more refactoring

.github/workflows/test.yml

@@ -19,12 +19,11 @@ jobs:
       - uses: actions/checkout@master
       - uses: dtolnay/rust-toolchain@master
         with:
-          toolchain: nightly-2022-11-30
+          toolchain: nightly-2023-10-21
           components: clippy
-      - uses: actions-rs/clippy-check@v1
+      - uses: actions-rs-plus/clippy-check@v2
         with:
-          token: ${{ secrets.GITHUB_TOKEN }}
-          args: --all --all-targets
+          args: --all --all-targets --features format-generated-code
 
   internal-tests:
     runs-on: ubuntu-latest

build/binder.rs

@@ -11,6 +11,7 @@ pub fn generate<W: Write>(modules: Vec<String>, out: &mut W) {
             #[allow(clippy::field_reassign_with_default)]
             #[allow(non_snake_case)]
             #[allow(clippy::unnecessary_cast)]
+            #[allow(clippy::bad_bit_mask)]
             #[cfg(feature = #module)]
             pub mod #module_ident;
         }

build/parser.rs

@@ -57,17 +57,14 @@ impl MavProfile {
     fn update_enums(mut self) -> Self {
         for msg in self.messages.values() {
             for field in &msg.fields {
-                if let Some(ref enum_name) = field.enumtype {
-                    // it is an enum
-                    if let Some(ref dsp) = field.display {
-                        // it is a bitmask
-                        if dsp == "bitmask" {
-                            // find the corresponding enum
-                            for enm in self.enums.values_mut() {
-                                if enm.name == *enum_name {
-                                    // this is the right enum
-                                    enm.bitfield = Some(field.mavtype.rust_primitive_type());
-                                }
+                if let Some(enum_name) = &field.enumtype {
+                    // it is a bitmask
+                    if let Some("bitmask") = &field.display.as_deref() {
+                        // find the corresponding enum
+                        for enm in self.enums.values_mut() {
+                            if enm.name == *enum_name {
+                                // this is the right enum
+                                enm.bitfield = Some(field.mavtype.rust_primitive_type());
                             }
                         }
                     }
@@ -503,13 +500,13 @@ impl MavMessage {
     fn emit_serialize_vars(&self) -> TokenStream {
         let ser_vars = self.fields.iter().map(|f| f.rust_writer());
         quote! {
-            let mut _tmp = BytesMut::new(bytes);
+            let mut __tmp = BytesMut::new(bytes);
             #(#ser_vars)*
             if matches!(version, MavlinkVersion::V2) {
-                let len = _tmp.len();
-                crate::remove_trailing_zeroes(&mut bytes[..len])
+                let len = __tmp.len();
+                crate::remove_trailing_zeroes(&bytes[..len])
             } else {
-                _tmp.len()
+                __tmp.len()
             }
         }
     }
@@ -528,21 +525,21 @@ impl MavMessage {
             }
         } else {
             quote! {
-                let avail_len = _input.len();
+                let avail_len = __input.len();
 
                 let mut payload_buf  = [0; Self::ENCODED_LEN];
                 let mut buf = if avail_len < Self::ENCODED_LEN {
                     //copy available bytes into an oversized buffer filled with zeros
-                    payload_buf[0..avail_len].copy_from_slice(_input);
+                    payload_buf[0..avail_len].copy_from_slice(__input);
                     Bytes::new(&payload_buf)
                 } else {
                     // fast zero copy
-                    Bytes::new(_input)
+                    Bytes::new(__input)
                 };
 
-                let mut _struct = Self::default();
+                let mut __struct = Self::default();
                 #(#deser_vars)*
-                Ok(_struct)
+                Ok(__struct)
             }
         }
     }
@@ -607,7 +604,7 @@ impl MavMessage {
                 const EXTRA_CRC: u8 = #extra_crc;
                 const ENCODED_LEN: usize = #msg_encoded_len;
 
-                fn deser(_version: MavlinkVersion, _input: &[u8]) -> Result<Self, ParserError> {
+                fn deser(_version: MavlinkVersion, __input: &[u8]) -> Result<Self, ParserError> {
                     #deser_vars
                 }
 
