mavlink2

package module
v0.13.0 Latest Latest
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 Go to latest Published: Jan 29, 2021 License: MIT Imports: 9 Imported by: 0

README

go-mavlink2

MAVLink2 implementation in pure Go.

Documentation

Index

Constants

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const CompatibilityFlagSignature = 0x01

CompatibilityFlagSignature is the flag indicating that a V2 Frame is signed

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const V1StartByte = 0xfe

V1StartByte is the magic frame start indicator for a V1 MAVLink Frame

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const V2StartByte = 0xfd

V2StartByte is the magic frame start indicator for a V2 MAVLink Frame

Variables

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var ErrDecodeV2MessageV1Frame = fmt.Errorf("Unable to decode a V2 message from a V1 Frame")

ErrDecodeV2MessageV1Frame indicates that a request was made to decode a V2 Message from a V1 Frame

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var ErrEncodeV2MessageV1Frame = fmt.Errorf("Unable to encode a V2 message to a V1 Frame")

ErrEncodeV2MessageV1Frame indicates that a request was made to encode a V2 Message for use with a V1 Frame

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var ErrFrameTooShort = fmt.Errorf("Not enough bytes in Frame")

ErrFrameTooShort indicates the Frame did not contain enough bytes to complete the requested operation

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var ErrInvalidChecksum = fmt.Errorf("Invalid checksum")

ErrInvalidChecksum indicates that the Message checksum is invalid

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var ErrMessageTooLong = fmt.Errorf("Message too long")

ErrMessageTooLong indicates that the Message length in the header is longer than the maximum length allowed for the Message

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var ErrMessageTooShort = fmt.Errorf("Message too short")

ErrMessageTooShort indicates that the Message length in the header is shorter than the minimum length allowed for the Message

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var ErrPrivateField = fmt.Errorf("Struct contains one or more private fields that cannot be unmarshalled using binary.Read")

ErrPrivateField indicates that a Message contains private fields and cannot be unmarshalled using binary.Read

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var ErrUnknownMessage = fmt.Errorf("Unknown message")

ErrUnknownMessage indicates that the Message is not defined in one of the loaded Dialects

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var ErrUnknownStartByte = fmt.Errorf("Start byte is not 0x%x (V1) or 0x%x (V2)", V1StartByte, V2StartByte)

ErrUnknownStartByte indicates the Frame started with an unknown start byte (magic byte)

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var ErrUnsupportedVersion = fmt.Errorf("The version requested is not supported by this library")

ErrUnsupportedVersion indicates that the version requested is not supported by this library

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var ErrUserClosed = errors.New("User closed")
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var ErrValueTooLong = fmt.Errorf("The input string was too long and was truncated")

ErrValueTooLong indicates that a Message field is unable to hold the requested string and that the string was truncated to fit

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var ErrWriteChannelClosed = errors.New("Write channel closed")

Functions

This section is empty.

Types

type Dialect 

type Dialect interface {
	GetMeta(uint32) (MessageMeta, error)
	GetMessage(Frame) (Message, error)
}

Dialect represents a collection of MAVLink message definitions

type Dialects 

type Dialects []Dialect

Dialects represents a collection of Dialects

func (Dialects) GetFrame 

func (d Dialects) GetFrame(version int, senderSystemID, senderComponentID, messageSequence uint8, message Message) (frame Frame, err error)

GetFrame builds a MAVLink frame containing the Message

func (Dialects) GetMessage 

func (d Dialects) GetMessage(frame Frame) (message Message, err error)

GetMessage decodes the message in the Frame

func (Dialects) Validate 

func (d Dialects) Validate(frame Frame) error

Validate checks the frame to see if there are any obvious errors

type Frame 

type Frame interface {
	GetVersion() int
	GetMessageLength() uint8
	GetMessageSequence() uint8
	GetSenderSystemID() uint8
	GetSenderComponentID() uint8
	GetMessageBytes() []byte
	GetMessageID() uint32
	GetChecksum() uint16
	GetChecksumInput() []byte
	Bytes() []byte
}

