node-mavlink 1.1.1 → 1.2.0

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

package/dist/lib/mavlink.js

@@ -1 +1 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.sendSigned=exports.send=exports.createMavLinkStream=exports.MavLinkPacketParser=exports.MavLinkPacketSplitter=exports.MavLinkPacket=exports.MavLinkPacketSignature=exports.MavLinkProtocolV2=exports.MavLinkProtocolV1=exports.MavLinkProtocol=exports.MavLinkPacketHeader=void 0;const stream_1=require("stream"),crypto_1=require("crypto"),mavlink_mappings_1=require("mavlink-mappings"),mavlink_mappings_2=require("mavlink-mappings"),utils_1=require("./utils"),logger_1=require("./logger"),serialization_1=require("./serialization");class MavLinkPacketHeader{constructor(){this.magic=0,this.payloadLength=0,this.incompatibilityFlags=0,this.compatibilityFlags=0,this.seq=0,this.sysid=0,this.compid=0,this.msgid=0}}exports.MavLinkPacketHeader=MavLinkPacketHeader;class MavLinkProtocol{constructor(){this.log=logger_1.Logger.getLogger(this)}data(t,n){this.log.trace("Deserializing",n.MSG_NAME,"with payload of size",t.length);const e=new n;return n.FIELDS.forEach(s=>{const i=serialization_1.DESERIALIZERS[s.type];if(!i)throw new Error(`Unknown field type ${s.type}`);e[s.name]=i(t,s.offset,s.length)}),e}}exports.MavLinkProtocol=MavLinkProtocol,MavLinkProtocol.NAME="unknown",MavLinkProtocol.START_BYTE=0,MavLinkProtocol.PAYLOAD_OFFSET=0,MavLinkProtocol.CHECKSUM_LENGTH=2,MavLinkProtocol.SYS_ID=254,MavLinkProtocol.COMP_ID=1;class MavLinkProtocolV1 extends MavLinkProtocol{constructor(t=MavLinkProtocol.SYS_ID,n=MavLinkProtocol.COMP_ID){super(),this.sysid=t,this.compid=n}serialize(t,n){this.log.trace("Serializing message (seq:",n,")");const e=t.constructor,s=Buffer.from(new Uint8Array(MavLinkProtocolV1.PAYLOAD_OFFSET+e.PAYLOAD_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH));s.writeUInt8(MavLinkProtocolV1.START_BYTE,0),s.writeUInt8(e.PAYLOAD_LENGTH,1),s.writeUInt8(n,2),s.writeUInt8(this.sysid,3),s.writeUInt8(this.compid,4),s.writeUInt8(e.MSG_ID,5),e.FIELDS.forEach(r=>{const o=serialization_1.SERIALIZERS[r.type];if(!o)throw new Error(`Unknown field type ${r.type}: serializer not found`);o(t[r.name],s,r.offset+MavLinkProtocolV1.PAYLOAD_OFFSET,r.length)});const i=(0,mavlink_mappings_1.x25crc)(s,1,2,e.MAGIC_NUMBER);return s.writeUInt16LE(i,s.length-2),s}header(t){this.log.trace("Reading header from buffer (len:",t.length,")");const n=t.readUInt8(0);if(n!==MavLinkProtocolV1.START_BYTE)throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV1.START_BYTE}, got ${n})`);const e=new MavLinkPacketHeader;return e.magic=n,e.payloadLength=t.readUInt8(1),e.seq=t.readUInt8(2),e.sysid=t.readUInt8(3),e.compid=t.readUInt8(4),e.msgid=t.readUInt8(5),e}crc(t){this.log.trace("Reading crc from buffer (len:",t.length,")");const n=t.readUInt8(1);return t.readUInt16LE(MavLinkProtocolV1.PAYLOAD_OFFSET+n)}payload(t){this.log.trace("Reading payload from buffer (len:",t.length,")");const n=t.readUInt8(1),e=t.slice(MavLinkProtocolV1.PAYLOAD_OFFSET,MavLinkProtocolV1.PAYLOAD_OFFSET+n),s=Buffer.from(new Uint8Array(255-e.length));return Buffer.concat([e,s])}}exports.MavLinkProtocolV1=MavLinkProtocolV1,MavLinkProtocolV1.NAME="MAV_V1",MavLinkProtocolV1.START_BYTE=254,MavLinkProtocolV1.PAYLOAD_OFFSET=6;class MavLinkProtocolV2 extends MavLinkProtocol{constructor(t=MavLinkProtocol.SYS_ID,n=MavLinkProtocol.COMP_ID,e=MavLinkProtocolV2.INCOMPATIBILITY_FLAGS,s=MavLinkProtocolV2.COMPATIBILITY_FLAGS){super(),this.sysid=t,this.compid=n,this.incompatibilityFlags=e,this.compatibilityFlags=s}serialize(t,n){this.log.trace("Serializing