node-mavlink 1.0.3 → 1.0.7

package/.vscode/launch.json

@@ -0,0 +1,18 @@
+{
+  "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/**"],
+    }
+  ]
+}

package/dist/lib/mavlink.d.ts

@@ -189,16 +189,29 @@ export declare class MavLinkPacket {
 export declare class MavLinkPacketSplitter extends Transform {
     private buffer;
     private verbose;
+    private _validPackagesCount;
     private _unknownPackagesCount;
     private _invalidPackagesCount;
     constructor(opts?: {}, verbose?: boolean);
     _transform(chunk: Buffer, encoding: any, callback: TransformCallback): void;
+    private findStartOfPacket;
+    private getPacketProtocol;
+    private readPacketLength;
+    private validatePacket;
     /**
      * Checks if the buffer contains the entire message with signature
      *
      * @param buffer buffer with the message
      */
     private isV2Signed;
+    /**
+     * Number of invalid packages
+     */
+    get validPackages(): number;
+    /**
+     * Reset the number of valid packages
+     */
+    resetValidPackagesCount(): void;
     /**
      * Number of invalid packages
      */

package/dist/lib/mavlink.js

@@ -234,6 +234,13 @@ 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
  */
@@ -358,6 +365,15 @@ class MavLinkPacket {
     }
 }
 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
  */
@@ -366,84 +382,125 @@ class MavLinkPacketSplitter extends stream_1.Transform {
         super(opts);
         this.buffer = Buffer.from([]);
         this.verbose = false;
+        this._validPackagesCount = 0;
         this._unknownPackagesCount = 0;
         this._invalidPackagesCount = 0;
         this.verbose = verbose;
     }
     _transform(chunk, encoding, callback) {
         this.buffer = Buffer.concat([this.buffer, chunk]);
-        while (true) {
-            let Protocol = null;
-            // check for start byte
-            let startByteFirstOffset = this.buffer.indexOf(MavLinkProtocolV1.START_BYTE);
-            if (startByteFirstOffset >= 0) {
-                Protocol = MavLinkProtocolV1;
-            }
-            else {
-                startByteFirstOffset = this.buffer.indexOf(MavLinkProtocolV2.START_BYTE);
-                if (startByteFirstOffset >= 0) {
-                    Protocol = MavLinkProtocolV2;
-                }
-                else {
-                    // start byte not found - skipping
-                    break;
-                }
+        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 (startByteFirstOffset > 0) {
-                this.buffer = this.buffer.slice(startByteFirstOffset);
+            if (offset > 0) {
+                this.buffer = this.buffer.slice(offset);
             }
+            // get protocol this buffer is encoded with
+            const Protocol = this.getPacketProtocol(this.buffer);
             // 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
                 break;
             }
             // check if the current buffer contains the entire message
-            const payloadLength = this.buffer.readUInt8(1);
-            const expectedBufferLength = Protocol.PAYLOAD_OFFSET
-                + payloadLength
-                + MavLinkProtocol.CHECKSUM_LENGTH
-                + (this.isV2Signed(this.buffer) ? MavLinkPacketSignature.SIGNATURE_LENGTH : 0);
+            const expectedBufferLength = this.readPacketLength(this.buffer, Protocol);
             if (this.buffer.length < expectedBufferLength) {
                 // current buffer is not fully retrieved yet - skipping
                 break;
             }
             // retrieve the buffer based on payload size
             const buffer = this.buffer.slice(0, expectedBufferLength);
-            // truncate the buffer to remove the current message
-            this.buffer = this.buffer.slice(expectedBufferLength);
-            // validate message checksum including the magic byte
-            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) {
-                    // CRC matches - accept this packet
+            switch (this.validatePacket(buffer, Protocol)) {
+                case PacketValidationResult.VALID:
+                    this._validPackagesCount++;
                     this.push(buffer);
-                }
-                else {
-                    // CRC mismatch - skip packet
+                    // truncate the buffer to remove the current message
+                    this.buffer = this.buffer.slice(expectedBufferLength);
+                    break;
+                case PacketValidationResult.INVALID:
                     this._invalidPackagesCount++;
-                    if (this.verbose) {
-                        console.error('CRC error; expected', crc2, `(0x${crc2.toString(16).padStart(4, '0')})`, 'got', crc, `(0x${crc.toString(16).padStart(4, '0')})`, '; msgid:', header.msgid, ', magic:', magic);
-                        (0, mavlink_mappings_1.dump)(buffer);
-                    }
-                }
+                    // truncate the buffer to remove the wrongly identified STX
+                    this.buffer = this.buffer.slice(1);
+                    break;
+                case PacketValidationResult.UNKNOWN:
+                    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 {
-                // this meessage has not been generated - ignoring
-                this._unknownPackagesCount++;
+                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
                 if (this.verbose) {
-                    console.error(`Unknown message with id ${header.msgid} (magic number not found) - skipping`);
+                    console.error('CRC error; expected', crc2, `(0x${crc2.toString(16).padStart(4, '0')})`, 'got', crc, `(0x${crc.toString(16).padStart(4, '0')})`, '; msgid:', header.msgid, ', magic:', magic);
+                    (0, mavlink_mappings_1.dump)(buffer);
                 }
+                return PacketValidationResult.INVALID;
             }
         }
-        callback(null);
+        else {
+            // unknown message (as in not generated from the XML sources)
+            if (this.verbose) {
+                console.error(`Unknown message with id ${header.msgid} (magic number not found) - skipping`);
+            }
+            return PacketValidationResult.UNKNOWN;
+        }
     }
     /**
      * Checks if the buffer contains the entire message with signature
@@ -457,6 +514,18 @@ class MavLinkPacketSplitter extends stream_1.Transform {
             return !!(flags & MavLinkProtocolV2.IFLAG_SIGNED);
         }
     }
+    /**
+     * Number of invalid packages
+     */
+    get validPackages() {
+        return this._validPackagesCount;
+    }
+    /**
+     * Reset the number of valid packages
+     */
+    resetValidPackagesCount() {
+        this, this._validPackagesCount = 0;
+    }
     /**
      * Number of invalid packages
      */

