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mavlink_driver.go
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mavlink_driver.go
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package mavlink
import (
"fmt"
"time"
"github.com/hybridgroup/gobot"
common "github.com/hybridgroup/gobot/platforms/mavlink/common"
)
type MavlinkDriver struct {
gobot.Driver
}
type MavlinkInterface interface {
}
// NewMavlinkDriver creates a new mavlink driver with specified name.
//
// It add the following events:
// "packet" - triggered when a new packet is read
// "message" - triggered when a new valid message is processed
func NewMavlinkDriver(a *MavlinkAdaptor, name string) *MavlinkDriver {
m := &MavlinkDriver{
Driver: *gobot.NewDriver(
name,
"mavlink.MavlinkDriver",
a,
),
}
m.AddEvent("packet")
m.AddEvent("message")
return m
}
// adaptor returns driver associated adaptor
func (m *MavlinkDriver) adaptor() *MavlinkAdaptor {
return m.Driver.Adaptor().(*MavlinkAdaptor)
}
// Start begins process to read mavlink packets every m.Interval
// and process them
func (m *MavlinkDriver) Start() bool {
go func() {
for {
packet, err := common.ReadMAVLinkPacket(m.adaptor().sp)
if err != nil {
fmt.Println(err)
continue
}
gobot.Publish(m.Event("packet"), packet)
message, err := packet.MAVLinkMessage()
if err != nil {
fmt.Println(err)
continue
}
gobot.Publish(m.Event("message"), message)
<-time.After(m.Interval())
}
}()
return true
}
// SendPacket sends a packet to mavlink device
func (m *MavlinkDriver) SendPacket(packet *common.MAVLinkPacket) {
m.adaptor().sp.Write(packet.Pack())
}
// Halt returns true if device is halted successfully
func (m *MavlinkDriver) Halt() bool { return true }