Bump MAVLink version

.github/workflows/test.yml

@@ -29,7 +29,7 @@ jobs:
     strategy:
         fail-fast: false
         matrix:
-          dialect: ["ardupilotmega", "asluav", "matrixpilot", "minimal", "paparazzi", "python_array_test", "standard", "test", "ualberta", "uavionix", "icarous", "common", "storm32", "csairlink", "loweheiser"]
+          dialect: ["ardupilotmega", "asluav", "matrixpilot", "minimal", "paparazzi", "python_array_test", "standard", "test", "ualberta", "uavionix", "icarous", "common", "storm32", "csairlink", "loweheiser", "marsh", "stemstudios"]
           signing: ["", "--features signing"]
     steps:
       - uses: actions/checkout@v6

mavlink-bindgen/src/parser.rs

@@ -3,6 +3,7 @@ use std::cmp::Ordering;
 use std::collections::btree_map::Entry;
 use std::collections::{BTreeMap, HashSet};
 use std::default::Default;
+use std::fmt::Display;
 use std::fs::File;
 use std::io::{BufReader, Write};
 use std::path::{Path, PathBuf};
@@ -638,7 +639,7 @@ impl MavEnum {
         {
             quote!(
                 pub fn as_bool(&self) -> bool {
-                    self.contains(Self::MAV_BOOL_TRUE)
+                    *self == Self::MAV_BOOL_TRUE
                 }
             )
         } else {
@@ -1499,12 +1500,29 @@ impl MavType {
     }
 }
 
+#[derive(Debug, PartialEq, Eq, Clone, Default)]
+pub enum MavDeprecationType {
+    #[default]
+    Deprecated,
+    Superseded,
+}
+
+impl Display for MavDeprecationType {
+    fn fmt(&self, f: &mut std::fmt::Formatter<'_>) -> std::fmt::Result {
+        match self {
+            Self::Deprecated => f.write_str("Deprecated"),
+            Self::Superseded => f.write_str("Superseded"),
+        }
+    }
+}
+
 #[derive(Debug, PartialEq, Eq, Clone, Default)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 pub struct MavDeprecation {
     // YYYY-MM
     pub since: String,
     pub replaced_by: Option<String>,
+    pub deprecation_type: MavDeprecationType,
     pub note: Option<String>,
 }
 
@@ -1521,11 +1539,44 @@ impl MavDeprecation {
             Some(str) => format!("See `{str}`"),
             None => String::new(),
         };
-        let message = format!("{note} {replaced_by} (Deprecated since {since})");
+        let message = format!(
+            "{note} {replaced_by} ({} since {since})",
+            self.deprecation_type
+        );
         quote!(#[deprecated = #message])
     }
 }
 
+#[derive(Debug, PartialEq, Eq, Clone, Default)]
+#[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
+pub struct MavSuperseded {
+    // YYYY-MM
+    pub since: String,
+    // maybe empty, may be encapuslated in `` and contain a wildcard
+    pub replaced_by: String,
+    pub note: Option<String>,
+}
+
+impl MavSuperseded {
+    pub fn emit_tokens(&self) -> TokenStream {
+        let since = &self.since;
+        let note = match &self.note {
+            Some(str) if str.is_empty() || str.ends_with(".") => str.clone(),
+            Some(str) => format!("{str}."),
+            None => String::new(),
+        };
+        let replaced_by = if self.replaced_by.starts_with("`") {
+            format!("See {}", self.replaced_by)
+        } else if self.replaced_by.is_empty() {
+            String::new()
+        } else {
+            format!("See `{}`", self.replaced_by)
+        };
+        let message = format!("{note} {replaced_by} (Superseded since {since})");
+        quote!(#[superseded = #message])
+    }
+}
+
 #[derive(Debug, PartialEq, Eq, Clone, Copy)]
 #[cfg_attr(feature = "serde", derive(Serialize, Deserialize))]
 #[cfg_attr(feature = "serde", serde(tag = "type"))]
@@ -1545,6 +1596,7 @@ pub enum MavXmlElement {
     Deprecated,
     Wip,
     Extensions,
+    Superseded,
 }
 
 const fn identify_element(s: &[u8]) -> Option<MavXmlElement> {
@@ -1565,6 +1617,7 @@ const fn identify_element(s: &[u8]) -> Option<MavXmlElement> {
         b"deprecated" => Some(Deprecated),
         b"wip" => Some(Wip),
         b"extensions" => Some(Extensions),
+        b"superseded" => Some(Superseded),
         _ => None,
     }
 }
@@ -1587,6 +1640,7 @@ fn is_valid_parent(p: Option<MavXmlElement>, s: MavXmlElement) -> bool {
         Deprecated => p == Some(Entry) || p == Some(Message) || p == Some(Enum),
         Wip => p == Some(Entry) || p == Some(Message) || p == Some(Enum),
         Extensions => p == Some(Message),
+        Superseded => p == Some(Entry) || p == Some(Message) || p == Some(Enum),
     }
 }
 
