@krokodilushka/mavlink-parser-browserify 0.1.0

package/dist/lib/mavlink.d.ts

@@ -0,0 +1,290 @@
+/// <reference types="node" />
+/// <reference types="node" />
+import { Transform, TransformCallback, Readable, Writable } from "stream";
+import { uint8_t, uint16_t } from "mavlink-mappings";
+import { MavLinkData, MavLinkDataConstructor } from "mavlink-mappings";
+import { Logger } from "./logger";
+/**
+ * Header definition of the MavLink packet
+ */
+export declare class MavLinkPacketHeader {
+    timestamp: bigint | null;
+    magic: number;
+    payloadLength: uint8_t;
+    incompatibilityFlags: uint8_t;
+    compatibilityFlags: uint8_t;
+    seq: uint8_t;
+    sysid: uint8_t;
+    compid: uint8_t;
+    msgid: uint8_t;
+}
+/**
+ * Base class for protocols
+ *
+ * Implements common functionality like getting the CRC and deserializing
+ * data classes from the given payload buffer
+ */
+export declare abstract class MavLinkProtocol {
+    protected readonly log: Logger;
+    static NAME: string;
+    static START_BYTE: number;
+    static PAYLOAD_OFFSET: number;
+    static CHECKSUM_LENGTH: number;
+    static SYS_ID: uint8_t;
+    static COMP_ID: uint8_t;
+    /**
+     * Serialize a message to a buffer
+     */
+    abstract serialize(message: MavLinkData, seq: uint8_t): Buffer;
+    /**
+     * Deserialize packet header
+     */
+    abstract header(buffer: Buffer, timestamp?: bigint): MavLinkPacketHeader;
+    /**
+     * Deserialize packet checksum
+     */
+    abstract crc(buffer: Buffer): uint16_t;
+    /**
+     * Extract payload buffer
+     *
+     * The returned payload buffer needs to be long enough to read all
+     * the fields, including extensions that are sometimes not being sent
+     * from the transmitting system.
+     */
+    abstract payload(buffer: Buffer): Buffer;
+    /**
+     * Deserialize payload into actual data class
+     */
+    data<T extends MavLinkData>(payload: Buffer, clazz: MavLinkDataConstructor<T>): T;
+}
+/**
+ * MavLink Protocol V1
+ */
+export declare class MavLinkProtocolV1 extends MavLinkProtocol {
+    sysid: uint8_t;
+    compid: uint8_t;
+    static NAME: string;
+    static START_BYTE: number;
+    static PAYLOAD_OFFSET: number;
+    constructor(sysid?: uint8_t, compid?: uint8_t);
+    serialize(message: MavLinkData, seq: number): Buffer;
+    header(buffer: Buffer, timestamp?: bigint): MavLinkPacketHeader;
+    /**
+     * Deserialize packet checksum
+     */
+    crc(buffer: Buffer): uint16_t;
+    payload(buffer: Buffer): Buffer;
+}
+/**
+ * MavLink Protocol V2
+ */
+export declare class MavLinkProtocolV2 extends MavLinkProtocol {
+    sysid: uint8_t;
+    compid: uint8_t;
+    incompatibilityFlags: uint8_t;
+    compatibilityFlags: uint8_t;
+    static NAME: string;
+    static START_BYTE: number;
+    static PAYLOAD_OFFSET: number;
+    static INCOMPATIBILITY_FLAGS: uint8_t;
+    static COMPATIBILITY_FLAGS: uint8_t;
+    static readonly IFLAG_SIGNED = 1;
+    constructor(sysid?: uint8_t, compid?: uint8_t, incompatibilityFlags?: uint8_t, compatibilityFlags?: uint8_t);
+    serialize(message: MavLinkData, seq: number): Buffer;
+    /**
+     * Create a signed package buffer
+     *
+     * @param buffer buffer with the original, unsigned package
+     * @param linkId id of the link
+     * @param key key to sign the package with
+     * @param timestamp optional timestamp for packet signing (default: Date.now())
+     * @returns signed package
+     */
+    sign(buffer: Buffer, linkId: number, key: Buffer, timestamp?: number): Buffer;
+    private calculateTruncatedPayloadLength;
+    header(buffer: Buffer, timestamp?: bigint): MavLinkPacketHeader;
+    /**
+     * Deserialize packet checksum
+     */
+    crc(buffer: Buffer): uint16_t;
+    payload(buffer: Buffer): Buffer;
+    signature(buffer: Buffer, header: MavLinkPacketHeader): MavLinkPacketSignature | null;
+}
+/**
+ * MavLink packet signature definition
+ */
+export declare class MavLinkPacketSignature {
+    private readonly buffer;
+    static SIGNATURE_LENGTH: number;
+    /**
+     * Calculate key based on secret passphrase
+     *
+     * @param passphrase secret to generate the key
+     * @returns key as a buffer
+     */
+    static key(passphrase: string): Buffer;
+    constructor(buffer: Buffer);
+    private get offset();
+    /**
+     * Get the linkId from signature
+     */
+    get linkId(): uint8_t;
+    /**
+     * Set the linkId in signature
+     */
+    set linkId(value: uint8_t);
+    /**
+     * Get the timestamp from signature
+     */
+    get timestamp(): number;
+    /**
+     * Set the linkId in signature
+     */
+    set timestamp(value: number);
+    /**
+     * Get the signature from signature
+     */
+    get signature(): string;
+    /**
+     * Set the signature in signature
+     */
+    set signature(value: string);
+    /**
+     * Calculates signature of the packet buffer using the provided secret.
