@aircast-4g/mavlink 1.1.7 → 1.1.9

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

@@ -264,19 +264,19 @@ declare enum MAV_COMPONENTEnum {
 type MAV_COMPONENT = MAV_COMPONENTEnum;
 
 interface MessageHeartbeat {
+    custom_mode: number;
     type: MAV_TYPE;
     autopilot: MAV_AUTOPILOT;
-    baseMode: MAV_MODE_FLAG;
-    customMode: number;
-    systemStatus: MAV_STATE;
-    mavlinkVersion: number;
+    base_mode: MAV_MODE_FLAG;
+    system_status: MAV_STATE;
+    mavlink_version: number;
 }
 interface MessageProtocolVersion {
     version: number;
-    minVersion: number;
-    maxVersion: number;
-    specVersionHash: number[];
-    libraryVersionHash: number[];
+    min_version: number;
+    max_version: number;
+    spec_version_hash: number[];
+    library_version_hash: number[];
 }
 interface MessageTypeMap {
     HEARTBEAT: MessageHeartbeat;
@@ -348,12 +348,37 @@ declare abstract class DialectParser {
     getSupportedMessageIds(): number[];
     getDialectName(): string;
     supportsMessage(messageId: number): boolean;
+    serializeMessage(message: Record<string, unknown> & {
+        message_name: string;
+    }): Uint8Array;
+    private extractMessageFields;
+    private completeMessageWithDefaults;
+    private getDefaultValueForField;
+    private serializePayload;
+    private serializeField;
+    private serializeSingleValue;
+    private getFieldSize;
+    private getSingleFieldSize;
+    private getDefaultValueForType;
+    private createMAVLinkFrame;
 }
 declare class MinimalParser extends DialectParser {
     constructor();
     loadDefinitions(): Promise<void>;
     private loadDefinitionsSync;
 }
+declare class MinimalSerializer {
+    private parser;
+    constructor();
+    serialize(message: Record<string, unknown> & {
+        message_name: string;
+    }): Uint8Array;
+    completeMessage(message: Record<string, unknown> & {
+        message_name: string;
+    }): Record<string, unknown>;
+    getSupportedMessages(): string[];
+    supportsMessage(messageName: string): boolean;
+}
 
-export { MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, MinimalParser, isHeartbeat, isProtocolVersion };
+export { MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, MinimalParser, MinimalSerializer, isHeartbeat, isProtocolVersion };
 export type { AnyMessage, 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/minimal/index.js

@@ -505,6 +505,35 @@ function isProtocolVersion(msg) {
 
 // Auto-generated decoder and parser for minimal dialect
 // Generated from MAVLink XML definitions
+// Embedded MAVLink CRC implementation
+const CRC_EXTRA = {
+    0: 50,
+    300: 0
+};
+class MAVLinkCRC {
+    static calculate(data, crcExtra) {
+        let crc = 0xffff;
+        // Process all message bytes using MCRF4XX algorithm
+        for (let i = 0; i < data.length; i++) {
+            let tmp = data[i] ^ (crc & 0xff);
+            tmp = (tmp ^ (tmp << 4)) & 0xff;
+            crc = ((crc >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4)) & 0xffff;
+        }
+        // Add CRC_EXTRA byte using the same algorithm
+        let tmp = crcExtra ^ (crc & 0xff);
+        tmp = (tmp ^ (tmp << 4)) & 0xff;
+        crc = ((crc >> 8) ^ (tmp << 8) ^ (tmp << 3) ^ (tmp >> 4)) & 0xffff;
+        return crc;
+    }
+    static validate(data, messageId, receivedChecksum) {
+        const crcExtra = CRC_EXTRA[messageId];
+        if (crcExtra === undefined) {
+            return false;
+        }
+        const calculatedChecksum = this.calculate(data, crcExtra);
+        return calculatedChecksum === receivedChecksum;
+    }
+}
 // Base dialect parser class
 class DialectParser {
     constructor(dialectName) {
@@ -592,7 +621,9 @@ class DialectParser {
                 frameOffset += 13;
             }
         }
-        frame.crc_ok = true; // Simplified - not doing CRC validation
+        // Validate CRC using proper MAVLink algorithm
+        const headerAndPayload = data.slice(offset + 1, offset + frameOffset - offset - 2);
+        frame.crc_ok = MAVLinkCRC.validate(headerAndPayload, frame.message_id, frame.checksum);
         frame.protocol_version = isV2 ? 2 : 1;
         return { frame: frame, bytesConsumed: frameOffset - offset };
     }
@@ -683,13 +714,30 @@ class DialectParser {
         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('['));
             }
+            // Special handling for char arrays - return as string
+            if (baseType === 'char') {
+                const chars = [];
+                let totalBytes = 0;
+                for (let i = 0; i < arrayLength; i++) {
+                    if (offset + totalBytes >= view.byteLength)
+                        break;
+                    const charCode = view.getUint8(offset + totalBytes);
