ReadParamsExt, raw messages, fix byte order, codec startup#8
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DeepSOIC wants to merge 7 commits intoCUAir:masterfrom
Open
ReadParamsExt, raw messages, fix byte order, codec startup#8DeepSOIC wants to merge 7 commits intoCUAir:masterfrom
DeepSOIC wants to merge 7 commits intoCUAir:masterfrom
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... by emitting/accepting a RawMessage when the message type is not implemented. This makes it possible to extend this library from within a project that uses it, which is particularly important for handling commands with variable footprint, such as CMD_REALTIME_DATA_CUSTOM
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implement ReadParamsExt message (i was interested in encoder offsets; all other fields are untested)
decode all unknown messages as RawMessage(id, payload), so that users of the library can make use of the library even if the messages they are dealing with are not directly supported. Sending raw messages is also supported.
There is a caveat though: using simplebgc-rs to define these custom messages is tricky - one particular problem i bumped into was compiler errors when trying to use RollPitchYaw struct around my custom struct; i have worked around that by copy-pasting the definition of RollPitchYaw struct into my project.
See my sandbox project for a demo of how this can be used in practice.
This is critically important when restarting a program, when the previous launch has enabled streaming of some data from the gimbal.