Help on getting a minimal local example

[soypat]

Hello, I wanted to set up a minimal working example of message interchange between two processes on my machine using UDP broadcast. So far I have this:

Broadcaster

package main

import (
	"fmt"
	"mavtest"

	"github.com/aler9/gomavlib"
	"github.com/aler9/gomavlib/pkg/dialects/ardupilotmega"
)

func main() {
	// create a node which
	// - communicates with a serial port
	// - understands ardupilotmega dialect
	// - writes messages with given system id
	node, err := gomavlib.NewNode(gomavlib.NodeConf{
		Endpoints: []gomavlib.EndpointConf{
			gomavlib.EndpointUDPBroadcast{BroadcastAddress: "192.168.1.255:5660"},
		},
		Dialect:     ardupilotmega.Dialect,
		OutVersion:  gomavlib.V2, // change to V1 if you're unable to communicate with the target
		OutSystemID: 1,
	})
	if err != nil {
		panic(err)
	}
	defer node.Close()
	msg := &ardupilotmega.MessageParamValue{
		ParamId:    "test_parameter",
		ParamValue: 123456,
		ParamType:  ardupilotmega.MAV_PARAM_TYPE_UINT32,
	}
	node.WriteMessageAll(msg)
	for evt := range node.Events() {

		if frm, ok := evt.(*gomavlib.EventFrame); ok {
			fmt.Printf("received: id=%d, %+v\n", frm.Message().GetID(), frm.Message())

			// if message is a parameter read request addressed to this node
			if msg, ok := frm.Message().(*ardupilotmega.MessageParamRequestRead); ok &&
				msg.TargetSystem == 10 &&
				msg.TargetComponent == 1 &&
				msg.ParamId == "test_parameter" {

				// reply to sender (and no one else) and provide the requested parameter
				node.WriteMessageTo(frm.Channel, &ardupilotmega.MessageParamValue{
					ParamId:    "test_parameter",
					ParamValue: 123456,
					ParamType:  ardupilotmega.MAV_PARAM_TYPE_UINT32,
				})
			}
		}
	}
}

Client

package main

import (
	"fmt"
	"mavtest"

	"github.com/aler9/gomavlib"
	"github.com/aler9/gomavlib/pkg/dialects/ardupilotmega"
)

func main() {
	// create a node which
	// - communicates with an UDP endpoint in client mode
	// - understands ardupilotmega dialect
	// - writes messages with given system id
	node, err := gomavlib.NewNode(gomavlib.NodeConf{
		Endpoints: []gomavlib.EndpointConf{
			gomavlib.EndpointUDPClient{"0.0.0.0:5660"},
		},
		Dialect:     ardupilotmega.Dialect,
		OutVersion:  gomavlib.V2, // change to V1 if you're unable to communicate with the target
		OutSystemID: 10,
	})
	if err != nil {
		panic(err)
	}
	defer node.Close()

	// print every message we receive
	for evt := range node.Events() {
		if frm, ok := evt.(*gomavlib.EventFrame); ok {
			fmt.Printf("received: id=%d, %+v\n", frm.Message().GetID(), frm.Message())
		}
	}
}

But no messages are coming through on either of them.

[aler9]

Hello, in order to use broadcast you have to use two different PCs; in one of them (the one which is sending telemetry) you have to use use a broadcast endpoint

gomavlib.EndpointUDPBroadcast{BroadcastAddress: "192.168.1.255:5660"}

In the other (the one that is reading telemetry), a server endpoint

gomavlib.EndpointUDPServer{Address: "0.0.0.0:5660"}