node-mavlink 1.0.13 → 1.2.0

package/dist/lib/serialization.js

@@ -1,172 +1 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.DESERIALIZERS = exports.SERIALIZERS = void 0;
-/**
- * A dictionary containing functions that serialize a certain value based on the field type
- */
-exports.SERIALIZERS = {
-    // special types
-    'uint8_t_mavlink_version': (value, buffer, offset) => buffer.writeUInt8(value, offset),
-    // singular types
-    'char': (value, buffer, offset) => buffer.writeUInt8(value, offset),
-    'int8_t': (value, buffer, offset) => buffer.writeInt8(value, offset),
-    'uint8_t': (value, buffer, offset) => buffer.writeUInt8(value, offset),
-    'int16_t': (value, buffer, offset) => buffer.writeInt16LE(value, offset),
-    'uint16_t': (value, buffer, offset) => buffer.writeUInt16LE(value, offset),
-    'int32_t': (value, buffer, offset) => buffer.writeInt32LE(value, offset),
-    'uint32_t': (value, buffer, offset) => buffer.writeUInt32LE(value, offset),
-    'int64_t': (value, buffer, offset) => buffer.writeBigInt64LE(value, offset),
-    'uint64_t': (value, buffer, offset) => buffer.writeBigUInt64LE(value, offset),
-    'float': (value, buffer, offset) => buffer.writeFloatLE(value, offset),
-    'double': (value, buffer, offset) => buffer.writeDoubleLE(value, offset),
-    // array types
-    'char[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            const code = value.charCodeAt(i);
-            buffer.writeUInt8(code, offset + i);
-        }
-    },
-    'int8_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeInt8(value[i], offset + i);
-        }
-    },
-    'uint8_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeUInt8(value[i], offset + i);
-        }
-    },
-    'int16_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeInt16LE(value[i], offset + i * 2);
-        }
-    },
-    'uint16_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeUInt16LE(value[i], offset + i * 2);
-        }
-    },
-    'int32_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeInt32LE(value[i], offset + i * 4);
-        }
-    },
-    'uint32_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeUInt32LE(value[i], offset + i * 4);
-        }
-    },
-    'int64_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeBigInt64LE(value[i], offset + i * 8);
-        }
-    },
-    'uint64_t[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeBigUInt64LE(value[i], offset + i * 8);
-        }
-    },
-    'float[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeFloatLE(value[i], offset + i * 4);
-        }
-    },
-    'double[]': (value, buffer, offset, maxLen) => {
-        for (let i = 0; i < value.length && i < maxLen; i++) {
-            buffer.writeDoubleLE(value[i], offset + i * 8);
-        }
-    },
-};
-/**
- * A dictionary containing functions that deserialize a certain value based on the field type
- */
-exports.DESERIALIZERS = {
-    // special types
-    'uint8_t_mavlink_version': (buffer, offset) => buffer.readUInt8(offset),
-    // singular types
-    'char': (buffer, offset) => String.fromCharCode(buffer.readUInt8(offset)),
-    'int8_t': (buffer, offset) => buffer.readInt8(offset),
-    'uint8_t': (buffer, offset) => buffer.readUInt8(offset),
-    'int16_t': (buffer, offset) => buffer.readInt16LE(offset),
-    'uint16_t': (buffer, offset) => buffer.readUInt16LE(offset),
-    'int32_t': (buffer, offset) => buffer.readInt32LE(offset),
-    'uint32_t': (buffer, offset) => buffer.readUInt32LE(offset),
-    'int64_t': (buffer, offset) => buffer.readBigInt64LE(offset),
-    'uint64_t': (buffer, offset) => buffer.readBigUInt64LE(offset),
-    'float': (buffer, offset) => buffer.readFloatLE(offset),
-    'double': (buffer, offset) => buffer.readDoubleLE(offset),
-    // array types
-    'char[]': (buffer, offset, length) => {
-        let result = '';
-        for (let i = 0; i < length; i++) {
-            const charCode = buffer.readUInt8(offset + i);
-            if (charCode !== 0) {
-                result += String.fromCharCode(charCode);
-            }
-            else {
-                break;
-            }
-        }
-        return result;
-    },
-    'int8_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readInt8(offset + i);
