Added WrapToV2Extension for code-generator

Devices in network could not understand unknown messages (cause mavlink/mavlink#1166) and will not forwarding it. This flag indicates that the message is not standard and we need to wrap this message into a V2_EXTENSION message for the routers to successfully transmit over the network.
asv-soft · Apr 22, 2023 · f5fe903 · f5fe903
1 parent 121540d
commit f5fe903
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Showing 38 changed files with 610 additions and 184 deletions.
diff --git a/mavlink_messages/asv_sdr.xml b/mavlink_messages/asv_sdr.xml
diff --git a/src/Asv.Mavlink.Shell/CodeGen/Generator/LiquidGenerator.cs b/src/Asv.Mavlink.Shell/CodeGen/Generator/LiquidGenerator.cs
@@ -59,6 +59,7 @@ public string Generate(string template, MavlinkProtocolModel model)
                                                              HasArrayFields = msg.HasArrayFields,
                                                              PayloadByteSize = msg.GetAllFields().Sum(_=>_.FieldByteSize),
                                                              ExtendedFieldsLength = msg.ExtendedFields.Sum(_=>_.FieldByteSize),
+                                                             WrapToV2Extension = msg.WrapToV2Extension,
                                                              Fields = msg.GetAllFields().Select(field =>
                                                                                             new
                                                                                             {

diff --git a/src/Asv.Mavlink.Shell/CodeGen/Model/MavlinkMessageModel.cs b/src/Asv.Mavlink.Shell/CodeGen/Model/MavlinkMessageModel.cs
@@ -12,7 +12,8 @@ public class MavlinkMessageModel: MavlinkModelBase
         public IList<MessageFieldModel> ExtendedFields { get; set; } = new List<MessageFieldModel>();
 
         public bool HasArrayFields => Fields.Any(_ => _.IsArray) || ExtendedFields.Any(_=>_.IsArray);
-
+        public bool WrapToV2Extension { get; set; }
+
         public override string ToString()
         {
             return $"{Name}[Id:{Id},CrcExtra:{CrcExtra}]";

diff --git a/src/Asv.Mavlink.Shell/CodeGen/Parsers/MavlinkParserXml.cs b/src/Asv.Mavlink.Shell/CodeGen/Parsers/MavlinkParserXml.cs
@@ -54,6 +54,7 @@ private static void ParseMessagesSection(XmlReader rdr, IList<MavlinkMessageMode
                                       {
                                           Id = int.Parse(rdr.GetAttribute("id")),
                                           Name = rdr.GetAttribute("name"),
+
                                       };
                     protocolEnums.Add(messageItem);
                     ParseMessage(rdr, messageItem);
@@ -73,7 +74,9 @@ private static void ParseMessage(XmlReader rdr, MavlinkMessageModel messageItem)
                 switch (rdr.Name)
                 {
                     case "description":
-                        messageItem.Desc = ConvertDesc(rdr.ReadElementContentAsString());
+                        var content = rdr.ReadElementContentAsString();
+                        messageItem.Desc = ConvertDesc(content);
+                        messageItem.WrapToV2Extension = content.Contains("[!WRAP_TO_V2_EXTENSION_PACKET!]");
                         break;
                     case "field":
                         ParseMessageFields(rdr, messageItem, extendedFields);

diff --git a/src/Asv.Mavlink.Shell/Resources/csharp.tpl b/src/Asv.Mavlink.Shell/Resources/csharp.tpl
@@ -83,6 +83,7 @@ namespace Asv.Mavlink.V2.{{ Namespace }}
 	    public const int PacketMessageId = {{ msg.Id }};
         public override int MessageId => PacketMessageId;
         public override byte GetCrcEtra() => {{ msg.CrcExtra }};
+        public override bool WrapToV2Extension => {{ msg.WrapToV2Extension }};
 
         public override {{ msg.CamelCaseName }}Payload Payload { get; } = new {{ msg.CamelCaseName }}Payload();
 

diff --git a/src/Asv.Mavlink.Test/Devices/Base/BaseDevicesTest.cs b/src/Asv.Mavlink.Test/Devices/Base/BaseDevicesTest.cs
@@ -22,7 +22,7 @@ public BaseDevicesTest(ITestOutputHelper output)
     }
 
