Q: Custom routing to a specific channel/endpoint

[gediminasgu]

Thank you for a great example of the mavlink router on Go. I really like it.

I have a question. I'm routing messages between all endpoints as it is presented in an example (https://github.com/aler9/mavp2p/blob/main/main.go#L220). But for one endpoint (microcontroller which runs on serial) I want to route just some specific messages to do not overload it with all incoming traffic.

When creating a node, I need to pass endpoints (https://github.com/aler9/mavp2p/blob/main/main.go#L153) but later we need to operate with channels (https://github.com/aler9/mavp2p/blob/main/main.go#L220). Is it possible to get a channel from an endpoint? Or any other ideas on how to implement the following logic:

• Send a message to all channels except my specific endpoint
• Send a message to my specific endpoint only if the message ID is X.

I would be very thankful for ideas here.

[aler9]

Hello, i'm a little rusty about this project since i did it almost 3 years ago, but if i remember correctly you should be able to perform this task by by writing a very simple Golang program and instantiating two nodes:

• one with all the endpoints except the serial one
• another with the serial endpoint

package main

import (
	"fmt"

	"github.com/aler9/gomavlib"
)

func main() {
	node1, err := gomavlib.NewNode(gomavlib.NodeConf{
		Endpoints: []gomavlib.EndpointConf{
			gomavlib.EndpointUDPClient{"1.2.3.4:5900"},
			// insert any other endpoint here
		},
		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 node1.Close()

	node2, err := gomavlib.NewNode(gomavlib.NodeConf{
		Endpoints: []gomavlib.EndpointConf{
			gomavlib.EndpointSerial{"/dev/ttyUSB0:57600"},
		},
		Dialect:     nil,
		OutVersion:  gomavlib.V2, // change to V1 if you're unable to communicate with the target
		OutSystemID: 11,
	})
	if err != nil {
		panic(err)
	}
	defer node2.Close()

	for evt := range node1.Events() {
		if frm, ok := evt.(*gomavlib.EventFrame); ok {
			// route frame to every other channel
			node.WriteFrameExcept(frm.Channel, frm.Frame)

		 	// route to serial only if a certain condition is satisfied
			if conditionSatisfied {
				node2.WriteFrameAll(frm.Frame)
			}
		}
	}
}

[gediminasgu]

That's exactly how I did solve it. Thank you a lot for a comprehensive answer!