message (seq:",n,")");const e=t.constructor,s=Buffer.from(new Uint8Array(MavLinkProtocolV2.PAYLOAD_OFFSET+e.PAYLOAD_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH));s.writeUInt8(MavLinkProtocolV2.START_BYTE,0),s.writeUInt8(this.incompatibilityFlags,2),s.writeUInt8(this.compatibilityFlags,3),s.writeUInt8(n,4),s.writeUInt8(this.sysid,5),s.writeUInt8(this.compid,6),s.writeUIntLE(e.MSG_ID,7,3),e.FIELDS.forEach(c=>{const h=serialization_1.SERIALIZERS[c.type];if(!h)throw new Error(`Unknown field type ${c.type}: serializer not found`);h(t[c.name],s,c.offset+MavLinkProtocolV2.PAYLOAD_OFFSET,c.length)});const i=this.calculateTruncatedPayloadLength(s);s.writeUInt8(i,1);const r=s.slice(0,MavLinkProtocolV2.PAYLOAD_OFFSET+i+MavLinkProtocol.CHECKSUM_LENGTH),o=(0,mavlink_mappings_1.x25crc)(r,1,2,e.MAGIC_NUMBER);return r.writeUInt16LE(o,r.length-MavLinkProtocol.CHECKSUM_LENGTH),r}sign(t,n,e,s=Date.now()){this.log.trace("Signing message");const i=Buffer.concat([t,Buffer.from(new Uint8Array(MavLinkPacketSignature.SIGNATURE_LENGTH))]),r=new MavLinkPacketSignature(i);return r.linkId=n,r.timestamp=s,r.signature=r.calculate(e),i}calculateTruncatedPayloadLength(t){let n=t.length;for(let e=t.length-MavLinkProtocol.CHECKSUM_LENGTH-1;e>=MavLinkProtocolV2.PAYLOAD_OFFSET;e--)if(n=e,t[e]!==0){n++;break}return n-MavLinkProtocolV2.PAYLOAD_OFFSET}header(t){this.log.trace("Reading header from buffer (len:",t.length,")");const n=t.readUInt8(0);if(n!==MavLinkProtocolV2.START_BYTE)throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV2.START_BYTE}, got ${n})`);const e=new MavLinkPacketHeader;return e.magic=n,e.payloadLength=t.readUInt8(1),e.incompatibilityFlags=t.readUInt8(2),e.compatibilityFlags=t.readUInt8(3),e.seq=t.readUInt8(4),e.sysid=t.readUInt8(5),e.compid=t.readUInt8(6),e.msgid=t.readUIntLE(7,3),e}crc(t){this.log.trace("Reading crc from buffer (len:",t.length,")");const n=t.readUInt8(1);return t.readUInt16LE(MavLinkProtocolV2.PAYLOAD_OFFSET+n)}payload(t){this.log.trace("Reading payload from buffer (len:",t.length,")");const n=t.readUInt8(1),e=t.slice(MavLinkProtocolV2.PAYLOAD_OFFSET,MavLinkProtocolV2.PAYLOAD_OFFSET+n),s=Buffer.from(new Uint8Array(255-e.length));return Buffer.concat([e,s])}signature(t,n){return this.log.trace("Reading signature from buffer (len:",t.length,")"),n.incompatibilityFlags&MavLinkProtocolV2.IFLAG_SIGNED?new MavLinkPacketSignature(t):null}}exports.MavLinkProtocolV2=MavLinkProtocolV2,MavLinkProtocolV2.NAME="MAV_V2",MavLinkProtocolV2.START_BYTE=253,MavLinkProtocolV2.PAYLOAD_OFFSET=10,MavLinkProtocolV2.INCOMPATIBILITY_FLAGS=0,MavLinkProtocolV2.COMPATIBILITY_FLAGS=0,MavLinkProtocolV2.IFLAG_SIGNED=1;const KNOWN_PROTOCOLS_BY_STX={[MavLinkProtocolV1.START_BYTE]:MavLinkProtocolV1,[MavLinkProtocolV2.START_BYTE]:MavLinkProtocolV2};class MavLinkPacketSignature{constructor(t){this.buffer=t}static key(t){return(0,crypto_1.createHash)("sha256").update(t).digest()}get offset(){return this.buffer.length-MavLinkPacketSignature.SIGNATURE_LENGTH}get linkId(){return this.buffer.readUInt8(this.offset)}set linkId(t){this.buffer.writeUInt8(this.offset)}get timestamp(){return this.buffer.readUIntLE(this.offset+1,6)}set timestamp(t){this.buffer.writeUIntLE(t,this.offset+1,6)}get signature(){return this.buffer.slice(this.offset+7,this.offset+7+6).toString("hex")}set signature(t){this.buffer.write(t,this.offset+7,"hex")}calculate(t){return(0,crypto_1.createHash)("sha256").update(t).update(this.buffer.slice(0,this.buffer.length-6)).digest("hex").substr(0,12)}matches(t){return