Use version and dialect tags in code generation (#390)

* use version and dialect tag for code generation

* add version and dialect to heartbeat test

* emit consts only if they exist in dialect definition

Author: pv42

mavlink-bindgen/src/parser.rs

@@ -43,6 +43,8 @@ lazy_static! {
 pub struct MavProfile {
     pub messages: BTreeMap<String, MavMessage>,
     pub enums: BTreeMap<String, MavEnum>,
+    pub version: Option<u8>,
+    pub dialect: Option<u8>,
 }
 
 impl MavProfile {
@@ -125,7 +127,10 @@ impl MavProfile {
     /// Emit rust messages
     #[inline(always)]
     fn emit_msgs(&self) -> Vec<TokenStream> {
-        self.messages.values().map(|d| d.emit_rust()).collect()
+        self.messages
+            .values()
+            .map(|d| d.emit_rust(self.version.is_some()))
+            .collect()
     }
 
     /// Emit rust enums
@@ -173,6 +178,8 @@ impl MavProfile {
         let id_width = format_ident!("u32");
 
         let comment = self.emit_comments(dialect_name);
+        let mav_minor_version = self.emit_minor_version();
+        let mav_dialect_number = self.emit_dialect_number();
         let msgs = self.emit_msgs();
         let deprecations = self.emit_deprecations();
         let enum_names = self.emit_enum_names();
@@ -216,6 +223,9 @@ impl MavProfile {
             #[cfg(feature = "arbitrary")]
             use arbitrary::Arbitrary;
 
+            #mav_minor_version
+            #mav_dialect_number
+
             #(#enums)*
 
             #(#msgs)*
@@ -272,6 +282,24 @@ impl MavProfile {
         )
     }
 
+    #[inline(always)]
+    fn emit_minor_version(&self) -> TokenStream {
+        if let Some(version) = self.version {
+            quote! (pub const MINOR_MAVLINK_VERSION: u8 = #version;)
+        } else {
+            TokenStream::default()
+        }
+    }
+
+    #[inline(always)]
+    fn emit_dialect_number(&self) -> TokenStream {
+        if let Some(dialect) = self.dialect {
+            quote! (pub const DIALECT_NUMBER: u8 = #dialect;)
+        } else {
+            TokenStream::default()
+        }
+    }
+
     #[inline(always)]
     fn emit_mav_message_parse(
         &self,
@@ -787,15 +815,15 @@ impl MavMessage {
     }
 
     #[inline(always)]
-    fn emit_const_default(&self) -> TokenStream {
+    fn emit_const_default(&self, dialect_has_version: bool) -> TokenStream {
         let initializers = self
             .fields
             .iter()
-            .map(|field| field.emit_default_initializer());
+            .map(|field| field.emit_default_initializer(dialect_has_version));
         quote!(pub const DEFAULT: Self = Self { #(#initializers)* };)
     }
 
-    fn emit_rust(&self) -> TokenStream {
+    fn emit_rust(&self, dialect_has_version: bool) -> TokenStream {
         let msg_name = self.emit_struct_name();
         let id = self.id;
         let name = self.name.clone();
@@ -808,7 +836,7 @@ impl MavMessage {
 
         let deser_vars = self.emit_deserialize_vars();
         let serialize_vars = self.emit_serialize_vars();
-        let const_default = self.emit_const_default();
+        let const_default = self.emit_const_default(dialect_has_version);
         let default_impl = self.emit_default_impl();
 
         let deprecation = self.emit_deprecation();
@@ -1006,17 +1034,17 @@ impl MavField {
     }
 
