node-mavlink 1.1.1 → 1.3.0
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- package/dist/index.d.ts +1 -0
- package/dist/index.d.ts.map +1 -0
- package/dist/index.js +21 -1
- package/dist/lib/logger.d.ts +2 -1
- package/dist/lib/logger.d.ts.map +1 -0
- package/dist/lib/logger.js +119 -1
- package/dist/lib/mavesp.d.ts +3 -1
- package/dist/lib/mavesp.d.ts.map +1 -0
- package/dist/lib/mavesp.js +101 -1
- package/dist/lib/mavlink.d.ts +16 -9
- package/dist/lib/mavlink.d.ts.map +1 -0
- package/dist/lib/mavlink.js +704 -1
- package/dist/lib/serialization.d.ts +9 -49
- package/dist/lib/serialization.d.ts.map +1 -0
- package/dist/lib/serialization.js +184 -1
- package/dist/lib/utils.d.ts +5 -4
- package/dist/lib/utils.d.ts.map +1 -0
- package/dist/lib/utils.js +77 -1
- package/examples/parse-tlog-file.ts +43 -0
- package/examples/send-receive-file.ts +6 -2
- package/examples/vtol.tlog +0 -0
- package/package.json +11 -9
- package/sanity-check.cjs +8 -0
- package/sanity-check.mjs +8 -0
- package/.vscode/launch.json +0 -19
- package/.vscode/settings.json +0 -3
- package/coverage/coverage-final.json +0 -1
- package/coverage/lcov-report/base.css +0 -224
- package/coverage/lcov-report/block-navigation.js +0 -87
- package/coverage/lcov-report/favicon.png +0 -0
- package/coverage/lcov-report/index.html +0 -101
- package/coverage/lcov-report/prettify.css +0 -1
- package/coverage/lcov-report/prettify.js +0 -2
- package/coverage/lcov-report/serialization.ts.html +0 -613
- package/coverage/lcov-report/sort-arrow-sprite.png +0 -0
- package/coverage/lcov-report/sorter.js +0 -196
- package/coverage/lcov.info +0 -0
- package/index.ts +0 -5
- package/jest.config.js +0 -5
- package/lib/logger.ts +0 -128
- package/lib/mavesp.ts +0 -112
- package/lib/mavlink.ts +0 -796
- package/lib/serialization.test.ts +0 -256
- package/lib/serialization.ts +0 -176
- package/lib/utils.ts +0 -75
- package/tests/data.mavlink +0 -0
- package/tests/main.ts +0 -59
- package/tsconfig.json +0 -16
@@ -1,58 +1,18 @@
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1
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/// <reference types="node" />
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-
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2
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+
declare type Serializer = ((value: any, buffer: Buffer, offset: number) => void) | ((value: any, buffer: Buffer, offset: number, maxLen: number) => void);
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3
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/**
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4
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* A dictionary containing functions that serialize a certain value based on the field type
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5
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*/
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export declare const SERIALIZERS: {
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-
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-
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-
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-
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-
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uint16_t: (value: uint16_t, buffer: Buffer, offset: number) => number;
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-
int32_t: (value: int32_t, buffer: Buffer, offset: number) => number;
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14
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-
uint32_t: (value: uint32_t, buffer: Buffer, offset: number) => number;
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15
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-
int64_t: (value: int64_t, buffer: Buffer, offset: number) => number;
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16
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uint64_t: (value: uint64_t, buffer: Buffer, offset: number) => number;
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17
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-
float: (value: float, buffer: Buffer, offset: number) => number;
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-
double: (value: double, buffer: Buffer, offset: number) => number;
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'char[]': (value: string, buffer: Buffer, offset: number, maxLen: number) => void;
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-
'int8_t[]': (value: uint8_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'uint8_t[]': (value: uint8_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'int16_t[]': (value: uint16_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'uint16_t[]': (value: uint16_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'int32_t[]': (value: uint32_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'uint32_t[]': (value: uint32_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'int64_t[]': (value: uint64_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'uint64_t[]': (value: uint64_t[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'float[]': (value: float[], buffer: Buffer, offset: number, maxLen: number) => void;
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-
'double[]': (value: double[], buffer: Buffer, offset: number, maxLen: number) => void;
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7
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+
[x: string]: Serializer;
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+
};
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+
declare type Deserializer = ((buffer: Buffer, offset: number) => any) | ((buffer: Buffer, offset: number, length: number) => any);
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declare type Deserializers = {
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[key: string]: Deserializer;
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};
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/**
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* A dictionary containing functions that deserialize a certain value based on the field type
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*/
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-
export declare const DESERIALIZERS:
