change default component ID to 191; add --hb-componentid (#46)

bluenviron · Oct 5, 2023 · 739b036 · 739b036
1 parent e8983d2
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diff --git a/README.md b/README.md
@@ -31,7 +31,7 @@ Features:
 * [Usage](#usage)
 * [Comparison with similar software](#comparison-with-similar-software)
 * [Full command-line usage](#full-command-line-usage)
-* [Standards](#standards)
+* [Specifications](#specifications)
 * [Links](#links)
 
 ## Installation
@@ -128,55 +128,48 @@ _mavp2p_ vs _mavlink-router_
 ## Full command-line usage
 
 ```
-usage: mavp2p [<flags>] [<endpoints>...]
+Usage: mavp2p [<endpoints> ...]
 
 mavp2p v0.0.0
 
-Link together Mavlink endpoints.
+Arguments:
+  [<endpoints> ...]    Space-separated list of endpoints. At least one endpoint is required. Possible endpoints types are:
 
-Flags:
-      --help                     Show context-sensitive help (also try
-                                 --help-long and --help-man).
-      --version                  print version
-  -q, --quiet                    suppress info messages
-      --print                    print routed frames
-      --print-errors             print parse errors singularly, instead of
-                                 printing only their quantity every 5 seconds
-      --hb-disable               disable heartbeats
-      --hb-version=1             set mavlink version of heartbeats
-      --hb-systemid=125          set system id of heartbeats. it is
-                                 recommended to set a different system
-                                 id for each router in the network
-      --hb-period=5              set period of heartbeats
-      --streamreq-disable        do not request streams to Ardupilot
-                                 devices, that need an explicit request
-                                 in order to emit telemetry streams.
-                                 this task is usually delegated to the
-                                 router, in order to avoid conflicts when
-                                 multiple ground stations are active
-      --streamreq-frequency=4    set the stream frequency to request
-
-Args:
-  [<endpoints>]  Space-separated list of endpoints. At least one
-                 endpoint is required. Possible endpoints kinds are:
-
-                 udps:listen_ip:port (udp, server mode)
-
-                 udpc:dest_ip:port (udp, client mode)
-
-                 udpb:broadcast_ip:port (udp, broadcast mode)
-
-                 tcps:listen_ip:port (tcp, server mode)
-
-                 tcpc:dest_ip:port (tcp, client mode)
-
-                 serial:port:baudrate (serial)
+                       udpc:dest_ip:port (udp, client mode)
+
+                       udpb:broadcast_ip:port (udp, broadcast mode)
+
+                       tcps:listen_ip:port (tcp, server mode)
+
+                       tcpc:dest_ip:port (tcp, client mode)
 
+                       serial:port:baudrate (serial)
+
+                       udps:listen_ip:port (udp, server mode)
+
+Flags:
+  -h, --help                     Show context-sensitive help.
+      --version                  print version.
+  -q, --quiet                    suppress info messages.
+      --print                    print routed frames.
+      --print-errors             print parse errors singularly, instead of printing only their quantity every 5 seconds.
+      --read-timeout=10s         timeout of read operations.
+      --write-timeout=10s        timeout of write operations.
+      --idle-timeout=60s         disconnect idle connections after a timeout.
+      --hb-disable               disable heartbeats.
+      --hb-version=1             set mavlink version of heartbeats.
+      --hb-systemid=125          set system ID of heartbeats. it is recommended to set a different system id for each router in the network.
+      --hb-componentid=191       set component ID of heartbeats.
+      --hb-period=5              set period of heartbeats.
+      --streamreq-disable        do not request streams to Ardupilot devices, that need an explicit request
+                                 in order to emit telemetry streams. this task is usually delegated to the router,
+                                 in order to avoid conflicts when multiple ground stations are active.
+      --streamreq-frequency=4    set the stream frequency to request.
 ```
 
-## Standards
+## Specifications
 
-* [Mavlink standards](https://github.com/bluenviron/gomavlib#standards)
+* [Mavlink specifications](https://github.com/bluenviron/gomavlib#specifications)
 
 ## Links
 

diff --git a/main.go b/main.go
@@ -148,8 +148,9 @@ var cli struct {
 	WriteTimeout       time.Duration `help:"timeout of write operations." default:"10s"`
 	IdleTimeout        time.Duration `help:"disconnect idle connections after a timeout." default:"60s"`
 	HbDisable          bool          `help:"disable heartbeats."`
-	HbVersion          string        `enum:"1,2" help:"set mavlink version of heartbeats." default:"1"`
+	HbVersion          int           `enum:"1,2" help:"set mavlink version of heartbeats." default:"1"`
 	HbSystemid         int           `default:"125"`
+	HbComponentid      int           `help:"set component ID of heartbeats." default:"191"`
 	HbPeriod           int           `help:"set period of heartbeats." default:"5"`
 	StreamreqDisable   bool
 	StreamreqFrequency int      `help:"set the stream frequency to request." default:"4"`
@@ -175,7 +176,7 @@ func newProgram(args []string) (*program, error) {
 				return "print parse errors singularly, instead of printing only their quantity every 5 seconds."
 
 			case "hb-systemid":
-				return "set system id of heartbeats. it is recommended to set a different system id for each router in the network."
+				return "set system ID of heartbeats. it is recommended to set a different system id for each router in the network."
 
 			case "streamreq-disable":
 				return "do not request streams to Ardupilot devices," +
@@ -231,12 +232,13 @@ func newProgram(args []string) (*program, error) {
 		Endpoints: endpointConfs,
 		Dialect:   generateDialect(cli.HbDisable, cli.StreamreqDisable),
 		OutVersion: func() gomavlib.Version {
-			if cli.HbVersion == "2" {
+			if cli.HbVersion == 2 {
 				return gomavlib.V2
 			}
 			return gomavlib.V1
 		}(),
 		OutSystemID:            byte(cli.HbSystemid),
+		OutComponentID:         byte(cli.HbComponentid),
 		HeartbeatDisable:       cli.HbDisable,
 		HeartbeatPeriod:        (time.Duration(cli.HbPeriod) * time.Second),
 		StreamRequestEnable:    !cli.StreamreqDisable,