gomavlib

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 Go to latest Published: Oct 8, 2021 License: MIT Imports: 24 Imported by: 0

README

gomavlib

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gomavlib is a library that implements the Mavlink protocol (2.0 and 1.0) in the Go programming language. It can power UGVs, UAVs, ground stations, monitoring systems or routers acting in a Mavlink network.

Mavlink is a lighweight and transport-independent protocol that is mostly used to communicate with unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV, drones, quadcopters, multirotors). It is supported by the most popular open-source flight controllers (Ardupilot and PX4).

This library powers the mavp2p router.

Features

  • Decodes and encodes Mavlink v2.0 and v1.0. Supports checksums, empty-byte truncation (v2.0), signatures (v2.0), message extensions (v2.0)
  • Dialects are optional, the library can work with standard dialects (ready-to-use standard dialects are provided in directory dialects/), custom dialects or no dialects at all. In case of custom dialects, a dialect generator is available in order to convert XML definitions into their Go representation.
  • Provides a high-level API (Node) with:
    • ability to communicate with multiple endpoints in parallel:
      • serial
      • UDP (server, client or broadcast mode)
      • TCP (server or client mode)
      • custom reader/writer
    • automatic heartbeat emission
    • automatic stream requests to Ardupilot devices (disabled by default)
  • Provides a low-level API (Parser) with ability to decode/encode frames from/to a generic reader/writer
  • UDP connections are tracked and removed when inactive
  • Supports both domain names and IPs
  • Examples provided for every feature, comprehensive test suite, continuous integration

Installation

Go ≥ 1.12 is required, and modules must be enabled (there must be a go.mod file in your project folder, that can be created with the command go mod init main). To install the library, it is enough to write its name in the import section of the source files that will use it. Go will take care of downloading the needed files:

import (
    "github.com/team-rocos/gomavlib"
)

Examples

Dialect generation

Standard dialects are provided in the dialects/ folder, but it's also possible to use custom dialects, that can be converted into Go files by running:

go get github.com/team-rocos/gomavlib/commands/dialgen
dialgen my_dialect.xml > dialect.go

Documentation

https://godoc.org/github.com/team-rocos/gomavlib

Testing

If you want to hack the library and test the results, unit tests can be launched with:

make test

Protocol documentation

Other Go libraries

Other non-Go libraries

Documentation

Overview

Package gomavlib is a library that implements Mavlink 2.0 and 1.0 in the Go programming language. It can power UGVs, UAVs, ground stations, monitoring systems or routers acting in a Mavlink network.

Mavlink is a lighweight and transport-independent protocol that is mostly used to communicate with unmanned ground vehicles (UGV) and unmanned aerial vehicles (UAV, drones, quadcopters, multirotors). It is supported by the most common open-source flight controllers (Ardupilot and PX4).

Basic example (more are available at https://github.com/team-rocos/gomavlib/tree/master/examples): 

  package main

  import (
  	"fmt"
  	"github.com/team-rocos/gomavlib"
  	"github.com/team-rocos/gomavlib/dialects/ardupilotmega"
  )

  func main() {
  	node, err := gomavlib.NewNode(gomavlib.NodeConf{
		Endpoints: []gomavlib.EndpointConf{
			gomavlib.EndpointSerial{"/dev/ttyUSB0:57600"},
		},
  		Dialect:     ardupilotmega.Dialect,
		OutVersion:  gomavlib.V2,
  		OutSystemId: 10,
  	})
  	if err != nil {
  		panic(err)
  	}
  	defer node.Close()

  	for evt := range node.Events() {
  		if frm,ok := evt.(*gomavlib.EventFrame); ok {
  			fmt.Printf("received: id=%d, %+v\n", frm.Message().GetId(), frm.Message())
  		}
  	}
  }

Index

Constants

View Source 
const (
	//Sep is a namespace separator string
	Sep = "/"
	//GlobalNS is the global namespace initial separator string
	GlobalNS = "/"
	//PrivateNS is private namespace initial separator string
	PrivateNS = "~"
)

