node-mavlink 1.1.1 → 1.3.0

package/dist/index.d.ts

@@ -3,3 +3,4 @@ export * from './lib/utils';
 export * from './lib/logger';
 export * from './lib/mavlink';
 export * from './lib/mavesp';
+//# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../index.ts"],"names":[],"mappings":"AAAA,cAAc,kBAAkB,CAAA;AAChC,cAAc,aAAa,CAAA;AAC3B,cAAc,cAAc,CAAA;AAC5B,cAAc,eAAe,CAAA;AAC7B,cAAc,cAAc,CAAA"}

package/dist/index.js

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

package/dist/lib/logger.d.ts

@@ -29,7 +29,7 @@ export declare class Logger {
      * @param event event to react to
      * @param handler event handler
      */
-    static on(event: LoggerEvents, handler: (context: any, level: any, message: any) => void): void;
+    static on(event: LoggerEvents, handler: (context: any, level: LogLevel, message: string) => void): void;
     /**
      * Removes an event handler
      *
@@ -82,3 +82,4 @@ export declare class Logger {
     fatal(...args: any): void;
 }
 export {};
+//# sourceMappingURL=logger.d.ts.map

package/dist/lib/logger.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"logger.d.ts","sourceRoot":"","sources":["../../lib/logger.ts"],"names":[],"mappings":"AAEA;;GAEG;AACH,oBAAY,QAAQ;IAClB,KAAK,IAAQ;IACb,KAAK,IAAQ;IACb,IAAI,IAAS;IACb,IAAI,IAAS;IACb,KAAK,IAAQ;IACb,KAAK,IAAQ;CACd;AAGD,aAAK,YAAY,GAAG,KAAK,CAAA;AACzB,aAAK,kBAAkB,GAAG,CAAC,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,QAAQ,EAAE,OAAO,EAAE,GAAG,EAAE,KAAK,IAAI,CAAA;AAEpF;;GAEG;AACH,qBAAa,MAAM;IACjB,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAC,MAAM,CAAmC;IACjE,OAAO,CAAC,MAAM,CAAC,QAAQ,CAAqB;IAE5C;;;;OAIG;IACH,MAAM,CAAC,SAAS,CAAC,OAAO,EAAE,GAAG;IAY7B;;;;;OAKG;IACH,MAAM,CAAC,EAAE,CAAC,KAAK,EAAE,YAAY,EAAE,OAAO,EAAE,CAAC,OAAO,EAAE,GAAG,EAAE,KAAK,EAAE,QAAQ,EAAE,OAAO,EAAE,MAAM,KAAK,IAAI;IAIhG;;;;;OAKG;IACH,MAAM,CAAC,GAAG,CAAC,KAAK,EAAE,YAAY,EAAE,OAAO,EAAE,kBAAkB;IAI3D,OAAO,CAAC,OAAO,CAAQ;IAEvB;;;;OAIG;gBACS,OAAO,EAAE,MAAM;IAK3B;;;;OAIG;IACH,KAAK,CAAC,GAAG,IAAI,EAAE,GAAG;IAIlB;;;;OAIG;IACH,KAAK,CAAC,GAAG,IAAI,EAAE,GAAG;IAIlB;;;;OAIG;IACH,IAAI,CAAC,GAAG,IAAI,EAAE,GAAG;IAIjB;;;;OAIG;IACH,IAAI,CAAC,GAAG,IAAI,EAAE,GAAG;IAIjB;;;;OAIG;IACH,KAAK,CAAC,GAAG,IAAI,EAAE,GAAG;IAIlB;;;;OAIG;IACH,KAAK,CAAC,GAAG,IAAI,EAAE,GAAG;CAGnB"}