@@ -643,7 +640,7 @@ impl MavField {
         if matches!(self.mavtype, MavType::Array(_, _)) {
             let rt = TokenStream::from_str(&self.mavtype.rust_type()).unwrap();
             mavtype = quote!(#rt);
-        } else if let Some(ref enumname) = self.enumtype {
+        } else if let Some(enumname) = &self.enumtype {
             let en = TokenStream::from_str(enumname).unwrap();
             mavtype = quote!(#en);
         } else {
@@ -695,15 +692,15 @@ impl MavField {
         }
         let ts = TokenStream::from_str(&name).unwrap();
         let name = quote!(#ts);
-        let buf = format_ident!("_tmp");
+        let buf = format_ident!("__tmp");
         self.mavtype.rust_writer(&name, buf)
     }
 
     /// Emit reader
     fn rust_reader(&self) -> TokenStream {
         let _name = TokenStream::from_str(&self.name).unwrap();
 
-        let name = quote!(_struct.#_name);
+        let name = quote!(__struct.#_name);
         let buf = format_ident!("buf");
         if let Some(enum_name) = &self.enumtype {
             // TODO: handle enum arrays properly, rather than just generating
@@ -1122,7 +1119,7 @@ pub fn parse_profile(
                     let attr = attr.unwrap();
                     match stack.last() {
                         Some(&MavXmlElement::Enum) => {
-                            if let b"name" = attr.key.into_inner() {
+                            if attr.key.into_inner() == b"name" {
                                 mavenum.name = attr
                                     .value
                                     .clone()
@@ -1273,7 +1270,7 @@ pub fn parse_profile(
                         entry.description = Some(s.replace('\n', " "));
                     }
                     (Some(&Param), Some(&Entry)) => {
-                        if let Some(ref mut params) = entry.params {
+                        if let Some(params) = &mut entry.params {
                             // Some messages can jump between values, like:
                             // 0, 1, 2, 7
                             if params.len() < paramid.unwrap() {
@@ -1382,21 +1379,21 @@ pub fn extra_crc(msg: &MavMessage) -> u8 {
     let mut crc = CRCu16::crc16mcrf4cc();
 
     crc.digest(msg.name.as_bytes());
-    crc.digest(" ".as_bytes());
+    crc.digest(b" ");
 
     let mut f = msg.fields.clone();
     // only mavlink 1 fields should be part of the extra_crc
     f.retain(|f| !f.is_extension);
     f.sort_by(|a, b| a.mavtype.compare(&b.mavtype));
     for field in &f {
         crc.digest(field.mavtype.primitive_type().as_bytes());
-        crc.digest(" ".as_bytes());
+        crc.digest(b" ");
         if field.name == "mavtype" {
-            crc.digest("type".as_bytes());
+            crc.digest(b"type");
         } else {
             crc.digest(field.name.as_bytes());
         }
-        crc.digest(" ".as_bytes());
+        crc.digest(b" ");
         if let MavType::Array(_, size) = field.mavtype {
             crc.digest(&[size as u8]);
         }
@@ -1443,31 +1440,25 @@ impl MavXmlFilter {
             Ok(content) => {
                 match content {
                     Event::Start(bytes) | Event::Empty(bytes) => {
-                        let id = match identify_element(bytes.name().into_inner()) {
-                            None => {
-                                panic!(
-                                    "unexpected element {:?}",
-                                    String::from_utf8_lossy(bytes.name().into_inner())
-                                );
-                            }
-                            Some(kind) => kind,
+                        let Some(id) = identify_element(bytes.name().into_inner()) else {
+                            panic!(
+                                "unexpected element {:?}",
+                                String::from_utf8_lossy(bytes.name().into_inner())
+                            );
                         };
-                        if let MavXmlElement::Extensions = id {
+                        if id == MavXmlElement::Extensions {
                             self.extension_filter.is_in = true;
                         }
                     }
                     Event::End(bytes) => {
-                        let id = match identify_element(bytes.name().into_inner()) {
-                            None => {
-                                panic!(
-                                    "unexpected element {:?}",
-                                    String::from_utf8_lossy(bytes.name().into_inner())
-                                );
-                            }
-                            Some(kind) => kind,
+                        let Some(id) = identify_element(bytes.name().into_inner()) else {
+                            panic!(
+                                "unexpected element {:?}",
+                                String::from_utf8_lossy(bytes.name().into_inner())
+                            );
                         };
 