     [Fact]
-    public async Task ClientDeviceIdentityArgumentNullExceptionTest()
+    public Task ClientDeviceIdentityArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -34,10 +34,11 @@ public async Task ClientDeviceIdentityArgumentNullExceptionTest()
                 new PacketSequenceCalculator(),
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     [Fact]
-    public async Task ClientDeviceConfigArgumentNullExceptionTest()
+    public Task ClientDeviceConfigArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -52,10 +53,11 @@ public async Task ClientDeviceConfigArgumentNullExceptionTest()
                 new PacketSequenceCalculator(),
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     [Fact]
-    public async Task ClientDeviceVirtualLinkArgumentNullExceptionTest()
+    public Task ClientDeviceVirtualLinkArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -68,10 +70,11 @@ public async Task ClientDeviceVirtualLinkArgumentNullExceptionTest()
                 new PacketSequenceCalculator(),
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     [Fact]
-    public async Task ServerDeviceVirtualLinkArgumentNullExceptionTest()
+    public Task ServerDeviceVirtualLinkArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -81,10 +84,11 @@ public async Task ServerDeviceVirtualLinkArgumentNullExceptionTest()
                 new ServerDeviceConfig(),
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     [Fact]
-    public async Task ServerDeviceSequenceArgumentNullExceptionTest()
+    public Task ServerDeviceSequenceArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -96,10 +100,11 @@ public async Task ServerDeviceSequenceArgumentNullExceptionTest()
                 new ServerDeviceConfig(),
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     [Fact]
-    public async Task ServerDeviceIdentityArgumentNullExceptionTest()
+    public Task ServerDeviceIdentityArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -111,6 +116,7 @@ public async Task ServerDeviceIdentityArgumentNullExceptionTest()
                 new ServerDeviceConfig(),
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     // [Fact]
@@ -132,7 +138,7 @@ public async Task ServerDeviceIdentityArgumentNullExceptionTest()
     // }
 
     [Fact]
-    public async Task ServerDeviceConfigStatusTextArgumentNullExceptionTest()
+    public Task ServerDeviceConfigStatusTextArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -147,10 +153,11 @@ public async Task ServerDeviceConfigStatusTextArgumentNullExceptionTest()
                 },
                 Scheduler.Default);
         });
+        return Task.CompletedTask;
     }
 
     [Fact]
-    public async Task ServerDeviceSchedulerArgumentNullExceptionTest()
+    public void ServerDeviceSchedulerArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -162,10 +169,11 @@ public async Task ServerDeviceSchedulerArgumentNullExceptionTest()
                 new ServerDeviceConfig(),
                 null);
         });
+
     }
 
     [Fact]
-    public async Task ClientDeviceSequenceArgumentNullExceptionTest()
+    public void ClientDeviceSequenceArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -180,7 +188,7 @@ public async Task ClientDeviceSequenceArgumentNullExceptionTest()
     }
 
     [Fact]
-    public async Task ClientDeviceSchedulerArgumentNullExceptionTest()
+    public void ClientDeviceSchedulerArgumentNullExceptionTest()
     {
         Assert.Throws<ArgumentNullException>(() =>
         {
@@ -192,6 +200,7 @@ public async Task ClientDeviceSchedulerArgumentNullExceptionTest()
                 new PacketSequenceCalculator(),
                 null);
         });
+
     }
 
