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main.go
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main.go
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package main
import (
"fmt"
"github.com/aler9/gomavlib"
"github.com/aler9/gomavlib/pkg/dialect"
"github.com/aler9/gomavlib/pkg/msg"
)
// this is a custom message.
// It must be prefixed with "Message" and implement the msg.Message interface.
type MessageCustom struct {
Param1 uint8
Param2 uint8
Param3 uint32
}
func (*MessageCustom) GetID() uint32 {
return 304
}
func main() {
// create a custom dialect from messages
dialect := &dialect.Dialect{3, []msg.Message{
&MessageCustom{},
}}
// create a node which
// - communicates with a serial port
// - understands our custom dialect
// - writes messages with given system id
node, err := gomavlib.NewNode(gomavlib.NodeConf{
Endpoints: []gomavlib.EndpointConf{
gomavlib.EndpointSerial{"/dev/ttyUSB0:57600"},
},
Dialect: dialect,
OutVersion: gomavlib.V2, // change to V1 if you're unable to communicate with the target
OutSystemID: 10,
})
if err != nil {
panic(err)
}
defer node.Close()
// print every message we receive
for evt := range node.Events() {
if frm, ok := evt.(*gomavlib.EventFrame); ok {
fmt.Printf("received: id=%d, %+v\n", frm.Message().GetID(), frm.Message())
}
}
}