WIP

Cargo.toml

@@ -24,6 +24,7 @@ anyhow = "1"
 arc-swap = "1.7"
 async-trait = "0.1.81"
 axum = { version = "0.7.5", features = ["ws"] }
+bytes = { version = "1.7", features = ["serde"] }
 byteorder = "1.5.0"
 chrono = { version = "0.4", features = ["serde"] }
 clap = { version = "4.5", features = ["derive"] }
@@ -32,16 +33,17 @@ include_dir = "0.7.4"
 indexmap = { version = "2.5.0", features = ["serde"] }
 json5 = "0.4.1"
 lazy_static = "1.5.0"
-# mavlink = { default-features = false, features = ["ardupilotmega", "std", "tokio-1"], path = "../rust-mavlink/mavlink" }
-# mavlink = { version = "0.13.1", default-features = false, features = ["ardupilotmega", "std"] }
-mavlink = { default-features = false, features = ["ardupilotmega", "serde", "std", "tokio-1"], git = "https://github.com/joaoantoniocardoso/rust-mavlink", branch = "add-tokio" }
+mavlink = { default-features = false, features = ["std", "ardupilotmega", "serde", "tokio-1"], git = "https://github.com/mavlink/rust-mavlink", hash = "5f2ecbe8" }
+# mavlink-codec = { path = "../mavlink-codec" }
+mavlink-codec = { git = "https://github.com/bluerobotics/rust-mavlink-codec", branch = "master" }
 regex = "1.10.6"
 serde = { version = "1", features = ["rc"] }
 serde_derive = "1.0.210"
 serde_json = "1.0.128"
 shellexpand = "3.1"
 tokio = { version = "1", features = ["full"] }
 tokio-serial = "5.4.4"
+tokio-util = { version = "0.7", features = [ "codec", "net" ] }
 url = { version = "2.5.2", features = ["serde"] }
 uuid = { version = "1", features = ["v5", "v4", "serde"] }
 mime_guess = "2.0.5"

cross_build_and_install.sh

@@ -0,0 +1,18 @@
+#!/usr/bin/env bash
+
+set -e
+
+TARGET=armv7-unknown-linux-gnueabihf
+BUILDTYPE=release
+
+cross build --$BUILDTYPE --target=$TARGET
+
+/home/joaoantoniocardoso/BlueRobotics/cross_build_dev/old/upload_to_blueos.sh \
+    target/$TARGET/$BUILDTYPE/mavlink-server \
+    /home/pi/mavlink-server
+
+echo ""
+echo ""
+echo 'clear; sshpass -p raspberry scp -o StrictHostKeyChecking=no pi@localhost:/home/pi/mavlink-server "$(which mavlink-server)" ; /home/pi/services/ardupilot_manager/main.py'
+echo ""
+echo ""

src/build.rs

@@ -1,62 +1,5 @@
-use std::process::{exit, Command};
-
 use vergen_gix::{BuildBuilder, CargoBuilder, DependencyKind, GixBuilder};
 
-macro_rules! info {
-    ($($tokens: tt)*) => {
-        println!("cargo:warning={}", format!($($tokens)*))
-    }
-}
-
-fn is_wasm_target_installed() -> bool {
-    let output = Command::new("rustup")
-        .args(["target", "list", "--installed"])
-        .output()
-        .expect("Failed to execute rustup");
-
-    let installed_targets = String::from_utf8_lossy(&output.stdout);
-    installed_targets.contains("wasm32-unknown-unknown")
-}
-
-fn install_wasm_target() {
-    info!("Adding wasm32-unknown-unknown target...");
-    let output = Command::new("rustup")
-        .args(["target", "add", "wasm32-unknown-unknown"])
-        .output()
-        .expect("Failed to execute rustup");
-
-    if !output.status.success() {
-        eprintln!("T{}", String::from_utf8_lossy(&output.stderr));
-        exit(1);
-    }
-}
-
-fn get_trunk_version() -> Option<String> {
-    Command::new("trunk")
-        .arg("--version")
-        .output()
-        .ok()
-        .and_then(|output| String::from_utf8(output.stdout).ok())
-        .and_then(|version_string| version_string.split_whitespace().last().map(String::from))
-}
-
-fn install_trunk() -> Result<(), Box<dyn std::error::Error>> {
-    info!("Installing trunk...");
-
-    let output = Command::new("cargo")
-        .arg("install")
-        .arg("trunk")
-        .arg("--force")
-        .output()?;
-
-    if !output.status.success() {
-        eprintln!("TT{}", String::from_utf8_lossy(&output.stderr));
-        exit(1);
-    }
-
-    Ok(())
-}
-
 fn main() -> Result<(), Box<dyn std::error::Error>> {
     println!("cargo:rerun-if-changed=./src/webpage/");
 