     [Theory]

diff --git a/src/Asv.Mavlink.Test/MavlinkPackets.cs b/src/Asv.Mavlink.Test/MavlinkPackets.cs
@@ -25,7 +25,7 @@ public MavlinkPackets(ITestOutputHelper output)
                 IncompatFlags = 0,
                 Sequence = 10,
                 SystemId = 255,
-                ComponenId = 255,
+                ComponentId = 255,
                 Payload =
                 {
                     U64 = 1,

diff --git a/src/Asv.Mavlink/Asv.Mavlink.csproj b/src/Asv.Mavlink/Asv.Mavlink.csproj
@@ -41,7 +41,7 @@
     <DocumentationFile>bin\Release\Asv.Mavlink.xml</DocumentationFile>
   </PropertyGroup>
   <ItemGroup>
-    <PackageReference Include="Asv.Common" Version="1.6.1" />
+    <PackageReference Include="Asv.Common" Version="1.7.0" />
     <PackageReference Include="Asv.IO" Version="1.6.1" />
     <PackageReference Include="DynamicData" Version="7.10.2" />
     <PackageReference Include="Geodesy" Version="4.1.0" />

diff --git a/src/Asv.Mavlink/Microservices/AsvSdr/RecordId.cs b/src/Asv.Mavlink/Microservices/AsvSdr/RecordId.cs
@@ -5,6 +5,8 @@ namespace Asv.Mavlink;
 
 public class RecordId:IEquatable<RecordId>
 {
+    public static RecordId Empty { get; } = new("NOT_RECORDED");
+
     public RecordId(string name)
     {
         SdrWellKnown.CheckRecordName(name);

diff --git a/src/Asv.Mavlink/Microservices/Commands/Server/Ex/CommandServerEx.cs b/src/Asv.Mavlink/Microservices/Commands/Server/Ex/CommandServerEx.cs
@@ -36,7 +36,7 @@ protected CommandServerEx(ICommandServer server, IObservable<TArgPacket> command
 
     private async void OnRequest(TArgPacket pkt)
     {
-        var requester = new DeviceIdentity() { ComponentId = pkt.ComponenId, SystemId = pkt.SystemId };
+        var requester = new DeviceIdentity() { ComponentId = pkt.ComponentId, SystemId = pkt.SystemId };
         var cmd = _cmdGetter(pkt);
 
         var confirmation = _confirmationGetter(pkt);

diff --git a/src/Asv.Mavlink/Microservices/Commands/Server/ICommandServer.cs b/src/Asv.Mavlink/Microservices/Commands/Server/ICommandServer.cs
@@ -17,11 +17,11 @@ public static class CommandServerHelper
     {
         public static Task SendCommandAckAccepted(this ICommandServer server, CommandIntPacket req, MavResult result, CancellationToken cancel = default)
         {
-            return server.SendCommandAck(req.Payload.Command, new DeviceIdentity(req.SystemId,req.ComponenId), new CommandResult(result), cancel);
+            return server.SendCommandAck(req.Payload.Command, new DeviceIdentity(req.SystemId,req.ComponentId), new CommandResult(result), cancel);
         }
         public static Task SendCommandAckAccepted(this ICommandServer server, CommandLongPacket req, MavResult result, CancellationToken cancel = default)
         {
-            return server.SendCommandAck(req.Payload.Command, new DeviceIdentity(req.SystemId,req.ComponenId), new CommandResult(result), cancel);
+            return server.SendCommandAck(req.Payload.Command, new DeviceIdentity(req.SystemId,req.ComponentId), new CommandResult(result), cancel);
         }
     }
 

diff --git a/src/Asv.Mavlink/Microservices/DebugSvc/Server/DebugServer.cs b/src/Asv.Mavlink/Microservices/DebugSvc/Server/DebugServer.cs
@@ -50,7 +50,7 @@ public Task SendDebugFloatArray(string name, ushort arrayId, float[] data)
 