this.calculate(t)===this.signature}toString(){return`linkid: ${this.linkId}, timestamp ${this.timestamp}, signature ${this.signature}`}}exports.MavLinkPacketSignature=MavLinkPacketSignature,MavLinkPacketSignature.SIGNATURE_LENGTH=13;class MavLinkPacket{constructor(t,n=new MavLinkPacketHeader,e=Buffer.from(new Uint8Array(255)),s=0,i=new MavLinkProtocolV1,r=null){this.buffer=t,this.header=n,this.payload=e,this.crc=s,this.protocol=i,this.signature=r}debug(){return`Packet (proto: ${this.protocol.constructor.NAME}, sysid: ${this.header.sysid}, compid: ${this.header.compid}, msgid: ${this.header.msgid}, seq: ${this.header.seq}, plen: ${this.header.payloadLength}, magic: ${mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${(0,utils_1.hex)(mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid])}), crc: ${(0,utils_1.hex)(this.crc,4)}`+this.signatureToString(this.signature)+")"}signatureToString(t){return t?`, ${t.toString()}`:""}}exports.MavLinkPacket=MavLinkPacket;var PacketValidationResult;(function(a){a[a.VALID=0]="VALID",a[a.INVALID=1]="INVALID",a[a.UNKNOWN=2]="UNKNOWN"})(PacketValidationResult||(PacketValidationResult={}));class MavLinkPacketSplitter extends stream_1.Transform{constructor(t={},n=()=>{}){super(t),this.log=logger_1.Logger.getLogger(this),this.buffer=Buffer.from([]),this.onCrcError=null,this._validPackagesCount=0,this._unknownPackagesCount=0,this._invalidPackagesCount=0,this.onCrcError=n}_transform(t,n,e){for(this.buffer=Buffer.concat([this.buffer,t]);this.buffer.byteLength>0;){const s=this.findStartOfPacket(this.buffer);if(s===null)break;s>0&&(this.buffer=this.buffer.slice(s)),this.log.debug("Found potential packet start at",s);const i=this.getPacketProtocol(this.buffer);if(this.log.debug("Packet protocol is",i.NAME),this.buffer.length<i.PAYLOAD_OFFSET+MavLinkProtocol.CHECKSUM_LENGTH){this.log.debug("Current buffer shorter than the shortest message - skipping");break}const r=this.readPacketLength(this.buffer,i);if(this.log.debug("Expected buffer length:",r,`(${(0,utils_1.hex)(r)})`),this.buffer.length<r){this.log.debug("Current buffer is not fully retrieved yet - skipping");break}else this.log.debug("Current buffer length:",this.buffer.length,`(${(0,utils_1.hex)(this.buffer.length,4)})`);const o=this.buffer.slice(0,r);switch(this.log.debug("Recognized buffer length:",o.length,`(${(0,utils_1.hex)(o.length,2)})`),this.validatePacket(o,i)){case PacketValidationResult.VALID:this.log.debug("Found a valid packet"),this._validPackagesCount++,this.push(o),this.buffer=this.buffer.slice(r);break;case PacketValidationResult.INVALID:this.log.debug("Found an invalid packet - skipping"),this._invalidPackagesCount++,this.buffer=this.buffer.slice(1);break;case PacketValidationResult.UNKNOWN:this.log.debug("Found an unknown packet - skipping"),this._unknownPackagesCount++,this.buffer=this.buffer.slice(r);break}}e(null)}findStartOfPacket(t){const n=t.indexOf(MavLinkProtocolV1.START_BYTE),e=t.indexOf(MavLinkProtocolV2.START_BYTE);return n>=0&&e>=0?n<e?n:e:n>=0?n:e>=0?e:null}getPacketProtocol(t){return KNOWN_PROTOCOLS_BY_STX[t.readUInt8(0)]||null}readPacketLength(t,n){const e=t.readUInt8(1);return n.PAYLOAD_OFFSET+e+MavLinkProtocol.CHECKSUM_LENGTH+(this.isV2Signed(t)?MavLinkPacketSignature.SIGNATURE_LENGTH:0)}validatePacket(t,n){const e=new n,s=e.header(t),i=mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[s.msgid];if(i){const r=e.crc(t),o=this.isV2Signed(t)?MavLinkPacketSignature.SIGNATURE_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH:MavLinkProtocol.CHECKSUM_LENGTH,c=(0,mavlink_mappings_1.x25crc)(t,1,o,i);if(r===c)return