node-mavlink 1.0.13 → 1.2.0

package/.vscode/launch.json

@@ -2,17 +2,18 @@
   "version": "0.2.0",
   "configurations": [
     {
-      "name": "Example",
       "type": "node",
       "request": "launch",
-      "runtimeExecutable": "node",
-      "runtimeArgs": ["--nolazy", "-r", "ts-node/register/transpile-only"],
-
-      "args": ["send-receive-file.ts", "--example", "hello"],
-
-      "cwd": "${workspaceRoot}/examples",
-      "internalConsoleOptions": "openOnSessionStart",
-      "skipFiles": ["<node_internals>/**", "node_modules/**"],
+      "name": "Launch Program",
+      "runtimeArgs": [
+        "-r",
+        "ts-node/register"
+      ],
+      "args": [
+        "${workspaceFolder}/tests/main.ts",
+        "e2e",
+        "--input=tests/data.mavlink"
+      ]
     }
-  ]
+  ],
 }

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/dist/index.js

@@ -1,21 +1 @@
-"use strict";
-var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    var desc = Object.getOwnPropertyDescriptor(m, k);
-    if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
-      desc = { enumerable: true, get: function() { return m[k]; } };
-    }
-    Object.defineProperty(o, k2, desc);
-}) : (function(o, m, k, k2) {
-    if (k2 === undefined) k2 = k;
-    o[k2] = m[k];
-}));
-var __exportStar = (this && this.__exportStar) || function(m, exports) {
-    for (var p in m) if (p !== "default" && !Object.prototype.hasOwnProperty.call(exports, p)) __createBinding(exports, m, p);
-};
-Object.defineProperty(exports, "__esModule", { value: true });
-__exportStar(require("mavlink-mappings"), exports);
-__exportStar(require("./lib/utils"), exports);
-__exportStar(require("./lib/logger"), exports);
-__exportStar(require("./lib/mavlink"), exports);
-__exportStar(require("./lib/mavesp"), exports);
+"use strict";var __createBinding=this&&this.__createBinding||(Object.create?function(i,r,e,t){t===void 0&&(t=e);var n=Object.getOwnPropertyDescriptor(r,e);(!n||("get"in n?!r.__esModule:n.writable||n.configurable))&&(n={enumerable:!0,get:function(){return r[e]}}),Object.defineProperty(i,t,n)}:function(i,r,e,t){t===void 0&&(t=e),i[t]=r[e]}),__exportStar=this&&this.__exportStar||function(i,r){for(var e in i)e!=="default"&&!Object.prototype.hasOwnProperty.call(r,e)&&__createBinding(r,i,e)};Object.defineProperty(exports,"__esModule",{value:!0}),__exportStar(require("mavlink-mappings"),exports),__exportStar(require("./lib/utils"),exports),__exportStar(require("./lib/logger"),exports),__exportStar(require("./lib/mavlink"),exports),__exportStar(require("./lib/mavesp"),exports);