JSON Variables

Variables

View Source 
var DialectFieldTypeFromGo = map[string]DialectFieldType{
	"float64": typeDouble,
	"uint64":  typeUint64,
	"int64":   typeInt64,
	"float32": typeFloat,
	"uint32":  typeUint32,
	"int32":   typeInt32,
	"uint16":  typeUint16,
	"int16":   typeInt16,
	"uint8":   typeUint8,
	"int8":    typeInt8,
	"string":  typeChar,
}

DialectFieldTypeFromGo provides mavlink/Go type name conversion

View Source 
var DialectFieldTypeSizes = map[DialectFieldType]byte{
	// contains filtered or unexported fields
}

DialectFieldTypeSizes is a map providing byte sizes of DialectFieldType

View Source 
var DialectFieldTypeString = map[DialectFieldType]string{
	// contains filtered or unexported fields
}

DialectFieldTypeString provides type/string conversion

Functions

func SetMessageField 

func SetMessageField(m Message, field string, value interface{}) error

Types

type Channel 

type Channel struct {
	// the endpoint which the channel belongs to
	Endpoint Endpoint
	// contains filtered or unexported fields
}

Channel is a communication channel created by an endpoint. For instance, a TCP client endpoint creates a single channel, while a TCP server endpoint creates a channel for each incoming connection.

func (*Channel) String 

func (ch *Channel) String() string

String implements fmt.Stringer and returns the channel label.

type Dialect 

type Dialect interface {
	// contains filtered or unexported methods
}

Dialect : Interface

type DialectCT 

type DialectCT struct {
	Messages map[uint32]*DialectMessageCT
	// contains filtered or unexported fields
}

DialectCT : compile time dialect struct

func MustDialectCT 

func MustDialectCT(version uint, messages []Message) *DialectCT

MustDialectCT is like NewDialect but panics in case of error.

func NewDialectCT 

func NewDialectCT(version uint, messages []Message) (*DialectCT, error)

NewDialectCT allocates a Dialect.

type DialectFieldType 

type DialectFieldType int

DialectFieldType enum

type DialectMessageCT 

type DialectMessageCT struct {
	Fields []*DialectMessageField
	// contains filtered or unexported fields
}

func (*DialectMessageCT) Decode 

func (mp *DialectMessageCT) Decode(buf []byte, isFrameV2 bool) (Message, error)

Decode is a public function necessary for testing

func (*DialectMessageCT) Encode 

func (mp *DialectMessageCT) Encode(msg Message, isFrameV2 bool) ([]byte, error)

Encode is a public function necessary for testing

func (*DialectMessageCT) GetCRCExtra 

func (mp *DialectMessageCT) GetCRCExtra() byte

GetCRCExtra returns crcExtra of DialectMessageCT

func (*DialectMessageCT) GetSizeExtended 

func (mp *DialectMessageCT) GetSizeExtended() byte

GetSizeExtended returns sizeExtended of DialectMessageCT

func (*DialectMessageCT) GetSizeNormal 

func (mp *DialectMessageCT) GetSizeNormal() byte

GetSizeNormal returns sizeNormal of DialectMessageCT

type DialectMessageField 

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

func (*DialectMessageField) GetArrayLength 

func (f *DialectMessageField) GetArrayLength() byte

GetArrayLength return arrayLength of DialectMessageField

func (*DialectMessageField) GetFType 

func (f *DialectMessageField) GetFType() DialectFieldType

GetFType return ftype of DialectMessageField

func (*DialectMessageField) GetIndex 

func (f *DialectMessageField) GetIndex() int

GetIndex return index of DialectMessageField

func (*DialectMessageField) GetIsEnum 

func (f *DialectMessageField) GetIsEnum() bool

GetIsEnum return isEnum of DialectMessageField

func (*DialectMessageField) GetIsExtension 

func (f *DialectMessageField) GetIsExtension() bool

GetIsExtension return isExtension of DialectMessageField

func (*DialectMessageField) GetName 

func (f *DialectMessageField) GetName() string

GetName return name of DialectMessageField

type DialectMessageRT 

type DialectMessageRT struct {
	Msg *libgen.OutMessage
	// contains filtered or unexported fields
}