PacketValidationResult.VALID;{const h=[`CRC error; expected: ${c} (${(0,utils_1.hex)(c,4)}), got ${r} (${(0,utils_1.hex)(r,4)});`,`msgid: ${s.msgid} (${(0,utils_1.hex)(s.msgid)}),`,`seq: ${s.seq} (${(0,utils_1.hex)(s.seq)}),`,`plen: ${s.payloadLength} (${(0,utils_1.hex)(s.payloadLength)}),`,`magic: ${i} (${(0,utils_1.hex)(i)})`];return this.log.warn(h.join(" ")),this.onCrcError(t),PacketValidationResult.INVALID}}else return this.log.debug(`Unknown message with id ${s.msgid} (magic number not found) - skipping`),PacketValidationResult.UNKNOWN}isV2Signed(t){if(t.readUInt8(0)===MavLinkProtocolV2.START_BYTE)return!!(t.readUInt8(2)&MavLinkProtocolV2.IFLAG_SIGNED)}get validPackages(){return this._validPackagesCount}resetValidPackagesCount(){this._validPackagesCount=0}get invalidPackages(){return this._invalidPackagesCount}resetInvalidPackagesCount(){this._invalidPackagesCount=0}get unknownPackagesCount(){return this._unknownPackagesCount}resetUnknownPackagesCount(){this._unknownPackagesCount=0}}exports.MavLinkPacketSplitter=MavLinkPacketSplitter;class MavLinkPacketParser extends stream_1.Transform{constructor(t={}){super({...t,objectMode:!0}),this.log=logger_1.Logger.getLogger(this)}getProtocol(t){const n=t.readUInt8(0);switch(n){case MavLinkProtocolV1.START_BYTE:return new MavLinkProtocolV1;case MavLinkProtocolV2.START_BYTE:return new MavLinkProtocolV2;default:throw new Error(`Unknown protocol '${(0,utils_1.hex)(n)}'`)}}_transform(t,n,e){const s=this.getProtocol(t),i=s.header(t),r=s.payload(t),o=s.crc(t),c=s instanceof MavLinkProtocolV2?s.signature(t,i):null,h=new MavLinkPacket(t,i,r,o,s,c);e(null,h)}}exports.MavLinkPacketParser=MavLinkPacketParser;function createMavLinkStream(a,t){return a.pipe(new MavLinkPacketSplitter({},t)).pipe(new MavLinkPacketParser)}exports.createMavLinkStream=createMavLinkStream;let seq=0;async function send(a,t,n=new MavLinkProtocolV1){return new Promise((e,s)=>{const i=n.serialize(t,seq++);seq&=255,a.write(i,r=>{r?s(r):e(i.length)})})}exports.send=send;async function sendSigned(a,t,n,e=1,s=MavLinkProtocol.SYS_ID,i=MavLinkProtocol.COMP_ID,r=Date.now()){return new Promise((o,c)=>{const h=new MavLinkProtocolV2(s,i,MavLinkProtocolV2.IFLAG_SIGNED),d=h.serialize(t,seq++);seq&=255;const g=h.sign(d,e,n,r);a.write(g,l=>{l?c(l):o(g.length)})})}exports.sendSigned=sendSigned;
+"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.sendSigned=exports.send=exports.createMavLinkStream=exports.MavLinkPacketParser=exports.MavLinkPacketSplitter=exports.MavLinkPacket=exports.MavLinkPacketSignature=exports.MavLinkProtocolV2=exports.MavLinkProtocolV1=exports.MavLinkProtocol=exports.MavLinkPacketHeader=void 0;const stream_1=require("stream"),crypto_1=require("crypto"),mavlink_mappings_1=require("mavlink-mappings"),mavlink_mappings_2=require("mavlink-mappings"),utils_1=require("./utils"),logger_1=require("./logger"),serialization_1=require("./serialization");class MavLinkPacketHeader{constructor(){this.timestamp=null,this.magic=0,this.payloadLength=0,this.incompatibilityFlags=0,this.compatibilityFlags=0,this.seq=0,this.sysid=0,this.compid=0,this.msgid=0}}exports.MavLinkPacketHeader=MavLinkPacketHeader;class MavLinkProtocol{constructor(){this.log=logger_1.Logger.getLogger(this)}data(t,s){this.log.trace("Deserializing",s.MSG_NAME,"with payload of size",t.length);const n=new s;return s.FIELDS.forEach(e=>{const i=serialization_1.DESERIALIZERS[e.type];if(!i)throw new Error(`Unknown field type ${e.type}`);n[e.name]=i(t,e.offset,e.length)}),n}}exports.MavLinkProtocol=MavLinkProtocol,MavLinkProtocol.NAME="unknown",MavLinkProtocol.START_BYTE=0,MavLinkProtocol.PAYLOAD_OFFSET=0,MavLinkProtocol.CHECKSUM_LENGTH=2,MavLinkProtocol.SYS_ID=254,MavLinkProtocol.COMP_ID=1;class MavLinkProtocolV1 extends MavLinkProtocol{constructor(t=MavLinkProtocol.SYS_ID,s=MavLinkProtocol.COMP_ID){super(),this.sysid=t,this.compid=s}serialize(t,s){this.log.trace("Serializing message (seq:",s,")");const n=t.constructor,e=Buffer.from(new Uint8Array(MavLinkProtocolV1.PAYLOAD_OFFSET+n.PAYLOAD_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH));e.writeUInt8(MavLinkProtocolV1.START_BYTE,0),e.writeUInt8(n.PAYLOAD_LENGTH,1),e.writeUInt8(s,2),e.writeUInt8(this.sysid,3),e.writeUInt8(this.compid,4),e.writeUInt8(n.MSG_ID,5),n.FIELDS.forEach(r=>{const o=serialization_1.SERIALIZERS[r.type];if(!o)throw new Error(`Unknown field type ${r.type}: serializer not found`);o(t[r.name],e,r.offset+MavLinkProtocolV1.PAYLOAD_OFFSET,r.length)});const i=(0,mavlink_mappings_1.x25crc)(e,1,2,n.MAGIC_NUMBER);return e.writeUInt16LE(i,e.length-2),e}header(t,s=null){this.log.trace("Reading header from buffer (len:",t.length,")");const n=t.readUInt8(0);if(n!==MavLinkProtocolV1.START_BYTE)throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV1.START_BYTE}, got ${n})`);const e=new MavLinkPacketHeader;return e.timestamp=s,e.magic=n,e.payloadLength=t.readUInt8(1),e.seq=t.readUInt8(2),e.sysid=t.readUInt8(3),e.compid=t.readUInt8(4),e.msgid=t.readUInt8(5),e}crc(t){this.log.trace("Reading crc from buffer (len:",t.length,")");const s=t.readUInt8(1);return t.readUInt16LE(MavLinkProtocolV1.PAYLOAD_OFFSET+s)}payload(t){this.log.trace("Reading payload from buffer (len:",t.length,")");const s=t.readUInt8(1),n=t.slice(MavLinkProtocolV1.PAYLOAD_OFFSET,MavLinkProtocolV1.PAYLOAD_OFFSET+s),e=Buffer.from(new Uint8Array(255-n.length));return Buffer.concat([n,e])}}exports.MavLinkProtocolV1=MavLinkProtocolV1,MavLinkProtocolV1.NAME="MAV_V1",MavLinkProtocolV1.START_BYTE=254,MavLinkProtocolV1.PAYLOAD_OFFSET=6;class MavLinkProtocolV2 extends MavLinkProtocol{constructor(t=MavLinkProtocol.SYS_ID,s=MavLinkProtocol.COMP_ID,n=MavLinkProtocolV2.INCOMPATIBILITY_FLAGS,e=MavLinkProtocolV2.COMPATIBILITY_FLAGS){super(),this.sysid=t,this.compid=s,this.incompatibilityFlags=n,this.compatibilityFlags=e}serialize(t,s){this.log.trace("Serializing message (seq:",s,")");const n=t.constructor,e=Buffer.from(new Uint8Array(MavLinkProtocolV2.PAYLOAD_OFFSET+n.PAYLOAD_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH));e.writeUInt8(MavLinkProtocolV2.START_BYTE,0),e.writeUInt8(this.incompatibilityFlags,2),e.writeUInt8(this.compatibilityFlags,3),e.writeUInt8(s,4),e.writeUInt8(this.sysid,5),e.writeUInt8(this.compid,6),e.writeUIntLE(n.MSG_ID,7,3),n.FIELDS.forEach(c=>{const h=serialization_1.SERIALIZERS[c.type];if(!h)throw new Error(`Unknown field type ${c.type}: serializer not found`);h(t[c.name],e,c.offset+MavLinkProtocolV2.PAYLOAD_OFFSET,c.length)});const i=this.calculateTruncatedPayloadLength(e);e.writeUInt8(i,1);const r=e.slice(0,MavLinkProtocolV2.PAYLOAD_OFFSET+i+MavLinkProtocol.CHECKSUM_LENGTH),o=(0,mavlink_mappings_1.x25crc)(r,1,2,n.MAGIC_NUMBER);return r.writeUInt16LE(o,r.length-MavLinkProtocol.CHECKSUM_LENGTH),r}sign(t,s,n,e=Date.now()){this.log.trace("Signing message");const i=Buffer.concat([t,Buffer.from(new Uint8Array(MavLinkPacketSignature.SIGNATURE_LENGTH))]),r=new MavLinkPacketSignature(i);return r.linkId=s,r.timestamp=e,r.signature=r.calculate(n),i}calculateTruncatedPayloadLength(t){let s=t.length;for(let n=t.length-MavLinkProtocol.CHECKSUM_LENGTH-1;n>=MavLinkProtocolV2.PAYLOAD_OFFSET;n--)if(s=n,t[n]!