node-mavlink 1.0.12 → 1.1.1

package/dist/lib/mavlink.js

@@ -1,689 +1 @@
-"use strict";
-var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
-    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
-    return new (P || (P = Promise))(function (resolve, reject) {
-        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
-        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
-        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
-        step((generator = generator.apply(thisArg, _arguments || [])).next());
-    });
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.sendSigned = exports.send = exports.createMavLinkStream = exports.MavLinkPacketParser = exports.MavLinkPacketSplitter = exports.MavLinkPacket = exports.MavLinkPacketSignature = exports.MavLinkProtocolV2 = exports.MavLinkProtocolV1 = exports.MavLinkProtocol = exports.MavLinkPacketHeader = void 0;
-const stream_1 = require("stream");
-const crypto_1 = require("crypto");
-const mavlink_mappings_1 = require("mavlink-mappings");
-const mavlink_mappings_2 = require("mavlink-mappings");
-const utils_1 = require("./utils");
-const logger_1 = require("./logger");
-const serialization_1 = require("./serialization");
-/**
- * Header definition of the MavLink packet
- */
-class MavLinkPacketHeader {
-    constructor() {
-        this.magic = 0;
-        this.payloadLength = 0;
-        this.incompatibilityFlags = 0;
-        this.compatibilityFlags = 0;
-        this.seq = 0;
-        this.sysid = 0;
-        this.compid = 0;
-        this.msgid = 0;
-    }
-}
-exports.MavLinkPacketHeader = MavLinkPacketHeader;
-/**
- * Base class for protocols
- *
- * Implements common functionality like getting the CRC and deserializing
- * data classes from the given payload buffer
- */
-class MavLinkProtocol {
-    constructor() {
-        this.log = logger_1.Logger.getLogger(this);
-    }
-    /**
-     * Deserialize payload into actual data class
-     */
-    data(payload, clazz) {
-        this.log.trace('Deserializing', clazz.MSG_NAME, 'with payload of size', payload.length);
-        const instance = new clazz();
-        clazz.FIELDS.forEach(field => {
-            const deserialize = serialization_1.DESERIALIZERS[field.type];
-            if (!deserialize) {
-                throw new Error(`Unknown field type ${field.type}`);
-            }
-            instance[field.name] = deserialize(payload, field.offset, field.length);
-        });
-        return instance;
-    }
-}
-exports.MavLinkProtocol = MavLinkProtocol;
-MavLinkProtocol.NAME = 'unknown';
-MavLinkProtocol.START_BYTE = 0;
-MavLinkProtocol.PAYLOAD_OFFSET = 0;
-MavLinkProtocol.CHECKSUM_LENGTH = 2;
-MavLinkProtocol.SYS_ID = 254;
-MavLinkProtocol.COMP_ID = 1;
-/**
- * MavLink Protocol V1
- */
-class MavLinkProtocolV1 extends MavLinkProtocol {
-    constructor(sysid = MavLinkProtocol.SYS_ID, compid = MavLinkProtocol.COMP_ID) {
-        super();
-        this.sysid = sysid;
-        this.compid = compid;
-    }
-    serialize(message, seq) {
-        this.log.trace('Serializing message (seq:', seq, ')');
-        const definition = message.constructor;
-        const buffer = Buffer.from(new Uint8Array(MavLinkProtocolV1.PAYLOAD_OFFSET + definition.PAYLOAD_LENGTH + MavLinkProtocol.CHECKSUM_LENGTH));
-        // serialize header
-        buffer.writeUInt8(MavLinkProtocolV1.START_BYTE, 0);
-        buffer.writeUInt8(definition.PAYLOAD_LENGTH, 1);
-        buffer.writeUInt8(seq, 2);
-        buffer.writeUInt8(this.sysid, 3);
-        buffer.writeUInt8(this.compid, 4);
-        buffer.writeUInt8(definition.MSG_ID, 5);
-        // serialize fields
-        definition.FIELDS.forEach(field => {
-            const serialize = serialization_1.SERIALIZERS[field.type];
-            if (!serialize)
-                throw new Error(`Unknown field type ${field.type}: serializer not found`);
-            serialize(message[field.name], buffer, field.offset + MavLinkProtocolV1.PAYLOAD_OFFSET, field.length);
-        });
-        // serialize checksum
-        const crc = (0, mavlink_mappings_1.x25crc)(buffer, 1, 2, definition.MAGIC_NUMBER);
-        buffer.writeUInt16LE(crc, buffer.length - 2);
-        return buffer;
-    }
-    header(buffer) {
-        this.log.trace('Reading header from buffer (len:', buffer.length, ')');
-        const startByte = buffer.readUInt8(0);
-        if (startByte !== MavLinkProtocolV1.START_BYTE) {
-            throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV1.START_BYTE}, got ${startByte})`);
-        }
-        const result = new MavLinkPacketHeader();
-        result.magic = startByte;
-        result.payloadLength = buffer.readUInt8(1);
-        result.seq = buffer.readUInt8(2);
-        result.sysid = buffer.readUInt8(3);
-        result.compid = buffer.readUInt8(4);
-        result.msgid = buffer.readUInt8(5);
-        return result;
-    }
