Improve mavlink json

src/lib/drivers/rest/data.rs

@@ -7,6 +7,8 @@ use lazy_static::lazy_static;
 use mavlink::{self, Message};
 use serde::{Deserialize, Serialize};
 
+use crate::mavlink_json::{MAVLinkJSON, MAVLinkJSONHeader};
+
 lazy_static! {
     static ref DATA: Data = Data {
         messages: Arc::new(Mutex::new(MAVLinkVehiclesData::default())),
@@ -24,8 +26,8 @@ pub struct MAVLinkVehiclesData {
 }
 
 impl MAVLinkVehiclesData {
-    fn update(&mut self, message: MAVLinkMessage<mavlink::ardupilotmega::MavMessage>) {
-        let vehicle_id = message.header.system_id;
+    fn update(&mut self, message: MAVLinkJSON<mavlink::ardupilotmega::MavMessage>) {
+        let vehicle_id = message.header.inner.system_id;
         self.vehicles
             .entry(vehicle_id)
             .or_insert(MAVLinkVehicleData {
@@ -63,8 +65,8 @@ struct MAVLinkVehicleData {
 }
 
 impl MAVLinkVehicleData {
-    fn update(&mut self, message: MAVLinkMessage<mavlink::ardupilotmega::MavMessage>) {
-        let component_id = message.header.component_id;
+    fn update(&mut self, message: MAVLinkJSON<mavlink::ardupilotmega::MavMessage>) {
+        let component_id = message.header.inner.component_id;
         self.components
             .entry(component_id)
             .or_insert(MAVLinkVehicleComponentData {
@@ -82,7 +84,7 @@ struct MAVLinkVehicleComponentData {
 }
 
 impl MAVLinkVehicleComponentData {
-    fn update(&mut self, message: MAVLinkMessage<mavlink::ardupilotmega::MavMessage>) {
+    fn update(&mut self, message: MAVLinkJSON<mavlink::ardupilotmega::MavMessage>) {
         let message_name = message.message.message_name().to_string();
         self.messages
             .entry(message_name)
@@ -101,18 +103,12 @@ struct MAVLinkMessageStatus {
 }
 
 impl MAVLinkMessageStatus {
-    fn update(&mut self, message: MAVLinkMessage<mavlink::ardupilotmega::MavMessage>) {
+    fn update(&mut self, message: MAVLinkJSON<mavlink::ardupilotmega::MavMessage>) {
         self.message = message.message;
         self.status.update();
     }
 }
 
-#[derive(Debug, Deserialize, Serialize)]
-pub struct MAVLinkMessage<T> {
-    pub header: mavlink::MavHeader,
-    pub message: T,
-}
-
 #[derive(Default, Debug, Deserialize, Serialize)]
 struct Status {
     time: Temporal,
@@ -154,11 +150,11 @@ impl Temporal {
     }
 }
 
-pub fn update((header, message): (mavlink::MavHeader, mavlink::ardupilotmega::MavMessage)) {
+pub fn update((header, message): (MAVLinkJSONHeader, mavlink::ardupilotmega::MavMessage)) {
     DATA.messages
         .lock()
         .unwrap()
-        .update(MAVLinkMessage { header, message });
+        .update(MAVLinkJSON { header, message });
 }
 
 pub fn messages(path: &str) -> String {

src/lib/drivers/rest/mod.rs

@@ -5,26 +5,20 @@ use std::sync::Arc;
 use anyhow::Result;
 use mavlink::ardupilotmega::MavMessage;
 use mavlink_codec::Packet;
-use serde::{Deserialize, Serialize};
 use tokio::sync::{broadcast, RwLock};
 use tracing::*;
 
 use crate::{
     callbacks::{Callbacks, MessageCallback},
     drivers::{Driver, DriverInfo},
+    mavlink_json::{MAVLinkJSON, MAVLinkJSONHeader},
     protocol::Protocol,
     stats::{
         accumulated::driver::{AccumulatedDriverStats, AccumulatedDriverStatsProvider},
         driver::DriverUuid,
     },
 };
 
-#[derive(Clone, Debug, Deserialize, Serialize)]
-pub struct MAVLinkMessage<T> {
-    pub header: mavlink::MavHeader,
-    pub message: T,
-}
-
 #[derive(Debug)]
 pub struct Rest {
     name: arc_swap::ArcSwap<String>,
@@ -82,10 +76,10 @@ impl Rest {
         match ws_receiver.recv().await {
             Ok(message) => {
                 if let Ok(content) =
-                    json5::from_str::<MAVLinkMessage<mavlink::ardupilotmega::MavMessage>>(&message)
+                    json5::from_str::<MAVLinkJSON<mavlink::ardupilotmega::MavMessage>>(&message)
                 {
                     let mut message_raw = mavlink::MAVLinkV2MessageRaw::new();
-                    message_raw.serialize_message(content.header, &content.message);
+                    message_raw.serialize_message(content.header.inner, &content.message);
                     let bus_message = Arc::new(Protocol::new("Ws", Packet::from(message_raw)));
                     stats.write().await.stats.update_input(&bus_message);
 
