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main.go
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/
main.go
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package main
import (
"fmt"
"github.com/aler9/gomavlib"
)
func main() {
// create a node which
// - communicates with multiple endpoints
// - is dialect agnostic, does not attempt to decode messages (in a router it is preferable)
// - writes messages with given system id
node, err := gomavlib.NewNode(gomavlib.NodeConf{
Endpoints: []gomavlib.EndpointConf{
gomavlib.EndpointSerial{"/dev/ttyUSB0:57600"},
gomavlib.EndpointUDPClient{"1.2.3.4:5900"},
},
Dialect: nil,
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())
// route frame to every other channel
node.WriteFrameExcept(frm.Channel, frm.Frame)
}
}
}