package/dist/lib/logger.js

@@ -1,118 +1 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.Logger = exports.LogLevel = void 0;
-const EventEmitter = require("events");
-/**
- * Level of the log entry
- */
-var LogLevel;
-(function (LogLevel) {
-    LogLevel[LogLevel["trace"] = 5] = "trace";
-    LogLevel[LogLevel["debug"] = 4] = "debug";
-    LogLevel[LogLevel["info"] = 3] = "info";
-    LogLevel[LogLevel["warn"] = 2] = "warn";
-    LogLevel[LogLevel["error"] = 1] = "error";
-    LogLevel[LogLevel["fatal"] = 0] = "fatal";
-})(LogLevel = exports.LogLevel || (exports.LogLevel = {}));
-/**
- * Simplified interface for logging facilities
- */
-class Logger {
-    /**
-     * Constructs a new logger instance
-     *
-     * @param context logger context
-     */
-    constructor(context) {
-        this.context = context;
-        Logger.events.emit('logger-created', Logger.registry[context]);
-    }
-    /**
-     * Gets a logger by name
-     *
-     * @param context logger context
-     */
-    static getLogger(context) {
-        let name = '';
-        if (typeof context === 'function')
-            name = context.name;
-        else if (typeof context === 'object')
-            name = context.constructor.name;
-        else if (typeof context === 'string')
-            name = context;
-        else
-            throw new Error(`Do not know how to get logger for ${context} (${typeof context})`);
-        if (!Logger.registry[name])
-            Logger.registry[name] = new Logger(name);
-        return Logger.registry[name];
-    }
-    /**
-     * Binds an event handler
-     *
-     * @param event event to react to
-     * @param handler event handler
-     */
-    static on(event, handler) {
-        this.events.on(event, handler);
-    }
-    /**
-     * Removes an event handler
-     *
-     * @param event event to react to
-     * @param handler event handler
-     */
-    static off(event, handler) {
-        this.events.off(event, handler);
-    }
-    /**
-     * Sends a log message if the trace level is enabled for this logger
-     *
-     * @param args parameters for the log entry
-     */
-    trace(...args) {
-        Logger.events.emit('log', { context: this.context, level: LogLevel.trace, message: args });
-    }
-    /**
-     * Sends a log message if the debug level is enabled for this logger
-     *
-     * @param args parameters for the log entry
-     */
-    debug(...args) {
-        Logger.events.emit('log', { context: this.context, level: LogLevel.debug, message: args });
-    }
-    /**
-     * Sends a log message if the info level is enabled for this logger
-     *
-     * @param args parameters for the log entry
-     */
-    info(...args) {
-        Logger.events.emit('log', { context: this.context, level: LogLevel.info, message: args });
-    }
-    /**
-     * Sends a log message if the warn level is enabled for this logger
-     *
-     * @param args parameters for the log entry
-     */
-    warn(...args) {
-        Logger.events.emit('log', { context: this.context, level: LogLevel.warn, message: args });
-    }
-    /**
-     * Sends a log message if the error level is enabled for this logger
-     *
-     * @param args parameters for the log entry
-     */
-    error(...args) {
-        Logger.events.emit('log', { context: this.context, level: LogLevel.error, message: args });
-    }
-    /**
-     * Sends a log message if the fatal level is enabled for this logger
-     *
-     * @param args parameters for the log entry
-     */
-    fatal(...args) {
-        Logger.events.emit('log', { context: this.context, level: LogLevel.fatal, message: args });
-    }
-}
-exports.Logger = Logger;
-Logger.events = new EventEmitter();
-Logger.registry = {};
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.Logger=exports.LogLevel=void 0;const EventEmitter=require("events");var LogLevel;(function(t){t[t.trace=5]="trace",t[t.debug=4]="debug",t[t.info=3]="info",t[t.warn=2]="warn",t[t.error=1]="error",t[t.fatal=0]="fatal"})(LogLevel=exports.LogLevel||(exports.LogLevel={}));class Logger{constructor(e){this.context=e,Logger.events.emit("logger-created",Logger.registry[e])}static getLogger(e){let s="";if(typeof e=="function")s=e.name;else if(typeof e=="object")s=e.constructor.name;else if(typeof e=="string")s=e;else throw new Error(`Do not know how to get logger for ${e} (${typeof e})`);return Logger.registry[s]||(Logger.registry[s]=new Logger(s)),Logger.registry[s]}static on(e,s){this.events.on(e,s)}static off(e,s){this.events.off(e,s)}trace(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.trace,message:e})}debug(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.debug,message:e})}info(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.info,message:e})}warn(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.warn,message:e})}error(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.error,message:e})}fatal(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.fatal,message:e})}}exports.Logger=Logger,Logger.events=new EventEmitter,Logger.registry={};