             var packet = new DebugFloatArrayPacket()
             {
-                ComponenId = _identity.ComponentId,
+                ComponentId = _identity.ComponentId,
                 SystemId = _identity.SystemId,
                 CompatFlags = 0,
                 IncompatFlags = 0,
@@ -75,7 +75,7 @@ public Task SendMemoryVect(ushort address, byte version, byte type, sbyte[] valu
             }
             var packet = new MemoryVectPacket
             {
-                ComponenId = _identity.ComponentId,
+                ComponentId = _identity.ComponentId,
                 SystemId = _identity.SystemId,
                 CompatFlags = 0,
                 IncompatFlags = 0,
@@ -100,7 +100,7 @@ public Task SendNamedValueFloat(string name, float value)
 
             var packet = new NamedValueFloatPacket
             {
-                ComponenId = _identity.ComponentId,
+                ComponentId = _identity.ComponentId,
                 SystemId = _identity.SystemId,
                 CompatFlags = 0,
                 IncompatFlags = 0,
@@ -124,7 +124,7 @@ public Task SendNamedValueInteger(string name, int value)
 
             var packet = new NamedValueIntPacket()
             {
-                ComponenId = _identity.ComponentId,
+                ComponentId = _identity.ComponentId,
                 SystemId = _identity.SystemId,
                 CompatFlags = 0,
                 IncompatFlags = 0,

diff --git a/src/Asv.Mavlink/Microservices/Logging/Server/LoggingServer.cs b/src/Asv.Mavlink/Microservices/Logging/Server/LoggingServer.cs
@@ -41,7 +41,7 @@ public Task SendLoggingData(byte targetSystemId, byte targetComponentId, ushort
 
             var packet = new LoggingDataPacket
             {
-                ComponenId = _identity.ComponentId,
+                ComponentId = _identity.ComponentId,
                 SystemId = _identity.SystemId,
                 CompatFlags = 0,
                 IncompatFlags = 0,

diff --git a/src/Asv.Mavlink/Microservices/MavlinkHelper.cs b/src/Asv.Mavlink/Microservices/MavlinkHelper.cs
@@ -33,7 +33,7 @@ public static IObservable<IPacketV2<IPayload>> FilterVehicle(this IObservable<IP
         public static bool FilterVehicle(IPacketV2<IPayload> packetV2, byte targetSystemId, byte targetComponentId)
         {
             if (targetSystemId != 0 && targetSystemId != packetV2.SystemId) return false;
-            if (targetComponentId != 0 && targetComponentId != packetV2.ComponenId) return false;
+            if (targetComponentId != 0 && targetComponentId != packetV2.ComponentId) return false;
             return true;
         }
 

diff --git a/src/Asv.Mavlink/Microservices/MavlinkMicroserviceClient.cs b/src/Asv.Mavlink/Microservices/MavlinkMicroserviceClient.cs
@@ -72,7 +72,7 @@ protected IObservable<TPacket> InternalFilter<TPacket>(Func<TPacket, bool> filte
         private bool FilterVehicle(IPacketV2<IPayload> packetV2)
         {
             if (Identity.TargetSystemId != packetV2.SystemId) return false;
-            if (Identity.TargetComponentId != packetV2.ComponenId) return false;
+            if (Identity.TargetComponentId != packetV2.ComponentId) return false;
             return true;
         }
         protected MavlinkClientIdentity Identity { get; }
@@ -89,7 +89,7 @@ protected TPacket InternalGeneratePacket<TPacket>()
         {
             return new TPacket
             {
-                ComponenId = Identity.ComponentId,
+                ComponentId = Identity.ComponentId,
                 SystemId = Identity.SystemId,
                 Sequence = Sequence.GetNextSequenceNumber(),
             };

