refactored mavlink mocking to "uas" module on the extension

2026-06-13 19:03:30 +00:00 · 2026-05-07 03:37:22 -03:00
parent 3e11dd9e16
commit 52edf94b17
11 changed files with 1236 additions and 242 deletions
--- a/src/uas/payload.rs
+++ b/src/uas/payload.rs
@@ -0,0 +1,178 @@
+use arma_rs::{FromArma, FromArmaError};
+
+pub struct UasTelemetryPayload {
+    pub address: String,
+    pub system_id: u8,
+    pub component_id: u8,
+    pub vehicle_type: u8,
+    pub lat_deg: f64,
+    pub lon_deg: f64,
+    pub alt_msl_m: f32,
+    pub rel_alt_m: f32,
+    pub heading_deg: f32,
+    pub groundspeed_mps: f32,
+    pub roll_deg: f32,
+    pub pitch_deg: f32,
+    pub yaw_deg: f32,
+    pub flying: bool,
+}
+
+#[allow(dead_code)]
+pub struct UasSystemPayload {
+    pub address: String,
+    pub entity_uuid: String,
+    pub callsign: String,
+    pub vehicle_type: u8,
+    pub lat_deg: f64,
+    pub lon_deg: f64,
+    pub alt_msl_m: f32,
+    pub rel_alt_m: f32,
+    pub heading_deg: f32,
+    pub groundspeed_mps: f32,
+    pub roll_deg: f32,
+    pub pitch_deg: f32,
+    pub yaw_deg: f32,
+    pub flying: bool,
+    pub gimbal_roll_deg: f32,
+    pub gimbal_pitch_deg: f32,
+    pub gimbal_yaw_deg: f32,
+    pub video_uri: String,
+    pub hfov_deg: f32,
+    pub vfov_deg: f32,
+    pub image_lat_deg: f64,
+    pub image_lon_deg: f64,
+    pub image_alt_msl_m: f32,
+}
+
+impl FromArma for UasTelemetryPayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (
+            address,
+            system_id,
+            component_id,
+            vehicle_type,
+            lat_deg,
+            lon_deg,
+            alt_msl_m,
+            rel_alt_m,
+            heading_deg,
+            groundspeed_mps,
+            roll_deg,
+            pitch_deg,
+            yaw_deg,
+            flying,
+        ) = <(
+            String,
+            i32,
+            i32,
+            i32,
+            f64,
+            f64,
+            f32,
+            f32,
+            f32,
+            f32,
+            f32,
+            f32,
+            f32,
+            i32,
+        )>::from_arma(data)?;
+
+        Ok(Self {
+            address,
+            system_id: system_id.clamp(1, 255) as u8,
+            component_id: component_id.clamp(1, 255) as u8,
+            vehicle_type: vehicle_type.clamp(0, 255) as u8,
+            lat_deg,
+            lon_deg,
+            alt_msl_m,
+            rel_alt_m,
+            heading_deg,
+            groundspeed_mps,
+            roll_deg,
+            pitch_deg,
+            yaw_deg,
+            flying: flying != 0,
+        })
+    }
+}
+
+impl FromArma for UasSystemPayload {
+    fn from_arma(data: String) -> Result<Self, FromArmaError> {
+        let (
+            address,
+            entity_uuid,
+            callsign,
+            vehicle_type,
+            lat_deg,
+            lon_deg,
+            alt_msl_m,
+            rel_alt_m,
+            heading_deg,
+            groundspeed_mps,
+            roll_deg,
+            pitch_deg,
+            yaw_deg,
+            flying,
+            gimbal_roll_deg,
+            gimbal_pitch_deg,
+            gimbal_yaw_deg,
+            video_uri,
+            hfov_deg,
+            vfov_deg,
+            image_lat_deg,
+            image_lon_deg,
+            image_alt_msl_m,
+        ) = <(
+            String,
+            String,
+            String,
+            i32,
+            f64,
+            f64,
+            f32,
+            f32,
+            f32,
+            f32,
+            f32,
+            f32,
+            f32,
+            i32,
+            f32,
+            f32,
+            f32,
+            String,
+            f32,
+            f32,
+            f64,
+            f64,
+            f32,
+        )>::from_arma(data)?;
+
+        Ok(Self {
+            address,
+            entity_uuid,
+            callsign,
+            vehicle_type: vehicle_type.clamp(0, 255) as u8,
+            lat_deg,
+            lon_deg,
+            alt_msl_m,
+            rel_alt_m,
+            heading_deg,
+            groundspeed_mps,
+            roll_deg,
+            pitch_deg,
+            yaw_deg,
+            flying: flying != 0,
+            gimbal_roll_deg,
+            gimbal_pitch_deg,
+            gimbal_yaw_deg,
+            video_uri,
+            hfov_deg,
+            vfov_deg,
+            image_lat_deg,
+            image_lon_deg,
+            image_alt_msl_m,
+        })
+    }
+}