DialectMessageRT is a run time dialect message which contains the message information and a pointer to the DialectRT to which it belongs.

func (*DialectMessageRT) Decode 

func (mp *DialectMessageRT) Decode(buf []byte, isFrameV2 bool) (Message, error)

Decode is a public function necessary for testing

func (*DialectMessageRT) Encode 

func (mp *DialectMessageRT) Encode(msg Message, isFrameV2 bool) ([]byte, error)

Encode is a public function necessary for testing

func (*DialectMessageRT) GenerateJSONSchema 

func (mp *DialectMessageRT) GenerateJSONSchema(prefix string, topic string) ([]byte, error)

GenerateJSONSchema generates a (primitive) JSON schema for the associated DynamicMessage; however note that since we are mostly interested in making schema's for particular _topics_, the function takes a string prefix, and string topic name, which are used to id the resulting schema.

func (*DialectMessageRT) GetCRCExtra 

func (mp *DialectMessageRT) GetCRCExtra() byte

GetCRCExtra returns crcExtra of DialectMessageRT

func (*DialectMessageRT) GetMessageId 

func (mp *DialectMessageRT) GetMessageId() int

GetMessageId returns the id of the dialectMessageRT

func (*DialectMessageRT) GetSizeExtended 

func (mp *DialectMessageRT) GetSizeExtended() uint

GetSizeExtended returns sizeExtended of DialectMessageRT

func (*DialectMessageRT) GetSizeNormal 

func (mp *DialectMessageRT) GetSizeNormal() uint

GetSizeNormal returns sizeNormal of DialectMessageRT

type DialectRT 

type DialectRT struct {
	Messages map[uint32]*DialectMessageRT
	// contains filtered or unexported fields
}

DialectRT contains available messages and the configuration needed to encode and decode them.

func NewDialectRT 

func NewDialectRT(version uint, outDefs []*libgen.OutDefinition) (*DialectRT, error)

NewDialectRT allocates a Dialect.

func (*DialectRT) CreateMessageById 

func (d *DialectRT) CreateMessageById(id uint32) (*DynamicMessage, error)

CreateMessageById returns a DynamicMessage created from finding the message in the DialectRT given corresponding to id. The Fields map in the DynamicMessage created is empty.

func (*DialectRT) CreateMessageByName 

func (d *DialectRT) CreateMessageByName(name string) (*DynamicMessage, error)

CreateMessageByName returns a DynamicMessage created from finding the message in the DialectRT given corresponding to name. The Fields map in the DynamicMessage created is empty.

func (*DialectRT) GetVersion 

func (d *DialectRT) GetVersion() uint

GetVersion returns the uint version of DialectRT

type DynamicMessage 

type DynamicMessage struct {
	T      *DialectMessageRT
	Fields map[string]interface{}
}

DynamicMessage : Used for RT message generation

func (DynamicMessage) GenerateJSONSchema 

func (d DynamicMessage) GenerateJSONSchema(prefix string, topic string) ([]byte, error)

GenerateJSONSchema DynamicMessage exported function

func (DynamicMessage) GetId 

func (d DynamicMessage) GetId() uint32

GetId returns the MAVLink message ID (mID) of the DynamicMessage.

func (DynamicMessage) GetName 

func (d DynamicMessage) GetName() string

GetName returns OriginalName (in mavlink format)

func (*DynamicMessage) MarshalJSON 

func (d *DynamicMessage) MarshalJSON() ([]byte, error)

MarshalJSON provides a custom implementation of JSON marshalling, so that when the DynamicMessage is recursively marshalled using the standard Go json.marshal() mechanism, the resulting JSON representation is a compact representation of just the important message payload (and not the message definition). It's important that this representation matches the schema generated by GenerateJSONSchema().