     #[inline(always)]
-    fn emit_default_initializer(&self) -> TokenStream {
+    fn emit_default_initializer(&self, dialect_has_version: bool) -> TokenStream {
         let field = self.emit_name();
         // FIXME: Is this actually expected behaviour??
         if matches!(self.mavtype, MavType::Array(_, _)) {
-            let default_value = self.mavtype.emit_default_value();
+            let default_value = self.mavtype.emit_default_value(dialect_has_version);
             quote!(#field: #default_value,)
         } else if let Some(enumname) = &self.enumtype {
             let ty = TokenStream::from_str(enumname).unwrap();
             quote!(#field: #ty::DEFAULT,)
         } else {
-            let default_value = self.mavtype.emit_default_value();
+            let default_value = self.mavtype.emit_default_value(dialect_has_version);
             quote!(#field: #default_value,)
         }
     }
@@ -1190,10 +1218,17 @@ impl MavType {
         }
     }
 
-    pub fn emit_default_value(&self) -> TokenStream {
+    pub fn emit_default_value(&self, dialect_has_version: bool) -> TokenStream {
         use self::MavType::*;
         match self {
-            UInt8 | UInt8MavlinkVersion => quote!(0_u8),
+            UInt8 => quote!(0_u8),
+            UInt8MavlinkVersion => {
+                if dialect_has_version {
+                    quote!(MINOR_MAVLINK_VERSION)
+                } else {
+                    quote!(0_u8)
+                }
+            }
             Int8 => quote!(0_i8),
             Char => quote!(0_u8),
             UInt16 => quote!(0_u16),
@@ -1205,7 +1240,7 @@ impl MavType {
             Int64 => quote!(0_i64),
             Double => quote!(0.0_f64),
             Array(ty, size) => {
-                let default_value = ty.emit_default_value();
+                let default_value = ty.emit_default_value(dialect_has_version);
                 quote!([#default_value; #size])
             }
         }
@@ -1611,10 +1646,11 @@ pub fn parse_profile(
                         include = PathBuf::from(s.replace('\n', ""));
                     }
                     (Some(&Version), Some(&Mavlink)) => {
-                        eprintln!("TODO: version {s:?}");
+                        profile.version =
+                            Some(s.parse().expect("Invalid minor version number format"));
                     }
                     (Some(&Dialect), Some(&Mavlink)) => {
-                        eprintln!("TODO: dialect {s:?}");
+                        profile.dialect = Some(s.parse().expect("Invalid dialect number format"));
                     }
                     (Some(Deprecated), _) => {
                         deprecated.as_mut().unwrap().note = Some(s);
@@ -1672,6 +1708,9 @@ pub fn parse_profile(
                             for enm in included_profile.enums.values() {
                                 profile.add_enum(enm);
                             }
+                            if profile.version.is_none() {
+                                profile.version = included_profile.version;
+                            }
                         }
                     }
                     _ => (),

mavlink-bindgen/tests/definitions/heartbeat.xml

@@ -1,4 +1,6 @@
 <mavlink>
+    <version>3</version>
+    <dialect>130</dialect>
     <messages>
         <message id="0" name="HEARTBEAT">
             <field type="uint32_t" name="custom_mode">Custom mode</field>

mavlink-bindgen/tests/snapshots/e2e_snapshots__heartbeat.xml@heartbeat.rs.snap

@@ -21,6 +21,8 @@ use num_traits::FromPrimitive;
 use num_traits::ToPrimitive;
 #[cfg(feature = "serde")]
 use serde::{Deserialize, Serialize};
+pub const MINOR_MAVLINK_VERSION: u8 = 3u8;
+pub const DIALECT_NUMBER: u8 = 130u8;
 #[derive(Debug, Clone, PartialEq)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "arbitrary", derive(Arbitrary))]
@@ -40,7 +42,7 @@ impl HEARTBEAT_DATA {
         autopilot: 0_u8,
         base_mode: 0_u8,
         system_status: 0_u8,
-        mavlink_version: 0_u8,
+        mavlink_version: MINOR_MAVLINK_VERSION,
     };
     #[cfg(feature = "arbitrary")]
     pub fn random<R: rand::RngCore>(rng: &mut R) -> Self {

mavlink/tests/serde_test.rs

@@ -88,7 +88,7 @@ mod serde_test {
                 StructEnd,
                 // u8 field
                 Str("mavlink_version"),
-                U8(0),
+                U8(3),
                 StructEnd,
             ],
         );