From 794d596ce0b222a267fc7917f8565ca6ac4ef6a3 Mon Sep 17 00:00:00 2001
From: gswly <46489434+gswly@users.noreply.github.com>
Date: Fri, 22 Mar 2019 22:05:49 +0100
Subject: [PATCH] update gomavlib and implement channel open/close messages

---
 go.mod  |  2 +-
 go.sum  |  4 ++--
 main.go | 54 +++++++++++++++++++++++++++---------------------------
 3 files changed, 30 insertions(+), 30 deletions(-)

diff --git a/go.mod b/go.mod
index 5c66b34..2caaf8a 100644
--- a/go.mod
+++ b/go.mod
@@ -1,6 +1,6 @@
 module mavp2p
 
 require (
-	github.com/gswly/gomavlib v0.0.0-20190318210610-324fbffd973d
+	github.com/gswly/gomavlib v0.0.0-20190322210237-4a2fd9f7bdc8
 	gopkg.in/alecthomas/kingpin.v2 v2.2.6
 )
diff --git a/go.sum b/go.sum
index e43f59a..1f7742f 100644
--- a/go.sum
+++ b/go.sum
@@ -3,8 +3,8 @@ github.com/alecthomas/template v0.0.0-20160405071501-a0175ee3bccc/go.mod h1:LOuy
 github.com/alecthomas/units v0.0.0-20151022065526-2efee857e7cf h1:qet1QNfXsQxTZqLG4oE62mJzwPIB8+Tee4RNCL9ulrY=
 github.com/alecthomas/units v0.0.0-20151022065526-2efee857e7cf/go.mod h1:ybxpYRFXyAe+OPACYpWeL0wqObRcbAqCMya13uyzqw0=
 github.com/davecgh/go-spew v1.1.0/go.mod h1:J7Y8YcW2NihsgmVo/mv3lAwl/skON4iLHjSsI+c5H38=
-github.com/gswly/gomavlib v0.0.0-20190318210610-324fbffd973d h1:gikHFZFXBMZzGyPeyZV+G47gawdjFMdhTl+5vKAxMkI=
-github.com/gswly/gomavlib v0.0.0-20190318210610-324fbffd973d/go.mod h1:1xQWxU9I/Y19PPQg8rJh+Wxk0TC1qvZR3btjKYH5WC4=
+github.com/gswly/gomavlib v0.0.0-20190322210237-4a2fd9f7bdc8 h1:0v6v6o4dC318XM7EZk27bEmASm25CrgFnY7jpbzAZf0=
+github.com/gswly/gomavlib v0.0.0-20190322210237-4a2fd9f7bdc8/go.mod h1:1xQWxU9I/Y19PPQg8rJh+Wxk0TC1qvZR3btjKYH5WC4=
 github.com/pmezard/go-difflib v1.0.0/go.mod h1:iKH77koFhYxTK1pcRnkKkqfTogsbg7gZNVY4sRDYZ/4=
 github.com/stretchr/objx v0.1.0/go.mod h1:HFkY916IF+rwdDfMAkV7OtwuqBVzrE8GR6GFx+wExME=
 github.com/stretchr/testify v1.3.0/go.mod h1:M5WIy9Dh21IEIfnGCwXGc5bZfKNJtfHm1UVUgZn+9EI=
diff --git a/main.go b/main.go
index eca72f0..13c4aef 100644
--- a/main.go
+++ b/main.go
@@ -140,11 +140,10 @@ func main() {
 			}
 			return gomavlib.V1
 		}(),
-		SystemId:          byte(*hbSystemId),
-		ComponentId:       1,
-		HeartbeatDisable:  *hbDisable,
-		HeartbeatPeriod:   (time.Duration(*hbPeriod) * time.Second),
-		ReturnParseErrors: true,
+		SystemId:         byte(*hbSystemId),
+		ComponentId:      1,
+		HeartbeatDisable: *hbDisable,
+		HeartbeatPeriod:  (time.Duration(*hbPeriod) * time.Second),
 	})
 	if err != nil {
 		initError(err.Error())
@@ -169,33 +168,34 @@ func main() {
 		}()
 	}
 
-	for {
-		// wait until a message is received.
-		res, ok := node.Read()
-		if ok == false {
-			break
-		}
+	for e := range node.Events() {
+		switch evt := e.(type) {
+		case *gomavlib.NodeEventChannelOpen:
+			log.Printf("channel opened: %s", evt.Channel)
+
+		case *gomavlib.NodeEventChannelClose:
+			log.Printf("channel closed: %s", evt.Channel)
+
+		case *gomavlib.NodeEventFrame:
+			// new node
+			nodeId := NodeId{
+				SystemId:    evt.SystemId(),
+				ComponentId: evt.ComponentId(),
+			}
+			if _, ok := nodes[nodeId]; !ok {
+				nodes[nodeId] = struct{}{}
+				log.Printf("node appeared: sid=%d, cid=%d", evt.SystemId(), evt.ComponentId())
+			}
 
-		if res.Error != nil {
+			// route message to every other channel
+			node.WriteFrameExcept(evt.Channel, evt.Frame)
+
+		case *gomavlib.NodeEventParseError:
 			if *printErrors == true {
-				log.Printf("err: %s", res.Error)
+				log.Printf("err: %s", evt.Error)
 			} else {
 				errorCount++
 			}
-			continue
-		}
-
-		// new node
-		nodeId := NodeId{
-			SystemId:    res.SystemId(),
-			ComponentId: res.ComponentId(),
 		}
-		if _, ok := nodes[nodeId]; !ok {
-			nodes[nodeId] = struct{}{}
-			log.Printf("new node (sid=%d, cid=%d)", res.SystemId(), res.ComponentId())
-		}
-
-		// route message to every other channel
-		node.WriteFrameExcept(res.Channel, res.Frame)
 	}
 }