Versionize API + Improvements

Cargo.toml

@@ -43,6 +43,8 @@ shellexpand = "3.1"
 tokio = { version = "1", features = ["full"] }
 tokio-serial = "5.4.4"
 tokio-util = { version = "0.7", features = [ "codec", "net" ] }
+tower = { version = "0.5" }
+tower-http = { version = "0.6", features = ["normalize-path", "trace", "cors"] }
 once_cell = "1.20"
 url = { version = "2.5.2", features = ["serde"] }
 uuid = { version = "1", features = ["v5", "v4", "serde"] }

src/lib/cli.rs

@@ -88,6 +88,10 @@ pub struct Args {
     /// Sets the MAVLink version used to communicate. This changes the heartbeat messages sent
     #[arg(long, default_value = "2", value_names = ["1", "2"])]
     mavlink_version: u8,
+
+    /// Sets the default version used by the REST API, this will remove the prefix used by its path.
+    #[arg(long, default_value = "1", value_names = ["1"])]
+    default_api_version: u8,
 }
 
 #[instrument(level = "trace")]
@@ -162,11 +166,7 @@ pub fn is_verbose() -> bool {
 
 #[instrument(level = "debug")]
 pub fn is_tracing() -> bool {
-    MANAGER
-        .get()
-        .unwrap()
-        .clap_matches
-        .enable_tracing_level_log_file
+    args().enable_tracing_level_log_file
 }
 
 #[instrument(level = "debug")]
@@ -227,11 +227,7 @@ pub fn mavlink_component_id() -> u8 {
 
 #[instrument(level = "debug")]
 pub fn mavlink_heartbeat_frequency() -> f32 {
-    MANAGER
-        .get()
-        .unwrap()
-        .clap_matches
-        .mavlink_heartbeat_frequency
+    args().mavlink_heartbeat_frequency
 }
 
 #[instrument(level = "debug")]
@@ -244,6 +240,11 @@ pub fn mavlink_version() -> u8 {
     args().mavlink_version
 }
 
+#[instrument(level = "debug")]
+pub fn default_api_version() -> u8 {
+    args().default_api_version
+}
+
 #[cfg(test)]
 mod tests {
     use super::*;

src/lib/drivers/rest/mod.rs

@@ -3,6 +3,7 @@ pub mod data;
 use std::sync::Arc;
 
 use anyhow::Result;
+use axum::extract::ws;
 use tokio::sync::{broadcast, RwLock};
 use tracing::*;
 
@@ -15,6 +16,7 @@ use crate::{
         accumulated::driver::{AccumulatedDriverStats, AccumulatedDriverStatsProvider},
         driver::DriverUuid,
     },
+    web::routes::v1::rest::websocket,
 };
 
 #[derive(Debug)]
@@ -111,6 +113,9 @@ impl Rest {
     async fn send_task(context: &SendReceiveContext) -> Result<()> {
         let mut hub_receiver = context.hub_sender.subscribe();
 
+        let origin = "Ws";
+        let uuid = uuid::Uuid::new_v5(&uuid::Uuid::NAMESPACE_URL, origin.as_bytes());
+
         loop {
             let message = match hub_receiver.recv().await {
                 Ok(message) => message,
@@ -124,7 +129,7 @@ impl Rest {
                 }
             };
 
-            if message.origin.eq("Ws") {
+            if message.origin.eq(origin) {
                 continue; // Don't do loopback
             }
 
@@ -146,7 +151,7 @@ impl Rest {
             let json_string = parse_query(&mavlink_json);
             data::update((mavlink_json.header, mavlink_json.message));
 
-            crate::web::send_message(json_string).await;
+            websocket::broadcast(uuid, ws::Message::Text(json_string)).await;
         }
 
         debug!("Driver sender task stopped!");
@@ -181,7 +186,7 @@ impl Driver for Rest {
                 interval.tick().await;
             }
 
-            let mut ws_receiver = crate::web::create_message_receiver();
+            let mut ws_receiver = websocket::create_message_receiver();
 
             tokio::select! {
                 result = Rest::send_task(&context) => {