-        return result;
-    },
-    'uint8_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readUInt8(offset + i);
-        return result;
-    },
-    'int16_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readInt16LE(offset + i * 2);
-        return result;
-    },
-    'uint16_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readUInt16LE(offset + i * 2);
-        return result;
-    },
-    'int32_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readInt32LE(offset + i * 4);
-        return result;
-    },
-    'uint32_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readUInt32LE(offset + i * 4);
-        return result;
-    },
-    'int64_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readBigInt64LE(offset + i * 8);
-        return result;
-    },
-    'uint64_t[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readBigUInt64LE(offset + i * 8);
-        return result;
-    },
-    'float[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readFloatLE(offset + i * 4);
-        return result;
-    },
-    'double[]': (buffer, offset, length) => {
-        const result = new Array(length);
-        for (let i = 0; i < length; i++)
-            result[i] = buffer.readDoubleLE(offset + i * 8);
-        return result;
-    },
-};
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.DESERIALIZERS=exports.SERIALIZERS=void 0,exports.SERIALIZERS={uint8_t_mavlink_version:(r,e,n)=>e.writeUInt8(r,n),char:(r,e,n)=>e.writeUInt8(r,n),int8_t:(r,e,n)=>e.writeInt8(r,n),uint8_t:(r,e,n)=>e.writeUInt8(r,n),int16_t:(r,e,n)=>e.writeInt16LE(r,n),uint16_t:(r,e,n)=>e.writeUInt16LE(r,n),int32_t:(r,e,n)=>e.writeInt32LE(r,n),uint32_t:(r,e,n)=>e.writeUInt32LE(r,n),int64_t:(r,e,n)=>e.writeBigInt64LE(r,n),uint64_t:(r,e,n)=>e.writeBigUInt64LE(r,n),float:(r,e,n)=>e.writeFloatLE(r,n),double:(r,e,n)=>e.writeDoubleLE(r,n),"char[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++){const o=r.charCodeAt(t);e.writeUInt8(o,n+t)}},"int8_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeInt8(r[t],n+t)},"uint8_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeUInt8(r[t],n+t)},"int16_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeInt16LE(r[t],n+t*2)},"uint16_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeUInt16LE(r[t],n+t*2)},"int32_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeInt32LE(r[t],n+t*4)},"uint32_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeUInt32LE(r[t],n+t*4)},"int64_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeBigInt64LE(r[t],n+t*8)},"uint64_t[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeBigUInt64LE(r[t],n+t*8)},"float[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeFloatLE(r[t],n+t*4)},"double[]":(r,e,n,i)=>{for(let t=0;t<r.length&&t<i;t++)e.writeDoubleLE(r[t],n+t*8)}},exports.DESERIALIZERS={uint8_t_mavlink_version:(r,e)=>r.readUInt8(e),char:(r,e)=>String.fromCharCode(r.readUInt8(e)),int8_t:(r,e)=>r.readInt8(e),uint8_t:(r,e)=>r.readUInt8(e),int16_t:(r,e)=>r.readInt16LE(e),uint16_t:(r,e)=>r.readUInt16LE(e),int32_t:(r,e)=>r.readInt32LE(e),uint32_t:(r,e)=>r.readUInt32LE(e),int64_t:(r,e)=>r.readBigInt64LE(e),uint64_t:(r,e)=>r.readBigUInt64LE(e),float:(r,e)=>r.readFloatLE(e),double:(r,e)=>r.readDoubleLE(e),"char[]":(r,e,n)=>{let i="";for(let t=0;t<n;t++){const o=r.readUInt8(e+t);if(o!==0)i+=String.fromCharCode(o);else break}return i},"int8_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readInt8(e+t);return i},"uint8_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readUInt8(e+t);return i},"int16_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readInt16LE(e+t*2);return i},"uint16_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readUInt16LE(e+t*2);return i},"int32_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readInt32LE(e+t*4);return i},"uint32_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readUInt32LE(e+t*4);return i},"int64_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readBigInt64LE(e+t*8);return i},"uint64_t[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readBigUInt64LE(e+t*8);return i},"float[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readFloatLE(e+t*4);return i},"double[]":(r,e,n)=>{const i=new Array(n);for(let t=0;t<n;t++)i[t]=r.readDoubleLE(e+t*8);return i}};