+                    if (charCode === 0)
+                        break; // Null terminator
+                    chars.push(String.fromCharCode(charCode));
+                    totalBytes += 1;
+                }
+                // Return string value and total bytes for the array
+                return { value: chars.join(''), bytesRead: arrayLength }; // Always consume full array size
+            }
+            // Handle other array types
+            const values = [];
+            let totalBytes = 0;
             for (let i = 0; i < arrayLength; i++) {
                 if (offset + totalBytes >= view.byteLength)
                     break;
@@ -779,12 +827,357 @@ class DialectParser {
     supportsMessage(messageId) {
         return this.messageDefinitions.has(messageId);
     }
+    // Serialization methods for outgoing commands
+    serializeMessage(message) {
+        const messageDef = Array.from(this.messageDefinitions.values())
+            .find(def => def.name === message.message_name);
+        if (!messageDef) {
+            throw new Error(`Unknown message type: ${message.message_name}`);
+        }
+        // Extract fields from either flat structure or payload structure
+        const messageFields = this.extractMessageFields(message, messageDef.fields);
+        // Complete the message with all defined fields (including extension fields with defaults)
+        const completeMessage = this.completeMessageWithDefaults(messageFields, messageDef.fields);
+        const payload = this.serializePayload(completeMessage, messageDef.fields);
+        return this.createMAVLinkFrame(message, messageDef.id, payload);
+    }
+    // Extract message fields from payload structure (payload format required)
+    extractMessageFields(message, fieldDefinitions) {
+        // Require payload structure
+        if (!message.payload || typeof message.payload !== 'object') {
+            throw new Error(`Message must have a 'payload' object containing the message fields. Expected format: { message_name: '...', system_id: 1, component_id: 1, sequence: 0, payload: { ...fields } }`);
+        }
+        return message.payload;
+    }
+    // Helper method to complete message with all defined fields
+    completeMessageWithDefaults(message, fields) {
+        const completeMessage = { ...message };
+        for (const field of fields) {
+            if (completeMessage[field.name] === undefined) {
+                completeMessage[field.name] = this.getDefaultValueForField(field);
+            }
+        }
+        return completeMessage;
+    }
+    // Get default value for a field based on its definition
+    getDefaultValueForField(field) {
+        const isArray = field.arrayLength !== undefined && field.arrayLength > 1;
+        if (isArray) {
+            return [];
+        }
+        let baseType = field.type;
+        if (baseType.includes('[') && baseType.includes(']')) {
+            baseType = baseType.substring(0, baseType.indexOf('['));
+        }
+        switch (baseType) {
+            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 field.type.includes('[') ? '' : '\0';
+            default:
+                return 0;
+        }
+    }
+    serializePayload(message, fields) {
+        // Calculate total payload size
+        let totalSize = 0;
+        for (const field of fields) {
+            totalSize += this.getFieldSize(field);
+        }
+        const buffer = new ArrayBuffer(totalSize);
+        const view = new DataView(buffer);
+        let offset = 0;
+        for (const field of fields) {
+            const value = message[field.name];
+            const bytesWritten = this.serializeField(view, offset, field, value);
+            offset += bytesWritten;
+        }
+        // Implement MAVLink payload trimming: remove trailing zero bytes from extension fields only
+        // This is required for proper handling of extension fields
+        const fullPayload = new Uint8Array(buffer);
+        // Calculate minimum payload size (core fields only)
+        let corePayloadSize = 0;
+        let extensionStartOffset = 0;
+        let hasExtensions = false;
+        message.message_name;
+        for (const field of fields) {
+            const fieldSize = this.getFieldSize(field);
+            // Check if this is an extension field using proper XML-based detection
+            const isExtensionField = field.extension === true;
+            if (isExtensionField) {
+                if (!hasExtensions) {
+                    extensionStartOffset = corePayloadSize;
+                    hasExtensions = true;
+                }
+                // Don't add extension field sizes to core payload size
+            }
+            else {
+                // This is a core field - always add to core payload size