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-
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-
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-
int8_t: (buffer: Buffer, offset: number) => number;
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-
uint8_t: (buffer: Buffer, offset: number) => number;
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-
int16_t: (buffer: Buffer, offset: number) => number;
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40
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-
uint16_t: (buffer: Buffer, offset: number) => number;
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-
int32_t: (buffer: Buffer, offset: number) => number;
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-
uint32_t: (buffer: Buffer, offset: number) => number;
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-
int64_t: (buffer: Buffer, offset: number) => bigint;
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-
uint64_t: (buffer: Buffer, offset: number) => bigint;
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-
float: (buffer: Buffer, offset: number) => number;
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-
double: (buffer: Buffer, offset: number) => number;
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-
'char[]': (buffer: Buffer, offset: number, length: number) => string;
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48
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-
'int8_t[]': (buffer: Buffer, offset: number, length: number) => number[];
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49
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-
'uint8_t[]': (buffer: Buffer, offset: number, length: number) => number[];
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50
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-
'int16_t[]': (buffer: Buffer, offset: number, length: number) => number[];
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-
'uint16_t[]': (buffer: Buffer, offset: number, length: number) => number[];
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52
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-
'int32_t[]': (buffer: Buffer, offset: number, length: number) => number[];
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-
'uint32_t[]': (buffer: Buffer, offset: number, length: number) => number[];
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-
'int64_t[]': (buffer: Buffer, offset: number, length: number) => BigInt[];
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-
'uint64_t[]': (buffer: Buffer, offset: number, length: number) => BigInt[];
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-
'float[]': (buffer: Buffer, offset: number, length: number) => number[];
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-
'double[]': (buffer: Buffer, offset: number, length: number) => number[];
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-
};
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+
export declare const DESERIALIZERS: Deserializers;
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export {};
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//# sourceMappingURL=serialization.d.ts.map
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@@ -0,0 +1 @@
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1
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+
{"version":3,"file":"serialization.d.ts","sourceRoot":"","sources":["../../lib/serialization.ts"],"names":[],"mappings":";AAaA,aAAK,UAAU,GACd,CAAC,CAAC,KAAK,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,KAAK,IAAI,CAAC,GACtD,CAAC,CAAC,KAAK,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,KAAK,IAAI,CAAC,CAAA;AAiFvE;;GAEG;AACH,eAAO,MAAM,WAAW;;CAIvB,CAAA;AAED,aAAK,YAAY,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,KAAK,GAAG,CAAC,GAAG,CAAC,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,KAAK,GAAG,CAAC,CAAA;AACzH,aAAK,aAAa,GAAG;IAAE,CAAC,GAAG,EAAE,MAAM,GAAG,YAAY,CAAA;CAAE,CAAA;AAqFpD;;GAEG;AACH,eAAO,MAAM,aAAa,EAAE,aAI3B,CAAA"}
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@@ -1 +1,184 @@
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1
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-
"use strict";
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1
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+
"use strict";
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Object.defineProperty(exports, "__esModule", { value: true });
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exports.DESERIALIZERS = exports.SERIALIZERS = void 0;
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const SPECIAL_TYPES_SERIALIZERS = {
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5
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'uint8_t_mavlink_version': (value, buffer, offset) => buffer.writeUInt8(value, offset),
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+
};
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const SINGULAR_TYPES_SERIALIZERS = {
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'char': (value, buffer, offset) => buffer.writeUInt8(value, offset),
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'int8_t': (value, buffer, offset) => buffer.writeInt8(value, offset),
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10
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'uint8_t': (value, buffer, offset) => buffer.writeUInt8(value, offset),
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'int16_t': (value, buffer, offset) => buffer.writeInt16LE(value, offset),
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+
'uint16_t': (value, buffer, offset) => buffer.writeUInt16LE(value, offset),
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'int32_t': (value, buffer, offset) => buffer.writeInt32LE(value, offset),
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14
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+
'uint32_t': (value, buffer, offset) => buffer.writeUInt32LE(value, offset),
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15
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+
'int64_t': (value, buffer, offset) => buffer.writeBigInt64LE(value, offset),
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+
'uint64_t': (value, buffer, offset) => buffer.writeBigUInt64LE(value, offset),