@@ -139,7 +133,13 @@ impl Rest {
                         continue;
                     };
 
-                    let mavlink_message = MAVLinkMessage { header, message };
+                    let header = MAVLinkJSONHeader {
+                        inner: header,
+                        message_id: Some(mavlink::Message::message_id(&message)),
+                    };
+
+                    let mavlink_message = MAVLinkJSON { header, message };
+
                     let json_string = parse_query(&mavlink_message);
                     data::update((header, mavlink_message.message));
                     crate::web::send_message(json_string).await;

src/lib/drivers/zenoh/mod.rs

@@ -3,27 +3,21 @@ use std::sync::Arc;
 use anyhow::Result;
 use mavlink::{self, Message};
 use mavlink_codec::Packet;
-use serde::{Deserialize, Serialize};
 use tokio::sync::{broadcast, RwLock};
 use tracing::*;
 use zenoh;
 
 use crate::{
     callbacks::{Callbacks, MessageCallback},
     drivers::{generic_tasks::SendReceiveContext, Driver, DriverInfo},
+    mavlink_json::{MAVLinkJSON, MAVLinkJSONHeader},
     protocol::Protocol,
     stats::{
         accumulated::driver::{AccumulatedDriverStats, AccumulatedDriverStatsProvider},
         driver::DriverUuid,
     },
 };
 
-#[derive(Clone, Debug, Deserialize, Serialize)]
-pub struct MAVLinkMessage<T> {
-    pub header: mavlink::MavHeader,
-    pub message: T,
-}
-
 #[derive(Debug)]
 pub struct Zenoh {
     name: arc_swap::ArcSwap<String>,
@@ -89,7 +83,7 @@ impl Zenoh {
         };
 
         while let Ok(sample) = subscriber.recv_async().await {
-            let Ok(content) = json5::from_str::<MAVLinkMessage<mavlink::ardupilotmega::MavMessage>>(
+            let Ok(content) = json5::from_str::<MAVLinkJSON<mavlink::ardupilotmega::MavMessage>>(
                 std::str::from_utf8(&sample.payload().to_bytes()).unwrap(),
             ) else {
                 debug!("Failed to parse message, not a valid MAVLinkMessage: {sample:?}");
@@ -98,7 +92,7 @@ impl Zenoh {
 
             let bus_message = {
                 let mut message_raw = mavlink::MAVLinkV2MessageRaw::new();
-                message_raw.serialize_message(content.header, &content.message);
+                message_raw.serialize_message(content.header.inner, &content.message);
 
                 Arc::new(Protocol::new("zenoh", Packet::from(message_raw)))
             };
@@ -167,8 +161,13 @@ impl Zenoh {
                 continue;
             };
 
+            let header = MAVLinkJSONHeader {
+                inner: header,
+                message_id: Some(mavlink::Message::message_id(&message)),
+            };
+
             let message_name = message.message_name();
-            let mavlink_message = MAVLinkMessage { header, message };
+            let mavlink_message = MAVLinkJSON { header, message };
             let json_string = &match json5::to_string(&mavlink_message) {
                 Ok(json) => json,
                 Err(error) => {
@@ -186,7 +185,7 @@ impl Zenoh {
 
             let topic_name = &format!(
                 "mavlink/{}/{}/{}",
-                header.system_id, header.component_id, message_name
+                header.inner.system_id, header.inner.component_id, message_name
             );
             if let Err(error) = session.put(topic_name, json_string).await {
                 error!("Failed to send message to {topic_name}: {error:?}");

src/lib/mavlink_json.rs

@@ -0,0 +1,18 @@
+use serde::{Deserialize, Serialize};
+
+/// Improved and back-compatible with our previous struct called `MAVLinkMessage`
+#[derive(Debug, Clone, Copy, Deserialize, Serialize, PartialEq, Eq)]
+pub struct MAVLinkJSON<T: mavlink::Message> {
+    pub header: MAVLinkJSONHeader,
+    pub message: T,
+}
+
+/// Improved and back-compatible with mavlink::MavHeader
+#[derive(Debug, Clone, Copy, Deserialize, Serialize, PartialEq, Eq)]
+pub struct MAVLinkJSONHeader {
+    #[serde(flatten)]
+    /// The original MavHeader
+    pub inner: mavlink::MavHeader,
+    /// Optional Message ID, missing in the original header
+    pub message_id: Option<u32>,
+}

src/lib/mod.rs

@@ -3,6 +3,7 @@ pub mod cli;
 pub mod drivers;
 pub mod hub;
 pub mod logger;
+pub mod mavlink_json;
 pub mod protocol;
 pub mod stats;
 pub mod web;