node-mavlink 1.0.13 → 1.1.0

package/README.md

@@ -19,11 +19,11 @@ $ npm install --save node-mavlink serialport
 Once you've done it you can start using it. First you'll need a serial port that can parse messages one by one. Please note that since we're using ECMAScript modules the file name should end with `.mjs` extension (e.g. `test.mjs`)
 
 ```javascript
-import SerialPort from 'serialport'
+import { SerialPort } from 'serialport'
 import { MavLinkPacketSplitter, MavLinkPacketParser } from 'node-mavlink'
 
 // substitute /dev/ttyACM0 with your serial port!
-const port = new SerialPort('/dev/ttyACM0')
+const port = new SerialPort({ path: '/dev/ttyACM0', baudRate: 115200 })
 
 // constructing a reader that will emit each packet separately
 const reader = port
@@ -41,18 +41,15 @@ Each message consists of multiple fields that contain specific data. Parsing the
 
 ```javascript
 import {
-  minimal, common, ardupilotmega, uavionix, icarous, asluav, ualberta
+  MavLinkPacketRegistry,
+  minimal, common, ardupilotmega
 } from 'node-mavlink'
 
 // create a registry of mappings between a message id and a data class
-const REGISTRY = {
+const REGISTRY: MavLinkPacketRegistry = {
   ...minimal.REGISTRY,
   ...common.REGISTRY,
   ...ardupilotmega.REGISTRY,
-  ...uavionix.REGISTRY,
-  ...icarous.REGISTRY,
-  ...asluav.REGISTRY,
-  ...ualberta.REGISTRY,
 }
 
 reader.on('data', packet => {

package/examples/send-receive-file.ts

@@ -7,14 +7,10 @@ import {
   asluav, development, ualberta,
 } from '..'
 
-const file = createReadStream('./GH-5.bin')
-
 const splitter = new MavLinkPacketSplitter()
-
-const reader = file
-  .pipe(splitter)
-  .pipe(new MavLinkPacketParser())
-
+const parser = new MavLinkPacketParser()
+const file = createReadStream('./GH-5.bin')
+const reader = file.pipe(splitter).pipe(parser)
 
 // create a registry of mappings between a message id and a data class
 const REGISTRY = {
@@ -41,4 +37,3 @@ file.on('close', () => {
   console.log('Number of unknown packages:', splitter.unknownPackagesCount)
   console.log('\nTotal number of consumed packets:', splitter.validPackages)
 })
-

package/examples/send-receive-serial.ts

@@ -1,12 +1,18 @@
 #!/usr/bin/env -S npx ts-node
 
-import * as SerialPort from 'serialport'
-import { MavLinkPacketSplitter, MavLinkPacketParser, MavLinkPacket } from '..'
-import { common, waitFor, send } from '..'
+import { SerialPort } from 'serialport'
+import { MavLinkPacketRegistry, MavLinkPacketSplitter, MavLinkPacketParser, MavLinkPacket } from '..'
+import { minimal, common, ardupilotmega, waitFor, send } from '..'
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
 
 async function main() {
   // Create an output stream to write data to the controller
-  const port = new SerialPort('/dev/ttyACM0')
+  const port = new SerialPort({ path: '/dev/ttyACM0', baudRate: 115200 })
 
   // Create the reader as usual by piping the source stream through the splitter
   // and packet parser
@@ -21,7 +27,13 @@ async function main() {
   // This is the place where all your application-level logic will exist
   reader.on('data', (packet: MavLinkPacket) => {
     online = true
-    console.log(packet.debug())
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      const data = packet.protocol.data(packet.payload, clazz)
+      console.log('>', data)
+    } else {
+      console.log('!', packet.debug())
+    }
   })
 