-    /**
-     * Deserialize packet checksum
-     */
-    crc(buffer) {
-        this.log.trace('Reading crc from buffer (len:', buffer.length, ')');
-        const plen = buffer.readUInt8(1);
-        return buffer.readUInt16LE(MavLinkProtocolV1.PAYLOAD_OFFSET + plen);
-    }
-    payload(buffer) {
-        this.log.trace('Reading payload from buffer (len:', buffer.length, ')');
-        const plen = buffer.readUInt8(1);
-        const payload = buffer.slice(MavLinkProtocolV1.PAYLOAD_OFFSET, MavLinkProtocolV1.PAYLOAD_OFFSET + plen);
-        const padding = Buffer.from(new Uint8Array(255 - payload.length));
-        return Buffer.concat([payload, padding]);
-    }
-}
-exports.MavLinkProtocolV1 = MavLinkProtocolV1;
-MavLinkProtocolV1.NAME = 'MAV_V1';
-MavLinkProtocolV1.START_BYTE = 0xFE;
-MavLinkProtocolV1.PAYLOAD_OFFSET = 6;
-/**
- * MavLink Protocol V2
- */
-class MavLinkProtocolV2 extends MavLinkProtocol {
-    constructor(sysid = MavLinkProtocol.SYS_ID, compid = MavLinkProtocol.COMP_ID, incompatibilityFlags = MavLinkProtocolV2.INCOMPATIBILITY_FLAGS, compatibilityFlags = MavLinkProtocolV2.COMPATIBILITY_FLAGS) {
-        super();
-        this.sysid = sysid;
-        this.compid = compid;
-        this.incompatibilityFlags = incompatibilityFlags;
-        this.compatibilityFlags = compatibilityFlags;
-    }
-    serialize(message, seq) {
-        this.log.trace('Serializing message (seq:', seq, ')');
-        const definition = message.constructor;
-        const buffer = Buffer.from(new Uint8Array(MavLinkProtocolV2.PAYLOAD_OFFSET + definition.PAYLOAD_LENGTH + MavLinkProtocol.CHECKSUM_LENGTH));
-        buffer.writeUInt8(MavLinkProtocolV2.START_BYTE, 0);
-        buffer.writeUInt8(this.incompatibilityFlags, 2);
-        buffer.writeUInt8(this.compatibilityFlags, 3);
-        buffer.writeUInt8(seq, 4);
-        buffer.writeUInt8(this.sysid, 5);
-        buffer.writeUInt8(this.compid, 6);
-        buffer.writeUIntLE(definition.MSG_ID, 7, 3);
-        definition.FIELDS.forEach(field => {
-            const serialize = serialization_1.SERIALIZERS[field.type];
-            if (!serialize)
-                throw new Error(`Unknown field type ${field.type}: serializer not found`);
-            serialize(message[field.name], buffer, field.offset + MavLinkProtocolV2.PAYLOAD_OFFSET, field.length);
-        });
-        // calculate actual truncated payload length
-        const payloadLength = this.calculateTruncatedPayloadLength(buffer);
-        buffer.writeUInt8(payloadLength, 1);
-        // slice out the message buffer
-        const result = buffer.slice(0, MavLinkProtocolV2.PAYLOAD_OFFSET + payloadLength + MavLinkProtocol.CHECKSUM_LENGTH);
-        const crc = (0, mavlink_mappings_1.x25crc)(result, 1, 2, definition.MAGIC_NUMBER);
-        result.writeUInt16LE(crc, result.length - MavLinkProtocol.CHECKSUM_LENGTH);
-        return result;
-    }
-    /**
-     * 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, linkId, key, timestamp = Date.now()) {
-        this.log.trace('Signing message');
-        const result = Buffer.concat([
-            buffer,
-            Buffer.from(new Uint8Array(MavLinkPacketSignature.SIGNATURE_LENGTH))
-        ]);
-        const signer = new MavLinkPacketSignature(result);
-        signer.linkId = linkId;
-        signer.timestamp = timestamp;
-        signer.signature = signer.calculate(key);
-        return result;
-    }
-    calculateTruncatedPayloadLength(buffer) {
-        let result = buffer.length;
-        for (let i = buffer.length - MavLinkProtocol.CHECKSUM_LENGTH - 1; i >= MavLinkProtocolV2.PAYLOAD_OFFSET; i--) {
-            result = i;
-            if (buffer[i] !== 0) {
-                result++;
-                break;
-            }
-        }
-        return result - MavLinkProtocolV2.PAYLOAD_OFFSET;
-    }
-    header(buffer) {
-        this.log.trace('Reading header from buffer (len:', buffer.length, ')');
-        const startByte = buffer.readUInt8(0);
-        if (startByte !== MavLinkProtocolV2.START_BYTE) {
-            throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV2.START_BYTE}, got ${startByte})`);
-        }
-        const result = new MavLinkPacketHeader();
-        result.magic = startByte;
-        result.payloadLength = buffer.readUInt8(1);
-        result.incompatibilityFlags = buffer.readUInt8(2);
-        result.compatibilityFlags = buffer.readUInt8(3);
-        result.seq = buffer.readUInt8(4);
-        result.sysid = buffer.readUInt8(5);
-        result.compid = buffer.readUInt8(6);
-        result.msgid = buffer.readUIntLE(7, 3);
-        return result;
-    }
-    /**
-     * Deserialize packet checksum
-     */
-    crc(buffer) {
-        this.log.trace('Reading crc from buffer (len:', buffer.length, ')');
-        const plen = buffer.readUInt8(1);
-        return buffer.readUInt16LE(MavLinkProtocolV2.PAYLOAD_OFFSET + plen);