package/dist/lib/logger.js

@@ -1 +1,119 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.Logger=exports.LogLevel=void 0;const EventEmitter=require("events");var LogLevel;(function(t){t[t.trace=5]="trace",t[t.debug=4]="debug",t[t.info=3]="info",t[t.warn=2]="warn",t[t.error=1]="error",t[t.fatal=0]="fatal"})(LogLevel=exports.LogLevel||(exports.LogLevel={}));class Logger{constructor(e){this.context=e,Logger.events.emit("logger-created",Logger.registry[e])}static getLogger(e){let s="";if(typeof e=="function")s=e.name;else if(typeof e=="object")s=e.constructor.name;else if(typeof e=="string")s=e;else throw new Error(`Do not know how to get logger for ${e} (${typeof e})`);return Logger.registry[s]||(Logger.registry[s]=new Logger(s)),Logger.registry[s]}static on(e,s){this.events.on(e,s)}static off(e,s){this.events.off(e,s)}trace(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.trace,message:e})}debug(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.debug,message:e})}info(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.info,message:e})}warn(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.warn,message:e})}error(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.error,message:e})}fatal(...e){Logger.events.emit("log",{context:this.context,level:LogLevel.fatal,message:e})}}exports.Logger=Logger,Logger.events=new EventEmitter,Logger.registry={};
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.Logger = exports.LogLevel = void 0;
+const events_1 = require("events");
+/**
+ * Level of the log entry
+ */
+var LogLevel;
+(function (LogLevel) {
+    LogLevel[LogLevel["trace"] = 5] = "trace";
+    LogLevel[LogLevel["debug"] = 4] = "debug";
+    LogLevel[LogLevel["info"] = 3] = "info";
+    LogLevel[LogLevel["warn"] = 2] = "warn";
+    LogLevel[LogLevel["error"] = 1] = "error";
+    LogLevel[LogLevel["fatal"] = 0] = "fatal";
+})(LogLevel = exports.LogLevel || (exports.LogLevel = {}));
+/**
+ * Simplified interface for logging facilities
+ */
+class Logger {
+    static events = new events_1.EventEmitter();
+    static registry = {};
+    /**
+     * Gets a logger by name
+     *
+     * @param context logger context
+     */
+    static getLogger(context) {
+        let name = '';
+        if (typeof context === 'function')
+            name = context.name;
+        else if (typeof context === 'object')
+            name = context.constructor.name;
+        else if (typeof context === 'string')
+            name = context;
+        else
+            throw new Error(`Do not know how to get logger for ${context} (${typeof context})`);
+        if (!Logger.registry[name])
+            Logger.registry[name] = new Logger(name);
+        return Logger.registry[name];
+    }
+    /**
+     * Binds an event handler
+     *
+     * @param event event to react to
+     * @param handler event handler
+     */
+    static on(event, handler) {
+        this.events.on(event, handler);
+    }
+    /**
+     * Removes an event handler
+     *
+     * @param event event to react to
+     * @param handler event handler
+     */
+    static off(event, handler) {
+        this.events.off(event, handler);
+    }
+    context;
+    /**
+     * Constructs a new logger instance
+     *
+     * @param context logger context
+     */
+    constructor(context) {
+        this.context = context;
+        Logger.events.emit('logger-created', Logger.registry[context]);
+    }
+    /**
+     * Sends a log message if the trace level is enabled for this logger
+     *
+     * @param args parameters for the log entry
+     */
+    trace(...args) {
+        Logger.events.emit('log', { context: this.context, level: LogLevel.trace, message: args });
+    }
+    /**
+     * Sends a log message if the debug level is enabled for this logger
+     *
+     * @param args parameters for the log entry
+     */
+    debug(...args) {
+        Logger.events.emit('log', { context: this.context, level: LogLevel.debug, message: args });
+    }
+    /**
+     * Sends a log message if the info level is enabled for this logger
+     *
+     * @param args parameters for the log entry
+     */
+    info(...args) {
+        Logger.events.emit('log', { context: this.context, level: LogLevel.info, message: args });
+    }
+    /**
+     * Sends a log message if the warn level is enabled for this logger
+     *
+     * @param args parameters for the log entry
+     */
+    warn(...args) {
+        Logger.events.emit('log', { context: this.context, level: LogLevel.warn, message: args });
+    }
+    /**
+     * Sends a log message if the error level is enabled for this logger
+     *
+     * @param args parameters for the log entry
+     */
+    error(...args) {
+        Logger.events.emit('log', { context: this.context, level: LogLevel.error, message: args });
+    }
+    /**
+     * Sends a log message if the fatal level is enabled for this logger
+     *
+     * @param args parameters for the log entry
+     */
+    fatal(...args) {
+        Logger.events.emit('log', { context: this.context, level: LogLevel.fatal, message: args });
+    }
+}
+exports.Logger = Logger;