package/dist/lib/mavesp.js

@@ -1,99 +1 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.MavEsp8266 = void 0;
-const events_1 = require("events");
-const dgram_1 = require("dgram");
-const stream_1 = require("stream");
-const mavlink_1 = require("./mavlink");
-const mavlink_2 = require("./mavlink");
-const utils_1 = require("./utils");
-/**
- * Encapsulation of communication with MavEsp8266
- */
-class MavEsp8266 extends events_1.EventEmitter {
-    constructor() {
-        super();
-        this.ip = '';
-        this.sendPort = 14555;
-        this.seq = 0;
-        this.input = new stream_1.PassThrough();
-        this.processIncommingUDPData = this.processIncommingUDPData.bind(this);
-        this.processIncommingPacket = this.processIncommingPacket.bind(this);
-        // Create the reader as usual by piping the source stream through the splitter
-        // and packet parser
-        const reader = this.input
-            .pipe(new mavlink_1.MavLinkPacketSplitter())
-            .pipe(new mavlink_1.MavLinkPacketParser());
-        reader.on('data', this.processIncommingPacket);
-    }
-    /**
-     * Start communication with the controller via MAVESP2866
-     *
-     * @param receivePort port to receive messages on (default: 14550)
-     * @param sendPort port to send messages to (default: 14555)
-     */
-    async start(receivePort = 14550, sendPort = 14555) {
-        this.sendPort = sendPort;
-        // Create a UDP socket
-        this.socket = (0, dgram_1.createSocket)({ type: 'udp4', reuseAddr: true });
-        this.socket.on('message', this.processIncommingUDPData);
-        // Start listening on the socket
-        return new Promise((resolve, reject) => {
-            this.socket.bind(receivePort, () => {
-                // Wait for the first package to be returned to read the ip address
-                // of the controller
-                (0, utils_1.waitFor)(() => this.ip !== '')
-                    .then(() => { resolve(this.ip); })
-                    .catch(e => { reject(e); });
-            });
-        });
-    }
-    /**
-     * Send a packet
-     *
-     * @param msg message to send
-     * @param sysid system id
-     * @param compid component id
-     */
-    send(msg, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
-        const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid);
-        const buffer = protocol.serialize(msg, this.seq++);
-        this.seq &= 255;
-        this.sendBuffer(buffer);
-    }
-    /**
-     * Send a signed packet
-     *
-     * @param msg message to send
-     * @param sysid system id
-     * @param compid component id
-     * @param linkId link id for the signature
-     */
-    sendSigned(msg, key, linkId = 1, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
-        const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid, mavlink_2.MavLinkProtocolV2.IFLAG_SIGNED);
-        const b1 = protocol.serialize(msg, this.seq++);
-        this.seq &= 255;
-        const b2 = protocol.sign(b1, linkId, key);
-        this.sendBuffer(b2);
-    }
-    /**
-     * Send raw data over the socket. Useful for custom implementation of data sending
-     *
-     * @param buffer buffer to send
-     */
-    sendBuffer(buffer) {
-        this.socket.send(buffer, this.sendPort, this.ip);
-    }
-    processIncommingUDPData(buffer, metadata) {
-        // store the remote ip address
-        if (this.ip === '')
-            this.ip = metadata.address;
-        // pass on the data to the input stream
-        this.input.write(buffer);
-    }
-    processIncommingPacket(packet) {
-        // let the user know we received the packet
-        this.emit('data', packet);
-    }
-}
-exports.MavEsp8266 = MavEsp8266;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.MavEsp8266=void 0;const events_1=require("events"),dgram_1=require("dgram"),stream_1=require("stream"),mavlink_1=require("./mavlink"),mavlink_2=require("./mavlink"),utils_1=require("./utils");class MavEsp8266 extends events_1.EventEmitter{constructor(){super(),this.ip="",this.sendPort=14555,this.seq=0,this.input=new stream_1.PassThrough,this.processIncommingUDPData=this.processIncommingUDPData.bind(this),this.processIncommingPacket=this.processIncommingPacket.bind(this),this.input.pipe(new mavlink_1.MavLinkPacketSplitter).pipe(new mavlink_1.MavLinkPacketParser).on("data",this.processIncommingPacket)}async start(s=14550,t=14555){return this.sendPort=t,this.socket=(0,dgram_1.createSocket)({type:"udp4",reuseAddr:!0}),this.socket.on("message",this.processIncommingUDPData),new Promise((e,o)=>{this.socket.bind(s,()=>{(0,utils_1.waitFor)(()=>this.ip!=="").then(()=>{e(this.ip)}).catch(i=>{o(i)})})})}send(s,t=mavlink_2.MavLinkProtocol.SYS_ID,e=mavlink_2.MavLinkProtocol.COMP_ID){const i=new mavlink_2.MavLinkProtocolV2(t,e).serialize(s,this.seq++);this.seq&=255,this.sendBuffer(i)}sendSigned(s,t,e=1,o=mavlink_2.MavLinkProtocol.SYS_ID,i=mavlink_2.MavLinkProtocol.COMP_ID){const n=new mavlink_2.MavLinkProtocolV2(o,i,mavlink_2.MavLinkProtocolV2.IFLAG_SIGNED),r=n.serialize(s,this.seq++);this.seq&=255;const c=n.sign(r,e,t);this.sendBuffer(c)}sendBuffer(s){this.socket.send(s,this.sendPort,this.ip)}processIncommingUDPData(s,t){this.ip===""&&(this.ip=t.address),this.input.write(s)}processIncommingPacket(s){this.emit("data",s)}}exports.MavEsp8266=MavEsp8266;