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+
'float': (value, buffer, offset) => buffer.writeFloatLE(value, offset),
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+
'double': (value, buffer, offset) => buffer.writeDoubleLE(value, offset),
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};
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const ARRAY_TYPES_SERIALIZERS = {
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'char[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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const code = value.charCodeAt(i);
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buffer.writeUInt8(code, offset + i);
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}
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},
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'int8_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeInt8(value[i], offset + i);
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}
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},
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'uint8_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeUInt8(value[i], offset + i);
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}
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},
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'int16_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeInt16LE(value[i], offset + i * 2);
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}
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},
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'uint16_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeUInt16LE(value[i], offset + i * 2);
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}
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},
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'int32_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeInt32LE(value[i], offset + i * 4);
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}
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},
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'uint32_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeUInt32LE(value[i], offset + i * 4);
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}
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},
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'int64_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeBigInt64LE(value[i], offset + i * 8);
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}
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},
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'uint64_t[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeBigUInt64LE(value[i], offset + i * 8);
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}
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},
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'float[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeFloatLE(value[i], offset + i * 4);
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}
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},
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'double[]': (value, buffer, offset, maxLen) => {
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for (let i = 0; i < value.length && i < maxLen; i++) {
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buffer.writeDoubleLE(value[i], offset + i * 8);
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}
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},
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};
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/**
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* A dictionary containing functions that serialize a certain value based on the field type
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*/
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exports.SERIALIZERS = {
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...SPECIAL_TYPES_SERIALIZERS,
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...SINGULAR_TYPES_SERIALIZERS,
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...ARRAY_TYPES_SERIALIZERS,
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};
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const SPECIAL_DESERIALIZERS = {
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'uint8_t_mavlink_version': (buffer, offset) => buffer.readUInt8(offset),
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};
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const SINGULAR_TYPES_DESERIALIZERS = {
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'char': (buffer, offset) => String.fromCharCode(buffer.readUInt8(offset)),
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'int8_t': (buffer, offset) => buffer.readInt8(offset),
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'uint8_t': (buffer, offset) => buffer.readUInt8(offset),
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'int16_t': (buffer, offset) => buffer.readInt16LE(offset),
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'uint16_t': (buffer, offset) => buffer.readUInt16LE(offset),
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95
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'int32_t': (buffer, offset) => buffer.readInt32LE(offset),
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'uint32_t': (buffer, offset) => buffer.readUInt32LE(offset),
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'int64_t': (buffer, offset) => buffer.readBigInt64LE(offset),
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'uint64_t': (buffer, offset) => buffer.readBigUInt64LE(offset),
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'float': (buffer, offset) => buffer.readFloatLE(offset),
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'double': (buffer, offset) => buffer.readDoubleLE(offset),
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};
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const ARRAY_TYPES_DESERIALIZERS = {
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'char[]': (buffer, offset, length) => {
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let result = '';
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for (let i = 0; i < length; i++) {