func (DynamicMessage) SetField 

func (d DynamicMessage) SetField(field string, value interface{}) error

SetField sets DynamicMessage field matching field string, and based on its Type

func (*DynamicMessage) UnmarshalJSON 

func (d *DynamicMessage) UnmarshalJSON(buf []byte) error

UnmarshalJSON provides a custom implementation of JSON unmarshalling. Using the DynamicMessage provided, d.t.msg is used to determine the individual parsing of each JSON encoded payload item into the correct Type. It is important each type is correct so that the message serializes correctly and is understood by the MAVlink system

type Endpoint 

type Endpoint interface {
	// Conf returns the configuration used to initialize the endpoint
	Conf() interface{}
	// contains filtered or unexported methods
}

Endpoint represents an endpoint, which contains zero or more channels.

type EndpointConf 

type EndpointConf interface {
	// contains filtered or unexported methods
}

EndpointConf is the interface implemented by all endpoint configurations.

type EndpointCustom 

type EndpointCustom struct {
	// the struct or interface implementing Read(), Write() and Close()
	ReadWriteCloser io.ReadWriteCloser
}

EndpointCustom sets up a endpoint that works through a custom interface that provides the Read(), Write() and Close() functions.

type EndpointSerial 

type EndpointSerial struct {
	// the address of the serial port in format name:baudrate
	// example: /dev/ttyUSB0:57600
	Address string
}

EndpointSerial sets up a endpoint that works through a serial port.

type EndpointTcpClient 

type EndpointTcpClient struct {
	// domain name or IP of the server to connect to, example: 1.2.3.4:5600
	Address string
}

EndpointTcpClient sets up a endpoint that works through a TCP client. TCP is fit for routing frames through the internet, but is not the most appropriate way for transferring frames from a UAV to a GCS, since it does not allow frame losses.

type EndpointTcpServer 

type EndpointTcpServer struct {
	// listen address, example: 0.0.0.0:5600
	Address string
}

EndpointTcpServer sets up a endpoint that works through a TCP server. TCP is fit for routing frames through the internet, but is not the most appropriate way for transferring frames from a UAV to a GCS, since it does not allow frame losses.

type EndpointUdpBroadcast 

type EndpointUdpBroadcast struct {
	// the broadcast address to which sending outgoing frames, example: 192.168.5.255:5600
	BroadcastAddress string
	// (optional) the listening address. if empty, it will be computed
	// from the broadcast address.
	LocalAddress string
}

EndpointUdpBroadcast sets up a endpoint that works through UDP broadcast packets.

type EndpointUdpClient 

type EndpointUdpClient struct {
	// domain name or IP of the server to connect to, example: 1.2.3.4:5600
	Address string
}

EndpointUdpClient sets up a endpoint that works through a UDP client.

type EndpointUdpServer 

type EndpointUdpServer struct {
	// listen address, example: 0.0.0.0:5600
	Address string
}

EndpointUdpServer sets up a endpoint that works through an UDP server. This is the most appropriate way for transferring frames from a UAV to a GCS if they are connected to the same network.

type Event 

type Event interface {
	// contains filtered or unexported methods
}

Event is the interface implemented by all events received through node.Events().

type EventChannelClose 

type EventChannelClose struct {
	Channel *Channel
}

EventChannelClose is the event fired when a channel gets closed.

type EventChannelOpen 

type EventChannelOpen struct {
	Channel *Channel
}

EventChannelOpen is the event fired when a channel gets opened.

type EventFrame 

type EventFrame struct {
	// the frame
	Frame Frame

	// the channel from which the frame was received
	Channel *Channel
}

EventFrame is the event fired when a frame is received.

func (*EventFrame) ComponentId 

func (res *EventFrame) ComponentId() byte

ComponentId returns the frame component id.

func (*EventFrame) GetSeq 

func (res *EventFrame) GetSeq() byte

GetSeq returns the SequenceId of the frame. Works for both V1 and V2 frames.

func (*EventFrame) Message 

func (res *EventFrame) Message() Message

Message returns the message inside the frame.