+                corePayloadSize += fieldSize;
+            }
+        }
+        // If there are no extension fields, don't trim at all
+        if (!hasExtensions) {
+            return fullPayload;
+        }
+        // Find the last non-zero byte in extension fields only
+        let trimmedLength = fullPayload.length;
+        // If we have extensions, check if they contain any non-zero bytes
+        if (hasExtensions && extensionStartOffset < fullPayload.length) {
+            // Look for non-zero bytes in the extension section
+            let hasNonZeroExtensions = false;
+            for (let i = extensionStartOffset; i < fullPayload.length; i++) {
+                if (fullPayload[i] !== 0) {
+                    hasNonZeroExtensions = true;
+                    break;
+                }
+            }
+            if (!hasNonZeroExtensions) {
+                // All extension fields are zero, trim them all
+                trimmedLength = corePayloadSize;
+            }
+            else {
+                // Find the last non-zero byte in extension fields
+                for (let i = fullPayload.length - 1; i >= extensionStartOffset; i--) {
+                    if (fullPayload[i] !== 0) {
+                        trimmedLength = i + 1;
+                        break;
+                    }
+                }
+            }
+        }
+        // Never trim below the core payload size
+        if (trimmedLength < corePayloadSize) {
+            trimmedLength = corePayloadSize;
+        }
+        // Return trimmed payload if it's shorter than the original
+        if (trimmedLength < fullPayload.length) {
+            return fullPayload.slice(0, trimmedLength);
+        }
+        return fullPayload;
+    }
+    serializeField(view, offset, field, value) {
+        const isArray = field.arrayLength !== undefined;
+        const arrayLength = field.arrayLength || 1;
+        if (isArray && arrayLength > 1) {
+            let totalBytes = 0;
+            let baseType = field.type;
+            if (baseType.includes('[') && baseType.includes(']')) {
+                baseType = baseType.substring(0, baseType.indexOf('['));
+            }
+            // Special handling for char arrays - treat string as char array
+            if (baseType === 'char' && typeof value === 'string') {
+                const str = value;
+                for (let i = 0; i < arrayLength; i++) {
+                    const charCode = i < str.length ? str.charCodeAt(i) : 0;
+                    view.setUint8(offset + totalBytes, charCode);
+                    totalBytes += 1;
+                }
+                return totalBytes;
+            }
+            // Handle other array types
+            const arrayValue = Array.isArray(value) ? value : [value];
+            for (let i = 0; i < arrayLength; i++) {
+                const itemValue = i < arrayValue.length ? arrayValue[i] : this.getDefaultValueForType(baseType);
+                const bytesWritten = this.serializeSingleValue(view, offset + totalBytes, baseType, itemValue);
+                totalBytes += bytesWritten;
+            }
+            return totalBytes;
+        }
+        else {
+            return this.serializeSingleValue(view, offset, field.type, value);
+        }
+    }
+    serializeSingleValue(view, offset, type, value) {
+        const actualValue = value ?? this.getDefaultValueForType(type);
+        switch (type) {
+            case 'uint8_t':
+                view.setUint8(offset, Number(actualValue));
+                return 1;
+            case 'int8_t':
+                view.setInt8(offset, Number(actualValue));
+                return 1;
+            case 'uint16_t':
+                view.setUint16(offset, Number(actualValue), true);
+                return 2;
+            case 'int16_t':
+                view.setInt16(offset, Number(actualValue), true);
+                return 2;
+            case 'uint32_t':
+                view.setUint32(offset, Number(actualValue), true);
+                return 4;
+            case 'int32_t':
+                view.setInt32(offset, Number(actualValue), true);
+                return 4;
+            case 'uint64_t':
+                view.setBigUint64(offset, typeof actualValue === 'bigint' ? actualValue : BigInt(Number(actualValue) || 0), true);
+                return 8;
+            case 'int64_t':
+                view.setBigInt64(offset, typeof actualValue === 'bigint' ? actualValue : BigInt(Number(actualValue) || 0), true);
+                return 8;
+            case 'float':
+                view.setFloat32(offset, Number(actualValue), true);
+                return 4;
+            case 'double':
+                view.setFloat64(offset, Number(actualValue), true);