-    }
-    payload(buffer) {
-        this.log.trace('Reading payload from buffer (len:', buffer.length, ')');
-        const plen = buffer.readUInt8(1);
-        const payload = buffer.slice(MavLinkProtocolV2.PAYLOAD_OFFSET, MavLinkProtocolV2.PAYLOAD_OFFSET + plen);
-        const padding = Buffer.from(new Uint8Array(255 - payload.length));
-        return Buffer.concat([payload, padding]);
-    }
-    signature(buffer, header) {
-        this.log.trace('Reading signature from buffer (len:', buffer.length, ')');
-        if (header.incompatibilityFlags & MavLinkProtocolV2.IFLAG_SIGNED) {
-            return new MavLinkPacketSignature(buffer);
-        }
-        else {
-            return null;
-        }
-    }
-}
-exports.MavLinkProtocolV2 = MavLinkProtocolV2;
-MavLinkProtocolV2.NAME = 'MAV_V2';
-MavLinkProtocolV2.START_BYTE = 0xFD;
-MavLinkProtocolV2.PAYLOAD_OFFSET = 10;
-MavLinkProtocolV2.INCOMPATIBILITY_FLAGS = 0;
-MavLinkProtocolV2.COMPATIBILITY_FLAGS = 0;
-MavLinkProtocolV2.IFLAG_SIGNED = 0x01;
-/**
- * Registry of known protocols by STX
- */
-const KNOWN_PROTOCOLS_BY_STX = {
-    [MavLinkProtocolV1.START_BYTE]: MavLinkProtocolV1,
-    [MavLinkProtocolV2.START_BYTE]: MavLinkProtocolV2,
-};
-/**
- * MavLink packet signature definition
- */
-class MavLinkPacketSignature {
-    constructor(buffer) {
-        this.buffer = buffer;
-    }
-    /**
-     * Calculate key based on secret passphrase
-     *
-     * @param passphrase secret to generate the key
-     * @returns key as a buffer
-     */
-    static key(passphrase) {
-        return (0, crypto_1.createHash)('sha256')
-            .update(passphrase)
-            .digest();
-    }
-    get offset() {
-        return this.buffer.length - MavLinkPacketSignature.SIGNATURE_LENGTH;
-    }
-    /**
-     * Get the linkId from signature
-     */
-    get linkId() {
-        return this.buffer.readUInt8(this.offset);
-    }
-    /**
-     * Set the linkId in signature
-     */
-    set linkId(value) {
-        this.buffer.writeUInt8(this.offset);
-    }
-    /**
-     * Get the timestamp from signature
-     */
-    get timestamp() {
-        return this.buffer.readUIntLE(this.offset + 1, 6);
-    }
-    /**
-     * Set the linkId in signature
-     */
-    set timestamp(value) {
-        this.buffer.writeUIntLE(value, this.offset + 1, 6);
-    }
-    /**
-     * Get the signature from signature
-     */
-    get signature() {
-        return this.buffer.slice(this.offset + 7, this.offset + 7 + 6).toString('hex');
-    }
-    /**
-     * Set the signature in signature
-     */
-    set signature(value) {
-        this.buffer.write(value, this.offset + 7, 'hex');
-    }
-    /**
-     * 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) {
-        const hash = (0, crypto_1.createHash)('sha256')
-            .update(key)
-            .update(this.buffer.slice(0, this.buffer.length - 6))
-            .digest('hex')
-            .substr(0, 12);
-        return hash;
-    }
-    /**
-     * 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) {
-        return this.calculate(key) === this.signature;
-    }
-    toString() {
-        return `linkid: ${this.linkId}, timestamp ${this.timestamp}, signature ${this.signature}`;
-    }
-}
-exports.MavLinkPacketSignature = MavLinkPacketSignature;
-MavLinkPacketSignature.SIGNATURE_LENGTH = 13;
-/**
- * MavLink packet definition
- */
-class MavLinkPacket {
-    constructor(buffer, header = new MavLinkPacketHeader(), payload = Buffer.from(new Uint8Array(255)), crc = 0, protocol = new MavLinkProtocolV1(), signature = null) {
-        this.buffer = buffer;
-        this.header = header;
-        this.payload = payload;
-        this.crc = crc;
-        this.protocol = protocol;
-        this.signature = signature;
-    }
-    /**
-     * Debug information about the packet
-     *
-     * @returns string representing debug information about a packet
-     */
-    debug() {
-        return 'Packet ('
-            + `proto: ${this.protocol.constructor['NAME']}, `
-            + `sysid: ${this.header.sysid}, `
-            + `compid: ${this.header.compid}, `
-            + `msgid: ${this.header.msgid}, `
-            + `seq: ${this.header.seq}, `
-            + `plen: ${this.header.payloadLength}, `
-            + `magic: ${mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${(0, utils_1.hex)(mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid])}), `
-            + `crc: ${(0, utils_1.hex)(this.crc, 4)}`
-            + this.signatureToString(this.signature)
-            + ')';
-    }
-    signatureToString(signature) {
-        return signature ? `, ${signature.toString()}` : '';
-    }
-}
-exports.MavLinkPacket = MavLinkPacket;
-/**
- * This enum describes the different ways validation of a buffer can end
- */
-var PacketValidationResult;
-(function (PacketValidationResult) {
