From 204a63a9b8105ec9b94d4549fc0e33db422085d9 Mon Sep 17 00:00:00 2001
From: Alessandro Ros <aler9.dev@gmail.com>
Date: Fri, 18 Aug 2023 17:51:19 +0200
Subject: [PATCH] update gomavlib (#42)

---
 go.mod             |  2 +-
 go.sum             |  4 ++--
 main_test.go       | 18 ++++++++++++------
 message_handler.go |  4 ++--
 4 files changed, 17 insertions(+), 11 deletions(-)

diff --git a/go.mod b/go.mod
index 64b1a75..e253e8d 100644
--- a/go.mod
+++ b/go.mod
@@ -4,7 +4,7 @@ go 1.20
 
 require (
 	github.com/alecthomas/kong v0.8.0
-	github.com/bluenviron/gomavlib/v2 v2.0.4
+	github.com/bluenviron/gomavlib/v2 v2.1.0
 	github.com/stretchr/testify v1.8.4
 )
 
diff --git a/go.sum b/go.sum
index 1a2d6fe..556c3cc 100644
--- a/go.sum
+++ b/go.sum
@@ -3,8 +3,8 @@ github.com/alecthomas/assert/v2 v2.1.0 h1:tbredtNcQnoSd3QBhQWI7QZ3XHOVkw1Moklp2o
 github.com/alecthomas/kong v0.8.0 h1:ryDCzutfIqJPnNn0omnrgHLbAggDQM2VWHikE1xqK7s=
 github.com/alecthomas/kong v0.8.0/go.mod h1:n1iCIO2xS46oE8ZfYCNDqdR0b0wZNrXAIAqro/2132U=
 github.com/alecthomas/repr v0.1.0 h1:ENn2e1+J3k09gyj2shc0dHr/yjaWSHRlrJ4DPMevDqE=
-github.com/bluenviron/gomavlib/v2 v2.0.4 h1:fXi4xY41Nk9avDdcb7/uqT5qu3QEwiSUfifUFzH5KZg=
-github.com/bluenviron/gomavlib/v2 v2.0.4/go.mod h1:omnSr00XvG6HVnDSM1vYgnvsVD/ihoPSV84cv/Km7rA=
+github.com/bluenviron/gomavlib/v2 v2.1.0 h1:Tilg+YJq98NjL8vYI7m0DarNyEl9xuyn2oU5/9lB8go=
+github.com/bluenviron/gomavlib/v2 v2.1.0/go.mod h1:omnSr00XvG6HVnDSM1vYgnvsVD/ihoPSV84cv/Km7rA=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
 github.com/davecgh/go-spew v1.1.1 h1:vj9j/u1bqnvCEfJOwUhtlOARqs3+rkHYY13jYWTU97c=
 github.com/davecgh/go-spew v1.1.1/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
diff --git a/main_test.go b/main_test.go
index 3a17731..195bad5 100644
--- a/main_test.go
+++ b/main_test.go
@@ -61,7 +61,8 @@ func TestBroadcast(t *testing.T) {
 		Z:        3.4,
 	}
 
-	pub.WriteMessageAll(msg)
+	err = pub.WriteMessageAll(msg)
+	require.NoError(t, err)
 
 	<-sub.Events()
 	evt = <-sub.Events()
@@ -124,17 +125,19 @@ func TestTarget(t *testing.T) {
 	<-sub1.Events()
 	<-sub2.Events()
 
-	sub1.WriteMessageAll(&common.MessageHeartbeat{
+	err = sub1.WriteMessageAll(&common.MessageHeartbeat{
 		Type:           common.MAV_TYPE_GCS,
 		SystemStatus:   4,
 		MavlinkVersion: 3,
 	})
+	require.NoError(t, err)
 
-	sub2.WriteMessageAll(&common.MessageHeartbeat{
+	err = sub2.WriteMessageAll(&common.MessageHeartbeat{
 		Type:           common.MAV_TYPE_GCS,
 		SystemStatus:   4,
 		MavlinkVersion: 3,
 	})
+	require.NoError(t, err)
 
 	for i := 0; i < 2; i++ {
 		evt := <-pub.Events()
@@ -153,7 +156,8 @@ func TestTarget(t *testing.T) {
 		Command:         common.MAV_CMD_NAV_FOLLOW,
 	}
 
-	pub.WriteMessageAll(msg)
+	err = pub.WriteMessageAll(msg)
+	require.NoError(t, err)
 
 	<-sub1.Events()
 	evt := <-sub1.Events()
@@ -207,11 +211,12 @@ func TestTargetNotFound(t *testing.T) {
 	<-pub.Events()
 	<-sub.Events()
 
-	sub.WriteMessageAll(&common.MessageHeartbeat{
+	err = sub.WriteMessageAll(&common.MessageHeartbeat{
 		Type:           common.MAV_TYPE_GCS,
 		SystemStatus:   4,
 		MavlinkVersion: 3,
 	})
+	require.NoError(t, err)
 
 	evt := <-pub.Events()
 	eventFr, ok := evt.(*gomavlib.EventFrame)
@@ -228,7 +233,8 @@ func TestTargetNotFound(t *testing.T) {
 		Command:         common.MAV_CMD_NAV_FOLLOW,
 	}
 
-	pub.WriteMessageAll(msg)
+	err = pub.WriteMessageAll(msg)
+	require.NoError(t, err)
 
 	evt = <-sub.Events()
 	eventFr, ok = evt.(*gomavlib.EventFrame)
diff --git a/message_handler.go b/message_handler.go
index 5cc8a66..fcb5d7b 100644
--- a/message_handler.go
+++ b/message_handler.go
@@ -155,14 +155,14 @@ func (mh *messageHandler) onEventFrame(evt *gomavlib.EventFrame) {
 			if key.channel == evt.Channel {
 				log.Printf("Warning: channel %s attempted to send message to itself, discarding", key.channel)
 			} else {
-				mh.node.WriteFrameTo(key.channel, evt.Frame)
+				mh.node.WriteFrameTo(key.channel, evt.Frame) //nolint:errcheck
 				return
 			}
 		}
 	}
 
 	// otherwise, route message to every channel
-	mh.node.WriteFrameExcept(evt.Channel, evt.Frame)
+	mh.node.WriteFrameExcept(evt.Channel, evt.Frame) //nolint:errcheck
 }
 
 func (mh *messageHandler) onEventChannelClose(evt *gomavlib.EventChannelClose) {