@@ -1693,6 +1747,15 @@ pub fn parse_profile(
                         deprecated = Some(MavDeprecation {
                             replaced_by: None,
                             since: String::new(),
+                            deprecation_type: MavDeprecationType::Deprecated,
+                            note: None,
+                        });
+                    }
+                    MavXmlElement::Superseded => {
+                        deprecated = Some(MavDeprecation {
+                            replaced_by: Some(String::new()),
+                            since: String::new(),
+                            deprecation_type: MavDeprecationType::Superseded,
                             note: None,
                         });
                     }
@@ -1862,6 +1925,17 @@ pub fn parse_profile(
                             }
                             _ => (),
                         },
+                        Some(&MavXmlElement::Superseded) => match attr.key.into_inner() {
+                            b"since" => {
+                                deprecated.as_mut().unwrap().since =
+                                    String::from_utf8_lossy(&attr.value).to_string();
+                            }
+                            b"replaced_by" => {
+                                deprecated.as_mut().unwrap().replaced_by =
+                                    Some(String::from_utf8_lossy(&attr.value).to_string());
+                            }
+                            _ => (),
+                        },
                         _ => (),
                     }
                 }
@@ -1879,7 +1953,8 @@ pub fn parse_profile(
                     | (Some(&Version), Some(&Mavlink))
                     | (Some(&Dialect), Some(&Mavlink))
                     | (Some(&Param), Some(&Entry))
-                    | (Some(Deprecated), _) => {
+                    | (Some(Deprecated), _)
+                    | (Some(Superseded), _) => {
                         text = Some(text.map(|t| t + s.as_ref()).unwrap_or(s.to_string()));
                     }
                     data => {