   // Wait for the remote system to be available

package/examples/send-receive-signed-serial.ts

@@ -1,16 +1,22 @@
 #!/usr/bin/env -S npx ts-node
 
-import * as SerialPort from 'serialport'
+import { SerialPort } from 'serialport'
 import { MavLinkPacketSplitter, MavLinkPacketParser } from '..'
-import { MavLinkPacket, MavLinkPacketSignature } from '..'
-import { common, waitFor, sendSigned } from '..'
+import { MavLinkPacket, MavLinkPacketSignature, MavLinkPacketRegistry } from '..'
+import { minimal, common, ardupilotmega, waitFor, sendSigned } from '..'
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
 
 // Use your own secret passphrase in place of 'qwerty'
 const key = MavLinkPacketSignature.key('qwerty')
 
 async function main() {
   // Create an output stream to write data to the controller
-  const port = new SerialPort('/dev/ttyACM0')
+  const port = new SerialPort({ path: '/dev/ttyACM0', baudRate: 115200 })
 
   // Create the reader as usual by piping the source stream through the splitter
   // and packet parser
@@ -25,7 +31,6 @@ async function main() {
   // This is the place where all your application-level logic will exist
   reader.on('data', (packet: MavLinkPacket) => {
     online = true
-    console.log(packet.debug())
     if (packet.signature) {
       if (packet.signature.matches(key)) {
         console.log('Signature check OK')
@@ -35,6 +40,13 @@ async function main() {
     } else {
       console.log('Packet not signed')
     }
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      const data = packet.protocol.data(packet.payload, clazz)
+      console.log('>', data)
+    } else {
+      console.log('!', packet.debug())
+    }
   })
 
   // Wait for the remote system to be available

package/examples/send-receive-signed-udp.ts

@@ -1,7 +1,13 @@
 #!/usr/bin/env -S npx ts-node
 
-import { MavEsp8266, common } from '../dist'
-import { MavLinkPacket, MavLinkPacketSignature } from '../dist'
+import { MavEsp8266, minimal, common, ardupilotmega } from '..'
+import { MavLinkPacketSignature, MavLinkPacket, MavLinkPacketRegistry } from '..'
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
 
 // Use your own secret passphrase in place of 'qwerty'
 const key = MavLinkPacketSignature.key('qwerty')
@@ -14,8 +20,6 @@ async function main() {
 
   // log incomming messages
   port.on('data', (packet: MavLinkPacket) => {
-    console.log(packet.debug())
-    console.log(packet.debug())
     if (packet.signature) {
       if (packet.signature.matches(key)) {
         console.log('Signature check OK')
@@ -25,6 +29,13 @@ async function main() {
     } else {
       console.log('Packet not signed')
     }
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      const data = packet.protocol.data(packet.payload, clazz)
+      console.log('>', data)
+    } else {
+      console.log('!', packet.debug())
+    }
   })
 
   // You're now ready to send messages to the controller using the socket

package/examples/send-receive-udp.ts

@@ -1,7 +1,13 @@
 #!/usr/bin/env -S npx ts-node
 
-import { MavEsp8266, common } from '..'
-import { MavLinkPacket } from '..'
+import { MavEsp8266, minimal, common, ardupilotmega } from '..'
+import { MavLinkPacket, MavLinkPacketRegistry } from '..'
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
 
 async function main() {
   const port = new MavEsp8266()
@@ -13,7 +19,13 @@ async function main() {
 
   // log incomming messages
   port.on('data', (packet: MavLinkPacket) => {
-    console.log(packet.debug())
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      const data = packet.protocol.data(packet.payload, clazz)
+      console.log('>', data)
+    } else {
+      console.log('!', packet.debug())
+    }
   })
 
   // You're now ready to send messages to the controller using the socket

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.0.13",
+  "version": "1.1.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -22,7 +22,7 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.8-20220318"
+    "mavlink-mappings": "^1.0.9-20220424"
   },
   "scripts": {
     "build": "tsc",
@@ -34,11 +34,10 @@
   "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",
+    "serialport": "^10.0.0",
     "ts-jest": "^27.1.4",
     "ts-node": "^9.1.1",
     "typescript": "^4.4.3",