diff --git a/src/Asv.Mavlink/Microservices/MavlinkMicroserviceServer.cs b/src/Asv.Mavlink/Microservices/MavlinkMicroserviceServer.cs
@@ -70,7 +70,7 @@ private TPacket InternalGeneratePacket<TPacket>()
     {
         return new TPacket
         {
-            ComponenId = Identity.ComponentId,
+            ComponentId = Identity.ComponentId,
             SystemId = Identity.SystemId,
             Sequence = PacketSequence.GetNextSequenceNumber(),
         };
@@ -79,7 +79,7 @@ private TPacket InternalGeneratePacket<TPacket>()
     protected IPacketV2<IPayload> InternalGeneratePacket(int messageId, bool incrementSequence = true)
     {
         var pkt = Connection.CreatePacketByMessageId(messageId);
-        pkt.ComponenId = Identity.ComponentId;
+        pkt.ComponentId = Identity.ComponentId;
         pkt.SystemId = Identity.SystemId;
         if (incrementSequence)
         {
@@ -92,7 +92,7 @@ protected IPacketV2<IPayload> InternalGeneratePacket(int messageId, bool increme
     protected Task InternalSend(int messageId, Action<IPacketV2<IPayload>> fillPacket, CancellationToken cancel = default)
     {
         var pkt = Connection.CreatePacketByMessageId(messageId);
-        pkt.ComponenId = Identity.ComponentId;
+        pkt.ComponentId = Identity.ComponentId;
         pkt.SystemId = Identity.SystemId;
         pkt.Sequence = PacketSequence.GetNextSequenceNumber();
         return Connection.Send(pkt, cancel);

diff --git a/src/Asv.Mavlink/Microservices/MavlinkPacketTransponder.cs b/src/Asv.Mavlink/Microservices/MavlinkPacketTransponder.cs
@@ -30,7 +30,7 @@ public MavlinkPacketTransponder(IMavlinkV2Connection connection, MavlinkServerId
             {
                 CompatFlags = 0,
                 IncompatFlags = 0,
-                ComponenId = _identityConfig.ComponentId,
+                ComponentId = _identityConfig.ComponentId,
                 SystemId = _identityConfig.SystemId,
             };
         }

diff --git a/src/Asv.Mavlink/Microservices/V2Extention/Server/V2ExtensionServer.cs b/src/Asv.Mavlink/Microservices/V2Extention/Server/V2ExtensionServer.cs
@@ -40,7 +40,7 @@ public async Task SendData(byte targetSystemId,byte targetComponentId,byte targe
             using var linked = CancellationTokenSource.CreateLinkedTokenSource(_disposeCancel.Token, cancel);
             await _connection.Send(new V2ExtensionPacket
             {
-                ComponenId = _identity.ComponentId,
+                ComponentId = _identity.ComponentId,
                 SystemId = _identity.SystemId,
                 CompatFlags = 0,
                 IncompatFlags = 0,

diff --git a/src/Asv.Mavlink/Protocol/Frames/IPacket.cs b/src/Asv.Mavlink/Protocol/Frames/IPacket.cs
@@ -24,7 +24,7 @@ public interface IPacket<out TPayload>: ISpanSerializable
         /// <summary>
         /// ID of the message sender component
         /// </summary>
-        byte ComponenId { get; set; }
+        byte ComponentId { get; set; }
         /// <summary>
         /// Message Id
         /// </summary>

diff --git a/src/Asv.Mavlink/Protocol/Frames/v2/IPacketV2.cs b/src/Asv.Mavlink/Protocol/Frames/v2/IPacketV2.cs
@@ -24,7 +24,11 @@ public interface IPacketV2<out TPayload>:IPacket<TPayload>
         /// Message name
         /// </summary>
         string Name { get; }
-
+        /// <summary>
+        /// Devices in network could not understand unknown messages (cause https://github.com/mavlink/mavlink/issues/1166) and will not forwarding it.
+        /// This flag indicates that the message is not standard and we need to wrap this message into a V2_EXTENSION message for the routers to successfully transmit over the network.
+        /// </summary>
+        bool WrapToV2Extension { get; }
 
     }
 }