Resolve some todos in code

mavlink-bindgen/src/parser.rs

@@ -108,16 +108,6 @@ impl MavProfile {
         self
     }
 
-    //TODO verify this is no longer necessary since we're supporting both mavlink1 and mavlink2
-    //    ///If we are not using Mavlink v2, remove messages with id's > 254
-    //    fn update_messages(mut self) -> Self {
-    //        //println!("Updating messages");
-    //        let msgs = self.messages.into_iter().filter(
-    //            |x| x.id <= 254).collect::<Vec<MavMessage>>();
-    //        self.messages = msgs;
-    //        self
-    //    }
-
     /// Simple header comment
     #[inline(always)]
     fn emit_comments(&self, dialect_name: &str) -> TokenStream {
@@ -179,7 +169,6 @@ impl MavProfile {
     }
 
     fn emit_rust(&self, dialect_name: &str) -> TokenStream {
-        //TODO verify that id_width of u8 is OK even in mavlink v1
         let id_width = format_ident!("u32");
 
         let comment = self.emit_comments(dialect_name);
@@ -927,15 +916,6 @@ impl MavMessage {
         quote! {
             let mut __tmp = BytesMut::new(bytes);
 
-            // TODO: these lints are produced on a couple of cubepilot messages
-            // because they are generated as empty structs with no fields and
-            // therefore Self::ENCODED_LEN is 0. This itself is a bug because
-            // cubepilot.xml has unclosed tags in fields, which the parser has
-            // bad time handling. It should probably be fixed in both the parser
-            // and mavlink message definitions. However, until it's done, let's
-            // skip the lints.
-            #[allow(clippy::absurd_extreme_comparisons)]
-            #[allow(unused_comparisons)]
             if __tmp.remaining() < Self::ENCODED_LEN {
                 panic!(
                     "buffer is too small (need {} bytes, but got {})",
@@ -1025,8 +1005,8 @@ impl MavMessage {
         let extra_crc = extra_crc(self);
         let (name_types, payload_encoded_len) = self.emit_name_types();
         assert!(
-            payload_encoded_len <= 255,
-            "maximum payload length is 255 bytes"
+            (1..=255).contains(&payload_encoded_len),
+            "payload length must be between 1 and 255 bytes"
         );
 
         let deser_vars = self.emit_deserialize_vars();
@@ -2089,7 +2069,6 @@ pub fn parse_profile(
         }
     }
 
-    //let profile = profile.update_messages(); //TODO verify no longer needed
     Ok(profile.update_enums())
 }
 

mavlink-bindgen/tests/snapshots/e2e_snapshots__deprecated.xml@deprecated.rs.snap

@@ -133,8 +133,6 @@ impl MessageData for PING_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",

mavlink-bindgen/tests/snapshots/e2e_snapshots__heartbeat.xml@heartbeat.rs.snap

@@ -99,8 +99,6 @@ impl MessageData for HEARTBEAT_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",

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

@@ -107,8 +107,6 @@ impl MessageData for BOOL_TEST_MESSAGE_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",

mavlink-bindgen/tests/snapshots/e2e_snapshots__no_field_description.xml@no_field_description.rs.snap

@@ -83,8 +83,6 @@ impl MessageData for CUBEPILOT_RAW_RC_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",

mavlink-bindgen/tests/snapshots/e2e_snapshots__parameters.xml@parameters.rs.snap

@@ -121,8 +121,6 @@ impl MessageData for PARAM_REQUEST_LIST_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",
@@ -212,8 +210,6 @@ impl MessageData for PARAM_REQUEST_READ_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",
@@ -316,8 +312,6 @@ impl MessageData for PARAM_SET_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",
@@ -421,8 +415,6 @@ impl MessageData for PARAM_VALUE_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",

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

@@ -194,8 +194,6 @@ impl MessageData for SMART_BATTERY_INFO_DATA {
     }
     fn ser(&self, version: MavlinkVersion, bytes: &mut [u8]) -> usize {
         let mut __tmp = BytesMut::new(bytes);
-        #[allow(clippy::absurd_extreme_comparisons)]
-        #[allow(unused_comparisons)]
         if __tmp.remaining() < Self::ENCODED_LEN {
             panic!(
                 "buffer is too small (need {} bytes, but got {})",

mavlink-core/src/lib.rs

@@ -301,7 +301,8 @@ impl<M: Message> MavFrame<M> {
     ///
     /// # Panics
     ///
-    /// Will panic if frame does not fit in the provided buffer.
+    /// - If the frame does not fit in the provided buffer
+    /// - When attempting to serialize a message with an id greater then 255 with MAVLink 1
     pub fn ser(&self, buf: &mut [u8]) -> usize {
         let mut buf = bytes_mut::BytesMut::new(buf);
 
@@ -338,7 +339,12 @@ impl<M: Message> MavFrame<M> {
                 buf.put_slice(&bytes[..3]);
             }
             MavlinkVersion::V1 => {
-                buf.put_u8(self.msg.message_id() as u8); //TODO check
+                buf.put_u8(
+                    self.msg
+                        .message_id()
+                        .try_into()
+                        .expect("message is MAVLink 2 only"),
+                );
             }
         }