node-mavlink 1.0.10-beta.1 → 1.0.12

package/dist/lib/serialization.js

@@ -166,7 +166,7 @@ exports.DESERIALIZERS = {
     'double[]': (buffer, offset, length) => {
         const result = new Array(length);
         for (let i = 0; i < length; i++)
-            result[i] = buffer.readFloatLE(offset + i * 8);
+            result[i] = buffer.readDoubleLE(offset + i * 8);
         return result;
     },
 };

package/jest.config.js

@@ -0,0 +1,5 @@
+/** @type {import('ts-jest/dist/types').InitialOptionsTsJest} */
+module.exports = {
+  preset: 'ts-jest',
+  testEnvironment: 'node',
+}

package/lib/serialization.test.ts

@@ -0,0 +1,210 @@
+import { SERIALIZERS, DESERIALIZERS } from './serialization'
+
+describe('serialization', () => {
+  describe('char', () => {
+    it('will serialize char', () => {
+      const b = Buffer.from([0])
+      SERIALIZERS['char'](42, b, 0)
+      expect(b).toStrictEqual(Buffer.from([42]))
+    })
+    it('will deserialize char', () => {
+      const b = Buffer.from([42])
+      const result = DESERIALIZERS['char'](b, 0)
+      expect(result).toBe('*')
+    })
+    it('will serialize char[]', () => {
+      const b = Buffer.from(new Array(3))
+      SERIALIZERS['char[]']('LOL', b, 0, 5)
+      expect(b).toStrictEqual(Buffer.from([76, 79, 76]))
+    })
+    it('will deserialize char[]', () => {
+      const b = Buffer.from([76, 79, 76, 0, 0, 0, 0, 0])
+      const result = DESERIALIZERS['char[]'](b, 0, 5)
+      expect(result).toBe('LOL')
+    })
+  })
+
+  describe('uint8_t', () => {
+    it('will serialize 8-bit unsigned int', () => {
+      const b = Buffer.from([0])
+      SERIALIZERS['uint8_t'](2, b, 0)
+      expect(b).toStrictEqual(Buffer.from([2]))
+    })
+    it('will deserialize 8-bit unsigned int', () => {
+      const b = Buffer.from([2])
+      const result = DESERIALIZERS['uint8_t'](b, 0)
+      expect(result).toBe(2)
+    })
+    it('will serialize array of 8-bit unsigned int', () => {
+      const b = Buffer.from(new Array(3))
+      SERIALIZERS['uint8_t[]']([ 1, 2, 4 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([1, 2, 4]))
+    })
+    it('will deserialize array of 8-bit unsigned int', () => {
+      const b = Buffer.from([1, 2, 4])
+      const result = DESERIALIZERS['uint8_t[]'](b, 0, 3)
+      expect(result).toStrictEqual([1, 2, 4])
+    })
+  })
+
+  describe('int8_t', () => {
+    it('will serialize 8-bit signed int', () => {
+      const b = Buffer.from([0])
+      SERIALIZERS['int8_t'](-2, b, 0)
+      expect(b).toStrictEqual(Buffer.from([-2]))
+    })
+    it('will deserialize 8-bit signed int', () => {
+      const b = Buffer.from([-2])
+      const result = DESERIALIZERS['int8_t'](b, 0)
+      expect(result).toBe(-2)
+    })
+    it('will serialize array of 8-bit signed int', () => {
+      const b = Buffer.from(new Array(3))
+      SERIALIZERS['int8_t[]']([ 1, -2, -5 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([1, -2, -5]))
+    })
+    it('will deserialize array of 8-bit signed int', () => {
+      const b = Buffer.from([255, 254, 252])
+      const result = DESERIALIZERS['int8_t[]'](b, 0, 3)
+      expect(result).toStrictEqual([-1, -2, -4])
+    })
+  })
+
+  describe('uint16_t', () => {
+    it('will serialize 16-bit unsigned int', () => {
+      const b = Buffer.from([0, 0])
+      SERIALIZERS['uint16_t'](2, b, 0)
+      expect(b).toStrictEqual(Buffer.from([2, 0]))
+    })
+    it('will deserialize 16-bit unsigned int', () => {
+      const b = Buffer.from([2, 0])
+      const result = DESERIALIZERS['uint16_t'](b, 0)
+      expect(result).toBe(2)
+    })
+    it('will serialize array of 16-bit unsigned int', () => {
+      const b = Buffer.from(new Array(6))
+      SERIALIZERS['uint16_t[]']([ 1, 2, 4 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([1, 0, 2, 0, 4, 0]))
+    })
+    it('will deserialize array of 16-bit unsigned int', () => {
+      const b = Buffer.from([1, 0, 2, 0, 4, 0])
+      const result = DESERIALIZERS['uint16_t[]'](b, 0, 3)
+      expect(result).toStrictEqual([1, 2, 4])
+    })
+  })
+
+  describe('int16_t', () => {
+    it('will serialize 16-bit signed int', () => {
+      const b = Buffer.from([0, 0])
+      SERIALIZERS['int16_t'](-2, b, 0)
+      expect(b).toStrictEqual(Buffer.from([254, 255]))
+    })
+    it('will deserialize 16-bit signed int', () => {
+      const b = Buffer.from([254, 255])
