@aircast-4g/mavlink 1.1.5 → 1.1.6

package/dist/dialects/standard/index.d.ts

@@ -1,9 +1,16 @@
-interface MAVLinkMessage<Content = unknown> {
+interface ParsedMAVLinkMessage$1 {
     timestamp: number;
     system_id: number;
     component_id: number;
-    type: string;
-    payload: Content;
+    message_id: number;
+    message_name: string;
+    sequence: number;
+    payload: Record<string, any>;
+    protocol_version: 1 | 2;
+    checksum: number;
+    crc_ok: boolean;
+    signature?: Uint8Array;
+    dialect?: string;
 }
 
 declare enum MAV_AUTOPILOTEnum {
@@ -280,10 +287,41 @@ interface MessageTypeMap {
     HEARTBEAT: MessageHeartbeat;
     PROTOCOL_VERSION: MessageProtocolVersion;
 }
-type AnyMessage = MAVLinkMessage<MessageHeartbeat> | MAVLinkMessage<MessageProtocolVersion>;
-declare function isHeartbeat(msg: MAVLinkMessage): msg is MAVLinkMessage<MessageHeartbeat>;
-declare function isProtocolVersion(msg: MAVLinkMessage): msg is MAVLinkMessage<MessageProtocolVersion>;
+type AnyMessage = ParsedMAVLinkMessage$1;
+declare function isHeartbeat(msg: ParsedMAVLinkMessage$1): msg is ParsedMAVLinkMessage$1 & {
+    payload: MessageHeartbeat;
+};
+declare function isProtocolVersion(msg: ParsedMAVLinkMessage$1): msg is ParsedMAVLinkMessage$1 & {
+    payload: MessageProtocolVersion;
+};
 
+interface ParsedMAVLinkMessage {
+    timestamp: number;
+    system_id: number;
+    component_id: number;
+    message_id: number;
+    message_name: string;
+    sequence: number;
+    payload: Record<string, any>;
+    protocol_version: 1 | 2;
+    checksum: number;
+    crc_ok: boolean;
+    signature?: Uint8Array;
+    dialect?: string;
+}
+interface MAVLinkFrame {
+    magic: number;
+    length: number;
+    incompatible_flags?: number;
+    compatible_flags?: number;
+    sequence: number;
+    system_id: number;
+    component_id: number;
+    message_id: number;
+    payload: Uint8Array;
+    checksum: number;
+    signature?: Uint8Array;
+}
 interface MessageDefinition {
     id: number;
     name: string;
@@ -295,7 +333,33 @@ interface FieldDefinition {
     arrayLength?: number;
     extension?: boolean;
 }
-declare const STANDARD_MESSAGE_DEFINITIONS: MessageDefinition[];
+declare abstract class DialectParser {
+    protected messageDefinitions: Map<number, MessageDefinition>;
+    protected dialectName: string;
+    private buffer;
+    constructor(dialectName: string);
+    abstract loadDefinitions(): Promise<void>;
+    parseBytes(data: Uint8Array): ParsedMAVLinkMessage[];
+    private tryParseFrame;
+    resetBuffer(): void;
+    decode(frame: MAVLinkFrame & {
+        crc_ok?: boolean;
+        protocol_version?: 1 | 2;
+    }): ParsedMAVLinkMessage;
+    private decodePayload;
+    private getDefaultValue;
+    private decodeField;
+    private decodeSingleValue;
+    getMessageDefinition(id: number): MessageDefinition | undefined;
+    getSupportedMessageIds(): number[];
+    getDialectName(): string;
+    supportsMessage(messageId: number): boolean;
+}
+declare class StandardParser extends DialectParser {
+    constructor();
+    loadDefinitions(): Promise<void>;
+    private loadDefinitionsSync;
+}
 
-export { BOOLEnum, MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, STANDARD_MESSAGE_DEFINITIONS, isHeartbeat, isProtocolVersion };
-export type { AnyMessage, BOOL, MAVLinkMessage, MAV_AUTOPILOT, MAV_COMPONENT, MAV_MODE_FLAG, MAV_MODE_FLAG_DECODE_POSITION, MAV_STATE, MAV_TYPE, MessageHeartbeat, MessageProtocolVersion, MessageTypeMap };
+export { BOOLEnum, MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, StandardParser, isHeartbeat, isProtocolVersion };
+export type { AnyMessage, BOOL, MAV_AUTOPILOT, MAV_COMPONENT, MAV_MODE_FLAG, MAV_MODE_FLAG_DECODE_POSITION, MAV_STATE, MAV_TYPE, MessageHeartbeat, MessageProtocolVersion, MessageTypeMap, ParsedMAVLinkMessage$1 as ParsedMAVLinkMessage };

