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Merged
onur-ozkan merged 3 commits into from
Aug 22, 2025
Merged

Test more non std #374

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f490c15
mavlink-core/src: Fix missing std feature gate
joaoantoniocardoso Aug 21, 2025
e2d042a
mavlink-core/src: Make read_and_peek embedded friendly
joaoantoniocardoso Aug 21, 2025
986440e
mavlink-core/src: Allow more tests on non-std builds
joaoantoniocardoso Aug 21, 2025
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22 changes: 16 additions & 6 deletions mavlink-core/src/peek_reader.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,7 +17,7 @@ use crate::embedded::Read;
#[cfg(feature = "std")]
use std::io::Read;

#[cfg(doc)]
#[cfg(all(doc, feature = "std"))]
use std::io::ErrorKind;

use crate::error::MessageReadError;
Expand Down Expand Up @@ -166,14 +166,21 @@ impl<R: Read, const BUFFER_SIZE: usize> PeekReader<R, BUFFER_SIZE> {
mod tests {
use super::*;

use std::io::Cursor;
use std::io::{self};
#[cfg(feature = "std")]
use std::io::Write;

#[cfg(not(feature = "std"))]
use embedded_io::Write;

#[test]
fn test_read_and_peek() {
let data = b"Hello, World!";
let cursor = Cursor::new(data);
let mut reader = PeekReader::<_, 280>::new(cursor);
let mut buffer = [0u8; 280];

let mut writer: &mut [u8] = &mut buffer[..];
writer.write_all(data).unwrap();

let mut reader = PeekReader::<_, 280>::new(&buffer[..data.len()]);

let peeked = reader.peek_exact(5).unwrap();
assert_eq!(peeked, b"Hello");
Expand All @@ -186,9 +193,12 @@ mod tests {
assert_eq!(read, b", World!");

match reader.read_u8().unwrap_err() {
#[cfg(feature = "std")]
MessageReadError::Io(io_err) => {
assert_eq!(io_err.kind(), io::ErrorKind::UnexpectedEof);
assert_eq!(io_err.kind(), std::io::ErrorKind::UnexpectedEof);
}
#[cfg(not(feature = "std"))]
MessageReadError::Io => (),
_ => panic!("Expected Io error with UnexpectedEof"),
}
}
Expand Down
2 changes: 1 addition & 1 deletion mavlink/tests/agnostic_decode_test.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,7 @@ const GARBAGE: [u8; 120] = [
0xb3, 0x1b, 0xf9, MAV_STX, 0xe0, 0xa0, MAV_STX_V2,
];

#[cfg(all(feature = "std", feature = "common"))]
#[cfg(feature = "common")]
mod test_agnostic_encode_decode {
use crate::GARBAGE;
use mavlink_core::peek_reader::PeekReader;
Expand Down
30 changes: 18 additions & 12 deletions mavlink/tests/encode_decode_tests.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,7 +7,8 @@ mod test_encode_decode {

#[test]
pub fn test_echo_heartbeat() {
let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_heartbeat_msg();

mavlink::write_v2_msg(
Expand All @@ -17,15 +18,16 @@ mod test_encode_decode {
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg): (mavlink::MavHeader, common::MavMessage) =
mavlink::read_v2_msg(&mut c).expect("Failed to read");
assert_eq!(recv_msg.message_id(), 0);
}

#[test]
pub fn test_echo_command_int() {
let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_cmd_nav_takeoff_msg();

mavlink::write_v2_msg(
Expand All @@ -35,7 +37,7 @@ mod test_encode_decode {
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg) = mavlink::read_v2_msg(&mut c).expect("Failed to read");

if let common::MavMessage::COMMAND_INT(recv_msg) = recv_msg {
Expand All @@ -47,7 +49,8 @@ mod test_encode_decode {

#[test]
pub fn test_echo_hil_actuator_controls() {
let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_hil_actuator_controls_msg();

mavlink::write_v2_msg(
Expand All @@ -57,7 +60,7 @@ mod test_encode_decode {
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg) = mavlink::read_v2_msg(&mut c).expect("Failed to read");
if let mavlink::common::MavMessage::HIL_ACTUATOR_CONTROLS(recv_msg) = recv_msg {
assert_eq!(
Expand All @@ -76,7 +79,8 @@ mod test_encode_decode {
pub fn test_echo_apm_heartbeat() {
use mavlink::ardupilotmega;

let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_heartbeat_msg();

mavlink::write_v2_msg(
Expand All @@ -86,7 +90,7 @@ mod test_encode_decode {
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg) = mavlink::read_v2_msg(&mut c).expect("Failed to read");

match &recv_msg {
Expand All @@ -105,7 +109,8 @@ mod test_encode_decode {
pub fn test_echo_apm_mount_status() {
use mavlink::ardupilotmega;