package/dist/lib/mavesp.d.ts

@@ -1,4 +1,5 @@
 /// <reference types="node" />
+/// <reference types="node" />
 import { EventEmitter } from 'events';
 import { uint8_t, MavLinkData } from 'mavlink-mappings';
 /**
@@ -6,7 +7,7 @@ import { uint8_t, MavLinkData } from 'mavlink-mappings';
  */
 export declare class MavEsp8266 extends EventEmitter {
     private input;
-    private socket;
+    private socket?;
     private ip;
     private sendPort;
     private seq;
@@ -44,3 +45,4 @@ export declare class MavEsp8266 extends EventEmitter {
     private processIncommingUDPData;
     private processIncommingPacket;
 }
+//# sourceMappingURL=mavesp.d.ts.map

package/dist/lib/mavesp.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"mavesp.d.ts","sourceRoot":"","sources":["../../lib/mavesp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAOrC,OAAO,EAAE,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEvD;;GAEG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,KAAK,CAAU;IACvB,OAAO,CAAC,MAAM,CAAC,CAAQ;IACvB,OAAO,CAAC,EAAE,CAAa;IACvB,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,GAAG,CAAY;;IAmBvB;;;;;OAKG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc;IAmBjE;;;;;;OAMG;IACH,IAAI,CAAC,GAAG,EAAE,WAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC;IAOzG;;;;;;;OAOG;IACH,UAAU,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC;IAQjJ;;;;OAIG;IACH,UAAU,CAAC,MAAM,EAAE,MAAM;IAIzB,OAAO,CAAC,uBAAuB;IAO/B,OAAO,CAAC,sBAAsB;CAI/B"}