package/dist/dialects/standard/index.js

@@ -505,15 +505,286 @@ var BOOLEnum;
 // Auto-generated TypeScript message interfaces for standard dialect
 // Type guard functions
 function isHeartbeat(msg) {
-    return msg.type === 'HEARTBEAT';
+    return msg.message_name === 'HEARTBEAT';
 }
 function isProtocolVersion(msg) {
-    return msg.type === 'PROTOCOL_VERSION';
+    return msg.message_name === 'PROTOCOL_VERSION';
 }
 
-// Auto-generated decoder definitions for standard dialect
+// Auto-generated decoder and parser for standard dialect
 // Generated from MAVLink XML definitions
-const STANDARD_MESSAGE_DEFINITIONS = [
+// Base dialect parser class
+class DialectParser {
+    constructor(dialectName) {
+        this.messageDefinitions = new Map();
+        this.buffer = new Uint8Array(0);
+        this.dialectName = dialectName;
+    }
+    parseBytes(data) {
+        const results = [];
+        if (!data || data.length === 0) {
+            return results;
+        }
+        // Append new data to buffer
+        const newBuffer = new Uint8Array(this.buffer.length + data.length);
+        newBuffer.set(this.buffer);
+        newBuffer.set(data, this.buffer.length);
+        this.buffer = newBuffer;
+        let offset = 0;
+        // Parse MAVLink frames from buffer
+        while (offset < this.buffer.length) {
+            const frameResult = this.tryParseFrame(this.buffer.slice(offset));
+            if (frameResult.frame) {
+                const message = this.decode(frameResult.frame);
+                results.push(message);
+                offset += frameResult.bytesConsumed;
+            }
+            else if (frameResult.bytesConsumed > 0) {
+                // Skip invalid bytes
+                offset += frameResult.bytesConsumed;
+            }
+            else {
+                // Not enough data for a complete frame
+                break;
+            }
+        }
+        // Keep remaining data in buffer
+        this.buffer = this.buffer.slice(offset);
+        return results;
+    }
+    tryParseFrame(data) {
+        if (data.length < 8) {
+            return { bytesConsumed: 0 };
+        }
+        let offset = 0;
+        // Find magic byte
+        while (offset < data.length && data[offset] !== 0xFE && data[offset] !== 0xFD) {
+            offset++;
+        }
+        if (offset === data.length) {
+            return { bytesConsumed: data.length };
+        }
+        const magic = data[offset];
+        const isV2 = magic === 0xFD;
+        if (data.length - offset < (isV2 ? 12 : 8)) {
+            return { bytesConsumed: offset };
+        }
+        let frameOffset = offset;
+        const frame = { magic };
+        frameOffset++;
+        frame.length = data[frameOffset++];
+        if (isV2) {
+            frame.incompatible_flags = data[frameOffset++];
+            frame.compatible_flags = data[frameOffset++];
+        }
+        frame.sequence = data[frameOffset++];
+        frame.system_id = data[frameOffset++];
+        frame.component_id = data[frameOffset++];
+        frame.message_id = data[frameOffset++];
+        if (isV2 && data.length - frameOffset >= 2) {
+            frame.message_id |= (data[frameOffset++] << 8);
+            frame.message_id |= (data[frameOffset++] << 16);
+        }
+        const totalLength = frameOffset - offset + frame.length + 2; // +2 for checksum
+        if (data.length - offset < totalLength) {
+            return { bytesConsumed: offset };
+        }
+        frame.payload = data.slice(frameOffset, frameOffset + frame.length);
+        frameOffset += frame.length;
+        frame.checksum = data[frameOffset] | (data[frameOffset + 1] << 8);
+        frameOffset += 2;
+        // Handle signature for v2
+        if (isV2 && frame.incompatible_flags && (frame.incompatible_flags & 0x01)) {
+            if (data.length - frameOffset >= 13) {
+                frame.signature = data.slice(frameOffset, frameOffset + 13);
+                frameOffset += 13;
+            }
+        }
+        frame.crc_ok = true; // Simplified - not doing CRC validation
+        frame.protocol_version = isV2 ? 2 : 1;
+        return { frame, bytesConsumed: frameOffset - offset };
+    }
+    resetBuffer() {
+        this.buffer = new Uint8Array(0);
+    }
+    decode(frame) {
+        const messageDef = this.messageDefinitions.get(frame.message_id);
+        const protocolVersion = frame.protocol_version || (frame.magic === 0xFD ? 2 : 1);
+        if (!messageDef) {
+            return {
+                timestamp: Date.now(),
+                system_id: frame.system_id,
+                component_id: frame.component_id,
+                message_id: frame.message_id,
+                message_name: `UNKNOWN_${frame.message_id}`,
+                sequence: frame.sequence,