-                        if let MavXmlElement::Message = id {
+                        if id == MavXmlElement::Message {
                             self.extension_filter.is_in = false;
                         }
                     }

src/bin/mavlink-dump.rs

@@ -49,7 +49,7 @@ fn main() {
                 println!("received: {msg:?}");
             }
             Err(MessageReadError::Io(e)) => {
-                if let std::io::ErrorKind::WouldBlock = e.kind() {
+                if e.kind() == std::io::ErrorKind::WouldBlock {
                     //no messages currently available to receive -- wait a while
                     thread::sleep(Duration::from_secs(1));
                     continue;

src/connection/udp.rs

@@ -74,8 +74,7 @@ struct PacketBuf {
 
 impl PacketBuf {
     pub fn new() -> Self {
-        let mut v = Vec::new();
-        v.resize(65536, 0);
+        let v = vec![0; 65536];
         Self {
             buf: v,
             start: 0,

src/embedded.rs

@@ -5,8 +5,8 @@ pub trait Read {
     fn read_u8(&mut self) -> Result<u8, MessageReadError>;
 
     fn read_exact(&mut self, buf: &mut [u8]) -> Result<(), MessageReadError> {
-        for i in 0..buf.len() {
-            buf[i] = self.read_u8()?;
+        for byte in buf {
+            *byte = self.read_u8()?;
         }
 
         Ok(())
@@ -26,8 +26,8 @@ pub trait Write {
 
 impl<W: embedded_hal::serial::Write<u8>> Write for W {
     fn write_all(&mut self, buf: &[u8]) -> Result<(), MessageWriteError> {
-        for i in 0..buf.len() {
-            nb::block!(self.write(buf[i])).map_err(|_| MessageWriteError::Io)?;
+        for byte in buf {
+            nb::block!(self.write(*byte)).map_err(|_| MessageWriteError::Io)?;
         }
 
         Ok(())

src/lib.rs

@@ -191,7 +191,7 @@ impl<M: Message> MavFrame<M> {
 
         let msg_id = match version {
             MavlinkVersion::V2 => buf.get_u24_le(),
-            MavlinkVersion::V1 => buf.get_u8() as u32,
+            MavlinkVersion::V1 => buf.get_u8().into(),
         };
 
         match M::parse(version, msg_id, buf.remaining_bytes()) {
@@ -498,10 +498,10 @@ impl MAVLinkV2MessageRaw {
         let payload_length: usize = self.payload_length().into();
 
         // Signature to ensure the link is tamper-proof.
-        let signature_size = if (self.incompatibility_flags() & MAVLINK_IFLAG_SIGNED) != 0 {
-            Self::SIGNATURE_SIZE
-        } else {
+        let signature_size = if (self.incompatibility_flags() & MAVLINK_IFLAG_SIGNED) == 0 {
             0
+        } else {
+            Self::SIGNATURE_SIZE
         };
 
         &mut self.0
@@ -521,10 +521,10 @@ impl MAVLinkV2MessageRaw {
     pub fn raw_bytes(&self) -> &[u8] {
         let payload_length = self.payload_length() as usize;
 
-        let signature_size = if (self.incompatibility_flags() & MAVLINK_IFLAG_SIGNED) != 0 {
-            Self::SIGNATURE_SIZE
-        } else {
+        let signature_size = if (self.incompatibility_flags() & MAVLINK_IFLAG_SIGNED) == 0 {
             0
+        } else {
+            Self::SIGNATURE_SIZE
         };
 
         &self.0[..(1 + Self::HEADER_SIZE + payload_length + signature_size + 2)]

src/utils.rs

@@ -4,7 +4,7 @@
 ///
 /// There must always be at least one remaining byte even if it is a
 /// zero byte.
-pub(crate) fn remove_trailing_zeroes(data: &mut [u8]) -> usize {
+pub(crate) fn remove_trailing_zeroes(data: &[u8]) -> usize {
     let mut len = data.len();
 
     for b in data[1..].iter().rev() {

tests/process_log_files.rs

@@ -36,7 +36,7 @@ mod process_files {
                     counter += 1;
                 }
                 Err(MessageReadError::Io(e)) => {
-                    if let std::io::ErrorKind::WouldBlock = e.kind() {
+                    if e.kind() == std::io::ErrorKind::WouldBlock {
                         continue;
                     } else {
                         println!("recv error: {e:?}");