-    PacketValidationResult[PacketValidationResult["VALID"] = 0] = "VALID";
-    PacketValidationResult[PacketValidationResult["INVALID"] = 1] = "INVALID";
-    PacketValidationResult[PacketValidationResult["UNKNOWN"] = 2] = "UNKNOWN";
-})(PacketValidationResult || (PacketValidationResult = {}));
-/**
- * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
- */
-class MavLinkPacketSplitter extends stream_1.Transform {
-    /**
-     * @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 = () => { }) {
-        super(opts);
-        this.log = logger_1.Logger.getLogger(this);
-        this.buffer = Buffer.from([]);
-        this.onCrcError = null;
-        this._validPackagesCount = 0;
-        this._unknownPackagesCount = 0;
-        this._invalidPackagesCount = 0;
-        this.onCrcError = onCrcError;
-    }
-    _transform(chunk, encoding, callback) {
-        this.buffer = Buffer.concat([this.buffer, chunk]);
-        while (this.buffer.byteLength > 0) {
-            const offset = this.findStartOfPacket(this.buffer);
-            if (offset === null) {
-                // start of the package was not found - need more data
-                break;
-            }
-            // fast-forward the buffer to the first start byte
-            if (offset > 0) {
-                this.buffer = this.buffer.slice(offset);
-            }
-            this.log.debug('Found potential packet start at', offset);
-            // get protocol this buffer is encoded with
-            const Protocol = this.getPacketProtocol(this.buffer);
-            this.log.debug('Packet protocol is', Protocol.NAME);
-            // check if the buffer contains at least the minumum size of data
-            if (this.buffer.length < Protocol.PAYLOAD_OFFSET + MavLinkProtocol.CHECKSUM_LENGTH) {
-                // current buffer shorter than the shortest message - skipping
-                this.log.debug('Current buffer shorter than the shortest message - skipping');
-                break;
-            }
-            // check if the current buffer contains the entire message
-            const expectedBufferLength = this.readPacketLength(this.buffer, Protocol);
-            this.log.debug('Expected buffer length:', expectedBufferLength, `(${(0, utils_1.hex)(expectedBufferLength)})`);
-            if (this.buffer.length < expectedBufferLength) {
-                // current buffer is not fully retrieved yet - skipping
-                this.log.debug('Current buffer is not fully retrieved yet - skipping');
-                break;
-            }
-            else {
-                this.log.debug('Current buffer length:', this.buffer.length, `(${(0, utils_1.hex)(this.buffer.length, 4)})`);
-            }
-            // retrieve the buffer based on payload size
-            const buffer = this.buffer.slice(0, expectedBufferLength);
-            this.log.debug('Recognized buffer length:', buffer.length, `(${(0, utils_1.hex)(buffer.length, 2)})`);
-            switch (this.validatePacket(buffer, Protocol)) {
-                case PacketValidationResult.VALID:
-                    this.log.debug('Found a valid packet');
-                    this._validPackagesCount++;
-                    this.push(buffer);
-                    // truncate the buffer to remove the current message
-                    this.buffer = this.buffer.slice(expectedBufferLength);
-                    break;
-                case PacketValidationResult.INVALID:
-                    this.log.debug('Found an invalid packet - skipping');
-                    this._invalidPackagesCount++;
-                    // truncate the buffer to remove the wrongly identified STX
-                    this.buffer = this.buffer.slice(1);
-                    break;
-                case PacketValidationResult.UNKNOWN:
-                    this.log.debug('Found an unknown packet - skipping');
-                    this._unknownPackagesCount++;
-                    // truncate the buffer to remove the current message
-                    this.buffer = this.buffer.slice(expectedBufferLength);
-                    break;
-            }
-        }
-        callback(null);
-    }
-    findStartOfPacket(buffer) {
-        const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE);
-        const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE);
-        if (stxv1 >= 0 && stxv2 >= 0) {
-            // in the current buffer both STX v1 and v2 are found - get the first one
-            if (stxv1 < stxv2) {
-                return stxv1;
-            }
-            else {
-                return stxv2;
-            }
-        }
-        else if (stxv1 >= 0) {
-            // in the current buffer STX v1 is found
-            return stxv1;
-        }
-        else if (stxv2 >= 0) {
-            // in the current buffer STX v2 is found
-            return stxv2;
-        }
-        else {
-            // no STX found