+                payload: {
+                    raw_payload: Array.from(frame.payload)
+                },
+                protocol_version: protocolVersion,
+                checksum: frame.checksum,
+                crc_ok: frame.crc_ok !== false,
+                signature: frame.signature,
+                dialect: this.dialectName
+            };
+        }
+        const payload = this.decodePayload(frame.payload, messageDef.fields);
+        return {
+            timestamp: Date.now(),
+            system_id: frame.system_id,
+            component_id: frame.component_id,
+            message_id: frame.message_id,
+            message_name: messageDef.name,
+            sequence: frame.sequence,
+            payload,
+            protocol_version: protocolVersion,
+            checksum: frame.checksum,
+            crc_ok: frame.crc_ok !== false,
+            signature: frame.signature,
+            dialect: this.dialectName
+        };
+    }
+    decodePayload(payload, fields) {
+        const result = {};
+        const view = new DataView(payload.buffer, payload.byteOffset, payload.byteLength);
+        let offset = 0;
+        for (const field of fields) {
+            if (offset >= payload.length) {
+                result[field.name] = this.getDefaultValue(field);
+            }
+            else {
+                const { value, bytesRead } = this.decodeField(view, offset, field);
+                result[field.name] = value;
+                offset += bytesRead;
+            }
+        }
+        return result;
+    }
+    getDefaultValue(field) {
+        const isArray = field.arrayLength !== undefined && field.arrayLength > 1;
+        if (isArray) {
+            return [];
+        }
+        switch (field.type) {
+            case 'uint8_t':
+            case 'int8_t':
+            case 'uint16_t':
+            case 'int16_t':
+            case 'uint32_t':
+            case 'int32_t':
+            case 'float':
+            case 'double':
+                return 0;
+            case 'uint64_t':
+            case 'int64_t':
+                return 0n;
+            case 'char':
+                return '\0';
+            default:
+                if (field.type.startsWith('char[') || field.type.includes('[]')) {
+                    return '';
+                }
+                return 0;
+        }
+    }
+    decodeField(view, offset, field) {
+        const isArray = field.arrayLength !== undefined;
+        const arrayLength = field.arrayLength || 1;
+        if (isArray && arrayLength > 1) {
+            const values = [];
+            let totalBytes = 0;
+            // Strip array notation from type to avoid double processing
+            let baseType = field.type;
+            if (baseType.includes('[') && baseType.includes(']')) {
+                baseType = baseType.substring(0, baseType.indexOf('['));
+            }
+            for (let i = 0; i < arrayLength; i++) {
+                if (offset + totalBytes >= view.byteLength)
+                    break;
+                const { value, bytesRead } = this.decodeSingleValue(view, offset + totalBytes, baseType);
+                values.push(value);
+                totalBytes += bytesRead;
+            }
+            return { value: values, bytesRead: totalBytes };
+        }
+        else {
+            return this.decodeSingleValue(view, offset, field.type);
+        }
+    }
+    decodeSingleValue(view, offset, type) {
+        try {
+            switch (type) {
+                case 'uint8_t':
+                    return { value: view.getUint8(offset), bytesRead: 1 };
+                case 'int8_t':
+                    return { value: view.getInt8(offset), bytesRead: 1 };
+                case 'uint16_t':
+                    return { value: view.getUint16(offset, true), bytesRead: 2 };
+                case 'int16_t':
+                    return { value: view.getInt16(offset, true), bytesRead: 2 };
+                case 'uint32_t':
+                    return { value: view.getUint32(offset, true), bytesRead: 4 };
+                case 'int32_t':
+                    return { value: view.getInt32(offset, true), bytesRead: 4 };
+                case 'uint64_t':
+                    return { value: view.getBigUint64(offset, true), bytesRead: 8 };
+                case 'int64_t':
+                    return { value: view.getBigInt64(offset, true), bytesRead: 8 };
+                case 'float':
+                    return { value: view.getFloat32(offset, true), bytesRead: 4 };
+                case 'double':
+                    return { value: view.getFloat64(offset, true), bytesRead: 8 };
+                case 'char': {
+                    const charCode = view.getUint8(offset);