func (*EventFrame) SystemId 

func (res *EventFrame) SystemId() byte

SystemId returns the frame system id.

type EventParseError 

type EventParseError struct {
	// the error
	Error error

	// the channel used to send the frame
	Channel *Channel
}

EventParseError is the event fired when a parse error occurs.

type EventStreamRequested 

type EventStreamRequested struct {
	// the channel to which the stream request is addressed
	Channel *Channel
	// the system id to which the stream requests is addressed
	SystemId byte
	// the component id to which the stream requests is addressed
	ComponentId byte
}

EventStreamRequested is the event fired when an automatic stream request is sent.

type Frame 

type Frame interface {
	// the frame version.
	GetVersion() int
	// the system id of the author of the frame.
	GetSystemId() byte
	// the component id of the author of the frame.
	GetComponentId() byte
	// the message encapsuled in the frame.
	GetMessage() Message
	// the frame checksum.
	GetChecksum() uint16
	// generate a clone of the frame
	Clone() Frame
	// the sequence id of the frame
	GetSequenceId() byte
}

Frame is the interface implemented by frames of every supported version.

type FrameV1 

type FrameV1 struct {
	SequenceId  byte
	SystemId    byte
	ComponentId byte
	Message     Message
	Checksum    uint16
}

FrameV1 represents a 1.0 frame.

func (*FrameV1) Clone 

func (f *FrameV1) Clone() Frame

Clone is part of the Frame interface.

func (*FrameV1) GetChecksum 

func (f *FrameV1) GetChecksum() uint16

GetChecksum is part of the Frame interface.

func (*FrameV1) GetComponentId 

func (f *FrameV1) GetComponentId() byte

GetComponentId is part of the Frame interface.

func (*FrameV1) GetMessage 

func (f *FrameV1) GetMessage() Message

GetMessage is part of the Frame interface.

func (*FrameV1) GetSequenceId 

func (f *FrameV1) GetSequenceId() byte

GetSequenceId returns the SequenceId of the frame

func (*FrameV1) GetSystemId 

func (f *FrameV1) GetSystemId() byte

GetSystemId is part of the Frame interface.

func (*FrameV1) GetVersion 

func (f *FrameV1) GetVersion() int

GetVersion is part of the Frame interface.

type FrameV2 

type FrameV2 struct {
	IncompatibilityFlag byte
	CompatibilityFlag   byte
	SequenceId          byte
	SystemId            byte
	ComponentId         byte
	Message             Message
	Checksum            uint16
	SignatureLinkId     byte
	SignatureTimestamp  uint64
	Signature           *Signature
}

FrameV2 represents a 2.0 frame.

func (*FrameV2) Clone 

func (f *FrameV2) Clone() Frame

Clone is part of the Frame interface.

func (*FrameV2) GetChecksum 

func (f *FrameV2) GetChecksum() uint16

GetChecksum is part of the Frame interface.

func (*FrameV2) GetComponentId 

func (f *FrameV2) GetComponentId() byte

GetComponentId is part of the Frame interface.

func (*FrameV2) GetMessage 

func (f *FrameV2) GetMessage() Message

GetMessage is part of the Frame interface.

func (*FrameV2) GetSequenceId 

func (f *FrameV2) GetSequenceId() byte

GetSequenceId returns the SequenceId of the frame

func (*FrameV2) GetSystemId 

func (f *FrameV2) GetSystemId() byte

GetSystemId is part of the Frame interface.

func (*FrameV2) GetVersion 

func (f *FrameV2) GetVersion() int

GetVersion is part of the Frame interface.

func (*FrameV2) IsSigned 

func (f *FrameV2) IsSigned() bool

IsSigned checks whether the frame contains a signature. It does not validate the signature.

type Hash16 

type Hash16 interface {
	hash.Hash
	Sum16() uint16
}

Hash16 is an interface modeled on the standard hash.Hash32 and hash.Hash64. In this library, it is implemented by NewX25().

func NewX25 

func NewX25() Hash16

NewX25 allocates a X25 hasher. X25 is the hash used to compute Frame checksums.

