0.10: Fix serialization and deserialization problems

src/lib.rs

@@ -35,7 +35,7 @@
 extern crate byteorder;
 use byteorder::LittleEndian;
 #[cfg(feature = "std")]
 use byteorder::{ReadBytesExt, WriteBytesExt};
 
 #[cfg(feature = "std")]
 mod connection;
@@ -145,15 +145,15 @@
         let mut v = vec![];
 
         // serialize header
+        v.push(self.header.sequence);
         v.push(self.header.system_id);
         v.push(self.header.component_id);
-        v.push(self.header.sequence);
 
         // message id
         match self.protocol_version {
             MavlinkVersion::V2 => {
                 let bytes: [u8; 4] = self.msg.message_id().to_le_bytes();
-                v.extend_from_slice(&bytes);
+                v.extend_from_slice(&bytes[..3]);
             }
             MavlinkVersion::V1 => {
                 v.push(self.msg.message_id() as u8); //TODO check
@@ -170,17 +170,17 @@
     pub fn deser(version: MavlinkVersion, input: &[u8]) -> Result<Self, ParserError> {
         let mut buf = BytesMut::from(input);
 
+        let sequence = buf.get_u8();
         let system_id = buf.get_u8();
         let component_id = buf.get_u8();
-        let sequence = buf.get_u8();
         let header = MavHeader {
             system_id,
             component_id,
             sequence,
         };
 
         let msg_id = match version {
-            MavlinkVersion::V2 => buf.get_u32_le(),
+            MavlinkVersion::V2 => buf.get_int_le(3) as u32,
             MavlinkVersion::V1 => buf.get_u8() as u32,
         };
 

tests/mav_frame_tests.rs

@@ -0,0 +1,96 @@
+pub mod test_shared;
+
+mod mav_frame_tests {
+    use mavlink::common::MavMessage;
+    use mavlink::MavFrame;
+    use mavlink::MavHeader;
+
+    // NOTE: No header, based over get_heartbeat_msg
+    pub const HEARTBEAT_V2: &[u8] = &[
+        crate::test_shared::COMMON_MSG_HEADER.sequence,
+        crate::test_shared::COMMON_MSG_HEADER.system_id,
+        crate::test_shared::COMMON_MSG_HEADER.component_id,
+        0x00, // msg ID
+        0x00,
+        0x00,
+        0x05, // payload - custom_mode
+        0x00, //
+        0x00, //
+        0x00, //
+        0x02, // mav_type
+        0x03, // autopilot
+        0x59, // base_mode
+        0x03, // system_status
+        0x03, // mavlink_version
+        0x10, // checksum
+        0xf0,
+    ];
+
+    #[test]
+    pub fn test_deser_ser() {
+        use mavlink::{common::MavMessage, MavFrame, MavlinkVersion};
+        let frame = MavFrame::<MavMessage>::deser(MavlinkVersion::V2, HEARTBEAT_V2)
+            .expect("failed to parse message");
+
+        assert_eq!(frame.header, crate::test_shared::COMMON_MSG_HEADER);
+        let heartbeat_msg = crate::test_shared::get_heartbeat_msg();
+
+        let buffer = frame.ser();
+        assert_eq!(buffer, HEARTBEAT_V2[..buffer.len()]);
+
+        let MavMessage::HEARTBEAT(msg) = frame.msg else {
+            panic!("Decoded wrong message type");
+        };
+        assert_eq!(msg.custom_mode, heartbeat_msg.custom_mode);
+        assert_eq!(msg.mavtype, heartbeat_msg.mavtype);
+        assert_eq!(msg.autopilot, heartbeat_msg.autopilot);
+        assert_eq!(msg.base_mode, heartbeat_msg.base_mode);
+        assert_eq!(msg.system_status, heartbeat_msg.system_status);
+        assert_eq!(msg.mavlink_version, heartbeat_msg.mavlink_version);
+    }
+
+    #[test]
+    pub fn test_deser_ser_message() {
+        let mavlink_message = mavlink_message();
+        let mavlink_frame = new(mavlink_message);
+
+        let buffer = mavlink_frame.ser();
+
+        let parsed_mavlink_frame =
+            MavFrame::<mavlink::common::MavMessage>::deser(mavlink::MavlinkVersion::V2, &buffer)
+                .unwrap();
+
+        assert_eq!(
+            format!("{mavlink_frame:?}"),
+            format!("{parsed_mavlink_frame:?}")
+        );
+    }
+
+    fn mavlink_message() -> mavlink::common::MavMessage {
+        mavlink::common::MavMessage::LINK_NODE_STATUS(mavlink::common::LINK_NODE_STATUS_DATA {
+            timestamp: 92197916,
+            tx_rate: 0x11223344,
+            rx_rate: 0x55667788,
+            messages_sent: 0x99001122,
+            messages_received: 0x33445566,
+            messages_lost: 0x77889900,
+            rx_parse_err: 0x1122,
+            tx_overflows: 0x3355,
+            rx_overflows: 0x5566,
+            tx_buf: 0xff,
+            rx_buf: 0x11,
+        })
+    }
+
+    fn new(msg: MavMessage) -> MavFrame<MavMessage> {
+        MavFrame {
+            header: MavHeader {
+                system_id: 1,
+                component_id: 2,
+                sequence: 84,
+            },
+            msg,
+            protocol_version: mavlink::MavlinkVersion::V2,
+        }
+    }
+}

tests/test_shared/mod.rs

@@ -3,7 +3,7 @@ extern crate mavlink;
 pub const COMMON_MSG_HEADER: mavlink::MavHeader = mavlink::MavHeader {
     sequence: 239,
     system_id: 1,
-    component_id: 1,
+    component_id: 2,
 };
 
 #[cfg(feature = "common")]

tests/v1_encode_decode_tests.rs

@@ -9,9 +9,9 @@ mod test_v1_encode_decode {
     pub const HEARTBEAT_V1: &'static [u8] = &[
         mavlink::MAV_STX,
         0x09,
-        0xef,
-        0x01,
-        0x01,
+        crate::test_shared::COMMON_MSG_HEADER.sequence,
+        crate::test_shared::COMMON_MSG_HEADER.system_id,
+        crate::test_shared::COMMON_MSG_HEADER.component_id,
         0x00,
         0x05,
         0x00,
@@ -22,8 +22,8 @@ mod test_v1_encode_decode {
         0x59,
         0x03,
         0x03,
-        0xf1,
-        0xd7,
+        0x1f,
+        0x50,
     ];
 
     #[test]

tests/v2_encode_decode_tests.rs

@@ -10,9 +10,9 @@ mod test_v2_encode_decode {
         0x09,                //payload len
         0,                   //incompat flags
         0,                   //compat flags
-        0xef,                //seq 239
-        0x01,                //sys ID
-        0x01,                //comp ID
+        crate::test_shared::COMMON_MSG_HEADER.sequence,
+        crate::test_shared::COMMON_MSG_HEADER.system_id,
+        crate::test_shared::COMMON_MSG_HEADER.component_id,
         0x00,
         0x00,
         0x00, //msg ID
@@ -25,8 +25,8 @@ mod test_v2_encode_decode {
         0x59,
         0x03,
         0x03, //payload
-        16,
-        240, //checksum
+        46,
+        115, //checksum
     ];
 
     #[test]