package/dist/lib/mavesp.js

@@ -1 +1,101 @@
-"use strict";Object.defineProperty(exports,"__esModule",{value:!0}),exports.MavEsp8266=void 0;const events_1=require("events"),dgram_1=require("dgram"),stream_1=require("stream"),mavlink_1=require("./mavlink"),mavlink_2=require("./mavlink"),utils_1=require("./utils");class MavEsp8266 extends events_1.EventEmitter{constructor(){super(),this.ip="",this.sendPort=14555,this.seq=0,this.input=new stream_1.PassThrough,this.processIncommingUDPData=this.processIncommingUDPData.bind(this),this.processIncommingPacket=this.processIncommingPacket.bind(this),this.input.pipe(new mavlink_1.MavLinkPacketSplitter).pipe(new mavlink_1.MavLinkPacketParser).on("data",this.processIncommingPacket)}async start(s=14550,t=14555){return this.sendPort=t,this.socket=(0,dgram_1.createSocket)({type:"udp4",reuseAddr:!0}),this.socket.on("message",this.processIncommingUDPData),new Promise((e,o)=>{this.socket.bind(s,()=>{(0,utils_1.waitFor)(()=>this.ip!=="").then(()=>{e(this.ip)}).catch(i=>{o(i)})})})}send(s,t=mavlink_2.MavLinkProtocol.SYS_ID,e=mavlink_2.MavLinkProtocol.COMP_ID){const i=new mavlink_2.MavLinkProtocolV2(t,e).serialize(s,this.seq++);this.seq&=255,this.sendBuffer(i)}sendSigned(s,t,e=1,o=mavlink_2.MavLinkProtocol.SYS_ID,i=mavlink_2.MavLinkProtocol.COMP_ID){const n=new mavlink_2.MavLinkProtocolV2(o,i,mavlink_2.MavLinkProtocolV2.IFLAG_SIGNED),r=n.serialize(s,this.seq++);this.seq&=255;const c=n.sign(r,e,t);this.sendBuffer(c)}sendBuffer(s){this.socket.send(s,this.sendPort,this.ip)}processIncommingUDPData(s,t){this.ip===""&&(this.ip=t.address),this.input.write(s)}processIncommingPacket(s){this.emit("data",s)}}exports.MavEsp8266=MavEsp8266;
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MavEsp8266 = void 0;
+const events_1 = require("events");
+const dgram_1 = require("dgram");
+const stream_1 = require("stream");
+const mavlink_1 = require("./mavlink");
+const mavlink_2 = require("./mavlink");
+const utils_1 = require("./utils");
+/**
+ * Encapsulation of communication with MavEsp8266
+ */
+class MavEsp8266 extends events_1.EventEmitter {
+    input;
+    socket;
+    ip = '';
+    sendPort = 14555;
+    seq = 0;
+    constructor() {
+        super();
+        this.input = new stream_1.PassThrough();
+        this.processIncommingUDPData = this.processIncommingUDPData.bind(this);
+        this.processIncommingPacket = this.processIncommingPacket.bind(this);
+        // Create the reader as usual by piping the source stream through the splitter
+        // and packet parser
+        const reader = this.input
+            .pipe(new mavlink_1.MavLinkPacketSplitter())
+            .pipe(new mavlink_1.MavLinkPacketParser());
+        reader.on('data', this.processIncommingPacket);
+    }
+    /**
+     * Start communication with the controller via MAVESP2866
+     *
+     * @param receivePort port to receive messages on (default: 14550)
+     * @param sendPort port to send messages to (default: 14555)
+     */
+    async start(receivePort = 14550, sendPort = 14555) {
+        this.sendPort = sendPort;
+        // Create a UDP socket
+        this.socket = (0, dgram_1.createSocket)({ type: 'udp4', reuseAddr: true });
+        this.socket.on('message', this.processIncommingUDPData);
+        // Start listening on the socket
+        return new Promise((resolve, reject) => {
+            this.socket?.bind(receivePort, () => {
+                // Wait for the first package to be returned to read the ip address
+                // of the controller
+                (0, utils_1.waitFor)(() => this.ip !== '')
+                    .then(() => { resolve(this.ip); })
+                    .catch(e => { reject(e); });
+            });
+        });
+    }
+    /**
+     * Send a packet
+     *
+     * @param msg message to send
+     * @param sysid system id
+     * @param compid component id
+     */
+    send(msg, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
+        const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid);
+        const buffer = protocol.serialize(msg, this.seq++);
+        this.seq &= 255;
+        this.sendBuffer(buffer);
+    }
+    /**
+     * Send a signed packet
+     *
+     * @param msg message to send
+     * @param sysid system id
+     * @param compid component id
+     * @param linkId link id for the signature
+     */
+    sendSigned(msg, key, linkId = 1, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
+        const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid, mavlink_2.MavLinkProtocolV2.IFLAG_SIGNED);
+        const b1 = protocol.serialize(msg, this.seq++);
+        this.seq &= 255;
+        const b2 = protocol.sign(b1, linkId, key);
+        this.sendBuffer(b2);
+    }
+    /**
+     * Send raw data over the socket. Useful for custom implementation of data sending
+     *
+     * @param buffer buffer to send
+     */
+    sendBuffer(buffer) {
+        this.socket?.send(buffer, this.sendPort, this.ip);
+    }
+    processIncommingUDPData(buffer, metadata) {
+        // store the remote ip address
+        if (this.ip === '')
+            this.ip = metadata.address;
+        // pass on the data to the input stream
+        this.input.write(buffer);
+    }
+    processIncommingPacket(packet) {
+        // let the user know we received the packet
+        this.emit('data', packet);
+    }
+}
+exports.MavEsp8266 = MavEsp8266;