==0){s++;break}return s-MavLinkProtocolV2.PAYLOAD_OFFSET}header(t,s=null){this.log.trace("Reading header from buffer (len:",t.length,")");const n=t.readUInt8(0);if(n!==MavLinkProtocolV2.START_BYTE)throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV2.START_BYTE}, got ${n})`);const e=new MavLinkPacketHeader;return e.timestamp=s,e.magic=n,e.payloadLength=t.readUInt8(1),e.incompatibilityFlags=t.readUInt8(2),e.compatibilityFlags=t.readUInt8(3),e.seq=t.readUInt8(4),e.sysid=t.readUInt8(5),e.compid=t.readUInt8(6),e.msgid=t.readUIntLE(7,3),e}crc(t){this.log.trace("Reading crc from buffer (len:",t.length,")");const s=t.readUInt8(1);return t.readUInt16LE(MavLinkProtocolV2.PAYLOAD_OFFSET+s)}payload(t){this.log.trace("Reading payload from buffer (len:",t.length,")");const s=t.readUInt8(1),n=t.slice(MavLinkProtocolV2.PAYLOAD_OFFSET,MavLinkProtocolV2.PAYLOAD_OFFSET+s),e=Buffer.from(new Uint8Array(255-n.length));return Buffer.concat([n,e])}signature(t,s){return this.log.trace("Reading signature from buffer (len:",t.length,")"),s.incompatibilityFlags&MavLinkProtocolV2.IFLAG_SIGNED?new MavLinkPacketSignature(t):null}}exports.MavLinkProtocolV2=MavLinkProtocolV2,MavLinkProtocolV2.NAME="MAV_V2",MavLinkProtocolV2.START_BYTE=253,MavLinkProtocolV2.PAYLOAD_OFFSET=10,MavLinkProtocolV2.INCOMPATIBILITY_FLAGS=0,MavLinkProtocolV2.COMPATIBILITY_FLAGS=0,MavLinkProtocolV2.IFLAG_SIGNED=1;const KNOWN_PROTOCOLS_BY_STX={[MavLinkProtocolV1.START_BYTE]:MavLinkProtocolV1,[MavLinkProtocolV2.START_BYTE]:MavLinkProtocolV2};class MavLinkPacketSignature{constructor(t){this.buffer=t}static key(t){return(0,crypto_1.createHash)("sha256").update(t).digest()}get offset(){return this.buffer.length-MavLinkPacketSignature.SIGNATURE_LENGTH}get linkId(){return this.buffer.readUInt8(this.offset)}set linkId(t){this.buffer.writeUInt8(this.offset)}get timestamp(){return this.buffer.readUIntLE(this.offset+1,6)}set timestamp(t){this.buffer.writeUIntLE(t,this.offset+1,6)}get signature(){return this.buffer.slice(this.offset+7,this.offset+7+6).toString("hex")}set signature(t){this.buffer.write(t,this.offset+7,"hex")}calculate(t){return(0,crypto_1.createHash)("sha256").update(t).update(this.buffer.slice(0,this.buffer.length-6)).digest("hex").substr(0,12)}matches(t){return this.calculate(t)===this.signature}toString(){return`linkid: ${this.linkId}, timestamp ${this.timestamp}, signature ${this.signature}`}}exports.MavLinkPacketSignature=MavLinkPacketSignature,MavLinkPacketSignature.SIGNATURE_LENGTH=13;class MavLinkPacket{constructor(t,s=new MavLinkPacketHeader,n=Buffer.from(new Uint8Array(255)),e=0,i=new MavLinkProtocolV1,r=null){this.buffer=t,this.header=s,this.payload=n,this.crc=e,this.protocol=i,this.signature=r}debug(){return`Packet (proto: ${this.protocol.constructor.NAME}, sysid: ${this.header.sysid}, compid: ${this.header.compid}, msgid: ${this.header.msgid}, seq: ${this.header.seq}, plen: ${this.header.payloadLength}, magic: ${mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${(0,utils_1.hex)(mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid])}), crc: ${(0,utils_1.hex)(this.crc,4)}`+this.signatureToString(this.signature)+")"}signatureToString(t){return t?