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The fastMavlink library.

Python 1.43% C 98.52% C++ 0.06%

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linjieqiang maxscheel stjordanis breederbai vctlabs dayjaby tmdahr1245 electronics-world noahbliss cucb17 drkashifshahzad kemgong tmcadam

fastmavlink's Issues

FYI XML to support exponentiation

FYI We're modifying the MAVLink XSD validation file in ArduPilot/pymavlink#920 to allow a bitmask value to be declared using the Python exponentiation operator.

This makes it easier to immediately visualize which bit is set by a flag, because you can use the syntax

<entry value="2**15" name="BIT15" />

rather than

<entry value="32768" name=" BIT15" />

This is transparent to mavgen because the parser evaluates the number before creating the generated headers. However it may affect other the rust parser
We're not updating the XML yet to allow other parsers time to update.

Any concerns, please raise on ArduPilot/pymavlink#920

Length error

https://github.com/olliw42/fastmavlink/blob/master/generator/C/fixed/fastmavlink_functions.h#L244-L248

Missing compatibility functions

I haven't gotten around to writing a proposed change for these yet, but ran into at least one function in the official lib which didn't seem to function (pun intended).

mavlink_msg_command_long_encode

located in https://github.com/mavlink/c_library_v2/blob/master/common/mavlink_msg_command_long.h

Check for enums existing

mavlink/mavlink#1947

Why not merge this C binding with the other bindings in the pymavlink repo?

So this 'fastmavlink' seems to me like its written to be a newer/faster C binding that's got a 'better' api, and is backward compatible with the existing one.... why not just do a PR and integrate it with the existing bindings? . ..... I see no reason we couldn't have two C bindings, we already have two javascript bindings (i did the new one, as it broke api compatibility but fixed many things) .You could call your binding FastC or NextGenC or whatever.

Check for duplicate names

mavlink/mavlink#1928 (comment)

Check for duplicated fields in message

title says it

LIBC support: compile error with newlib headers

This happens with arm cortex-m vendor SDK based on FreeRTOS with newlib specs and I don't have a workaround; thanks in advance for any suggestions.

In file included from /home/user/src/camera_app/ext/dialog-sdk/core/system/include/common/da16x_system.h:41,
                 from /home/user/src/camera_app/src/apps/user_command_server.c:16:
/usr/include/newlib/string.h: At top level:
/usr/include/newlib/string.h:31:9: error: conflicting types for 'memcpy'
   31 | void *  memcpy (void *__restrict, const void *__restrict, size_t);
      |         ^~~~~~
In file included from /home/user/src/camera_app/ext/fastmavlink/c_library/uAvionix/../lib/fastmavlink.h:22,
                 from /home/user/src/camera_app/ext/fastmavlink/c_library/uAvionix/uAvionix.h:40,
                 from /home/user/src/camera_app/build/sionyx_mavlink_dialect.h:13,
                 from /home/user/src/camera_app/src/apps/user_command_server.c:11:
/home/user/src/camera_app/ext/fastmavlink/c_library/uAvionix/../lib/fastmavlink_functions.h:453:5: note: previous implicit declaration of 'memcpy' was here
  453 |     memcpy(msg->payload, &(buf[pos]), msg->len);
      |     ^~~~~~
In file included from /home/user/src/camera_app/ext/dialog-sdk/core/system/include/common/da16x_system.h:41,
                 from /home/user/src/camera_app/src/apps/user_command_server.c:16:
/usr/include/newlib/string.h:33:9: error: conflicting types for 'memset'
   33 | void *  memset (void *, int, size_t);
      |         ^~~~~~
In file included from /home/user/src/camera_app/ext/fastmavlink/c_library/uAvionix/../lib/fastmavlink.h:22,
                 from /home/user/src/camera_app/ext/fastmavlink/c_library/uAvionix/uAvionix.h:40,
                 from /home/user/src/camera_app/build/sionyx_mavlink_dialect.h:13,
                 from /home/user/src/camera_app/src/apps/user_command_server.c:11:
/home/user/src/camera_app/ext/fastmavlink/c_library/uAvionix/../lib/fastmavlink_functions.h:153:9: note: previous implicit declaration of 'memset' was here
  153 |         memset(&(msg->payload[msg->len]), 0, msg->payload_max_len - msg->len);
      |         ^~~~~~
gmake[2]: *** [CMakeFiles/Nightwave.dir/build.make:4012: CMakeFiles/Nightwave.dir/src/apps/user_command_server.c.obj] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: Leaving directory '/home/user/src/camera_app/build'
gmake[1]: *** [CMakeFiles/Makefile2:114: CMakeFiles/Nightwave.dir/all] Error 2
gmake[1]: Leaving directory '/home/user/src/camera_app/build'
gmake: *** [Makefile:94: all] Error 2
ERROR: InvocationError for command /usr/bin/bash -c 'cmake --build build -j $(nproc)' (exited with code 2)
___________________________________ summary ____________________________________
ERROR:   build: commands failed