package/dist/lib/mavlink.d.ts

@@ -1,4 +1,5 @@
 /// <reference types="node" />
+/// <reference types="node" />
 import { Transform, TransformCallback, Readable, Writable } from 'stream';
 import { uint8_t, uint16_t } from 'mavlink-mappings';
 import { MavLinkData, MavLinkDataConstructor } from 'mavlink-mappings';
@@ -7,6 +8,7 @@ import { Logger } from './logger';
  * Header definition of the MavLink packet
  */
 export declare class MavLinkPacketHeader {
+    timestamp: bigint | null;
     magic: number;
     payloadLength: uint8_t;
     incompatibilityFlags: uint8_t;
@@ -37,11 +39,11 @@ export declare abstract class MavLinkProtocol {
     /**
      * Deserialize packet header
      */
-    abstract header(buffer: any): MavLinkPacketHeader;
+    abstract header(buffer: Buffer, timestamp?: bigint): MavLinkPacketHeader;
     /**
      * Deserialize packet checksum
      */
-    abstract crc(buffer: any): uint16_t;
+    abstract crc(buffer: Buffer): uint16_t;
     /**
      * Extract payload buffer
      *
@@ -66,7 +68,7 @@ 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?: bigint): MavLinkPacketHeader;
     /**
      * Deserialize packet checksum
      */
@@ -100,13 +102,13 @@ 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?: bigint): MavLinkPacketHeader;
     /**
      * Deserialize packet checksum
      */
     crc(buffer: Buffer): uint16_t;
     payload(buffer: Buffer): Buffer;
-    signature(buffer: Buffer, header: MavLinkPacketHeader): MavLinkPacketSignature;
+    signature(buffer: Buffer, header: MavLinkPacketHeader): MavLinkPacketSignature | null;
 }
 /**
  * MavLink packet signature definition
@@ -176,8 +178,8 @@ export declare class MavLinkPacket {
     readonly payload: Buffer;
     readonly crc: uint16_t;
     readonly protocol: MavLinkProtocol;
-    readonly signature: MavLinkPacketSignature;
-    constructor(buffer: Buffer, header?: MavLinkPacketHeader, payload?: Buffer, crc?: uint16_t, protocol?: MavLinkProtocol, signature?: MavLinkPacketSignature);
+    readonly signature: MavLinkPacketSignature | null;
+    constructor(buffer: Buffer, header?: MavLinkPacketHeader, payload?: Buffer, crc?: uint16_t, protocol?: MavLinkProtocol, signature?: MavLinkPacketSignature | null);
     /**
      * Debug information about the packet
      *
@@ -194,6 +196,7 @@ export declare class MavLinkPacketSplitter extends Transform {
     protected readonly log: Logger;
     private buffer;
     private onCrcError;
+    private timestamp;
     private _validPackagesCount;
     private _unknownPackagesCount;
     private _invalidPackagesCount;
@@ -203,7 +206,7 @@ export declare class MavLinkPacketSplitter extends Transform {
      * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
      */
     constructor(opts?: {}, onCrcError?: BufferCallback);
-    _transform(chunk: Buffer, encoding: any, callback: TransformCallback): void;
+    _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
     private findStartOfPacket;
     private getPacketProtocol;
     private readPacketLength;
@@ -246,7 +249,10 @@ 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 | undefined;
+        timestamp?: null | undefined;
+    } | undefined, encoding: string, callback: TransformCallback): void;
 }
 /**
  * Creates a MavLink packet stream reader that is reading packets from the given input
@@ -277,3 +283,4 @@ export declare function send(stream: Writable, msg: MavLinkData, protocol?: MavL
  */
 export declare function sendSigned(stream: Writable, msg: MavLinkData, key: Buffer, linkId?: uint8_t, sysid?: uint8_t, compid?: uint8_t, timestamp?: number): Promise<unknown>;
 export {};
+//# sourceMappingURL=mavlink.d.ts.map

package/dist/lib/mavlink.d.ts.map

@@ -0,0 +1 @@
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