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const charCode = buffer.readUInt8(offset + i);
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if (charCode !== 0) {
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result += String.fromCharCode(charCode);
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}
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else {
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break;
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}
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}
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return result;
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},
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'int8_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readInt8(offset + i);
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return result;
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},
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'uint8_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readUInt8(offset + i);
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return result;
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},
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128
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'int16_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readInt16LE(offset + i * 2);
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return result;
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},
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'uint16_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readUInt16LE(offset + i * 2);
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return result;
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},
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'int32_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readInt32LE(offset + i * 4);
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return result;
|
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},
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'uint32_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readUInt32LE(offset + i * 4);
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return result;
|
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},
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'int64_t[]': (buffer, offset, length) => {
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const result = new Array(length);
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for (let i = 0; i < length; i++)
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result[i] = buffer.readBigInt64LE(offset + i * 8);
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return result;
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157
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+
},
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158
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'uint64_t[]': (buffer, offset, length) => {
|
159
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const result = new Array(length);
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160
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for (let i = 0; i < length; i++)
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result[i] = buffer.readBigUInt64LE(offset + i * 8);
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return result;
|
163
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+
},
|
164
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+
'float[]': (buffer, offset, length) => {
|
165
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const result = new Array(length);
|
166
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+
for (let i = 0; i < length; i++)
|
167
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result[i] = buffer.readFloatLE(offset + i * 4);
|
168
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return result;
|
169
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+
},
|
170
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+
'double[]': (buffer, offset, length) => {
|
171
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const result = new Array(length);
|
172
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for (let i = 0; i < length; i++)
|
173
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result[i] = buffer.readDoubleLE(offset + i * 8);
|
174
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return result;
|
175
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+
},
|
176
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+
};
|
177
|
+
/**
|
178
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+
* A dictionary containing functions that deserialize a certain value based on the field type
|
179
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+
*/
|
180
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+
exports.DESERIALIZERS = {
|
181
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+
...SPECIAL_DESERIALIZERS,
|
182
|
+
...SINGULAR_TYPES_DESERIALIZERS,
|
183
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+
...ARRAY_TYPES_DESERIALIZERS,
|
184
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+
};
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package/dist/lib/utils.d.ts
CHANGED
@@ -18,9 +18,9 @@ export declare function dump(buffer: Buffer, lineWidth?: number): void;
|
|
18
18
|
/**
|
19
19
|
* Sleep for a given number of miliseconds
|
20
20
|
*
|
21
|
-
* @param ms
|
21
|
+
* @param {number} ms of miliseconds to sleep
|
22
22
|
*/
|
23
|
-
export declare function sleep(ms:
|
23
|
+
export declare function sleep(ms: number): Promise<unknown>;
|
24
24
|
/**
|
25
25
|
* Execute a callback every <code>interval</code>ms and if it will not return
|
26
26
|
* a truthy value in the <code>timeout<code>ms then throw a Timeout exception.
|
@@ -28,8 +28,9 @@ export declare function sleep(ms: any): Promise<unknown>;
|
|
28
28
|
* a particular expression should be evaluated and how long will it take to end
|
29
29
|
* the execution without success. Great for time-sensitive operations.
|
30
30
|
*
|
31
|
-
* @param cb callback to call every <code>interval</code>ms
|
31
|
+
* @param cb callback to call every <code>interval</code>ms. Waiting stops if the callback returns a truthy value.