package/dist/lib/utils.js

@@ -1,77 +1 @@
-"use strict";
-Object.defineProperty(exports, "__esModule", { value: true });
-exports.waitFor = exports.sleep = exports.dump = exports.hex = void 0;
-/**
- * Convert a number to hexadecimal representation with a minumum
- * number of characters and optional prefix (0x by default)
- *
- * @param n value to convert
- * @param len length of the converted string (without prefix)
- * @param prefix prefix to prepend the generated string with
- */
-function hex(n, len = 2, prefix = '0x') {
-    return `${prefix}${n.toString(16).padStart(len, '0')}`;
-}
-exports.hex = hex;
-/**
- * Dump a buffer in a readable form
- *
- * @param buffer buffer to dump
- * @param lineWidth width of the line, in bytes of buffer
- */
-function dump(buffer, lineWidth = 16) {
-    const line = [];
-    let address = 0;
-    for (let i = 0; i < buffer.length; i++) {
-        line.push(hex(buffer[i], 2, '0x'));
-        if (line.length === lineWidth) {
-            console.log(hex(address, 4), '|', line.join(' '));
-            address += lineWidth;
-            line.length = 0;
-        }
-    }
-    if (line.length > 0) {
-        console.log(hex(address, 4), '|', line.join(' '));
-    }
-}
-exports.dump = dump;
-/**
- * Sleep for a given number of miliseconds
- *
- * @param ms number of miliseconds to sleep
- */
-function sleep(ms) {
-    return new Promise(resolve => setTimeout(resolve, ms));
-}
-exports.sleep = sleep;
-/**
- * Execute a callback every <code>interval</code>ms and if it will not return
- * a truthy value in the <code>timeout<code>ms then throw a Timeout exception.
- * This is a very useful utility that will allow you to specify how often
- * a particular expression should be evaluated and how long will it take to end
- * the execution without success. Great for time-sensitive operations.
- *
- * @param cb callback to call every <code>interval</code>ms
- * @param timeout number of miliseconds that need to pass before the Timeout exception is thrown
- * @param interval number of miliseconds before re-running the callback
- */
-async function waitFor(cb, timeout = 10000, interval = 100) {
-    return new Promise((resolve, reject) => {
-        const timeoutTimer = setTimeout(() => {
-            cleanup();
-            reject('Timeout');
-        }, timeout);
-        const intervalTimer = setInterval(() => {
-            const result = cb();
-            if (result) {
-                cleanup();
-                resolve(result);
-            }
-        });
-        const cleanup = () => {
-            clearTimeout(timeoutTimer);
-            clearTimeout(intervalTimer);
-        };
-    });
-}
-exports.waitFor = waitFor;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.waitFor=exports.sleep=exports.dump=exports.hex=void 0;function hex(t,o=2,e="0x"){return`${e}${t.toString(16).padStart(o,"0")}`}exports.hex=hex;function dump(t,o=16){const e=[];let r=0;for(let n=0;n<t.length;n++)e.push(hex(t[n],2,"0x")),e.length===o&&(console.log(hex(r,4),"|",e.join(" ")),r+=o,e.length=0);e.length>0&&console.log(hex(r,4),"|",e.join(" "))}exports.dump=dump;function sleep(t){return new Promise(o=>setTimeout(o,t))}exports.sleep=sleep;async function waitFor(t,o=1e4,e=100){return new Promise((r,n)=>{const l=setTimeout(()=>{s(),n("Timeout")},o),u=setInterval(()=>{const i=t();i&&(s(),r(i))}),s=()=>{clearTimeout(l),clearTimeout(u)}})}exports.waitFor=waitFor;

