github.com/bluenviron/gomavlib/v2@v2.2.1-0.20240308101627-2c07e3da629c/examples/dialect-custom/main.go (about) 1 package main 2 3 import ( 4 "log" 5 6 "github.com/bluenviron/gomavlib/v2" 7 "github.com/bluenviron/gomavlib/v2/pkg/dialect" 8 "github.com/bluenviron/gomavlib/v2/pkg/message" 9 ) 10 11 // this example shows how to: 12 // 1) create a custom dialect from a list of messages 13 // 2) create a node which understands the custom dialect 14 // 3) print incoming messages 15 16 // this is a custom message. 17 // It must be prefixed with "Message" and implement the message.Message interface. 18 type MessageCustom struct { 19 Param1 uint8 20 Param2 uint8 21 Param3 uint32 22 } 23 24 func (*MessageCustom) GetID() uint32 { 25 return 304 26 } 27 28 func main() { 29 // create a custom dialect from a list of messages 30 dialect := &dialect.Dialect{3, []message.Message{ 31 &MessageCustom{}, 32 }} 33 34 // create a node which understands the custom dialect 35 node, err := gomavlib.NewNode(gomavlib.NodeConf{ 36 Endpoints: []gomavlib.EndpointConf{ 37 gomavlib.EndpointSerial{ 38 Device: "/dev/ttyUSB0", 39 Baud: 57600, 40 }, 41 }, 42 Dialect: dialect, 43 OutVersion: gomavlib.V2, // change to V1 if you're unable to communicate with the target 44 OutSystemID: 10, 45 }) 46 if err != nil { 47 panic(err) 48 } 49 defer node.Close() 50 51 // print incoming messages 52 for evt := range node.Events() { 53 if frm, ok := evt.(*gomavlib.EventFrame); ok { 54 log.Printf("received: id=%d, %+v\n", frm.Message().GetID(), frm.Message()) 55 } 56 } 57 }