let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_apm_mount_status();

mavlink::write_v2_msg(
Expand All @@ -115,7 +120,7 @@ mod test_encode_decode {
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg) = mavlink::read_v2_msg(&mut c).expect("Failed to read");
if let ardupilotmega::MavMessage::MOUNT_STATUS(recv_msg) = recv_msg {
assert_eq!(4, recv_msg.pointing_b);
Expand All @@ -129,7 +134,8 @@ mod test_encode_decode {
pub fn test_echo_apm_command_int() {
use mavlink::ardupilotmega;

let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_cmd_nav_takeoff_msg();

mavlink::write_v2_msg(
Expand All @@ -139,7 +145,7 @@ mod test_encode_decode {
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg) = mavlink::read_v2_msg(&mut c).expect("Failed to read");

match &recv_msg {
Expand Down
2 changes: 1 addition & 1 deletion mavlink/tests/target_fields_tests.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
mod test_shared;

#[cfg(all(feature = "std", feature = "common"))]
#[cfg(feature = "common")]
mod target_fields_tests {
use mavlink::{common::MavMessage, Message};

Expand Down
13 changes: 8 additions & 5 deletions mavlink/tests/v1_encode_decode_tests.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
pub mod test_shared;

#[cfg(all(feature = "std", feature = "common"))]
#[cfg(all(feature = "common"))]

Check warning on line 3 in mavlink/tests/v1_encode_decode_tests.rs

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unneeded sub `cfg` when there is only one condition 

warning: unneeded sub `cfg` when there is only one condition
 --> mavlink/tests/v1_encode_decode_tests.rs:3:7
  |
3 | #[cfg(all(feature = "common"))]
  |       ^^^^^^^^^^^^^^^^^^^^^^^ help: try: `feature = "common"`
  |
  = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#non_minimal_cfg
  = note: `#[warn(clippy::non_minimal_cfg)]` on by default
mod test_v1_encode_decode {
use crate::test_shared::HEARTBEAT_V1;
use mavlink_core::peek_reader::PeekReader;
Expand Down Expand Up @@ -28,7 +28,8 @@

#[test]
pub fn test_write_heartbeat() {
let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let heartbeat_msg = crate::test_shared::get_heartbeat_msg();
mavlink::write_v1_msg(
&mut v,
Expand All @@ -37,15 +38,16 @@
)
.expect("Failed to write message");

assert_eq!(&v[..], HEARTBEAT_V1);
assert_eq!(&b[..HEARTBEAT_V1.len()], HEARTBEAT_V1);
}

#[test]
#[cfg(not(feature = "emit-extensions"))]
pub fn test_echo_servo_output_raw() {
use mavlink::Message;

let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let send_msg = crate::test_shared::get_servo_output_raw_v1();

mavlink::write_v2_msg(
Expand All @@ -55,7 +57,7 @@
)
.expect("Failed to write message");

let mut c = PeekReader::new(v.as_slice());
let mut c = PeekReader::new(b.as_slice());
let (_header, recv_msg): (mavlink::MavHeader, mavlink::common::MavMessage) =
mavlink::read_v2_msg(&mut c).expect("Failed to read");

Expand Down Expand Up @@ -84,6 +86,7 @@
}

#[test]
#[cfg(feature = "std")]
pub fn test_read_error() {
use std::io::ErrorKind;

Expand Down
8 changes: 5 additions & 3 deletions mavlink/tests/v2_encode_decode_tests.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
mod test_shared;

#[cfg(all(feature = "std", feature = "common"))]
#[cfg(feature = "common")]
mod test_v2_encode_decode {
use crate::test_shared::HEARTBEAT_V2;
use mavlink_core::peek_reader::PeekReader;
Expand All @@ -27,7 +27,8 @@ mod test_v2_encode_decode {

#[test]
pub fn test_write_v2_heartbeat() {
let mut v = vec![];
let mut b = [0u8; 280];
let mut v: &mut [u8] = &mut b;
let heartbeat_msg = crate::test_shared::get_heartbeat_msg();
mavlink::write_v2_msg(
&mut v,
Expand All @@ -36,7 +37,7 @@ mod test_v2_encode_decode {
)
.expect("Failed to write message");

assert_eq!(&v[..], HEARTBEAT_V2);
assert_eq!(&b[..HEARTBEAT_V2.len()], HEARTBEAT_V2);
}

/// A COMMAND_LONG message with a truncated payload (allowed for empty fields)
Expand Down Expand Up @@ -148,6 +149,7 @@ mod test_v2_encode_decode {
}

#[test]
#[cfg(feature = "std")]
pub fn test_read_error() {
use std::io::ErrorKind;

Expand Down
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