package/examples/parse-tlog-file.ts

@@ -0,0 +1,43 @@
+#!/usr/bin/env -S npx ts-node
+
+import { createReadStream } from 'fs'
+import { MavLinkPacketSplitter, MavLinkPacketParser } from '..'
+import {
+  minimal, common, ardupilotmega, uavionix, icarous,
+  asluav, development, ualberta,
+} from '..'
+
+const splitter = new MavLinkPacketSplitter()
+const parser = new MavLinkPacketParser()
+const file = createReadStream(__dirname + '/vtol.tlog')
+const reader = file.pipe(splitter).pipe(parser)
+
+// create a registry of mappings between a message id and a data class
+const REGISTRY = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+  ...uavionix.REGISTRY,
+  ...icarous.REGISTRY,
+  ...asluav.REGISTRY,
+  ...development.REGISTRY,
+  ...ualberta.REGISTRY,
+}
+
+reader.on('data', packet => {
+  const clazz = REGISTRY[packet.header.msgid]
+  if (clazz) {
+    const data = packet.protocol.data(packet.payload, clazz)
+    if (packet.header.timestamp) {
+      console.log(new Date(Number(packet.header.timestamp)).toISOString(), data)
+    } else {
+      console.log(data)
+    }
+  }
+})
+
+file.on('close', () => {
+  console.log('\n\nNumber of invalid packages:', splitter.invalidPackages)
+  console.log('Number of unknown packages:', splitter.unknownPackagesCount)
+  console.log('\nTotal number of consumed packets:', splitter.validPackages)
+})

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/lib/mavlink.ts

@@ -12,6 +12,7 @@ import { SERIALIZERS, DESERIALIZERS } from './serialization'
  * Header definition of the MavLink packet
  */
 export class MavLinkPacketHeader {
+  timestamp: BigInt = null
   magic: number = 0
   payloadLength: uint8_t = 0
   incompatibilityFlags: uint8_t = 0
@@ -47,7 +48,7 @@ export abstract class MavLinkProtocol {
   /**
    * Deserialize packet header
    */
-  abstract header(buffer): MavLinkPacketHeader
+  abstract header(buffer, timestamp?): MavLinkPacketHeader
 
   /**
    * Deserialize packet checksum
@@ -139,7 +140,7 @@ export class MavLinkProtocolV1 extends MavLinkProtocol {
     return buffer
   }
 
-  header(buffer: Buffer): MavLinkPacketHeader {
+  header(buffer: Buffer, timestamp = null): MavLinkPacketHeader {
     this.log.trace('Reading header from buffer (len:', buffer.length, ')')
 
     const startByte = buffer.readUInt8(0)
@@ -148,6 +149,7 @@ export class MavLinkProtocolV1 extends MavLinkProtocol {
     }
 
     const result = new MavLinkPacketHeader()
+    result.timestamp = timestamp
     result.magic = startByte
     result.payloadLength = buffer.readUInt8(1)
     result.seq = buffer.readUInt8(2)
@@ -272,7 +274,7 @@ export class MavLinkProtocolV2 extends MavLinkProtocol {
     return result - MavLinkProtocolV2.PAYLOAD_OFFSET
   }
 
-  header(buffer: Buffer): MavLinkPacketHeader {
+  header(buffer: Buffer, timestamp = null): MavLinkPacketHeader {
     this.log.trace('Reading header from buffer (len:', buffer.length, ')')
 
     const startByte = buffer.readUInt8(0)
@@ -281,6 +283,7 @@ export class MavLinkProtocolV2 extends MavLinkProtocol {
     }
 
     const result = new MavLinkPacketHeader()
+    result.timestamp = timestamp
     result.magic = startByte
     result.payloadLength = buffer.readUInt8(1)
     result.incompatibilityFlags = buffer.readUInt8(2)
@@ -484,6 +487,7 @@ export class MavLinkPacketSplitter extends Transform {
 
   private buffer = Buffer.from([])
   private onCrcError = null
+  private timestamp = null
   private _validPackagesCount = 0
   private _unknownPackagesCount = 0
   private _invalidPackagesCount = 0
@@ -494,7 +498,7 @@ export class MavLinkPacketSplitter extends Transform {
    * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
    */
   constructor(opts = {}, onCrcError: BufferCallback = () => {}) {
-    super(opts)
+    super({ ...opts, objectMode: true })
     this.onCrcError = onCrcError
   }
 
@@ -508,6 +512,12 @@ export class MavLinkPacketSplitter extends Transform {
         break
       }
 
