Add ardupilot dialect message to json type helper functions

mavlink/Cargo.toml

@@ -33,6 +33,7 @@ num-derive = { workspace = true }
 bitflags = { workspace = true }
 serde = { version = "1.0.115", optional = true, features = ["derive"] }
 serde_arrays = { version = "0.1.0", optional = true }
+serde_json = { version = "1.0", optional = true }
 
 [features]
 "all" = [
@@ -95,7 +96,8 @@ serde_arrays = { version = "0.1.0", optional = true }
 "direct-serial" = ["mavlink-core/direct-serial"]
 "embedded" = ["mavlink-core/embedded"]
 "serde" = ["mavlink-core/serde", "dep:serde", "dep:serde_arrays"]
-default = ["std", "tcp", "udp", "direct-serial", "serde", "ardupilotmega"]
+"ardu_json" = ["serde", "ardupilotmega", "dep:serde_json"]
+default = ["std", "tcp", "udp", "direct-serial", "serde", "ardupilotmega", "ardu_json"]
 
 # build with all features on docs.rs so that users viewing documentation
 # can see everything

mavlink/src/ardu_json.rs

@@ -0,0 +1,134 @@
+use crate::ardupilotmega::MavMessage;
+use serde_json::Value;
+use std::error::Error;
+
+/// mavlink_to_json_value
+/// Helper function that converts an `ardupilotmega::MavMessage` type to a `serde_json::Value` type.
+pub fn mavlink_to_json_value(mavlink_message: &MavMessage) -> Result<Value, Box<dyn Error>> {
+    let serialised = serde_json::to_value(&mavlink_message)?;
+    return Ok(serialised);
+}
+
+/// mavlink_to_json_str
+/// Helper function that converts an `ardupilotmega::MavMessage` type to a `String` type.
+pub fn mavlink_to_json_str(mavlink_message: &MavMessage) -> Result<String, Box<dyn Error>> {
+    let serialised = serde_json::to_string(&mavlink_message)?;
+    return Ok(serialised);
+}
+
+/// json_value_to_mavlink
+/// Helper function that converts an `serde_json::Value` type to a `MavMessage` type.
+pub fn json_value_to_mavlink(mavlink_message: &Value) -> Result<MavMessage, Box<dyn Error>> {
+    let frame = serde_json::from_value::<MavMessage>(mavlink_message.clone())?;
+    return Ok(frame);
+}
+
+/// json_str_to_mavlink
+/// Helper function that converts an `&str` type to a `MavMessage` type.
+pub fn json_str_to_mavlink(mavlink_message: &str) -> Result<MavMessage, Box<dyn Error>> {
+    let frame = serde_json::from_str::<MavMessage>(&mavlink_message)?;
+    return Ok(frame);
+}
+
+#[cfg(test)]
+mod tests {
+    use super::*;
+    use serde_json::json;
+
+    /// Create a heartbeat message using 'ardupilotmega' dialect
+    fn create_heartbeat_message() -> crate::ardupilotmega::MavMessage {
+        crate::ardupilotmega::MavMessage::HEARTBEAT(crate::ardupilotmega::HEARTBEAT_DATA {
+            custom_mode: 0,
+            mavtype: crate::ardupilotmega::MavType::MAV_TYPE_QUADROTOR,
+            autopilot: crate::ardupilotmega::MavAutopilot::MAV_AUTOPILOT_ARDUPILOTMEGA,
+            base_mode: crate::ardupilotmega::MavModeFlag::empty(),
+            system_status: crate::ardupilotmega::MavState::MAV_STATE_STANDBY,
+            mavlink_version: 0x3,
+        })
+    }
+
+    /// Create a message requesting the parameters list
+    fn create_request_parameters() -> crate::ardupilotmega::MavMessage {
+        crate::ardupilotmega::MavMessage::PARAM_REQUEST_LIST(
+            crate::ardupilotmega::PARAM_REQUEST_LIST_DATA {
+                target_system: 0,
+                target_component: 0,
+            },
+        )
+    }
+
+    /// Create a message enabling data streaming
+    fn create_request_stream() -> crate::ardupilotmega::MavMessage {
+        crate::ardupilotmega::MavMessage::REQUEST_DATA_STREAM(
+            crate::ardupilotmega::REQUEST_DATA_STREAM_DATA {
+                target_system: 0,
+                target_component: 0,
+                req_stream_id: 0,
+                req_message_rate: 10,
+                start_stop: 1,
+            },
+        )
+    }
+
+    fn create_mavlink_header() -> mavlink_core::MavHeader {
+        mavlink_core::MavHeader {
+            system_id: 1,
+            component_id: 1,
+            sequence: 42,
+        }
+    }
+
+    #[test]
+    fn test_mavlink_to_json_value() -> Result<(), Box<dyn Error>>{
+        let heartbeat_message = create_heartbeat_message();
+        let a = mavlink_to_json_value(&heartbeat_message)?;
+        let b = json!(
+            {
+                "autopilot": {
+                    "type": "MAV_AUTOPILOT_ARDUPILOTMEGA"
+                },
+                "base_mode": {
+                    "bits": 0
+                },
+                "custom_mode": 0,
+                "mavlink_version": 3,
+                "mavtype": {
+                    "type": "MAV_TYPE_QUADROTOR"
+                },
+                "system_status": {
+                    "type": "MAV_STATE_STANDBY"
+                },
+                "type": "HEARTBEAT"
+            }
+        );
+        assert_eq!(a, b);
+        Ok(())
+    }
+
+    #[test]
+    fn test_json_value_to_mavlink() -> Result<(), Box<dyn Error>>{
+        let a = json!(
+            {
+                "autopilot": {
+                    "type": "MAV_AUTOPILOT_ARDUPILOTMEGA"
+                },
+                "base_mode": {
+                    "bits": 0
+                },
+                "custom_mode": 0,
+                "mavlink_version": 3,
+                "mavtype": {
+                    "type": "MAV_TYPE_QUADROTOR"
+                },
+                "system_status": {
+                    "type": "MAV_STATE_STANDBY"
+                },
+                "type": "HEARTBEAT"
+            }
+        );
+        let a = json_value_to_mavlink(&a)?;
+        let b = create_heartbeat_message();
+        assert_eq!(a, b);
+        Ok(())
+    }
+}

mavlink/src/lib.rs

@@ -3,3 +3,12 @@
 include!(concat!(env!("OUT_DIR"), "/mod.rs"));
 
 pub use mavlink_core::*;
+
+#[cfg(feature = "ardu_json")]
+mod ardu_json;
+#[cfg(feature = "ardu_json")]
+pub use ardu_json::{mavlink_to_json_value,
+    mavlink_to_json_str,
+    json_value_to_mavlink,
+    json_str_to_mavlink,
+};