Frame represents a MAVLink frame containing a MAVLink message

func FrameFromBytes 

func FrameFromBytes(raw []byte, frameLength uint16, makeCopy bool) (frame Frame, err error)

FrameFromBytes returns a Frame containing the input bytes, or an error if the first byte is not a valid frame start

type FrameLogger added in v0.13.0 

type FrameLogger interface {
	LogRead(msg []byte) error
	LogWritten(msg []byte) error
}

An interface for logging frames read from the stream and for logging frames written to the stream

type FrameParser 

type FrameParser func(Frame) (Message, error)

FrameParser represents a function that takes a Frame as input and returns a Message

type FrameStream 

type FrameStream struct {
	sync.RWMutex
	// contains filtered or unexported fields
}

FrameStream represents a stream of MAVLink Frames

func NewFrameStream 

func NewFrameStream(rwc io.ReadWriteCloser, inputFrames chan Frame, dialects Dialects, returnInvalidFrames bool) *FrameStream

func NewFrameStreamWithLogger added in v0.13.0 

func NewFrameStreamWithLogger(rwc io.ReadWriteCloser, inputFrames chan Frame, dialects Dialects, returnInvalidFrames bool, logger FrameLogger) *FrameStream

func (*FrameStream) Close 

func (s *FrameStream) Close()

Close closes the FrameStream

func (*FrameStream) Closed 

func (s *FrameStream) Closed() <-chan struct{}

Closed returns a channel that is closed when the FrameStream is closed

func (*FrameStream) GetCloseErr added in v0.13.0 

func (s *FrameStream) GetCloseErr() error

func (*FrameStream) Read 

func (s *FrameStream) Read() <-chan Frame

func (*FrameStream) ReadContext 

func (s *FrameStream) ReadContext(ctx context.Context)

func (*FrameStream) Write 

func (s *FrameStream) Write() chan<- Frame

Write returns a

func (*FrameStream) WriteContext 

func (s *FrameStream) WriteContext(ctx context.Context)

type FrameV1 

type FrameV1 []byte

FrameV1 represents a MAVLink V1 Frame

func (FrameV1) Bytes 

func (frame FrameV1) Bytes() []byte

Bytes returns the Frame as a byte array

func (FrameV1) GetChecksum 

func (frame FrameV1) GetChecksum() uint16

GetChecksum returns the checksum of the Frame contents

func (FrameV1) GetChecksumInput 

func (frame FrameV1) GetChecksumInput() []byte

GetChecksumInput returns the contents of the Frame used to calculate the checksum

func (FrameV1) GetMessageBytes 

func (frame FrameV1) GetMessageBytes() []byte

GetMessageBytes returns the message contained in the Frame as a byte array

func (FrameV1) GetMessageID 

func (frame FrameV1) GetMessageID() uint32

GetMessageID returns the ID of the message contained in the Frame

func (FrameV1) GetMessageLength 

func (frame FrameV1) GetMessageLength() uint8

GetMessageLength returns the length of the message contained in the Frame

func (FrameV1) GetMessageSequence 

func (frame FrameV1) GetMessageSequence() uint8

GetMessageSequence the sequence number of the message contained in the Frame

func (FrameV1) GetSenderComponentID 

func (frame FrameV1) GetSenderComponentID() uint8

GetSenderComponentID returns the ID of the component that sent the Frame

func (FrameV1) GetSenderSystemID 

func (frame FrameV1) GetSenderSystemID() uint8

GetSenderSystemID returns the ID of the system that sent the Frame

func (FrameV1) GetVersion 

func (frame FrameV1) GetVersion() int

GetVersion returns the version of the Frame

func (FrameV1) String 

func (frame FrameV1) String() string

type FrameV2 

type FrameV2 []byte

FrameV2 represents a MAVLink V1 Frame

func (FrameV2) Bytes 

func (frame FrameV2) Bytes() []byte

GetBytes returns the Frame as a byte array

func (FrameV2) GetChecksum 

func (frame FrameV2) GetChecksum() uint16

GetChecksum returns the checksum of the Frame contents

func (FrameV2) GetChecksumInput 

func (frame FrameV2) GetChecksumInput() []byte

GetChecksumInput returns the contents of the Frame used to calculate the checksum

