Merge pull request hybridgroup#133 from hybridgroup/godoc-mavlink

Godoc mavlink

platforms/mavlink/doc.go

@@ -0,0 +1,72 @@
+/*
+This package contains the Gobot adaptor and driver for the MAVlink Communication Protocol (http://qgroundcontrol.org/mavlink/start).
+
+Installing:
+
+	go get github.com/hybridgroup/gobot && go install github.com/hybridgroup/gobot/platforms/mavlink
+
+Example:
+
+	package main
+
+	import (
+		"fmt"
+
+		"github.com/hybridgroup/gobot"
+		"github.com/hybridgroup/gobot/platforms/mavlink"
+		common "github.com/hybridgroup/gobot/platforms/mavlink/common"
+	)
+
+	func main() {
+		gbot := gobot.NewGobot()
+
+		adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
+		iris := mavlink.NewMavlinkDriver(adaptor, "iris")
+
+		work := func() {
+			gobot.Once(iris.Event("packet"), func(data interface{}) {
+				packet := data.(*common.MAVLinkPacket)
+
+				dataStream := common.NewRequestDataStream(100,
+					packet.SystemID,
+					packet.ComponentID,
+					4,
+					1,
+				)
+				iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
+					packet.ComponentID,
+					dataStream,
+				))
+			})
+
+			gobot.On(iris.Event("message"), func(data interface{}) {
+				if data.(common.MAVLinkMessage).Id() == 30 {
+					message := data.(*common.Attitude)
+					fmt.Println("Attitude")
+					fmt.Println("TIME_BOOT_MS", message.TIME_BOOT_MS)
+					fmt.Println("ROLL", message.ROLL)
+					fmt.Println("PITCH", message.PITCH)
+					fmt.Println("YAW", message.YAW)
+					fmt.Println("ROLLSPEED", message.ROLLSPEED)
+					fmt.Println("PITCHSPEED", message.PITCHSPEED)
+					fmt.Println("YAWSPEED", message.YAWSPEED)
+					fmt.Println("")
+				}
+			})
+		}
+
+		robot := gobot.NewRobot("mavBot",
+			[]gobot.Connection{adaptor},
+			[]gobot.Device{iris},
+			work,
+		)
+
+		gbot.AddRobot(robot)
+
+		gbot.Start()
+	}
+
+For further information refer to mavlink README:
+https://github.com/hybridgroup/gobot/blob/master/platforms/mavlink/README.md
+*/
+package mavlink

platforms/mavlink/mavlink_adaptor.go

@@ -13,6 +13,7 @@ type MavlinkAdaptor struct {
 	connect func(*MavlinkAdaptor)
 }
 
+// NewMavLinkAdaptor creates a new mavlink adaptor with specified name and port
 func NewMavlinkAdaptor(name string, port string) *MavlinkAdaptor {
 	return &MavlinkAdaptor{
 		Adaptor: *gobot.NewAdaptor(
@@ -30,11 +31,13 @@ func NewMavlinkAdaptor(name string, port string) *MavlinkAdaptor {
 	}
 }
 
+// Connect returns true if connection to device is successful
 func (m *MavlinkAdaptor) Connect() bool {
 	m.connect(m)
 	return true
 }
 
+// Finalize returns true if connection to devices is closed successfully
 func (m *MavlinkAdaptor) Finalize() bool {
 	m.sp.Close()
 	return true

platforms/mavlink/mavlink_driver.go

@@ -15,6 +15,11 @@ type MavlinkDriver struct {
 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(
@@ -30,10 +35,13 @@ func NewMavlinkDriver(a *MavlinkAdaptor, name string) *MavlinkDriver {
 	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 {
@@ -55,8 +63,10 @@ func (m *MavlinkDriver) Start() bool {
 	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 }