+      // if the current offset is exactly the size of the timestamp field from tlog then read it.
+      if (offset === 8) {
+        this.timestamp = Buffer.from(this.buffer, 0, 8).readBigUInt64BE() / 1000n
+      } else {
+        this.timestamp = null
+      }
       // fast-forward the buffer to the first start byte
       if (offset > 0) {
         this.buffer = this.buffer.slice(offset)
@@ -546,7 +556,7 @@ export class MavLinkPacketSplitter extends Transform {
         case PacketValidationResult.VALID:
           this.log.debug('Found a valid packet')
           this._validPackagesCount++
-          this.push(buffer)
+          this.push({ buffer, timestamp: this.timestamp })
           // truncate the buffer to remove the current message
           this.buffer = this.buffer.slice(expectedBufferLength)
           break
@@ -717,16 +727,16 @@ export class MavLinkPacketParser extends Transform {
     }
   }
 
-  _transform(chunk: Buffer, encoding, callback: TransformCallback) {
-    const protocol = this.getProtocol(chunk)
-    const header = protocol.header(chunk)
-    const payload = protocol.payload(chunk)
-    const crc = protocol.crc(chunk)
+  _transform({ buffer = Buffer.from([]), timestamp = null, ...rest } = {}, encoding, callback: TransformCallback) {
+    const protocol = this.getProtocol(buffer)
+    const header = protocol.header(buffer, timestamp)
+    const payload = protocol.payload(buffer)
+    const crc = protocol.crc(buffer)
     const signature = protocol instanceof MavLinkProtocolV2
-      ? protocol.signature(chunk, header)
+      ? protocol.signature(buffer, header)
       : null
 
-    const packet = new MavLinkPacket(chunk, header, payload, crc, protocol, signature)
+    const packet = new MavLinkPacket(buffer, header, payload, crc, protocol, signature)
 
     callback(null, packet)
   }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.0.13",
+  "version": "1.2.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -22,23 +22,24 @@
   "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",
-    "test": "jest",
+    "build": "tsc && minimize-js dist",
+    "test": "jest && npm run test:batch",
+    "test:batch": "npx ts-node tests/main.ts e2e --input tests/data.mavlink",
     "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"
+    "prepublishOnly": "rm -rf dist && npm install && npm run build && npm test"
   },
   "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",
+    "minimize-js": "^1.3.0",
+    "serialport": "^10.0.0",
     "ts-jest": "^27.1.4",
     "ts-node": "^9.1.1",
     "typescript": "^4.4.3",

package/tests/main.ts

@@ -3,8 +3,8 @@
 import yargs from 'yargs'
 import { existsSync, createReadStream } from 'fs'
 import { minimal, common, ardupilotmega } from 'mavlink-mappings'
-import { createMavLinkStream, MavLinkPacket, Logger, LogLevel } from '..'
-import { hex, dump } from '..'
+import { createMavLinkStream, MavLinkPacket, Logger, LogLevel, MavLinkPacketRegistry } from '..'
+import { dump } from '..'
 
 Logger.on('log', ({ context, level, message }) => {
   if (level <= LogLevel.error) {
@@ -36,7 +36,7 @@ async function main() {
 
   const command = config._[0]
   if (command === 'e2e') {
-    const REGISTRY = {
+    const REGISTRY: MavLinkPacketRegistry = {
       ...minimal.REGISTRY,
       ...common.REGISTRY,
       ...ardupilotmega.REGISTRY,
@@ -48,11 +48,7 @@ async function main() {
     reader.on('data', (packet: MavLinkPacket) => {
       const clazz = REGISTRY[packet.header.msgid]
       if (clazz) {
-        const message = packet.protocol.data(packet.payload, clazz)
-        console.log('<', packet.debug())
-        clazz.FIELDS.forEach(field => {
-          console.log(clazz.MSG_NAME + '.' + field.source + ' = ' + message[field.name])
-        })
+        packet.protocol.data(packet.payload, clazz)
       } else {
         console.log('< (unknown)', packet.debug())
       }

package/coverage/coverage-final.json

@@ -1 +0,0 @@
-{}