+      const result = DESERIALIZERS['int16_t'](b, 0)
+      expect(result).toBe(-2)
+    })
+    it('will serialize array of 16-bit signed int', () => {
+      const b = Buffer.from(new Array(6))
+      SERIALIZERS['int16_t[]']([1, -2, -5], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([1, 0, 254, 255, 251, 255]))
+    })
+    it('will deserialize array of 16-bit signed int', () => {
+      const b = Buffer.from([1, 0, 254, 255, 251, 255])
+      const result = DESERIALIZERS['int16_t[]'](b, 0, 3)
+      expect(result).toStrictEqual([1, -2, -5])
+    })
+  })
+
+  describe('uint32_t', () => {
+    it('will serialize 32-bit unsigned int', () => {
+      const b = Buffer.from([0, -1, -2, -3])
+      SERIALIZERS['uint32_t'](2, b, 0)
+      expect(b).toStrictEqual(Buffer.from([2, 0, 0, 0]))
+    })
+    it('will deserialize 32-bit unsigned int', () => {
+      const b = Buffer.from([2, 0, 0, 0])
+      const result = DESERIALIZERS['uint32_t'](b, 0)
+      expect(result).toBe(2)
+    })
+    it('will serialize array of 32-bit unsigned int', () => {
+      const b = Buffer.from(new Array(12))
+      SERIALIZERS['uint32_t[]']([ 1, 2, 4 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([1, 0, 0, 0, 2, 0, 0, 0, 4, 0, 0, 0]))
+    })
+    it('will deserialize array of 32-bit unsigned int', () => {
+      const b = Buffer.from([1, 0, 0, 0, 2, 0, 0, 0, 5, 0, 0, 0])
+      const result = DESERIALIZERS['uint32_t[]'](b, 0, 3)
+      expect(result).toStrictEqual([1, 2, 5])
+    })
+  })
+
+  describe('int32_t', () => {
+    it('will serialize 32-bit signed int', () => {
+      const b = Buffer.from([0, 0, 0, 0])
+      SERIALIZERS['int32_t'](-2, b, 0)
+      expect(b).toStrictEqual(Buffer.from([254, 255, 255, 255]))
+    })
+    it('will deserialize 32-bit signed int', () => {
+      const b = Buffer.from([254, 255, 255, 255])
+      const result = DESERIALIZERS['int32_t'](b, 0)
+      expect(result).toBe(-2)
+    })
+    it('will serialize array of 32-bit signed int', () => {
+      const b = Buffer.from(new Array(12))
+      SERIALIZERS['int32_t[]']([ 1, -2, -5 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([1, 0, 0, 0, 254, 255, 255, 255, 251, 255, 255, 255]))
+    })
+    it('will deserialize array of 32-bit signed int', () => {
+      const b = Buffer.from([1, 0, 0, 0, 254, 255, 255, 255, 250, 255, 255, 255])
+      const result = DESERIALIZERS['int32_t[]'](b, 0, 3)
+      expect(result).toStrictEqual([1, -2, -6])
+    })
+  })
+
+  describe('float', () => {
+    it('will serialize float', () => {
+      const b = Buffer.from([0, -1, -2, -3])
+      SERIALIZERS['float'](2.5, b, 0)
+      expect(b).toStrictEqual(Buffer.from([0, 0, 32, 64]))
+    })
+    it('will deserialize float', () => {
+      const b = Buffer.from([0, 0, 32, 192])
+      const result = DESERIALIZERS['float'](b, 0)
+      expect(result).toBe(-2.5)
+    })
+    it('will serialize array of floats', () => {
+      const b = Buffer.from(new Array(12))
+      SERIALIZERS['float[]']([ 1, 2, 4 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([0, 0, 128, 63, 0, 0, 0, 64, 0, 0, 128, 64]))
+    })
+    it('will deserialize array of floats', () => {
+      const b = Buffer.from([0, 0, 192, 63, 0, 0, 32, 192, 0, 0, 128, 64])
+      const result = DESERIALIZERS['float[]'](b, 0, 3)
+      expect(result).toStrictEqual([1.5, -2.5, 4])
+    })
+  })
+
+  describe('double', () => {
+    it('will serialize double', () => {
+      const b = Buffer.from([0, -1, -2, -3, -4, -5, -6, -7])
+      SERIALIZERS['double'](2.34, b, 0)
+      expect(b).toStrictEqual(Buffer.from([184, 30, 133, 235, 81, 184, 2, 64]))
+    })
+    it('will deserialize double', () => {
+      const b = Buffer.from([184, 30, 133, 235, 81, 184, 2, 64])
+      const result = DESERIALIZERS['double'](b, 0)
+      expect(result).toBe(2.34)
+    })
+    it('will serialize array of doubles', () => {
+      const b = Buffer.from(new Array(24))
+      SERIALIZERS['double[]']([ 1.5, -2.5, 4 ], b, 0, 3)
+      expect(b).toStrictEqual(Buffer.from([0, 0, 0, 0, 0, 0, 248, 63, 0, 0, 0, 0, 0, 0, 4, 192, 0, 0, 0, 0, 0, 0, 16, 64]))
+    })
+    it('will deserialize array of doubles', () => {
+      const b = Buffer.from([0, 0, 0, 0, 0, 0, 248, 63, 0, 0, 0, 0, 0, 0, 4, 192, 0, 0, 0, 0, 0, 0, 16, 64])
+      const result = DESERIALIZERS['double[]'](b, 0, 3)
+      expect(result).toStrictEqual([1.5, -2.5, 4])
+    })
+  })
+})