with

$ arm-none-eabi-gcc -v
Using built-in specs.
COLLECT_GCC=arm-none-eabi-gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/arm-none-eabi/10.3.1/lto-wrapper
Target: arm-none-eabi
Configured with: ../configure --build=x86_64-linux-gnu --prefix=/usr --includedir='/usr/lib/include' --mandir='/usr/lib/share/man' --infodir='/usr/lib/share/info' --sysconfdir=/etc --localstatedir=/var --disable-option-checking --disable-silent-rules --libdir='/usr/lib/lib/x86_64-linux-gnu' --libexecdir='/usr/lib/lib/x86_64-linux-gnu' --disable-maintainer-mode --disable-dependency-tracking --mandir=/usr/share/man --enable-languages=c,c++,lto --enable-multilib --disable-decimal-float --disable-libffi --disable-libgomp --disable-libmudflap --disable-libquadmath --disable-libssp --disable-libstdcxx-pch --disable-nls --disable-shared --disable-threads --enable-tls --build=x86_64-linux-gnu --target=arm-none-eabi --with-system-zlib --with-gnu-as --with-gnu-ld --with-pkgversion=15:10.3-2021.07-4 --without-included-gettext --prefix=/usr/lib --infodir=/usr/share/doc/gcc-arm-none-eabi/info --htmldir=/usr/share/doc/gcc-arm-none-eabi/html --pdfdir=/usr/share/doc/gcc-arm-none-eabi/pdf --bindir=/usr/bin --libexecdir=/usr/lib --libdir=/usr/lib --disable-libstdc++-v3 --host=x86_64-linux-gnu --with-headers=no --without-newlib --with-multilib-list=rmprofile,aprofile CFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' CPPFLAGS='-Wdate-time -D_FORTIFY_SOURCE=2' CXXFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' DFLAGS=-frelease FCFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' FFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' GCJFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' LDFLAGS=-Wl,-z,relro OBJCFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' OBJCXXFLAGS='-g -O2 -ffile-prefix-map=/build/gcc-arm-none-eabi-qMDwcZ/gcc-arm-none-eabi-10.3-2021.07=. -fstack-protector-strong' INHIBIT_LIBC_CFLAGS=-DUSE_TM_CLONE_REGISTRY=0 AR_FOR_TARGET=arm-none-eabi-ar AS_FOR_TARGET=arm-none-eabi-as LD_FOR_TARGET=arm-none-eabi-ld NM_FOR_TARGET=arm-none-eabi-nm OBJDUMP_FOR_TARGET=arm-none-eabi-objdump RANLIB_FOR_TARGET=arm-none-eabi-ranlib READELF_FOR_TARGET=arm-none-eabi-readelf STRIP_FOR_TARGET=arm-none-eabi-strip SED=/bin/sed SHELL=/bin/sh BASH=/bin/bash CONFIG_SHELL=/bin/bash
Thread model: single
Supported LTO compression algorithms: zlib
gcc version 10.3.1 20210621 (release) (15:10.3-2021.07-4)

enum end marker may be wrong

some enums may not be ordered properly, in which case the enum end marker seems to be calculated incorrectly
e.g. https://github.com/olliw42/fastmavlink/blob/master/c_library/minimal/minimal.h#L133-L146

Code is all in header files

Unfortunately, since all the actual code is in header files (very non-standard) instead of C files, the fastmavlink library can't be used in multiple C files in the same executable. This pretty much prevents any kind of modularity with calls into fastmavlink. E.g. if I want to say develop an app with multiple types of mavlink endpoints where each endpoint has its own C file of functionality and each needs some functionality from fastmavlink, I can only include/use fastmavlink in one of them without getting a multiple definition link error.

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