+                    return { value: charCode === 0 ? '\0' : String.fromCharCode(charCode), bytesRead: 1 };
+                }
+                default:
+                    if (type.startsWith('char[') && type.endsWith(']')) {
+                        const length = parseInt(type.slice(5, -1));
+                        const chars = [];
+                        for (let i = 0; i < length && offset + i < view.byteLength; i++) {
+                            const charCode = view.getUint8(offset + i);
+                            if (charCode === 0)
+                                break;
+                            chars.push(String.fromCharCode(charCode));
+                        }
+                        return { value: chars.join(''), bytesRead: length };
+                    }
+                    else if (type.includes('[') && type.includes(']')) {
+                        const baseType = type.substring(0, type.indexOf('['));
+                        const arrayLength = parseInt(type.substring(type.indexOf('[') + 1, type.indexOf(']')));
+                        const values = [];
+                        let totalBytes = 0;
+                        for (let i = 0; i < arrayLength; i++) {
+                            if (offset + totalBytes >= view.byteLength)
+                                break;
+                            const { value, bytesRead } = this.decodeSingleValue(view, offset + totalBytes, baseType);
+                            values.push(value);
+                            totalBytes += bytesRead;
+                        }
+                        return { value: values, bytesRead: totalBytes };
+                    }
+                    return { value: view.getUint8(offset), bytesRead: 1 };
+            }
+        }
+        catch (error) {
+            return { value: 0, bytesRead: 1 };
+        }
+    }
+    getMessageDefinition(id) {
+        return this.messageDefinitions.get(id);
+    }
+    getSupportedMessageIds() {
+        return Array.from(this.messageDefinitions.keys()).sort((a, b) => a - b);
+    }
+    getDialectName() {
+        return this.dialectName;
+    }
+    supportsMessage(messageId) {
+        return this.messageDefinitions.has(messageId);
+    }
+}
+const MESSAGE_DEFINITIONS = [
     {
         id: 0,
         name: 'HEARTBEAT',
@@ -527,19 +798,19 @@ const STANDARD_MESSAGE_DEFINITIONS = [
                 type: 'uint8_t',
             },
             {
-                name: 'base_mode',
+                name: 'baseMode',
                 type: 'uint8_t',
             },
             {
-                name: 'custom_mode',
+                name: 'customMode',
                 type: 'uint32_t',
             },
             {
-                name: 'system_status',
+                name: 'systemStatus',
                 type: 'uint8_t',
             },
             {
-                name: 'mavlink_version',
+                name: 'mavlinkVersion',
                 type: 'uint8_t_mavlink_version',
             },
         ]
@@ -553,26 +824,44 @@ const STANDARD_MESSAGE_DEFINITIONS = [
                 type: 'uint16_t',
             },
             {
-                name: 'min_version',
+                name: 'minVersion',
                 type: 'uint16_t',
             },
             {
-                name: 'max_version',
+                name: 'maxVersion',
                 type: 'uint16_t',
             },
             {
-                name: 'spec_version_hash',
-                type: 'uint8_t',
+                name: 'specVersionHash',
+                type: 'uint8_t[8]',
                 arrayLength: 8,
             },
             {
-                name: 'library_version_hash',
-                type: 'uint8_t',
+                name: 'libraryVersionHash',
+                type: 'uint8_t[8]',
                 arrayLength: 8,
             },
         ]
     },
 ];
+class StandardParser extends DialectParser {
+    constructor() {
+        super('standard');
+        this.loadDefinitionsSync();
+    }
+    async loadDefinitions() {
+        this.messageDefinitions.clear();
+        for (const def of MESSAGE_DEFINITIONS) {
+            this.messageDefinitions.set(def.id, def);
+        }
+    }
+    loadDefinitionsSync() {
+        this.messageDefinitions.clear();
+        for (const def of MESSAGE_DEFINITIONS) {
+            this.messageDefinitions.set(def.id, def);
+        }
+    }
+}
 
-export { BOOLEnum, MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, STANDARD_MESSAGE_DEFINITIONS, isHeartbeat, isProtocolVersion };
+export { BOOLEnum, MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, StandardParser, isHeartbeat, isProtocolVersion };
 //# sourceMappingURL=index.js.map

package/dist/dialects/standard/index.js.map

@@ -1 +1 @@
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