package/examples/send-receive-file.ts

@@ -0,0 +1,38 @@
+#!/usr/bin/env -S npx ts-node
+
+import { createReadStream } from 'fs'
+import { MavLinkPacketSplitter, MavLinkPacketParser, MavLinkPacket } from '..'
+import { minimal, common, ardupilotmega, uavionix, icarous } from '..'
+
+const file = createReadStream('./mavlink-v2-3412-packets.bin')
+
+const splitter = new MavLinkPacketSplitter({}, true)
+
+const reader = file
+  .pipe(splitter)
+  .pipe(new MavLinkPacketParser())
+
+
+// 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,
+}
+
+reader.on('data', packet => {
+  const clazz = REGISTRY[packet.header.msgid]
+  if (clazz) {
+    const data = packet.protocol.data(packet.payload, clazz)
+    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/lib/mavlink.ts

@@ -297,6 +297,14 @@ export class MavLinkProtocolV2 extends MavLinkProtocol {
   }
 }
 
+/**
+ * Registry of known protocols by STX
+ */
+const KNOWN_PROTOCOLS_BY_STX = {
+  [MavLinkProtocolV1.START_BYTE]: MavLinkProtocolV1,
+  [MavLinkProtocolV2.START_BYTE]: MavLinkProtocolV2,
+}
+
 /**
  * MavLink packet signature definition
  */
@@ -434,12 +442,18 @@ export class MavLinkPacket {
   }
 }
 
+/**
+ * This enum describes the different ways validation of a buffer can end
+ */
+enum PacketValidationResult { VALID, INVALID, UNKNOWN }
+
 /**
  * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
  */
 export class MavLinkPacketSplitter extends Transform {
   private buffer = Buffer.from([])
   private verbose = false
+  private _validPackagesCount = 0
   private _unknownPackagesCount = 0
   private _invalidPackagesCount = 0
 
@@ -451,28 +465,21 @@ export class MavLinkPacketSplitter extends Transform {
   _transform(chunk: Buffer, encoding, callback: TransformCallback) {
     this.buffer = Buffer.concat([ this.buffer, chunk ])
 
-    while (true) {
-      let Protocol: MavLinkProtocolConstructor = null
-
-      // check for start byte
-      let startByteFirstOffset = this.buffer.indexOf(MavLinkProtocolV1.START_BYTE)
-      if (startByteFirstOffset >= 0) {
-        Protocol = MavLinkProtocolV1
-      } else {
-        startByteFirstOffset = this.buffer.indexOf(MavLinkProtocolV2.START_BYTE)
-        if (startByteFirstOffset >= 0) {
-          Protocol = MavLinkProtocolV2
-        } else {
-          // start byte not found - skipping
-          break
-        }
+    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 (startByteFirstOffset > 0) {
-        this.buffer = this.buffer.slice(startByteFirstOffset)
+      if (offset > 0) {
+        this.buffer = this.buffer.slice(offset)
       }
 
+      // get protocol this buffer is encoded with
+      const Protocol = this.getPacketProtocol(this.buffer)
+
       // 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
@@ -480,12 +487,7 @@ export class MavLinkPacketSplitter extends Transform {
       }
 