|
32
32
|
* @param timeout number of miliseconds that need to pass before the Timeout exception is thrown
|
33
33
|
* @param interval number of miliseconds before re-running the callback
|
34
34
|
*/
|
35
|
-
export declare function waitFor(cb:
|
35
|
+
export declare function waitFor<T>(cb: () => T, timeout?: number, interval?: number): Promise<T>;
|
36
|
+
//# sourceMappingURL=utils.d.ts.map
|
@@ -0,0 +1 @@
|
|
1
|
+
{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../lib/utils.ts"],"names":[],"mappings":";AAAA;;;;;;;GAOG;AACH,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,GAAG,GAAE,MAAU,EAAE,MAAM,SAAO,UAE5D;AAED;;;;;GAKG;AACH,wBAAgB,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,SAAK,QAclD;AAED;;;;GAIG;AACH,wBAAgB,KAAK,CAAC,EAAE,EAAE,MAAM,oBAE/B;AAED;;;;;;;;;;GAUG;AACH,wBAAsB,OAAO,CAAC,CAAC,EAAE,EAAE,EAAE,MAAM,CAAC,EAAE,OAAO,SAAQ,EAAE,QAAQ,SAAM,GAAG,OAAO,CAAC,CAAC,CAAC,CAoBzF"}
|
package/dist/lib/utils.js
CHANGED
@@ -1 +1,77 @@
|
|
1
|
-
"use strict";
|
1
|
+
"use strict";
|
2
|
+
Object.defineProperty(exports, "__esModule", { value: true });
|
3
|
+
exports.waitFor = exports.sleep = exports.dump = exports.hex = void 0;
|
4
|
+
/**
|
5
|
+
* Convert a number to hexadecimal representation with a minumum
|
6
|
+
* number of characters and optional prefix (0x by default)
|
7
|
+
*
|
8
|
+
* @param n value to convert
|
9
|
+
* @param len length of the converted string (without prefix)
|
10
|
+
* @param prefix prefix to prepend the generated string with
|
11
|
+
*/
|
12
|
+
function hex(n, len = 2, prefix = '0x') {
|
13
|
+
return `${prefix}${n.toString(16).padStart(len, '0')}`;
|
14
|
+
}
|
15
|
+
exports.hex = hex;
|
16
|
+
/**
|
17
|
+
* Dump a buffer in a readable form
|
18
|
+
*
|
19
|
+
* @param buffer buffer to dump
|
20
|
+
* @param lineWidth width of the line, in bytes of buffer
|
21
|
+
*/
|
22
|
+
function dump(buffer, lineWidth = 16) {
|
23
|
+
const line = [];
|
24
|
+
let address = 0;
|
25
|
+
for (let i = 0; i < buffer.length; i++) {
|
26
|
+
line.push(hex(buffer[i], 2, '0x'));
|
27
|
+
if (line.length === lineWidth) {
|
28
|
+
console.log(hex(address, 4), '|', line.join(' '));
|
29
|
+
address += lineWidth;
|
30
|
+
line.length = 0;
|
31
|
+
}
|
32
|
+
}
|
33
|
+
if (line.length > 0) {
|
34
|
+
console.log(hex(address, 4), '|', line.join(' '));
|
35
|
+
}
|
36
|
+
}
|
37
|
+
exports.dump = dump;
|
38
|
+
/**
|
39
|
+
* Sleep for a given number of miliseconds
|
40
|
+
*
|
41
|
+
* @param {number} ms of miliseconds to sleep
|
42
|
+
*/
|
43
|
+
function sleep(ms) {
|
44
|
+
return new Promise(resolve => setTimeout(resolve, ms));
|
45
|
+
}
|
46
|
+
exports.sleep = sleep;
|
47
|
+
/**
|
48
|
+
* Execute a callback every <code>interval</code>ms and if it will not return
|
49
|
+
* a truthy value in the <code>timeout<code>ms then throw a Timeout exception.
|
50
|
+
* This is a very useful utility that will allow you to specify how often
|
51
|
+
* a particular expression should be evaluated and how long will it take to end
|
52
|
+
* the execution without success. Great for time-sensitive operations.
|
53
|
+
*
|
54
|
+
* @param cb callback to call every <code>interval</code>ms. Waiting stops if the callback returns a truthy value.
|
55
|
+
* @param timeout number of miliseconds that need to pass before the Timeout exception is thrown
|
56
|
+
* @param interval number of miliseconds before re-running the callback
|
57
|
+
*/
|
58
|
+
async function waitFor(cb, timeout = 10000, interval = 100) {
|
59
|
+
return new Promise((resolve, reject) => {
|
60
|
+
const timeoutTimer = setTimeout(() => {
|
61
|
+
cleanup();
|
62
|
+
reject('Timeout');
|
63
|
+
}, timeout);
|
64
|
+
const intervalTimer = setInterval(() => {
|
65
|
+
const result = cb();
|
66
|
+
if (result) {
|
67
|
+
cleanup();
|
68
|
+
resolve(result);
|
69
|
+
}
|
70
|
+
});
|
71
|
+
const cleanup = () => {
|
72
|
+
clearTimeout(timeoutTimer);
|
73
|
+
clearTimeout(intervalTimer);
|
74
|
+
};
|
75
|
+
});
|
76
|
+
}
|
77
|
+
exports.waitFor = waitFor;
|
@@ -0,0 +1,43 @@
|
|
1
|
+
#!/usr/bin/env -S npx ts-node
|
2
|
+
|
3
|
+
import { createReadStream } from 'fs'
|
4
|
+
import { MavLinkPacketSplitter, MavLinkPacketParser } from '..'