+                return 8;
+            case 'char':
+                view.setUint8(offset, typeof actualValue === 'string' ? actualValue.charCodeAt(0) : Number(actualValue));
+                return 1;
+            default:
+                if (type.startsWith('char[') && type.endsWith(']')) {
+                    const length = parseInt(type.slice(5, -1));
+                    const str = String(actualValue);
+                    for (let i = 0; i < length; i++) {
+                        const charCode = i < str.length ? str.charCodeAt(i) : 0;
+                        view.setUint8(offset + i, charCode);
+                    }
+                    return length;
+                }
+                view.setUint8(offset, Number(actualValue));
+                return 1;
+        }
+    }
+    getFieldSize(field) {
+        if (typeof field === 'string') {
+            // Legacy support for type string
+            if (field.includes('[') && field.includes(']')) {
+                const baseType = field.substring(0, field.indexOf('['));
+                const arrayLength = parseInt(field.substring(field.indexOf('[') + 1, field.indexOf(']')));
+                return this.getSingleFieldSize(baseType) * arrayLength;
+            }
+            return this.getSingleFieldSize(field);
+        }
+        // Handle FieldDefinition object
+        const type = field.type;
+        const arrayLength = field.arrayLength;
+        if (arrayLength && arrayLength > 1) {
+            return this.getSingleFieldSize(type) * arrayLength;
+        }
+        if (type.includes('[') && type.includes(']')) {
+            const baseType = type.substring(0, type.indexOf('['));
+            const parsedArrayLength = parseInt(type.substring(type.indexOf('[') + 1, type.indexOf(']')));
+            return this.getSingleFieldSize(baseType) * parsedArrayLength;
+        }
+        return this.getSingleFieldSize(type);
+    }
+    getSingleFieldSize(type) {
+        switch (type) {
+            case 'uint8_t':
+            case 'int8_t':
+            case 'char':
+                return 1;
+            case 'uint16_t':
+            case 'int16_t':
+                return 2;
+            case 'uint32_t':
+            case 'int32_t':
+            case 'float':
+                return 4;
+            case 'uint64_t':
+            case 'int64_t':
+            case 'double':
+                return 8;
+            default:
+                return 1;
+        }
+    }
+    getDefaultValueForType(type) {
+        switch (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:
+                return 0;
+        }
+    }
+    createMAVLinkFrame(message, messageId, payload) {
+        const systemId = typeof message.system_id === 'number' ? message.system_id : 1;
+        const componentId = typeof message.component_id === 'number' ? message.component_id : 1;
+        const sequence = typeof message.sequence === 'number' ? message.sequence : 0;
+        // Automatically determine protocol version based on message requirements
+        const needsV2 = messageId > 255; // v1 only supports 8-bit message IDs (0-255)
+        const userSpecifiedVersion = typeof message.protocol_version === 'number' ? message.protocol_version : null;
+        // Use user-specified version if provided, otherwise auto-detect
+        const protocolVersion = userSpecifiedVersion !== null ? userSpecifiedVersion : (needsV2 ? 2 : 1);
+        const isV2 = protocolVersion === 2;
+        const magic = isV2 ? 0xFD : 0xFE;
+        // Calculate frame size based on protocol version
+        const headerSize = isV2 ? 10 : 6; // v2 has extra fields
+        const frameSize = headerSize + payload.length + 2;
+        const buffer = new ArrayBuffer(frameSize);
+        const view = new DataView(buffer);
+        let offset = 0;
+        // Header
+        view.setUint8(offset++, magic);
+        view.setUint8(offset++, payload.length);
+        if (isV2) {
+            // MAVLink v2: magic(1) + len(1) + incompat_flags(1) + compat_flags(1) + seq(1) + sysid(1) + compid(1) + msgid(3) + payload + checksum(2)
+            view.setUint8(offset++, 0); // incompat_flags
+            view.setUint8(offset++, 0); // compat_flags
+            view.setUint8(offset++, sequence);
+            view.setUint8(offset++, systemId);
+            view.setUint8(offset++, componentId);
+            // 24-bit message ID in v2
+            view.setUint8(offset++, messageId & 0xFF);
+            view.setUint8(offset++, (messageId >> 8) & 0xFF);
+            view.setUint8(offset++, (messageId >> 16) & 0xFF);
+        }
+        else {
+            // MAVLink v1: magic(1) + len(1) + seq(1) + sysid(1) + compid(1) + msgid(1) + payload + checksum(2)
+            view.setUint8(offset++, sequence);