-            return null;
-        }
-    }
-    getPacketProtocol(buffer) {
-        return KNOWN_PROTOCOLS_BY_STX[buffer.readUInt8(0)] || null;
-    }
-    readPacketLength(buffer, Protocol) {
-        // check if the current buffer contains the entire message
-        const payloadLength = buffer.readUInt8(1);
-        return Protocol.PAYLOAD_OFFSET
-            + payloadLength
-            + MavLinkProtocol.CHECKSUM_LENGTH
-            + (this.isV2Signed(buffer) ? MavLinkPacketSignature.SIGNATURE_LENGTH : 0);
-    }
-    validatePacket(buffer, Protocol) {
-        const protocol = new Protocol();
-        const header = protocol.header(buffer);
-        const magic = mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[header.msgid];
-        if (magic) {
-            const crc = protocol.crc(buffer);
-            const trim = this.isV2Signed(buffer)
-                ? MavLinkPacketSignature.SIGNATURE_LENGTH + MavLinkProtocol.CHECKSUM_LENGTH
-                : MavLinkProtocol.CHECKSUM_LENGTH;
-            const crc2 = (0, mavlink_mappings_1.x25crc)(buffer, 1, trim, magic);
-            if (crc === crc2) {
-                // this is a proper message that is known and has been validated for corrupted data
-                return PacketValidationResult.VALID;
-            }
-            else {
-                // CRC mismatch
-                const message = [
-                    `CRC error; expected: ${crc2} (${(0, utils_1.hex)(crc2, 4)}), got ${crc} (${(0, utils_1.hex)(crc, 4)});`,
-                    `msgid: ${header.msgid} (${(0, utils_1.hex)(header.msgid)}),`,
-                    `seq: ${header.seq} (${(0, utils_1.hex)(header.seq)}),`,
-                    `plen: ${header.payloadLength} (${(0, utils_1.hex)(header.payloadLength)}),`,
-                    `magic: ${magic} (${(0, utils_1.hex)(magic)})`,
-                ];
-                this.log.warn(message.join(' '));
-                this.onCrcError(buffer);
-                return PacketValidationResult.INVALID;
-            }
-        }
-        else {
-            // unknown message (as in not generated from the XML sources)
-            this.log.debug(`Unknown message with id ${header.msgid} (magic number not found) - skipping`);
-            return PacketValidationResult.UNKNOWN;
-        }
-    }
-    /**
-     * Checks if the buffer contains the entire message with signature
-     *
-     * @param buffer buffer with the message
-     */
-    isV2Signed(buffer) {
-        const protocol = buffer.readUInt8(0);
-        if (protocol === MavLinkProtocolV2.START_BYTE) {
-            const flags = buffer.readUInt8(2);
-            return !!(flags & MavLinkProtocolV2.IFLAG_SIGNED);
-        }
-    }
-    /**
-     * Number of invalid packages
-     */
-    get validPackages() {
-        return this._validPackagesCount;
-    }
-    /**
-     * Reset the number of valid packages
-     */
-    resetValidPackagesCount() {
-        this._validPackagesCount = 0;
-    }
-    /**
-     * Number of invalid packages
-     */
-    get invalidPackages() {
-        return this._invalidPackagesCount;
-    }
-    /**
-     * Reset the number of invalid packages
-     */
-    resetInvalidPackagesCount() {
-        this._invalidPackagesCount = 0;
-    }
-    /**
-     * Number of invalid packages
-     */
-    get unknownPackagesCount() {
-        return this._unknownPackagesCount;
-    }
-    /**
-     * Reset the number of invalid packages
-     */
-    resetUnknownPackagesCount() {
-        this._unknownPackagesCount = 0;
-    }
-}
-exports.MavLinkPacketSplitter = MavLinkPacketSplitter;
-/**
- * A transform stream that takes a buffer with data and converts it to MavLinkPacket object
- */
-class MavLinkPacketParser extends stream_1.Transform {
-    constructor(opts = {}) {
-        super(Object.assign(Object.assign({}, opts), { objectMode: true }));
-        this.log = logger_1.Logger.getLogger(this);
-    }
-    getProtocol(buffer) {
-        const startByte = buffer.readUInt8(0);
-        switch (startByte) {
-            case MavLinkProtocolV1.START_BYTE:
-                return new MavLinkProtocolV1();
-            case MavLinkProtocolV2.START_BYTE:
-                return new MavLinkProtocolV2();
-            default:
-                throw new Error(`Unknown protocol '${(0, utils_1.hex)(startByte)}'`);
-        }
-    }
-    _transform(chunk, encoding, callback) {
-        const protocol = this.getProtocol(chunk);
-        const header = protocol.header(chunk);
-        const payload = protocol.payload(chunk);
-        const crc = protocol.crc(chunk);
-        const signature = protocol instanceof MavLinkProtocolV2
-            ? protocol.signature(chunk, header)
-            : null;
-        const packet = new MavLinkPacket(chunk, header, payload, crc, protocol, signature);
-        callback(null, packet);
-    }
-}
-exports.MavLinkPacketParser = MavLinkPacketParser;