|
5
|
+
import {
|
6
|
+
minimal, common, ardupilotmega, uavionix, icarous,
|
7
|
+
asluav, development, ualberta,
|
8
|
+
} from '..'
|
9
|
+
|
10
|
+
const splitter = new MavLinkPacketSplitter()
|
11
|
+
const parser = new MavLinkPacketParser()
|
12
|
+
const file = createReadStream(__dirname + '/vtol.tlog')
|
13
|
+
const reader = file.pipe(splitter).pipe(parser)
|
14
|
+
|
15
|
+
// create a registry of mappings between a message id and a data class
|
16
|
+
const REGISTRY = {
|
17
|
+
...minimal.REGISTRY,
|
18
|
+
...common.REGISTRY,
|
19
|
+
...ardupilotmega.REGISTRY,
|
20
|
+
...uavionix.REGISTRY,
|
21
|
+
...icarous.REGISTRY,
|
22
|
+
...asluav.REGISTRY,
|
23
|
+
...development.REGISTRY,
|
24
|
+
...ualberta.REGISTRY,
|
25
|
+
}
|
26
|
+
|
27
|
+
reader.on('data', packet => {
|
28
|
+
const clazz = REGISTRY[packet.header.msgid]
|
29
|
+
if (clazz) {
|
30
|
+
const data = packet.protocol.data(packet.payload, clazz)
|
31
|
+
if (packet.header.timestamp) {
|
32
|
+
console.log(new Date(Number(packet.header.timestamp)).toISOString(), data)
|
33
|
+
} else {
|
34
|
+
console.log(data)
|
35
|
+
}
|
36
|
+
}
|
37
|
+
})
|
38
|
+
|
39
|
+
file.on('close', () => {
|
40
|
+
console.log('\n\nNumber of invalid packages:', splitter.invalidPackages)
|
41
|
+
console.log('Number of unknown packages:', splitter.unknownPackagesCount)
|
42
|
+
console.log('\nTotal number of consumed packets:', splitter.validPackages)
|
43
|
+
})
|
@@ -9,7 +9,7 @@ import {
|
|
9
9
|
|
10
10
|
const splitter = new MavLinkPacketSplitter()
|
11
11
|
const parser = new MavLinkPacketParser()
|
12
|
-
const file = createReadStream('
|
12
|
+
const file = createReadStream(__dirname + '/GH-5.bin')
|
13
13
|
const reader = file.pipe(splitter).pipe(parser)
|
14
14
|
|
15
15
|
// create a registry of mappings between a message id and a data class
|
@@ -28,7 +28,11 @@ reader.on('data', packet => {
|
|
28
28
|
const clazz = REGISTRY[packet.header.msgid]
|
29
29
|
if (clazz) {
|
30
30
|
const data = packet.protocol.data(packet.payload, clazz)
|
31
|
-
|
31
|
+
if (packet.header.timestamp) {
|
32
|
+
console.log(new Date(Number(packet.header.timestamp)).toISOString(), data)
|
33
|
+
} else {
|
34
|
+
console.log(data)
|
35
|
+
}
|
32
36
|
}
|
33
37
|
})
|
34
38
|
|
Binary file
|
package/package.json
CHANGED
@@ -1,6 +1,6 @@
|
|
1
1
|
{
|
2
2
|
"name": "node-mavlink",
|
3
|
-
"version": "1.