+            view.setUint8(offset++, systemId);
+            view.setUint8(offset++, componentId);
+            view.setUint8(offset++, messageId & 0xFF); // 8-bit message ID in v1
+        }
+        // Payload
+        const payloadView = new Uint8Array(buffer, offset, payload.length);
+        payloadView.set(payload);
+        offset += payload.length;
+        // Calculate proper MAVLink CRC with CRC_EXTRA
+        const crcExtra = CRC_EXTRA[messageId];
+        if (crcExtra === undefined) {
+            throw new Error("No CRC_EXTRA defined for message ID " + messageId);
+        }
+        // Get message data (exclude start byte and checksum)
+        const messageData = new Uint8Array(buffer, 1, offset - 1);
+        const checksum = MAVLinkCRC.calculate(messageData, crcExtra);
+        // Checksum (little endian)
+        view.setUint8(offset++, checksum & 0xFF);
+        view.setUint8(offset++, (checksum >> 8) & 0xFF);
+        return new Uint8Array(buffer);
+    }
 }
 const MESSAGE_DEFINITIONS = [
     {
         id: 0,
         name: 'HEARTBEAT',
         fields: [
+            {
+                name: 'custom_mode',
+                type: 'uint32_t',
+            },
             {
                 name: 'type',
                 type: 'uint8_t',
@@ -794,19 +1187,15 @@ const MESSAGE_DEFINITIONS = [
                 type: 'uint8_t',
             },
             {
-                name: 'baseMode',
+                name: 'base_mode',
                 type: 'uint8_t',
             },
             {
-                name: 'customMode',
-                type: 'uint32_t',
-            },
-            {
-                name: 'systemStatus',
+                name: 'system_status',
                 type: 'uint8_t',
             },
             {
-                name: 'mavlinkVersion',
+                name: 'mavlink_version',
                 type: 'uint8_t_mavlink_version',
             },
         ]
@@ -820,20 +1209,20 @@ const MESSAGE_DEFINITIONS = [
                 type: 'uint16_t',
             },
             {
-                name: 'minVersion',
+                name: 'min_version',
                 type: 'uint16_t',
             },
             {
-                name: 'maxVersion',
+                name: 'max_version',
                 type: 'uint16_t',
             },
             {
-                name: 'specVersionHash',
+                name: 'spec_version_hash',
                 type: 'uint8_t',
                 arrayLength: 8,
             },
             {
-                name: 'libraryVersionHash',
+                name: 'library_version_hash',
                 type: 'uint8_t',
                 arrayLength: 8,
             },
@@ -858,6 +1247,43 @@ class MinimalParser extends DialectParser {
         }
     }
 }
+// Dialect-specific serializer
+class MinimalSerializer {
+    constructor() {
+        this.parser = new MinimalParser();
+    }
+    // Serialize a message to MAVLink bytes
+    serialize(message) {
+        return this.parser.serializeMessage(message);
+    }
+    // Complete a message with all defined fields (including extension fields with defaults)
+    // This is useful to see what the serializer would send without actually serializing
+    // Requires payload structure format
+    completeMessage(message) {
+        const messageDef = Array.from(this.parser['messageDefinitions'].values())
+            .find(def => def.name === message.message_name);
+        if (!messageDef) {
+            throw new Error(`Unknown message type: ${message.message_name}`);
+        }
+        // Extract fields from payload structure (throws error if not payload format)
+        const messageFields = this.parser['extractMessageFields'](message, messageDef.fields);
+        // Complete the message with defaults
+        const completedFields = this.parser['completeMessageWithDefaults'](messageFields, messageDef.fields);
+        // Return in the payload structure format
+        return {
+            ...message,
+            payload: completedFields
+        };
+    }
+    // Get supported message names for this dialect
+    getSupportedMessages() {
+        return Array.from(this.parser['messageDefinitions'].values()).map(def => def.name);
+    }
+    // Check if a message is supported by this dialect
+    supportsMessage(messageName) {
+        return Array.from(this.parser['messageDefinitions'].values()).some(def => def.name === messageName);
+    }
+}
 
-export { MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, MinimalParser, isHeartbeat, isProtocolVersion };
+export { MAV_AUTOPILOTEnum, MAV_COMPONENTEnum, MAV_MODE_FLAGEnum, MAV_MODE_FLAG_DECODE_POSITIONEnum, MAV_STATEEnum, MAV_TYPEEnum, MinimalParser, MinimalSerializer, isHeartbeat, isProtocolVersion };
 //# sourceMappingURL=index.js.map