-/**
- * Creates a MavLink packet stream reader that is reading packets from the given input
- *
- * @param input input stream to read from
- */
-function createMavLinkStream(input, onCrcError) {
-    return input
-        .pipe(new MavLinkPacketSplitter({}, onCrcError))
-        .pipe(new MavLinkPacketParser());
-}
-exports.createMavLinkStream = createMavLinkStream;
-let seq = 0;
-/**
- * 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
- */
-function send(stream, msg, protocol = new MavLinkProtocolV1()) {
-    return __awaiter(this, void 0, void 0, function* () {
-        return new Promise((resolve, reject) => {
-            const buffer = protocol.serialize(msg, seq++);
-            seq &= 255;
-            stream.write(buffer, err => {
-                if (err)
-                    reject(err);
-                else
-                    resolve(buffer.length);
-            });
-        });
-    });
-}
-exports.send = send;
-/**
- * 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
- */
-function sendSigned(stream, msg, key, linkId = 1, sysid = MavLinkProtocol.SYS_ID, compid = MavLinkProtocol.COMP_ID, timestamp = Date.now()) {
-    return __awaiter(this, void 0, void 0, function* () {
-        return new Promise((resolve, reject) => {
-            const protocol = new MavLinkProtocolV2(sysid, compid, MavLinkProtocolV2.IFLAG_SIGNED);
-            const b1 = protocol.serialize(msg, seq++);
-            seq &= 255;
-            const b2 = protocol.sign(b1, linkId, key, timestamp);
-            stream.write(b2, err => {
-                if (err)
-                    reject(err);
-                else
-                    resolve(b2.length);
-            });
-        });
-    });
-}
-exports.sendSigned = sendSigned;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.sendSigned=exports.send=exports.createMavLinkStream=exports.MavLinkPacketParser=exports.MavLinkPacketSplitter=exports.MavLinkPacket=exports.MavLinkPacketSignature=exports.MavLinkProtocolV2=exports.MavLinkProtocolV1=exports.MavLinkProtocol=exports.MavLinkPacketHeader=void 0;const stream_1=require("stream"),crypto_1=require("crypto"),mavlink_mappings_1=require("mavlink-mappings"),mavlink_mappings_2=require("mavlink-mappings"),utils_1=require("./utils"),logger_1=require("./logger"),serialization_1=require("./serialization");class MavLinkPacketHeader{constructor(){this.magic=0,this.payloadLength=0,this.incompatibilityFlags=0,this.compatibilityFlags=0,this.seq=0,this.sysid=0,this.compid=0,this.msgid=0}}exports.MavLinkPacketHeader=MavLinkPacketHeader;class MavLinkProtocol{constructor(){this.log=logger_1.Logger.getLogger(this)}data(t,n){this.log.trace("Deserializing",n.MSG_NAME,"with payload of size",t.length);const e=new n;return n.FIELDS.forEach(s=>{const i=serialization_1.DESERIALIZERS[s.type];if(!i)throw new Error(`Unknown field type ${s.type}`);e[s.name]=i(t,s.offset,s.length)}),e}}exports.MavLinkProtocol=MavLinkProtocol,MavLinkProtocol.NAME="unknown",MavLinkProtocol.START_BYTE=0,MavLinkProtocol.PAYLOAD_OFFSET=0,MavLinkProtocol.CHECKSUM_LENGTH=2,MavLinkProtocol.SYS_ID=254,MavLinkProtocol.COMP_ID=1;class MavLinkProtocolV1 extends MavLinkProtocol{constructor(t=MavLinkProtocol.SYS_ID,n=MavLinkProtocol.COMP_ID){super(),this.sysid=t,this.compid=n}serialize(t,n){this.log.trace("Serializing message (seq:",n,")");const e=t.constructor,s=Buffer.from(new Uint8Array(MavLinkProtocolV1.PAYLOAD_OFFSET+e.PAYLOAD_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH));s.writeUInt8(MavLinkProtocolV1.START_BYTE,0),s.writeUInt8(e.PAYLOAD_LENGTH,1),s.writeUInt8(n,2),s.writeUInt8(this.sysid,3),s.writeUInt8(this.compid,4),s.writeUInt8(e.MSG_ID,5),e.FIELDS.forEach(r=>{const o=serialization_1.SERIALIZERS[r.type];if(!o)throw new Error(`Unknown field type ${r.type}: serializer not found`);o(t[r.name],s,r.offset+MavLinkProtocolV1.PAYLOAD_OFFSET,r.length)});const i=(0,mavlink_mappings_1.x25crc)(s,1,2,e.MAGIC_NUMBER);return s.writeUInt16LE(i,s.length-2),s}header(t){this.log.trace("Reading header from buffer (len:",t.length,")");const n=t.readUInt8(0);if(n!==MavLinkProtocolV1.START_BYTE)throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV1.START_BYTE}, got ${n})`);const e=new MavLinkPacketHeader;return e.magic=n,e.payloadLength=t.readUInt8(1),e.seq=t.readUInt8(2),e.sysid=t.readUInt8(3),e.compid=t.readUInt8(4),e.msgid=t.readUInt8(5),e}crc(t){this.log.trace("Reading crc from buffer (len:",t.length,")");const n=t.readUInt8(1);return t.readUInt16LE(MavLinkProtocolV1.PAYLOAD_OFFSET+n)}payload(t){this.log.trace("Reading payload from buffer (len:",t.length,")");const n=t.readUInt8(1),e=t.slice(MavLinkProtocolV1.PAYLOAD_OFFSET,MavLinkProtocolV1.PAYLOAD_OFFSET+n),s=Buffer.from(new Uint8Array(255-e.length));return Buffer.concat([e,s])}}exports.MavLinkProtocolV1=MavLinkProtocolV1,MavLinkProtocolV1.NAME="MAV_V1",MavLinkProtocolV1.START_BYTE=254,MavLinkProtocolV1.PAYLOAD_OFFSET=6;class