feat: add read_v2_raw_message_async_signed

mavlink-core/Cargo.toml

@@ -42,4 +42,5 @@ sha2 = { version = "0.10", optional = true }
 "serde" = ["dep:serde", "dep:serde_arrays"]
 "tokio-1" = ["dep:tokio"]
 "signing" = ["dep:sha2"]
-default = ["std", "tcp", "udp", "direct-serial", "serde"]
+# DO NOT COMMIT 
+default = ["std", "tcp", "udp", "direct-serial", "serde", "tokio-1", "signing"]

mavlink-core/src/lib.rs

@@ -878,10 +878,21 @@ fn read_v2_raw_message_inner<M: Message, R: Read>(
 }
 
 /// Async read a raw buffer with the mavlink message
+/// 
 /// V2 maximum size is 280 bytes: `<https://mavlink.io/en/guide/serialization.html>`
 #[cfg(feature = "tokio-1")]
 pub async fn read_v2_raw_message_async<M: Message, R: tokio::io::AsyncReadExt + Unpin>(
     reader: &mut R,
+) -> Result<MAVLinkV2MessageRaw, error::MessageReadError> {
+    read_v2_raw_message_async_inner::<M,R>(reader, None).await
+}
+
+/// Async read a raw buffer with the mavlink message
+/// V2 maximum size is 280 bytes: `<https://mavlink.io/en/guide/serialization.html>`
+#[cfg(feature = "tokio-1")]
+async fn read_v2_raw_message_async_inner<M: Message, R: tokio::io::AsyncReadExt + Unpin>(
+    reader: &mut R,
+    signing_data: Option<&SigningData>,
 ) -> Result<MAVLinkV2MessageRaw, error::MessageReadError> {
     loop {
         loop {
@@ -906,12 +917,31 @@ pub async fn read_v2_raw_message_async<M: Message, R: tokio::io::AsyncReadExt +
             .read_exact(message.mut_payload_and_checksum_and_sign())
             .await?;
 
-        if message.has_valid_crc::<M>() {
-            return Ok(message);
+        if !message.has_valid_crc::<M>() {
+            continue;
+        }
+
+        #[cfg(feature = "signing")]
+        if let Some(signing_data) = signing_data {
+            if !signing_data.verify_signature(&message) {
+                continue;
+            }
         }
+
+        return Ok(message);
     }
 }
 
+/// Async read a raw buffer with the mavlink message with signing support
+/// V2 maximum size is 280 bytes: `<https://mavlink.io/en/guide/serialization.html>`
+#[cfg(all(feature = "tokio-1", feature = "signing"))]
+pub async fn read_v2_raw_message_async_signed<M: Message, R: tokio::io::AsyncReadExt + Unpin>(
+    reader: &mut R,
+    signing_data: Option<&SigningData>,
+) -> Result<MAVLinkV2MessageRaw, error::MessageReadError> {
+    read_v2_raw_message_async_inner::<M, R>(reader, signing_data).await
+}
+
 /// Async read a raw buffer with the mavlink message
 /// V2 maximum size is 280 bytes: `<https://mavlink.io/en/guide/serialization.html>`
 ///