|
3
|
+
"version": "1.3.0",
|
4
4
|
"author": "Matthias Hryniszak <padcom@gmail.com>",
|
5
5
|
"license": "LGPL",
|
6
6
|
"description": "MavLink definitions and parsing library",
|
@@ -22,15 +22,17 @@
|
|
22
22
|
"main": "dist/index.js",
|
23
23
|
"types": "dist/index.d.ts",
|
24
24
|
"dependencies": {
|
25
|
-
"mavlink-mappings": "^1.0.
|
25
|
+
"mavlink-mappings": "^1.0.12-20220825"
|
26
26
|
},
|
27
27
|
"scripts": {
|
28
|
-
"
|
29
|
-
"
|
30
|
-
"test
|
28
|
+
"clean": "rm -rf dist lib/*.js",
|
29
|
+
"build": "tsc",
|
30
|
+
"test": "jest",
|
31
|
+
"test:batch": "tests/main.js e2e --input tests/data.mavlink",
|
31
32
|
"dev": "jest --watch",
|
32
|
-
"test:e2e": "
|
33
|
-
"
|
33
|
+
"test:e2e": "./main.js e2e --input data.mavlink",
|
34
|
+
"sanity-check": "./sanity-check.cjs && ./sanity-check.mjs",
|
35
|
+
"prepublishOnly": "npm run clean && npm install && npm test && npm run build && npm run sanity-check"
|
34
36
|
},
|
35
37
|
"devDependencies": {
|
36
38
|
"@types/jest": "^27.4.1",
|
@@ -41,8 +43,8 @@
|
|
41
43
|
"minimize-js": "^1.3.0",
|
42
44
|
"serialport": "^10.0.0",
|
43
45
|
"ts-jest": "^27.1.4",
|
44
|
-
"ts-node": "^
|
45
|
-
"typescript": "^4.4
|
46
|
+
"ts-node": "^10.6.0",
|
47
|
+
"typescript": "^4.7.4",
|
46
48
|
"wget-improved": "^3.2.1",
|
47
49
|
"xml2js": "^0.4.23",
|
48
50
|
"yargs": "^17.3.1"
|
package/sanity-check.cjs
ADDED
@@ -0,0 +1,8 @@
|
|
1
|
+
#!/usr/bin/env node
|
2
|
+
|
3
|
+
const { createReadStream } = require('node:fs')
|
4
|
+
const { createMavLinkStream } = require('.')
|
5
|
+
|
6
|
+
const port = createReadStream('examples/GH-5.bin')
|
7
|
+
const parser = createMavLinkStream(port)
|
8
|
+
parser.on('data', packet => console.log(packet.debug()))
|
package/sanity-check.mjs
ADDED
@@ -0,0 +1,8 @@
|
|
1
|
+
#!/usr/bin/env node
|
2
|
+
|
3
|
+
import { createReadStream } from 'node:fs'
|
4
|
+
import { createMavLinkStream } from './dist/index.js'
|
5
|
+
|
6
|
+
const port = createReadStream('./examples/GH-5.bin')
|
7
|
+
const parser = createMavLinkStream(port)
|
8
|
+
parser.on('data', packet => console.log(packet.debug()))
|
package/.vscode/launch.json
DELETED
@@ -1,19 +0,0 @@
|
|
1
|
-
{
|
2
|
-
"version": "0.2.0",
|
3
|
-
"configurations": [
|
4
|
-
{
|
5
|
-
"type": "node",
|
6
|
-
"request": "launch",
|
7
|
-
"name": "Launch Program",
|
8
|
-
"runtimeArgs": [
|
9
|
-
"-r",
|
10
|
-
"ts-node/register"
|
11
|
-
],
|
12
|
-
"args": [
|
13
|
-
"${workspaceFolder}/tests/main.ts",
|
14
|
-
"e2e",
|
15
|
-
"--input=tests/data.mavlink"
|
16
|
-
]
|
17
|
-
}
|
18
|
-
],
|
19
|
-
}
|
package/.vscode/settings.json
DELETED
@@ -1 +0,0 @@
|
|
1
|
-
{}
|