package/dist/lib/mavlink.d.ts

@@ -7,6 +7,7 @@ import { Logger } from './logger';
  * Header definition of the MavLink packet
  */
 export declare class MavLinkPacketHeader {
+    timestamp: BigInt;
     magic: number;
     payloadLength: uint8_t;
     incompatibilityFlags: uint8_t;
@@ -37,7 +38,7 @@ export declare abstract class MavLinkProtocol {
     /**
      * Deserialize packet header
      */
-    abstract header(buffer: any): MavLinkPacketHeader;
+    abstract header(buffer: any, timestamp?: any): MavLinkPacketHeader;
     /**
      * Deserialize packet checksum
      */
@@ -66,7 +67,7 @@ export declare class MavLinkProtocolV1 extends MavLinkProtocol {
     static PAYLOAD_OFFSET: number;
     constructor(sysid?: uint8_t, compid?: uint8_t);
     serialize(message: MavLinkData, seq: number): Buffer;
-    header(buffer: Buffer): MavLinkPacketHeader;
+    header(buffer: Buffer, timestamp?: any): MavLinkPacketHeader;
     /**
      * Deserialize packet checksum
      */
@@ -100,7 +101,7 @@ export declare class MavLinkProtocolV2 extends MavLinkProtocol {
      */
     sign(buffer: Buffer, linkId: number, key: Buffer, timestamp?: number): Buffer;
     private calculateTruncatedPayloadLength;
-    header(buffer: Buffer): MavLinkPacketHeader;
+    header(buffer: Buffer, timestamp?: any): MavLinkPacketHeader;
     /**
      * Deserialize packet checksum
      */
@@ -194,6 +195,7 @@ export declare class MavLinkPacketSplitter extends Transform {
     protected readonly log: Logger;
     private buffer;
     private onCrcError;
+    private timestamp;
     private _validPackagesCount;
     private _unknownPackagesCount;
     private _invalidPackagesCount;
@@ -246,7 +248,10 @@ export declare class MavLinkPacketParser extends Transform {
     protected readonly log: Logger;
     constructor(opts?: {});
     private getProtocol;
-    _transform(chunk: Buffer, encoding: any, callback: TransformCallback): void;
+    _transform({ buffer, timestamp, ...rest }: {
+        buffer?: Buffer;
+        timestamp?: any;
+    }, encoding: any, callback: TransformCallback): void;
 }
 /**
  * Creates a MavLink packet stream reader that is reading packets from the given input