func (FrameV2) GetCompatibilityFlags 

func (frame FrameV2) GetCompatibilityFlags() uint8

GetCompatibilityFlags returns the compatibility flags for the Frame

func (FrameV2) GetIncompatibilityFlags 

func (frame FrameV2) GetIncompatibilityFlags() uint8

GetIncompatibilityFlags returns the incompatibility flags for the Frame

func (FrameV2) GetMessageBytes 

func (frame FrameV2) GetMessageBytes() []byte

GetMessageBytes returns the message contained in the Frame as a byte array

func (FrameV2) GetMessageID 

func (frame FrameV2) GetMessageID() uint32

GetMessageID returns the ID of the message contained in the Frame

func (FrameV2) GetMessageLength 

func (frame FrameV2) GetMessageLength() uint8

GetMessageLength returns the length of the message contained in the Frame

func (FrameV2) GetMessageSequence 

func (frame FrameV2) GetMessageSequence() uint8

GetMessageSequence the sequence number of the message contained in the Frame

func (FrameV2) GetSenderComponentID 

func (frame FrameV2) GetSenderComponentID() uint8

GetSenderComponentID returns the ID of the component that sent the Frame

func (FrameV2) GetSenderSystemID 

func (frame FrameV2) GetSenderSystemID() uint8

GetSenderSystemID returns the ID of the system that sent the Frame

func (FrameV2) GetSignature 

func (frame FrameV2) GetSignature() []byte

GetSignature returns the V2 Signature of the frame, if it exists

func (FrameV2) GetVersion 

func (frame FrameV2) GetVersion() int

GetVersion returns the version of the Frame

func (FrameV2) String 

func (frame FrameV2) String() string

type Message 

type Message interface {
	GetVersion() int
	GetDialect() string
	GetMessageName() string
	GetID() uint32
	Read(Frame) error
	Write(int) ([]byte, error)
}

Message defines a common interface for MAVLink messages

type MessageMeta 

type MessageMeta struct {
	CRCExtra      byte
	MinimumLength uint8
	MaximumLength uint8
}

MessageMeta stores metadata information about a MAVLink message

type UnknownMessage 

type UnknownMessage struct {
	ID      uint32
	Version int
	Raw     []byte
}

UnknownMessage represents a message that is not part of any loaded Dialect

func (*UnknownMessage) GetDialect 

func (m *UnknownMessage) GetDialect() string

GetDialect gets the name of the dialect that defines the Message

func (*UnknownMessage) GetID 

func (m *UnknownMessage) GetID() uint32

GetID gets the ID of the Message

func (*UnknownMessage) GetMessageName 

func (m *UnknownMessage) GetMessageName() string

GetMessageName gets the name of the Message

func (*UnknownMessage) GetVersion 

func (m *UnknownMessage) GetVersion() int

GetVersion gets the MAVLink version of the Message contents

func (*UnknownMessage) Read 

func (m *UnknownMessage) Read(frame Frame) (err error)

func (*UnknownMessage) String 

func (m *UnknownMessage) String() string

func (*UnknownMessage) Write 

func (m *UnknownMessage) Write(version int) ([]byte, error)

type X25CRC 

type X25CRC struct {
	// contains filtered or unexported fields
}

X25CRC represents a 2-byte CRC redundancy check used to check MAVLink frame integrity

func (*X25CRC) BlockSize 

func (hash *X25CRC) BlockSize() int

BlockSize returns the hash's underlying block size. The Write method must be able to accept any amount of data, but it may operate more efficiently if all writes are a multiple of the block size.

func (*X25CRC) Reset 

func (hash *X25CRC) Reset()

Reset resets the Hash to its initial state.

func (*X25CRC) Size 

func (hash *X25CRC) Size() int

Size returns the number of bytes Sum will return.

func (*X25CRC) Sum 

func (hash *X25CRC) Sum(b []byte) []byte

Sum appends the current hash to b and returns the resulting slice. It does not change the underlying hash state.

func (*X25CRC) Write 

func (hash *X25CRC) Write(input []byte) (int, error)

Source Files

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