`, ${t.toString()}`:""}}exports.MavLinkPacket=MavLinkPacket;var PacketValidationResult;(function(a){a[a.VALID=0]="VALID",a[a.INVALID=1]="INVALID",a[a.UNKNOWN=2]="UNKNOWN"})(PacketValidationResult||(PacketValidationResult={}));class MavLinkPacketSplitter extends stream_1.Transform{constructor(t={},s=()=>{}){super({...t,objectMode:!0}),this.log=logger_1.Logger.getLogger(this),this.buffer=Buffer.from([]),this.onCrcError=null,this.timestamp=null,this._validPackagesCount=0,this._unknownPackagesCount=0,this._invalidPackagesCount=0,this.onCrcError=s}_transform(t,s,n){for(this.buffer=Buffer.concat([this.buffer,t]);this.buffer.byteLength>0;){const e=this.findStartOfPacket(this.buffer);if(e===null)break;e===8?this.timestamp=Buffer.from(this.buffer,0,8).readBigUInt64BE()/1000n:this.timestamp=null,e>0&&(this.buffer=this.buffer.slice(e)),this.log.debug("Found potential packet start at",e);const i=this.getPacketProtocol(this.buffer);if(this.log.debug("Packet protocol is",i.NAME),this.buffer.length<i.PAYLOAD_OFFSET+MavLinkProtocol.CHECKSUM_LENGTH){this.log.debug("Current buffer shorter than the shortest message - skipping");break}const r=this.readPacketLength(this.buffer,i);if(this.log.debug("Expected buffer length:",r,`(${(0,utils_1.hex)(r)})`),this.buffer.length<r){this.log.debug("Current buffer is not fully retrieved yet - skipping");break}else this.log.debug("Current buffer length:",this.buffer.length,`(${(0,utils_1.hex)(this.buffer.length,4)})`);const o=this.buffer.slice(0,r);switch(this.log.debug("Recognized buffer length:",o.length,`(${(0,utils_1.hex)(o.length,2)})`),this.validatePacket(o,i)){case PacketValidationResult.VALID:this.log.debug("Found a valid packet"),this._validPackagesCount++,this.push({buffer:o,timestamp:this.timestamp}),this.buffer=this.buffer.slice(r);break;case PacketValidationResult.INVALID:this.log.debug("Found an invalid packet - skipping"),this._invalidPackagesCount++,this.buffer=this.buffer.slice(1);break;case PacketValidationResult.UNKNOWN:this.log.debug("Found an unknown packet - skipping"),this._unknownPackagesCount++,this.buffer=this.buffer.slice(r);break}}n(null)}findStartOfPacket(t){const s=t.indexOf(MavLinkProtocolV1.START_BYTE),n=t.indexOf(MavLinkProtocolV2.START_BYTE);return s>=0&&n>=0?s<n?s:n:s>=0?s:n>=0?n:null}getPacketProtocol(t){return KNOWN_PROTOCOLS_BY_STX[t.readUInt8(0)]||null}readPacketLength(t,s){const n=t.readUInt8(1);return s.PAYLOAD_OFFSET+n+MavLinkProtocol.CHECKSUM_LENGTH+(this.isV2Signed(t)?MavLinkPacketSignature.SIGNATURE_LENGTH:0)}validatePacket(t,s){const n=new s,e=n.header(t),i=mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[e.msgid];if(i){const r=n.crc(t),o=this.isV2Signed(t)?MavLinkPacketSignature.SIGNATURE_LENGTH+MavLinkProtocol.CHECKSUM_LENGTH:MavLinkProtocol.CHECKSUM_LENGTH,c=(0,mavlink_mappings_1.x25crc)(t,1,o,i);if(r===c)return PacketValidationResult.VALID;{const h=[`CRC error; expected: ${c} (${(0,utils_1.hex)(c,4)}), got ${r} (${(0,utils_1.hex)(r,4)});`,`msgid: ${e.msgid} (${(0,utils_1.hex)(e.msgid)}),`,`seq: ${e.seq} (${(0,utils_1.hex)(e.seq)}),`,`plen: ${e.payloadLength} (${(0,utils_1.hex)(e.payloadLength)}),`,`magic: ${i} (${(0,utils_1.hex)(i)})`];return this.log.warn(h.join(" ")),this.onCrcError(t),PacketValidationResult.INVALID}}else return this.log.debug(`Unknown message with id ${e.msgid} (magic number not found) - skipping`),PacketValidationResult.UNKNOWN}isV2Signed(t){if(t.readUInt8(0)===MavLinkProtocolV2.START_BYTE)return!!