node-mavlink 1.0.8 → 1.0.9

package/lib/utils.ts

@@ -0,0 +1,75 @@
+/**
+ * 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
+ */
+export function hex(n: number, len: number = 2, prefix = '0x') {
+  return `${prefix}${n.toString(16).padStart(len, '0')}`
+}
+
+/**
+ * Dump a buffer in a readable form
+ *
+ * @param buffer buffer to dump
+ * @param lineWidth width of the line, in bytes of buffer
+ */
+export function dump(buffer: 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(' '))
+  }
+}
+
+/**
+ * Sleep for a given number of miliseconds
+ *
+ * @param ms number of miliseconds to sleep
+ */
+export function sleep(ms) {
+  return new Promise(resolve => setTimeout(resolve, ms))
+}
+
+/**
+ * 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
+ */
+export 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)
+    }
+  })
+}

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.0.8",
+  "version": "1.0.9",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -22,19 +22,23 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.6-20220104"
+    "mavlink-mappings": "^1.0.8-20220318"
   },
   "scripts": {
-    "build": "tsc"
+    "build": "tsc",
+    "test": "cd tests && ./main.ts e2e --input data.mavlink",
+    "prepublishOnly": "rm -rf dist && npm install && npm test && npm run build"
   },
   "devDependencies": {
     "@types/node": "^15.14.9",
     "@types/serialport": "^8.0.1",
     "@types/xml2js": "^0.4.8",
+    "@types/yargs": "^17.0.8",
     "serialport": "^9.0.7",
     "ts-node": "^9.1.1",
     "typescript": "^4.4.3",
     "wget-improved": "^3.2.1",
-    "xml2js": "^0.4.23"
+    "xml2js": "^0.4.23",
+    "yargs": "^17.3.1"
   }
 }

package/tests/main.ts

@@ -0,0 +1,63 @@
+#!/usr/bin/env ts-node
+
+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 '..'
+
+Logger.on('log', ({ context, level, message }) => {
+  if (level <= LogLevel.error) {
+    console.log(`${new Date().toISOString()} ${context} [${LogLevel[level]}]`, ...message)
+  }
+})
+
+async function configure() {
+  return yargs(process.argv.slice(2))
+    .command('e2e', 'Execute end to end serialization/deserialization verification',
+      yargs => yargs.positional('input', {
+        description: 'Input file (- for stdin)',
+        default: '-'
+      }),
+      argv => {
+        if (argv.input !== '-' && !existsSync(argv.input)) {
+          console.error(`error: ${argv.input} not found`)
+          process.exit(1)
+        }
+      }
+    )
+    .help()
+    .alias('help', 'h')
+    .parse()
+}
+
+async function main() {
+  const config = await configure()
+
+  const command = config._[0]
+  if (command === 'e2e') {
+    const REGISTRY = {
+      ...minimal.REGISTRY,
+      ...common.REGISTRY,
+      ...ardupilotmega.REGISTRY,
+    }
+
+    const input = config.input === '-' ? process.stdin : createReadStream(config.input)
+    const reader = createMavLinkStream(input, dump)
+
+    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])
+        })
+      } else {
+        console.log('< (unknown)', packet.debug())
+      }
+    })
+  }
+}
+
+main()

package/tsconfig.json

@@ -4,7 +4,8 @@
     "lib": ["ES2020", "DOM"],
     "target": "es2015",
     "declaration": true,
-    "outDir": "./dist"
+    "outDir": "./dist",
+    "esModuleInterop": true
   },
   "include": [
     "index.ts",