gomavlib

type Channel struct {
	// the endpoint which the channel belongs to
	Endpoint Endpoint
	// contains filtered or unexported fields
}

type Dialect struct {
	// contains filtered or unexported fields
}

type Endpoint interface {
	// Conf returns the configuration used to initialize the endpoint
	Conf() interface{}
	// contains filtered or unexported methods
}

type EndpointConf interface {
	// contains filtered or unexported methods
}

type EndpointCustom struct {
	// the struct or interface implementing Read(), Write() and Close()
	ReadWriteCloser io.ReadWriteCloser
}

type EndpointSerial struct {
	// the address of the serial port in format name:baudrate
	// example: /dev/ttyUSB0:57600
	Address string
}

type EndpointTcpClient struct {
	// domain name or IP of the server to connect to, example: 1.2.3.4:5600
	Address string
}

type EndpointTcpServer struct {
	// listen address, example: 0.0.0.0:5600
	Address string
}

type EndpointUdpBroadcast struct {
	// the broadcast address to which sending outgoing frames, example: 192.168.5.255:5600
	BroadcastAddress string
	// (optional) the listening address. if empty, it will be computed
	// from the broadcast address.
	LocalAddress string
}

type EndpointUdpClient struct {
	// domain name or IP of the server to connect to, example: 1.2.3.4:5600
	Address string
}

type EndpointUdpServer struct {
	// listen address, example: 0.0.0.0:5600
	Address string
}

type Event interface {
	// contains filtered or unexported methods
}

type EventChannelClose struct {
	Channel *Channel
}

type EventChannelOpen struct {
	Channel *Channel
}

type EventFrame struct {
	// the frame
	Frame Frame

	// the channel from which the frame was received
	Channel *Channel
}

type EventParseError struct {
	// the error
	Error error

	// the channel used to send the frame
	Channel *Channel
}

type EventStreamRequested struct {
	// the channel to which the stream request is addressed
	Channel *Channel
	// the system id to which the stream requests is addressed
	SystemId byte
	// the component id to which the stream requests is addressed
	ComponentId byte
}

type Frame interface {
	// the frame version.
	GetVersion() int
	// the system id of the author of the frame.
	GetSystemId() byte
	// the component id of the author of the frame.
	GetComponentId() byte
	// the message encapsuled in the frame.
	GetMessage() Message
	// the frame checksum.
	GetChecksum() uint16
	// generate a clone of the frame
	Clone() Frame
}

type FrameV1 struct {
	SequenceId  byte
	SystemId    byte
	ComponentId byte
	Message     Message
	Checksum    uint16
}

type FrameV2 struct {
	IncompatibilityFlag byte
	CompatibilityFlag   byte
	SequenceId          byte
	SystemId            byte
	ComponentId         byte
	Message             Message
	Checksum            uint16
	SignatureLinkId     byte
	SignatureTimestamp  uint64
	Signature           *Signature
}

type Hash16 interface {
	hash.Hash
	Sum16() uint16
}

type Key [32]byte

type Message interface {
	GetId() uint32
}

type MessageRaw struct {
	Id      uint32
	Content []byte
}

type Node struct {
	// contains filtered or unexported fields
}

type NodeConf struct {
	// the endpoints with which this node will
	// communicate. Each endpoint contains zero or more channels
	Endpoints []EndpointConf

	// (optional) the dialect which contains the messages that will be encoded and decoded.
	// If not provided, messages are decoded in the MessageRaw struct.
	Dialect *Dialect

	// (optional) the secret key used to validate incoming frames.
	// Non signed frames are discarded, as well as frames with a version < 2.0.
	InKey *Key

	// 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 secret key used to sign outgoing frames.
	// This feature requires a version >= 2.0.
	OutKey *Key

	// (optional) disables the periodic sending of heartbeats to open channels.
	HeartbeatDisable bool
	// (optional) the period between heartbeats. It defaults to 5 seconds.
	HeartbeatPeriod time.Duration
	// (optional) the system type advertised by heartbeats.
	// It defaults to MAV_TYPE_GCS
	HeartbeatSystemType int
	// (optional) the autopilot type advertised by heartbeats.
	// It defaults to MAV_AUTOPILOT_GENERIC
	HeartbeatAutopilotType int

	// (optional) automatically request streams to detected Ardupilot devices,
	// that need an explicit request in order to emit telemetry stream.
	StreamRequestEnable bool
	// (optional) the requested stream frequency in Hz. It defaults to 4.
	StreamRequestFrequency int
}

type Parser struct {
	// contains filtered or unexported fields
}

type ParserConf 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.
	Dialect *Dialect

	// (optional) the secret key used to validate incoming frames.
	// Non-signed frames are discarded. This feature requires v2 frames.
	InKey *Key

	// 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 *Key
}

type ParserError struct {
	// contains filtered or unexported fields
}

type Signature [6]byte

type Version int