(t.readUInt8(2)&MavLinkProtocolV2.IFLAG_SIGNED)}get validPackages(){return this._validPackagesCount}resetValidPackagesCount(){this._validPackagesCount=0}get invalidPackages(){return this._invalidPackagesCount}resetInvalidPackagesCount(){this._invalidPackagesCount=0}get unknownPackagesCount(){return this._unknownPackagesCount}resetUnknownPackagesCount(){this._unknownPackagesCount=0}}exports.MavLinkPacketSplitter=MavLinkPacketSplitter;class MavLinkPacketParser extends stream_1.Transform{constructor(t={}){super({...t,objectMode:!0}),this.log=logger_1.Logger.getLogger(this)}getProtocol(t){const s=t.readUInt8(0);switch(s){case MavLinkProtocolV1.START_BYTE:return new MavLinkProtocolV1;case MavLinkProtocolV2.START_BYTE:return new MavLinkProtocolV2;default:throw new Error(`Unknown protocol '${(0,utils_1.hex)(s)}'`)}}_transform({buffer:t=Buffer.from([]),timestamp:s=null,...n}={},e,i){const r=this.getProtocol(t),o=r.header(t,s),c=r.payload(t),h=r.crc(t),l=r instanceof MavLinkProtocolV2?r.signature(t,o):null,g=new MavLinkPacket(t,o,c,h,r,l);i(null,g)}}exports.MavLinkPacketParser=MavLinkPacketParser;function createMavLinkStream(a,t){return a.pipe(new MavLinkPacketSplitter({},t)).pipe(new MavLinkPacketParser)}exports.createMavLinkStream=createMavLinkStream;let seq=0;async function send(a,t,s=new MavLinkProtocolV1){return new Promise((n,e)=>{const i=s.serialize(t,seq++);seq&=255,a.write(i,r=>{r?e(r):n(i.length)})})}exports.send=send;async function sendSigned(a,t,s,n=1,e=MavLinkProtocol.SYS_ID,i=MavLinkProtocol.COMP_ID,r=Date.now()){return new Promise((o,c)=>{const h=new MavLinkProtocolV2(e,i,MavLinkProtocolV2.IFLAG_SIGNED),l=h.serialize(t,seq++);seq&=255;const g=h.sign(l,n,s,r);a.write(g,u=>{u?c(u):o(g.length)})})}exports.sendSigned=sendSigned;

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/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": "1.1.1",
+  "version": "1.2.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",

package/coverage/coverage-final.json

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package/coverage/lcov-report/base.css

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package/coverage/lcov-report/block-navigation.js

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-        ', ' +
-        notSelector +
-        missingCoverageClasses.join(', ' + notSelector); // becomes `:not(a):not(b) > a, :not(a):not(b) > b`
-
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-
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-        missingCoverageElements.item(index).scrollIntoView({
-            behavior: 'smooth',
-            block: 'center',
-            inline: 'center'
-        });
-    }
-
-    function goToPrevious() {
-        var nextIndex = 0;
-        if (typeof currentIndex !== 'number' || currentIndex === 0) {
-            nextIndex = missingCoverageElements.length - 1;
-        } else if (missingCoverageElements.length > 1) {
-            nextIndex = currentIndex - 1;
-        }
-
-        makeCurrent(nextIndex);
-    }
-
-    function goToNext() {
-        var nextIndex = 0;
-
-        if (
-            typeof currentIndex === 'number' &&
-            currentIndex < missingCoverageElements.length - 1
-        ) {
-            nextIndex = currentIndex + 1;
-        }
-
-        makeCurrent(nextIndex);
-    }
-
-    return function jump(event) {
-        if (
-            document.getElementById('fileSearch') === document.activeElement &&
-            document.activeElement != null
-        ) {
-            // if we're currently focused on the search input, we don't want to navigate
-            return;
-        }
-
-        switch (event.which) {
-            case 78: // n
-            case 74: // j
-                goToNext();
-                break;
-            case 66: // b
-            case 75: // k
-            case 80: // p
-                goToPrevious();
-                break;
-        }
-    };
-})();
-window.addEventListener('keydown', jumpToCode);