This repository provides a Go implementation of a telemetry system based on framing, CRC validation, and topic-based message handling. It is compatible with the Overdrivr/Telemetry protocol, making it interoperable with Python implementations. It is designed for serial communication and supports attaching variables, subscribing to topics, and publishing data.
- CRC16 Validation: Ensures message integrity with a 16-bit cyclic redundancy check.
- Framing Protocol: Supports custom start-of-frame (SOF), end-of-frame (EOF), and escape sequences.
- Topic-Based Messaging:
- Attach variables to topics.
- Subscribe to topics with callbacks.
- Publish messages to topics.
- Serial Communication: Uses
github.com/albenik/go-serialfor serial port interaction.
Clone the repository and ensure you have Go installed.
# Clone the repository
git clone <repository-url>
cd <repository>
# Build the project
go buildimport "path/to/telemetry"package main
import (
"log"
"time"
"path/to/telemetry"
)
func main() {
// Get the transport for the USB device
transport, err := telemetry.GetTransport("", "")
if err != nil {
log.Fatalf("Failed to get USB transport: %v", err)
}
// Initialize telemetry
tele := telemetry.NewTelemetry(transport)
// Attach a variable to a topic
value := uint8(42)
tele.Attach("example_topic", &value)
// Subscribe to a topic
tele.Subscribe("example_topic", func(msg telemetry.TMMsg) {
log.Printf("Received message on topic '%s': %X", msg.Topic, msg.Payload)
})
// Publish a message
err = tele.Publish("example_topic", telemetry.TMUint8, []byte{value})
if err != nil {
log.Printf("Failed to publish: %v", err)
}
// Start listening for incoming messages
stopChan := make(chan struct{})
tele.UpdateTelemetry(stopChan)
// Keep the program running
select {}
}package main
import (
"log"
"path/to/telemetry"
)
func main() {
// Initialize telemetry with a mock transport for testing
mockTransport := &telemetry.MockTransport{}
tele := telemetry.NewTelemetry(&telemetry.TMTransport{
Read: mockTransport.Read,
Write: mockTransport.Write,
})
// Attach variables to topics
var intValue int32
var floatValue float32
tele.Attach("int_topic", &intValue)
tele.Attach("float_topic", &floatValue)
// Simulate receiving messages
tele.TryUpdateHashTable(telemetry.TMMsg{
Type: telemetry.TMInt32,
Topic: "int_topic",
Payload: []byte{0, 0, 0, 42},
})
tele.TryUpdateHashTable(telemetry.TMMsg{
Type: telemetry.TMFloat32,
Topic: "float_topic",
Payload: []byte{0, 0, 128, 63},
})
log.Printf("int_topic value: %d", intValue)
log.Printf("float_topic value: %f", floatValue)
}package main
import (
"log"
"path/to/telemetry"
)
func main() {
// Initialize telemetry with a mock transport for testing
mockTransport := &telemetry.MockTransport{}
tele := telemetry.NewTelemetry(&telemetry.TMTransport{
Read: mockTransport.Read,
Write: mockTransport.Write,
})
// Subscribe to multiple topics
tele.Subscribe("topic1", func(msg telemetry.TMMsg) {
log.Printf("Received on topic1: %s", msg.Payload)
})
tele.Subscribe("topic2", func(msg telemetry.TMMsg) {
log.Printf("Received on topic2: %s", msg.Payload)
})
// Publish messages to different topics
tele.Publish("topic1", telemetry.TMString, []byte("Hello Topic 1"))
tele.Publish("topic2", telemetry.TMString, []byte("Hello Topic 2"))
// Start listening for incoming messages
stopChan := make(chan struct{})
tele.UpdateTelemetry(stopChan)
// Keep the program running
select {}
}-
NewTelemetry(transport *TMTransport) *Telemetry: Creates a new telemetry instance. -
Attach(topic string, variable interface{}): Links a variable to a topic for automatic updates. -
Subscribe(topic string, callback func(TMMsg)): Registers a callback for a specific topic. -
Publish(topic string, msgType TMType, payload []byte) error: Sends a message to a topic. -
UpdateTelemetry(stopChan chan struct{}): Starts listening for incoming messages. -
PrintHashTable(): Prints the current values in the hash table. -
GetValue(topic string) interface{}: Returns the value of a topic in the hash table. -
GetAvailableTopics() []string: Returns a list of all received topics.
| Type | Description |
|---|---|
TMFloat32 |
32-bit float |
TMUint8 |
Unsigned 8-bit |
TMUint16 |
Unsigned 16-bit |
TMUint32 |
Unsigned 32-bit |
TMInt8 |
Signed 8-bit |
TMInt16 |
Signed 16-bit |
TMInt32 |
Signed 32-bit |
TMString |
String |
- Start of Frame (SOF):
0xF7 - End of Frame (EOF):
0x7F - Escape Character (ESC):
0x7D
Uses the polynomial 0x1021 (CRC-CCITT). Both Python and Go implementations are compatible for validation.
Contributions are welcome! Please open issues or submit pull requests.
This project is licensed under the MIT License.