type JsonFloat32 

type JsonFloat32 struct {
	F float32
}

func (JsonFloat32) MarshalJSON 

func (f JsonFloat32) MarshalJSON() ([]byte, error)

func (JsonFloat32) String 

func (f JsonFloat32) String() string

type JsonFloat64 

type JsonFloat64 struct {
	F float64
}

func (JsonFloat64) MarshalJSON 

func (f JsonFloat64) MarshalJSON() ([]byte, error)

func (JsonFloat64) String 

func (f JsonFloat64) String() string

type Key 

type Key [32]byte

Key is a key able to sign and validate V2 frames.

func NewKey 

func NewKey(in []byte) *Key

NewKey allocates a Key.

type Message 

type Message interface {
	GetId() uint32
	SetField(field string, value interface{}) error
}

Message is the interface that all Mavlink messages must implements. Furthermore, message structs must be labeled MessageNameOfMessage.

type MessageRaw 

type MessageRaw struct {
	Id      uint32
	Content []byte
}

MessageRaw is a special struct that contains a byte-encoded message, available in Content. It is used:

* as intermediate step in the encoding/decoding process

* when the parser receives an unknown message

func (*MessageRaw) GetId 

func (m *MessageRaw) GetId() uint32

GetId implements the message interface.

func (*MessageRaw) SetField 

func (m *MessageRaw) SetField(field string, value interface{}) error

type Node 

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

Node is a high-level Mavlink encoder and decoder that works with endpoints.

func NewNode 

func NewNode(conf NodeConf) (*Node, error)

NewNode allocates a Node. See NodeConf for the options.

func (*Node) Close 

func (n *Node) Close()

Close halts node operations and waits for all routines to return.

func (*Node) Events 

func (n *Node) Events() chan Event

Events returns a channel from which receiving events. Possible events are: 

*EventChannelOpen
*EventChannelClose
*EventFrame
*EventParseError
*EventStreamRequested

See individual events for meaning and content.

func (*Node) WriteFrameAll 

func (n *Node) WriteFrameAll(frame Frame)

WriteFrameAll writes a frame to all channels. This function is intended only for routing pre-existing frames to other nodes, since all frame fields must be filled manually.

func (*Node) WriteFrameExcept 

func (n *Node) WriteFrameExcept(exceptChannel *Channel, frame Frame)

WriteFrameExcept writes a frame to all channels except specified channel. This function is intended only for routing pre-existing frames to other nodes, since all frame fields must be filled manually.

func (*Node) WriteFrameTo 

func (n *Node) WriteFrameTo(channel *Channel, frame Frame)

WriteFrameTo writes a frame to given channel. This function is intended only for routing pre-existing frames to other nodes, since all frame fields must be filled manually.

func (*Node) WriteMessageAll 

func (n *Node) WriteMessageAll(message Message)

WriteMessageAll writes a message to all channels.

func (*Node) WriteMessageExcept 

func (n *Node) WriteMessageExcept(exceptChannel *Channel, message Message)

WriteMessageExcept writes a message to all channels except specified channel.

func (*Node) WriteMessageTo 

func (n *Node) WriteMessageTo(channel *Channel, message Message)

WriteMessageTo writes a message to given channel.

type NodeConf 

type NodeConf struct {
	// the endpoints with which this node will
	// communicate. Each endpoint contains zero or more channels
	Endpoints []EndpointConf

	// (optional) the dialect which contains the messages that will be encoded and decoded.
	// If not provided, messages are decoded in the MessageRaw struct.
	D Dialect

	// (optional) the secret key used to validate incoming frames.
	// Non signed frames are discarded, as well as frames with a version < 2.0.
	InKey *Key

	// Mavlink version used to encode messages. See Version
	// for the available options.
	OutVersion Version
	// the system id, added to every outgoing frame and used to identify this
	// node in the network.
	OutSystemId byte
	// (optional) the component id, added to every outgoing frame, defaults to 1.
	OutComponentId byte
	// (optional) the secret key used to sign outgoing frames.
	// This feature requires a version >= 2.0.
	OutKey *Key

