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Incompatibility Flags check #252

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merged 1 commit into from
Aug 10, 2024
Merged

Incompatibility Flags check #252

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13 changes: 13 additions & 0 deletions mavlink-core/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -490,6 +490,7 @@ pub async fn read_v1_msg_async<M: Message>(
}

const MAVLINK_IFLAG_SIGNED: u8 = 0x01;
const MAVLINK_SUPPORTED_IFLAGS: u8 = MAVLINK_IFLAG_SIGNED;

#[derive(Debug, Copy, Clone, PartialEq, Eq)]
// Follow protocol definition: `<https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format>`
Expand Down Expand Up @@ -677,6 +678,12 @@ pub fn read_v2_raw_message<M: Message, R: Read>(
let header = &reader.peek_exact(MAVLinkV2MessageRaw::HEADER_SIZE)?
[..MAVLinkV2MessageRaw::HEADER_SIZE];
message.mut_header().copy_from_slice(header);

if message.incompatibility_flags() & !MAVLINK_SUPPORTED_IFLAGS > 0 {
// if there are incompatibility flags set that we do not know discard the message
continue;
}

let packet_length = message.raw_bytes().len() - 1;
let payload_and_checksum_and_sign =
&reader.peek_exact(packet_length)?[MAVLinkV2MessageRaw::HEADER_SIZE..packet_length];
Expand Down Expand Up @@ -720,6 +727,12 @@ pub async fn read_v2_raw_message_async<M: Message>(
.read_exact(message.mut_header())
.await
.map_err(|_| error::MessageReadError::Io)?;

if message.incompatibility_flags() & !MAVLINK_SUPPORTED_IFLAGS > 0 {
// if there are incompatibility flags set that we do not know discard the message
continue;
}

reader
.read_exact(message.mut_payload_and_checksum_and_sign())
.await
Expand Down
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