@@ -68,40 +11,5 @@ fn main() -> Result<(), Box<dyn std::error::Error>> {
         )?
         .emit()?;
 
-    if std::env::var("SKIP_FRONTEND").is_ok() {
-        return Ok(());
-    }
-
-    if !is_wasm_target_installed() {
-        install_wasm_target();
-    }
-
-    if get_trunk_version().is_none() {
-        info!("trunk not found");
-        install_trunk().unwrap_or_else(|e| {
-            eprintln!("Error: {}", e);
-            exit(1);
-        });
-    }
-
-    let mut trunk_command = Command::new("trunk");
-    trunk_command.args(["build", "./src/webpage/index.html"]);
-
-    // Add --release argument if not in debug mode
-    if cfg!(not(debug_assertions)) {
-        trunk_command.args(["--release", "--locked"]);
-    }
-
-    let trunk_output = trunk_command.output().expect("Failed to execute trunk");
-
-    if !trunk_output.status.success() {
-        eprintln!(
-            "Trunk build failed: {}",
-            String::from_utf8_lossy(&trunk_output.stderr)
-        );
-        exit(1);
-    }
-    info!("{}", String::from_utf8_lossy(&trunk_output.stdout));
-
     Ok(())
 }

src/lib/callbacks.rs

@@ -12,6 +12,12 @@ pub struct Callbacks<T> {
     callbacks: Arc<Mutex<IndexMap<usize, Callback<T>>>>,
 }
 
+impl<T> std::fmt::Debug for Callbacks<T> {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        f.debug_struct("Callbacks").finish()
+    }
+}
+
 impl<T> Callbacks<T> {
     pub fn new() -> Self {
         Self {

src/lib/cli.rs

@@ -6,7 +6,7 @@ use tracing::*;
 
 use crate::drivers;
 
-#[derive(Parser)]
+#[derive(Debug, Parser)]
 #[command(
     version = env!("CARGO_PKG_VERSION"),
     author = env!("CARGO_PKG_AUTHORS"),
@@ -83,7 +83,7 @@ fn build_endpoints_help() -> String {
                 .collect::<Vec<String>>()
                 .join("\n\t\t ");
 
-            vec![
+            [
                 format!("{name}\t {help_schemas}").to_string(),
                 format!("\t legacy: {help_legacy}").to_string(),
                 format!("\t    url: {help_url}\n").to_string(),
@@ -154,14 +154,20 @@ pub fn endpoints() -> Vec<Arc<dyn drivers::Driver>> {
     let default_endpoints = Arc::new(crate::drivers::rest::Rest::builder("Default").build());
     let mut endpoints = MANAGER.clap_matches.endpoints.clone();
     endpoints.push(default_endpoints);
-    return endpoints;
+    endpoints
 }
 
 #[instrument(level = "debug")]
 pub fn command_line_string() -> String {
     std::env::args().collect::<Vec<String>>().join(" ")
 }
 
+// Return a clone of current Args struct
+#[instrument(level = "debug")]
+pub fn command_line() -> String {
+    format!("{:#?}", MANAGER.clap_matches)
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;