+     * The secret is converted to a hash using the sha256 algorithm which matches
+     * the way Mission Planner creates keys.
+     *
+     * @param key the secret key (Buffer)
+     * @returns calculated signature value
+     */
+    calculate(key: Buffer): string;
+    /**
+     * Checks the signature of the packet buffer against a given secret
+     * The secret is converted to a hash using the sha256 algorithm which matches
+     * the way Mission Planner creates keys.
+     *
+     * @param key key
+     * @returns true if the signature matches, false otherwise
+     */
+    matches(key: Buffer): boolean;
+    toString(): string;
+}
+/**
+ * MavLink packet definition
+ */
+export declare class MavLinkPacket {
+    readonly buffer: Buffer;
+    readonly header: MavLinkPacketHeader;
+    readonly payload: Buffer;
+    readonly crc: uint16_t;
+    readonly protocol: MavLinkProtocol;
+    readonly signature: MavLinkPacketSignature | null;
+    constructor(buffer: Buffer, header?: MavLinkPacketHeader, payload?: Buffer, crc?: uint16_t, protocol?: MavLinkProtocol, signature?: MavLinkPacketSignature | null);
+    /**
+     * Debug information about the packet
+     *
+     * @returns string representing debug information about a packet
+     */
+    debug(): string;
+    private signatureToString;
+}
+type BufferCallback = (buffer: Buffer) => void;
+/**
+ * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
+ */
+export declare class MavLinkPacketSplitter extends Transform {
+    protected readonly log: Logger;
+    private buffer;
+    private onCrcError;
+    private timestamp;
+    private _validPackagesCount;
+    private _unknownPackagesCount;
+    private _invalidPackagesCount;
+    /**
+     * @param opts options to pass on to the Transform constructor
+     * @param verbose print diagnostic information
+     * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
+     */
+    constructor(opts?: {}, onCrcError?: BufferCallback);
+    _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
+    protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
+    private getPacketProtocol;
+    private readPacketLength;
+    private validatePacket;
+    /**
+     * Checks if the buffer contains the entire message with signature
+     *
+     * @param buffer buffer with the message
+     */
+    private isV2Signed;
+    /**
+     * Number of invalid packages
+     */
+    get validPackages(): number;
+    /**
+     * Reset the number of valid packages
+     */
+    resetValidPackagesCount(): void;
+    /**
+     * Number of invalid packages
+     */
+    get invalidPackages(): number;
+    /**
+     * Reset the number of invalid packages
+     */
+    resetInvalidPackagesCount(): void;
+    /**
+     * Number of invalid packages
+     */
+    get unknownPackagesCount(): number;
+    /**
+     * Reset the number of invalid packages
+     */
+    resetUnknownPackagesCount(): void;
+}
+export declare class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
+    _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
+    protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
+}
+/**
+ * A transform stream that takes a buffer with data and converts it to MavLinkPacket object
+ */
+export declare class MavLinkPacketParser extends Transform {
+    protected readonly log: Logger;
+    constructor(opts?: {});
+    private getProtocol;
+    _transform({ buffer, timestamp, ...rest }: {
+        buffer?: Buffer | undefined;
+        timestamp?: null | undefined;
+    } | undefined, encoding: string, callback: TransformCallback): void;
+}
+/**
+ * Creates a MavLink packet stream reader that is reading packets from the given input
+ *
+ * @param input input stream to read from
+ */
+export declare function createMavLinkStream(input: Readable, onCrcError: BufferCallback): MavLinkPacketParser;
+/**
+ * Send a packet to the stream
+ *
+ * @param stream Stream to send the data to
+ * @param msg message to serialize and send
+ * @param protocol protocol to use (default: MavLinkProtocolV1)
+ * @returns number of bytes sent
+ */
+export declare function send(stream: Writable, msg: MavLinkData, protocol?: MavLinkProtocol): Promise<unknown>;
+/**
+ * Send a signed packet to the stream. Signed packets are always V2 protocol
+ *
+ * @param stream Stream to send the data to
+ * @param msg message to serialize and send
+ * @param key key to sign the message with
+ * @param linkId link id for the signature
+ * @param sysid system id
+ * @param compid component id
+ * @param timestamp optional timestamp for packet signing (default: Date.now())
+ * @returns number of bytes sent
+ */
+export declare function sendSigned(stream: Writable, msg: MavLinkData, key: Buffer, linkId?: uint8_t, sysid?: uint8_t, compid?: uint8_t, timestamp?: number): Promise<unknown>;
+export {};
+//# sourceMappingURL=mavlink.d.ts.map

package/dist/lib/mavlink.d.ts.map

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