MavLinkProtocolV2 extends MavLinkProtocol{constructor(t=MavLinkProtocol.SYS_ID,n=MavLinkProtocol.COMP_ID,e=MavLinkProtocolV2.INCOMPATIBILITY_FLAGS,s=MavLinkProtocolV2.COMPATIBILITY_FLAGS){super(),this.sysid=t,this.compid=n,this.incompatibilityFlags=e,this.compatibilityFlags=s}serialize(t,n){this.log.trace("Serializing message (seq:",n,")");const e=t.constructor,s=Buffer.from(new Uint8Array(MavLinkProtocolV2.PAYLOAD_OFFSET+e.PAYLOAD_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH));s.writeUInt8(MavLinkProtocolV2.START_BYTE,0),s.writeUInt8(this.incompatibilityFlags,2),s.writeUInt8(this.compatibilityFlags,3),s.writeUInt8(n,4),s.writeUInt8(this.sysid,5),s.writeUInt8(this.compid,6),s.writeUIntLE(e.MSG_ID,7,3),e.FIELDS.forEach(c=>{const h=serialization_1.SERIALIZERS[c.type];if(!h)throw new Error(`Unknown field type ${c.type}: serializer not found`);h(t[c.name],s,c.offset+MavLinkProtocolV2.PAYLOAD_OFFSET,c.length)});const i=this.calculateTruncatedPayloadLength(s);s.writeUInt8(i,1);const r=s.slice(0,MavLinkProtocolV2.PAYLOAD_OFFSET+i+MavLinkProtocol.CHECKSUM_LENGTH),o=(0,mavlink_mappings_1.x25crc)(r,1,2,e.MAGIC_NUMBER);return r.writeUInt16LE(o,r.length-MavLinkProtocol.CHECKSUM_LENGTH),r}sign(t,n,e,s=Date.now()){this.log.trace("Signing message");const i=Buffer.concat([t,Buffer.from(new Uint8Array(MavLinkPacketSignature.SIGNATURE_LENGTH))]),r=new MavLinkPacketSignature(i);return r.linkId=n,r.timestamp=s,r.signature=r.calculate(e),i}calculateTruncatedPayloadLength(t){let n=t.length;for(let e=t.length-MavLinkProtocol.CHECKSUM_LENGTH-1;e>=MavLinkProtocolV2.PAYLOAD_OFFSET;e--)if(n=e,t[e]!==0){n++;break}return n-MavLinkProtocolV2.PAYLOAD_OFFSET}header(t){this.log.trace("Reading header from buffer (len:",t.length,")");const n=t.readUInt8(0);if(n!==MavLinkProtocolV2.START_BYTE)throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV2.START_BYTE}, got ${n})`);const e=new MavLinkPacketHeader;return e.magic=n,e.payloadLength=t.readUInt8(1),e.incompatibilityFlags=t.readUInt8(2),e.compatibilityFlags=t.readUInt8(3),e.seq=t.readUInt8(4),e.sysid=t.readUInt8(5),e.compid=t.readUInt8(6),e.msgid=t.readUIntLE(7,3),e}crc(t){this.log.trace("Reading crc from buffer (len:",t.length,")");const n=t.readUInt8(1);return t.readUInt16LE(MavLinkProtocolV2.PAYLOAD_OFFSET+n)}payload(t){this.log.trace("Reading payload from buffer (len:",t.length,")");const n=t.readUInt8(1),e=t.slice(MavLinkProtocolV2.PAYLOAD_OFFSET,MavLinkProtocolV2.PAYLOAD_OFFSET+n),s=Buffer.from(new Uint8Array(255-e.length));return Buffer.concat([e,s])}signature(t,n){return this.log.trace("Reading signature from buffer (len:",t.length,")"),n.incompatibilityFlags&MavLinkProtocolV2.IFLAG_SIGNED?new MavLinkPacketSignature(t):null}}exports.MavLinkProtocolV2=MavLinkProtocolV2,MavLinkProtocolV2.NAME="MAV_V2",MavLinkProtocolV2.START_BYTE=253,MavLinkProtocolV2.PAYLOAD_OFFSET=10,MavLinkProtocolV2.INCOMPATIBILITY_FLAGS=0,MavLinkProtocolV2.COMPATIBILITY_FLAGS=0,MavLinkProtocolV2.IFLAG_SIGNED=1;const KNOWN_PROTOCOLS_BY_STX={[MavLinkProtocolV1.START_BYTE]:MavLinkProtocolV1,[MavLinkProtocolV2.START_BYTE]:MavLinkProtocolV2};class MavLinkPacketSignature{constructor(t){this.buffer=t}static key(t){return(0,crypto_1.createHash)("sha256").update(t).digest()}get offset(){return this.buffer.length-MavLinkPacketSignature.SIGNATURE_LENGTH}get linkId(){return this.buffer.readUInt8(this.offset)}set linkId(t){this.buffer.writeUInt8(this.offset)}get timestamp(){return this.buffer.readUIntLE(this.offset+1,6)}set timestamp(t){this.buffer.writeUIntLE(t,this.offset+1,6)}get signature(){return this.buffer.slice(this.offset+7,this.offset+7+6).toString("hex")}set signature(t){this.buffer.write(t,this.offset+7,"hex")}calculate(t){return(0,crypto_1.createHash)("sha256").update(t).update(this.buffer.slice(0,this.buffer.length-6)).digest("hex").substr(0,12)}matches(t){return this.calculate(t)===this.signature}toString(){return`linkid: ${this.linkId}, timestamp ${this.timestamp}, signature ${this.signature}`}}exports.MavLinkPacketSignature=MavLinkPacketSignature,MavLinkPacketSignature.SIGNATURE_LENGTH=13;class MavLinkPacket{constructor(t,n=new MavLinkPacketHeader,e=Buffer.from(new Uint8Array(255)),s=0,i=new MavLinkProtocolV1,r=null){this.buffer=t,this.header=n,this.payload=e,this.crc=s,this.protocol=i,this.signature=r}debug(){return`Packet (proto: ${this.protocol.constructor.NAME}, sysid: ${this.header.sysid}, compid: ${this.header.compid}, msgid: ${this.header.msgid}, seq: ${this.header.seq}, plen: ${this.header.payloadLength}, magic: ${mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${(0,utils_1.hex)(mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid])}), crc: ${(0,utils_1.hex)(this.crc,4)}`+this.signatureToString(this.signature)+")"}signatureToString(t){return t?