{ plugin_name.upper_camel_case}} {
     fn new(channel: ::grpcio::Channel) -> Self {

templates/struct.j2

@@ -1,4 +1,34 @@
 #[derive(PartialEq, Clone, Default, Debug)]
-pub struct Version {
-    // TODO
+pub struct {{ name.upper_camel_case }} {
+    {% for field in fields %}
+    /// {{ field.description }}
+    pub {{ field.name.lower_snake_case }}: {{ field.type_info.name }},
+    {%- endfor %}
+}
+
+{% for nested_enum in nested_enums %}
+
+impl From<&i32> for {{ nested_enum.name.upper_camel_case }} {
+    fn from(rpc_{{ nested_enum.name.lower_snake_case }}: &i32) -> Self {
+        {{ nested_enum.name.upper_camel_case }}::from_i32(rpc_{{ nested_enum.name.lower_snake_case }}).unwrap()
+    }
+}
+{%- endfor %}
+
+impl From<&pb::{{ name.upper_camel_case }}> for {{ name.upper_camel_case }} {
+    fn from(rpc_{{ lower_snake_case }}: &pb::{{ name.upper_camel_case }}) -> {{ name.upper_camel_case }} {
+        {{ name.upper_camel_case }} {
+             {% for field in fields -%}
+              {% if field.type_info.is_primitive %}
+               {{ field.name.lower_snake_case }}: {{ field.type_info.name }}::from(&rpc_{{ lower_snake_case }}.{{ field.name.lower_snake_case }}),
+              {% else %}
+               {% if field.type_info.is_repeated %}
+                {{ field.name.lower_snake_case }}: rpc_{{ lower_snake_case }}.{{ field.name.lower_snake_case }}.clone(),
+               {% else %}
+                {{ field.name.lower_snake_case }}: {{ field.type_info.name }}::from(&rpc_{{ lower_snake_case }}.{{ field.name.lower_snake_case }}.as_ref().unwrap()),
+               {% endif %}
+              {% endif %}
+             {% endfor -%}
+        }
+    }
 }

templates/type_conversions

@@ -1,12 +1,12 @@
 {
-    "double": "Double",
-    "float": "Float",
-    "int64_t": "Int64",
-    "uint64_t": "UInt64",
-    "int32_t": "Int32",
-    "bool": "Bool",
+    "double": "f64",
+    "float": "f32",
+    "int64_t": "i64",
+    "uint64_t": "u64",
+    "int32_t": "i32",
+    "bool": "bool",
     "std::string": "String",
-    "std::byte": "Data",
-    "uint32_t": "UInt32",
-    "repeated": { "prefix": "[", "suffix": "]" }
+    "std::byte": "u8",
+    "uint32_t": "u32",
+    "repeated": { "prefix": "::std::vec::Vec<", "suffix": ">" }
 }