Documentation
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Overview ¶
Package transceiver implements a Mavlink transceiver.
Index ¶
Constants ¶
This section is empty.
Variables ¶
This section is empty.
Functions ¶
This section is empty.
Types ¶
type Conf ¶
type Conf struct {
// the reader from which frames will be read.
Reader io.Reader
// the writer to which frames will be written.
Writer io.Writer
// (optional) the dialect which contains the messages that will be encoded and decoded.
// If not provided, messages are decoded in the MessageRaw struct.
DialectDE *dialect.DecEncoder
// (optional) the secret key used to validate incoming frames.
// Non-signed frames are discarded. This feature requires v2 frames.
InKey *frame.V2Key
// Mavlink version used to encode messages. See Version
// for the available options.
OutVersion Version
// the system id, added to every outgoing frame and used to identify this
// node in the network.
OutSystemID byte
// (optional) the component id, added to every outgoing frame, defaults to 1.
OutComponentID byte
// (optional) the value to insert into the signature link id.
// This feature requires v2 frames.
OutSignatureLinkID byte
// (optional) the secret key used to sign outgoing frames.
// This feature requires v2 frames.
OutKey *frame.V2Key
}
Conf configures a Transceiver.
type Error ¶
type Error struct {
// contains filtered or unexported fields
}
Error is the error returned in case of non-fatal parsing errors.
type Transceiver ¶
type Transceiver struct {
// contains filtered or unexported fields
}
Transceiver is a low-level Mavlink encoder and decoder that works with a Reader and a Writer.
func New ¶
func New(conf Conf) (*Transceiver, error)
New allocates a Transceiver, a low level frame encoder and decoder. See Conf for the options.
func (*Transceiver) Read ¶
func (p *Transceiver) Read() (frame.Frame, error)
Read reads a Frame from the reader. It must not be called by multiple routines in parallel.
func (*Transceiver) WriteFrame ¶
func (p *Transceiver) WriteFrame(fr frame.Frame) error
WriteFrame writes a Frame into the writer. It must not be called by multiple routines in parallel. This function is intended only for routing pre-existing frames to other nodes, since all frame fields must be filled manually.
func (*Transceiver) WriteMessage ¶
func (p *Transceiver) WriteMessage(m msg.Message) error
WriteMessage writes a Message into the writer. It must not be called by multiple routines in parallel.
Source Files