`, ${t.toString()}`:""}}exports.MavLinkPacket=MavLinkPacket;var PacketValidationResult;(function(a){a[a.VALID=0]="VALID",a[a.INVALID=1]="INVALID",a[a.UNKNOWN=2]="UNKNOWN"})(PacketValidationResult||(PacketValidationResult={}));class MavLinkPacketSplitter extends stream_1.Transform{constructor(t={},n=()=>{}){super(t),this.log=logger_1.Logger.getLogger(this),this.buffer=Buffer.from([]),this.onCrcError=null,this._validPackagesCount=0,this._unknownPackagesCount=0,this._invalidPackagesCount=0,this.onCrcError=n}_transform(t,n,e){for(this.buffer=Buffer.concat([this.buffer,t]);this.buffer.byteLength>0;){const s=this.findStartOfPacket(this.buffer);if(s===null)break;s>0&&(this.buffer=this.buffer.slice(s)),this.log.debug("Found potential packet start at",s);const i=this.getPacketProtocol(this.buffer);if(this.log.debug("Packet protocol is",i.NAME),this.buffer.length<i.PAYLOAD_OFFSET+MavLinkProtocol.CHECKSUM_LENGTH){this.log.debug("Current buffer shorter than the shortest message - skipping");break}const r=this.readPacketLength(this.buffer,i);if(this.log.debug("Expected buffer length:",r,`(${(0,utils_1.hex)(r)})`),this.buffer.length<r){this.log.debug("Current buffer is not fully retrieved yet - skipping");break}else this.log.debug("Current buffer length:",this.buffer.length,`(${(0,utils_1.hex)(this.buffer.length,4)})`);const o=this.buffer.slice(0,r);switch(this.log.debug("Recognized buffer length:",o.length,`(${(0,utils_1.hex)(o.length,2)})`),this.validatePacket(o,i)){case PacketValidationResult.VALID:this.log.debug("Found a valid packet"),this._validPackagesCount++,this.push(o),this.buffer=this.buffer.slice(r);break;case PacketValidationResult.INVALID:this.log.debug("Found an invalid packet - skipping"),this._invalidPackagesCount++,this.buffer=this.buffer.slice(1);break;case PacketValidationResult.UNKNOWN:this.log.debug("Found an unknown packet - skipping"),this._unknownPackagesCount++,this.buffer=this.buffer.slice(r);break}}e(null)}findStartOfPacket(t){const n=t.indexOf(MavLinkProtocolV1.START_BYTE),e=t.indexOf(MavLinkProtocolV2.START_BYTE);return n>=0&&e>=0?n<e?n:e:n>=0?n:e>=0?e:null}getPacketProtocol(t){return KNOWN_PROTOCOLS_BY_STX[t.readUInt8(0)]||null}readPacketLength(t,n){const e=t.readUInt8(1);return n.PAYLOAD_OFFSET+e+MavLinkProtocol.CHECKSUM_LENGTH+(this.isV2Signed(t)?MavLinkPacketSignature.SIGNATURE_LENGTH:0)}validatePacket(t,n){const e=new n,s=e.header(t),i=mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[s.msgid];if(i){const r=e.crc(t),o=this.isV2Signed(t)?MavLinkPacketSignature.SIGNATURE_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH:MavLinkProtocol.CHECKSUM_LENGTH,c=(0,mavlink_mappings_1.x25crc)(t,1,o,i);if(r===c)return PacketValidationResult.VALID;{const h=[`CRC error; expected: ${c} (${(0,utils_1.hex)(c,4)}), got ${r} (${(0,utils_1.hex)(r,4)});`,`msgid: ${s.msgid} (${(0,utils_1.hex)(s.msgid)}),`,`seq: ${s.seq} (${(0,utils_1.hex)(s.seq)}),`,`plen: ${s.payloadLength} (${(0,utils_1.hex)(s.payloadLength)}),`,`magic: ${i} (${(0,utils_1.hex)(i)})`];return this.log.warn(h.join(" ")),this.onCrcError(t),PacketValidationResult.INVALID}}else return this.log.debug(`Unknown message with id ${s.msgid} (magic number not found) - skipping`),PacketValidationResult.UNKNOWN}isV2Signed(t){if(t.readUInt8(0)===MavLinkProtocolV2.START_BYTE)return!!(t.readUInt8(2)&MavLinkProtocolV2.IFLAG_SIGNED)}get validPackages(){return this._validPackagesCount}resetValidPackagesCount(){this._validPackagesCount=0}get invalidPackages(){return this._invalidPackagesCount}resetInvalidPackagesCount(){this._invalidPackagesCount=0}get unknownPackagesCount(){return this._unknownPackagesCount}resetUnknownPackagesCount(){this._unknownPackagesCount=0}}exports.MavLinkPacketSplitter=MavLinkPacketSplitter;class MavLinkPacketParser extends stream_1.Transform{constructor(t={}){super({...t,objectMode:!0}),this.log=logger_1.Logger.getLogger(this)}getProtocol(t){const n=t.readUInt8(0);switch(n){case MavLinkProtocolV1.START_BYTE:return new MavLinkProtocolV1;case MavLinkProtocolV2.START_BYTE:return new MavLinkProtocolV2;default:throw new Error(`Unknown protocol '${(0,utils_1.hex)(n)}'`)}}_transform(t,n,e){const s=this.getProtocol(t),i=s.header(t),r=s.payload(t),o=s.crc(t),c=s instanceof MavLinkProtocolV2?s.signature(t,i):null,h=new MavLinkPacket(t,i,r,o,s,c);e(null,h)}}exports.MavLinkPacketParser=MavLinkPacketParser;function createMavLinkStream(a,t){return a.pipe(new MavLinkPacketSplitter({},t)).pipe(new MavLinkPacketParser)}exports.createMavLinkStream=createMavLinkStream;let seq=0;async function send(a,t,n=new MavLinkProtocolV1){return new Promise((e,s)=>{const i=n.serialize(t,seq++);seq&=255,a.write(i,r=>{r?s(r):e(i.length)})})}exports.send=send;async function sendSigned(a,t,n,e=1,s=MavLinkProtocol.SYS_ID,i=MavLinkProtocol.COMP_ID,r=Date.now()){return new Promise((o,c)=>{const h=new MavLinkProtocolV2(s,i,MavLinkProtocolV2.IFLAG_SIGNED),d=h.serialize(t,seq++);seq&=255;const g=h.sign(d,e,n,r);a.write(g,l=>{l?c(l):o(g.length)})})}exports.sendSigned=sendSigned;