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mavlink: fix linter issues of errcheck (#959)

This commit is contained in:
Thomas Kohler 2023-06-14 20:08:02 +02:00
parent 70b8f31483
commit 33e906be61
3 changed files with 4671 additions and 1564 deletions
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4
platforms/mavlink/README.md
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@ -1,6 +1,6 @@
# Mavlink
For information on the MAVlink communication protocol click [here](http://qgroundcontrol.org/mavlink/start).
For information on the MAVlink communication protocol click [here](https://mavlink.io/).
This package supports Mavlink over serial (such as a
[SiK modem](http://ardupilot.org/copter/docs/common-sik-telemetry-radio.html))
@ -14,6 +14,8 @@ As at 2018-04, this package supports Mavlink 1.0 only. If the robot
doesn't receiving data then check that the other devices are
configured to send version 1.0 frames.
For Mavlink 2.0 please refer to [gomavlib](https://github.com/bluenviron/gomavlib).
## How to Install
Please refer to the main [README.md](https://github.com/hybridgroup/gobot/blob/release/README.md)

6185
platforms/mavlink/common/common.go
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46
platforms/mavlink/common/mavlink.go
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@ -1,4 +1,3 @@
//nolint:errcheck // to much code to fix it immediately
package mavlink
//
@ -117,14 +116,28 @@ func (m *MAVLinkPacket) MAVLinkMessage() (MAVLinkMessage, error) {
// Pack returns a packed byte array which represents the MAVLinkPacket
func (m *MAVLinkPacket) Pack() []byte {
data := new(bytes.Buffer)
binary.Write(data, binary.LittleEndian, m.Protocol)
binary.Write(data, binary.LittleEndian, m.Length)
binary.Write(data, binary.LittleEndian, m.Sequence)
binary.Write(data, binary.LittleEndian, m.SystemID)
binary.Write(data, binary.LittleEndian, m.ComponentID)
binary.Write(data, binary.LittleEndian, m.MessageID)
if err := binary.Write(data, binary.LittleEndian, m.Protocol); err != nil {
panic(err)
}
if err := binary.Write(data, binary.LittleEndian, m.Length); err != nil {
panic(err)
}
if err := binary.Write(data, binary.LittleEndian, m.Sequence); err != nil {
panic(err)
}
if err := binary.Write(data, binary.LittleEndian, m.SystemID); err != nil {
panic(err)
}
if err := binary.Write(data, binary.LittleEndian, m.ComponentID); err != nil {
panic(err)
}
if err := binary.Write(data, binary.LittleEndian, m.MessageID); err != nil {
panic(err)
}
data.Write(m.Data)
binary.Write(data, binary.LittleEndian, m.Checksum)
if err := binary.Write(data, binary.LittleEndian, m.Checksum); err != nil {
panic(err)
}
return data.Bytes()
}
@ -148,15 +161,16 @@ func read(r io.Reader, length int) ([]byte, error) {
i, err := r.Read(tmp[:])
if err != nil {
return nil, err
} else {
length -= i
buf = append(buf, tmp...)
if length != i {
time.Sleep(1 * time.Millisecond)
} else {
break
}
}
length -= i
buf = append(buf, tmp...)
if length != i {
time.Sleep(1 * time.Millisecond)
} else {
break
}
}
return buf, nil
}