	// (optional) disables the periodic sending of heartbeats to open channels.
	HeartbeatDisable bool
	// (optional) the period between heartbeats. It defaults to 5 seconds.
	HeartbeatPeriod time.Duration
	// (optional) the system type advertised by heartbeats.
	// It defaults to MAV_TYPE_GCS
	HeartbeatSystemType int
	// (optional) the autopilot type advertised by heartbeats.
	// It defaults to MAV_AUTOPILOT_GENERIC
	HeartbeatAutopilotType int

	// (optional) automatically request streams to detected Ardupilot devices,
	// that need an explicit request in order to emit telemetry stream.
	StreamRequestEnable bool
	// (optional) the requested stream frequency in Hz. It defaults to 4.
	StreamRequestFrequency int
}

NodeConf allows to configure a Node.

type NullEndpoint 

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

NullEndpoint implements io.ReadWriteCloser. it does not read or write anything. the only requirement is that Close() must release Read().

func NewNullEndpoint 

func NewNullEndpoint() *NullEndpoint

NewNullEndpoint returns a pointer to a new NullEndpoint

func (*NullEndpoint) Close 

func (c *NullEndpoint) Close() error

Close closes the channel c.readChan

func (*NullEndpoint) Read 

func (c *NullEndpoint) Read(buf []byte) (int, error)

Read function of NullEndpoint

func (*NullEndpoint) Write 

func (c *NullEndpoint) Write(buf []byte) (int, error)

Write function of NullEndpoint

type Parser 

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

Parser is a low-level Mavlink encoder and decoder that works with a Reader and a Writer.

func NewParser 

func NewParser(conf ParserConf) (*Parser, error)

NewParser allocates a Parser, a low level frame encoder and decoder. See ParserConf for the options.

func (*Parser) Read 

func (p *Parser) Read() (Frame, error)

Read reads a Frame from the reader. It must not be called by multiple routines in parallel.

func (*Parser) WriteFrame 

func (p *Parser) WriteFrame(frame Frame) error

WriteFrame writes a Frame into the writer. It must not be called by multiple routines in parallel. This function is intended only for routing pre-existing frames to other nodes, since all frame fields must be filled manually.

func (*Parser) WriteMessage 

func (p *Parser) WriteMessage(message Message) error

WriteMessage writes a Message into the writer. It must not be called by multiple routines in parallel.

type ParserConf 

type ParserConf struct {
	// the reader from which frames will be read.
	Reader io.Reader
	// the writer to which frames will be written.
	Writer io.Writer

	// (optional) the dialect which contains the messages that will be encoded and decoded.
	// If not provided, messages are decoded in the MessageRaw struct.
	D Dialect

	// (optional) the secret key used to validate incoming frames.
	// Non-signed frames are discarded. This feature requires v2 frames.
	InKey *Key

	// Mavlink version used to encode messages. See Version
	// for the available options.
	OutVersion Version
	// the system id, added to every outgoing frame and used to identify this
	// node in the network.
	OutSystemId byte
	// (optional) the component id, added to every outgoing frame, defaults to 1.
	OutComponentId byte
	// (optional) the value to insert into the signature link id.
	// This feature requires v2 frames.
	OutSignatureLinkId byte
	// (optional) the secret key used to sign outgoing frames.
	// This feature requires v2 frames.
	OutKey *Key
}

ParserConf configures a Parser.

type ParserError 

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

ParserError is the error returned in case of non-fatal parsing errors.

func (*ParserError) Error 

func (e *ParserError) Error() string

type Signature 

type Signature [6]byte

Signature is a V2 frame signature.

type Version 

type Version int

Version allows to set the frame version used to wrap outgoing messages. 

const (
	// V2 wraps outgoing messages in v2 frames.
	V2 Version = iota + 1
	// V1 wraps outgoing messages in v1 frames.
	V1
)

Source Files

View all Source files

Directories

Path Synopsis
commands
dialgen/gen
dialgen/libgen

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