       // check if the current buffer contains the entire message
-      const payloadLength = this.buffer.readUInt8(1)
-      const expectedBufferLength = Protocol.PAYLOAD_OFFSET
-        + payloadLength
-        + MavLinkProtocol.CHECKSUM_LENGTH
-        + (this.isV2Signed(this.buffer) ? MavLinkPacketSignature.SIGNATURE_LENGTH : 0)
-
+      const expectedBufferLength = this.readPacketLength(this.buffer, Protocol)
       if (this.buffer.length < expectedBufferLength) {
         // current buffer is not fully retrieved yet - skipping
         break
@@ -494,44 +496,97 @@ export class MavLinkPacketSplitter extends Transform {
       // retrieve the buffer based on payload size
       const buffer = this.buffer.slice(0, expectedBufferLength)
 
-      // truncate the buffer to remove the current message
-      this.buffer = this.buffer.slice(expectedBufferLength)
-
-      // validate message checksum including the magic byte
-      const protocol = new Protocol()
-      const header = protocol.header(buffer)
-      const magic = 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 = x25crc(buffer, 1, trim, magic)
-        if (crc === crc2) {
-          // CRC matches - accept this packet
+      switch (this.validatePacket(buffer, Protocol)) {
+        case PacketValidationResult.VALID:
+          this._validPackagesCount++
           this.push(buffer)
-        } else {
-          // CRC mismatch - skip packet
+          // truncate the buffer to remove the current message
+          this.buffer = this.buffer.slice(expectedBufferLength)
+          break
+        case PacketValidationResult.INVALID:
           this._invalidPackagesCount++
-          if (this.verbose) {
-            console.error(
-              'CRC error; expected', crc2, `(0x${crc2.toString(16).padStart(4, '0')})`,
-              'got', crc, `(0x${crc.toString(16).padStart(4, '0')})`,
-              '; msgid:', header.msgid, ', magic:', magic
-            )
-            dump(buffer)
-          }
-        }
+          // truncate the buffer to remove the wrongly identified STX
+          this.buffer = this.buffer.slice(1)
+          break
+        case PacketValidationResult.UNKNOWN:
+          this._unknownPackagesCount++
+          // truncate the buffer to remove the current message
+          this.buffer = this.buffer.slice(expectedBufferLength)
+          break
+      }
+    }
+
+    callback(null)
+  }
+
+  private findStartOfPacket(buffer: 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 {
-        // this meessage has not been generated - ignoring
-        this._unknownPackagesCount++
+        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
+    }
+  }
+
+  private getPacketProtocol(buffer: Buffer) {
+    return KNOWN_PROTOCOLS_BY_STX[buffer.readUInt8(0)] || null
+  }
+
+  private readPacketLength(buffer: Buffer, Protocol: MavLinkProtocolConstructor) {
+    // 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)
+  }
+
+  private validatePacket(buffer: Buffer, Protocol: MavLinkProtocolConstructor) {
+    const protocol = new Protocol()
+    const header = protocol.header(buffer)
+    const magic = 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 = 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
         if (this.verbose) {
-          console.error(`Unknown message with id ${header.msgid} (magic number not found) - skipping`)
+          console.error(
+            'CRC error; expected', crc2, `(0x${crc2.toString(16).padStart(4, '0')})`,
+            'got', crc, `(0x${crc.toString(16).padStart(4, '0')})`,
+            '; msgid:', header.msgid, ', magic:', magic
+          )
+          dump(buffer)
         }
+        return PacketValidationResult.INVALID
+      }
+    } else {
+      // unknown message (as in not generated from the XML sources)
+      if (this.verbose) {
+        console.error(`Unknown message with id ${header.msgid} (magic number not found) - skipping`)
       }
+      return PacketValidationResult.UNKNOWN
     }
-
-    callback(null)
   }
 
   /**
@@ -550,7 +605,21 @@ export class MavLinkPacketSplitter extends Transform {
   /**
    * Number of invalid packages
    */
-   get invalidPackages() {
+  get validPackages() {
+    return this._validPackagesCount
+  }
+
+  /**
+   * Reset the number of valid packages
+   */
+  resetValidPackagesCount() {
+    this,this._validPackagesCount = 0
+  }
+
+  /**
+   * Number of invalid packages
+   */
+  get invalidPackages() {
     return this._invalidPackagesCount
   }
 
@@ -564,7 +633,7 @@ export class MavLinkPacketSplitter extends Transform {
   /**
    * Number of invalid packages
    */
-   get unknownPackagesCount() {
+  get unknownPackagesCount() {
     return this._unknownPackagesCount
   }
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.0.3",
+  "version": "1.0.7",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -22,13 +22,13 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.0"
+    "mavlink-mappings": "^1.0.6-20220104"
   },
   "scripts": {
     "build": "tsc"
   },
   "devDependencies": {
-    "@types/node": "^15.0.1",
+    "@types/node": "^15.14.9",
     "@types/serialport": "^8.0.1",
     "@types/xml2js": "^0.4.8",
     "serialport": "^9.0.7",