package/lib/serialization.ts

@@ -170,7 +170,7 @@ export const DESERIALIZERS = {
   },
   'double[]': (buffer: Buffer, offset: number, length: number) => {
     const result = new Array<number>(length)
-    for (let i = 0; i < length; i++) result[i] = buffer.readFloatLE(offset + i * 8)
+    for (let i = 0; i < length; i++) result[i] = buffer.readDoubleLE(offset + i * 8)
     return result
   },
 }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.0.10-beta.1",
+  "version": "1.0.12",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -26,15 +26,20 @@
   },
   "scripts": {
     "build": "tsc",
-    "test": "cd tests && ./main.ts e2e --input data.mavlink",
-    "prepublishOnly": "rm -rf dist && npm install && npm test && npm run build"
+    "test": "jest",
+    "dev": "jest --watch",
+    "test:e2e": "cd tests && ./main.ts e2e --input data.mavlink",
+    "prepublishOnly": "rm -rf dist && npm install && npm test && npm run test:e2e && npm run build"
   },
   "devDependencies": {
+    "@types/jest": "^27.4.1",
     "@types/node": "^15.14.9",
     "@types/serialport": "^8.0.1",
     "@types/xml2js": "^0.4.8",
     "@types/yargs": "^17.0.8",
+    "jest": "^27.5.1",
     "serialport": "^9.0.7",
+    "ts-jest": "^27.1.4",
     "ts-node": "^9.1.1",
     "typescript": "^4.4.3",
     "wget-improved": "^3.2.1",