mavlink-bindgen/tests/definitions/superseded.xml

@@ -0,0 +1,59 @@
+<mavlink>
+    <enums>
+        <enum name="MAV_ROI">
+            <superseded since="2018-01" replaced_by="`MAV_CMD_DO_SET_ROI_*`"/>
+            <description>The ROI (region of interest) for the vehicle. This can be
+                        be used by the vehicle for camera/vehicle attitude alignment (see
+                        MAV_CMD_NAV_ROI).</description>
+            <entry value="0" name="MAV_ROI_NONE">
+                <description>No region of interest.</description>
+            </entry>
+            <entry value="1" name="MAV_ROI_WPNEXT">
+                <description>Point toward next waypoint, with optional pitch/roll/yaw offset.</description>
+            </entry>
+            <entry value="2" name="MAV_ROI_WPINDEX">
+                <description>Point toward given waypoint.</description>
+            </entry>
+            <entry value="3" name="MAV_ROI_LOCATION">
+                <description>Point toward fixed location.</description>
+            </entry>
+            <entry value="4" name="MAV_ROI_TARGET">
+                <description>Point toward of given id.</description>
+            </entry>
+        </enum>
+        <enum name="MAV_FRAME">
+            <description>Coordinate frames used by MAVLink. Not all frames are supported by all commands, messages, or vehicles.
+            </description>
+            <!-- ... -->
+            <entry value="5" name="MAV_FRAME_GLOBAL_INT">
+                <superseded since="2024-03" replaced_by="MAV_FRAME_GLOBAL">Use MAV_FRAME_GLOBAL in COMMAND_INT (and elsewhere) as a synonymous replacement.</superseded>
+                <description>Global (WGS84) coordinate frame (scaled) + altitude relative to mean sea level (MSL).</description>
+            </entry>
+            <!-- ... -->
+        </enum>
+    </enums>
+    <messages>
+        <message id="370" name="SMART_BATTERY_INFO">
+            <superseded since="2024-02" replaced_by="BATTERY_INFO">The BATTERY_INFO message is better aligned with UAVCAN messages, and in any case is useful even if a battery is not "smart".</superseded>
+            <description>Smart Battery information (static/infrequent update). Use for updates from: smart battery to flight stack, flight stack to GCS. Use BATTERY_STATUS for the frequent battery updates.</description>
+            <field type="uint8_t" name="id" instance="true">Battery ID</field>
+            <field type="uint8_t" name="battery_function" enum="MAV_BATTERY_FUNCTION">Function of the battery</field>
+            <field type="uint8_t" name="type" enum="MAV_BATTERY_TYPE">Type (chemistry) of the battery</field>
+            <field type="int32_t" name="capacity_full_specification" units="mAh" invalid="-1">Capacity when full according to manufacturer, -1: field not provided.</field>
+            <field type="int32_t" name="capacity_full" units="mAh" invalid="-1">Capacity when full (accounting for battery degradation), -1: field not provided.</field>
+            <field type="uint16_t" name="cycle_count" invalid="UINT16_MAX">Charge/discharge cycle count. UINT16_MAX: field not provided.</field>
+            <field type="char[16]" name="serial_number" invalid="[0]">Serial number in ASCII characters, 0 terminated. All 0: field not provided.</field>
+            <field type="char[50]" name="device_name" invalid="[0]">Static device name in ASCII characters, 0 terminated. All 0: field not provided. Encode as manufacturer name then product name separated using an underscore.</field>
+            <field type="uint16_t" name="weight" units="g" invalid="0">Battery weight. 0: field not provided.</field>
+            <field type="uint16_t" name="discharge_minimum_voltage" units="mV" invalid="UINT16_MAX">Minimum per-cell voltage when discharging. If not supplied set to UINT16_MAX value.</field>
+            <field type="uint16_t" name="charging_minimum_voltage" units="mV" invalid="UINT16_MAX">Minimum per-cell voltage when charging. If not supplied set to UINT16_MAX value.</field>
+            <field type="uint16_t" name="resting_minimum_voltage" units="mV" invalid="UINT16_MAX">Minimum per-cell voltage when resting. If not supplied set to UINT16_MAX value.</field>
+            <extensions/>
+            <field type="uint16_t" name="charging_maximum_voltage" units="mV" invalid="0">Maximum per-cell voltage when charged. 0: field not provided.</field>
+            <field type="uint8_t" name="cells_in_series" invalid="0">Number of battery cells in series. 0: field not provided.</field>
+            <field type="uint32_t" name="discharge_maximum_current" units="mA" invalid="0">Maximum pack discharge current. 0: field not provided.</field>
+            <field type="uint32_t" name="discharge_maximum_burst_current" units="mA" invalid="0">Maximum pack discharge burst current. 0: field not provided.</field>
+            <field type="char[11]" name="manufacture_date" invalid="[0]">Manufacture date (DD/MM/YYYY) in ASCII characters, 0 terminated. All 0: field not provided.</field>
+        </message>
+    </messages>
+</mavlink>

mavlink-bindgen/tests/e2e_snapshots.rs

@@ -42,6 +42,11 @@ fn snapshot_deprecated() {
     run_snapshot("deprecated.xml");
 }
 
+#[test]
+fn snapshot_superseded() {
+    run_snapshot("superseded.xml");
+}
+
 #[test]
 fn snapshot_no_field_description() {
     run_snapshot("no_field_description.xml");

mavlink-bindgen/tests/snapshots/e2e_snapshots__mav_bool.xml@mav_bool.rs.snap

@@ -28,7 +28,7 @@ bitflags! { # [cfg_attr (feature = "ts" , derive (TS))] # [cfg_attr (feature = "
 impl MavBool {
     pub const DEFAULT: Self = Self::MAV_BOOL_FALSE;
     pub fn as_bool(&self) -> bool {
-        self.contains(Self::MAV_BOOL_TRUE)
+        *self == Self::MAV_BOOL_TRUE
     }
 }
 impl Default for MavBool {

mavlink-bindgen/tests/snapshots/e2e_snapshots__superseded.xml@mod.rs.snap

@@ -0,0 +1,14 @@
+---
+source: mavlink-bindgen/tests/e2e_snapshots.rs
+assertion_line: 26
+expression: contents
+---
+#[allow(non_camel_case_types)]
+#[allow(clippy::derive_partial_eq_without_eq)]
+#[allow(clippy::field_reassign_with_default)]
+#[allow(non_snake_case)]
+#[allow(clippy::unnecessary_cast)]
+#[allow(clippy::bad_bit_mask)]
+#[allow(clippy::suspicious_else_formatting)]
+#[cfg(feature = "superseded")]
+pub mod superseded;