node-mavlink 1.1.1 → 1.3.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
Files changed (48) hide show
  1. package/dist/index.d.ts +1 -0
  2. package/dist/index.d.ts.map +1 -0
  3. package/dist/index.js +21 -1
  4. package/dist/lib/logger.d.ts +2 -1
  5. package/dist/lib/logger.d.ts.map +1 -0
  6. package/dist/lib/logger.js +119 -1
  7. package/dist/lib/mavesp.d.ts +3 -1
  8. package/dist/lib/mavesp.d.ts.map +1 -0
  9. package/dist/lib/mavesp.js +101 -1
  10. package/dist/lib/mavlink.d.ts +16 -9
  11. package/dist/lib/mavlink.d.ts.map +1 -0
  12. package/dist/lib/mavlink.js +704 -1
  13. package/dist/lib/serialization.d.ts +9 -49
  14. package/dist/lib/serialization.d.ts.map +1 -0
  15. package/dist/lib/serialization.js +184 -1
  16. package/dist/lib/utils.d.ts +5 -4
  17. package/dist/lib/utils.d.ts.map +1 -0
  18. package/dist/lib/utils.js +77 -1
  19. package/examples/parse-tlog-file.ts +43 -0
  20. package/examples/send-receive-file.ts +6 -2
  21. package/examples/vtol.tlog +0 -0
  22. package/package.json +11 -9
  23. package/sanity-check.cjs +8 -0
  24. package/sanity-check.mjs +8 -0
  25. package/.vscode/launch.json +0 -19
  26. package/.vscode/settings.json +0 -3
  27. package/coverage/coverage-final.json +0 -1
  28. package/coverage/lcov-report/base.css +0 -224
  29. package/coverage/lcov-report/block-navigation.js +0 -87
  30. package/coverage/lcov-report/favicon.png +0 -0
  31. package/coverage/lcov-report/index.html +0 -101
  32. package/coverage/lcov-report/prettify.css +0 -1
  33. package/coverage/lcov-report/prettify.js +0 -2
  34. package/coverage/lcov-report/serialization.ts.html +0 -613
  35. package/coverage/lcov-report/sort-arrow-sprite.png +0 -0
  36. package/coverage/lcov-report/sorter.js +0 -196
  37. package/coverage/lcov.info +0 -0
  38. package/index.ts +0 -5
  39. package/jest.config.js +0 -5
  40. package/lib/logger.ts +0 -128
  41. package/lib/mavesp.ts +0 -112
  42. package/lib/mavlink.ts +0 -796
  43. package/lib/serialization.test.ts +0 -256
  44. package/lib/serialization.ts +0 -176
  45. package/lib/utils.ts +0 -75
  46. package/tests/data.mavlink +0 -0
  47. package/tests/main.ts +0 -59
  48. package/tsconfig.json +0 -16
@@ -1,196 +0,0 @@
1
- /* eslint-disable */
2
- var addSorting = (function() {
3
- 'use strict';
4
- var cols,
5
- currentSort = {
6
- index: 0,
7
- desc: false
8
- };
9
-
10
- // returns the summary table element
11
- function getTable() {
12
- return document.querySelector('.coverage-summary');
13
- }
14
- // returns the thead element of the summary table
15
- function getTableHeader() {
16
- return getTable().querySelector('thead tr');
17
- }
18
- // returns the tbody element of the summary table
19
- function getTableBody() {
20
- return getTable().querySelector('tbody');
21
- }
22
- // returns the th element for nth column
23
- function getNthColumn(n) {
24
- return getTableHeader().querySelectorAll('th')[n];
25
- }
26
-
27
- function onFilterInput() {
28
- const searchValue = document.getElementById('fileSearch').value;
29
- const rows = document.getElementsByTagName('tbody')[0].children;
30
- for (let i = 0; i < rows.length; i++) {
31
- const row = rows[i];
32
- if (
33
- row.textContent
34
- .toLowerCase()
35
- .includes(searchValue.toLowerCase())
36
- ) {
37
- row.style.display = '';
38
- } else {
39
- row.style.display = 'none';
40
- }
41
- }
42
- }
43
-
44
- // loads the search box
45
- function addSearchBox() {
46
- var template = document.getElementById('filterTemplate');
47
- var templateClone = template.content.cloneNode(true);
48
- templateClone.getElementById('fileSearch').oninput = onFilterInput;
49
- template.parentElement.appendChild(templateClone);
50
- }
51
-
52
- // loads all columns
53
- function loadColumns() {
54
- var colNodes = getTableHeader().querySelectorAll('th'),
55
- colNode,
56
- cols = [],
57
- col,
58
- i;
59
-
60
- for (i = 0; i < colNodes.length; i += 1) {
61
- colNode = colNodes[i];
62
- col = {
63
- key: colNode.getAttribute('data-col'),
64
- sortable: !colNode.getAttribute('data-nosort'),
65
- type: colNode.getAttribute('data-type') || 'string'
66
- };
67
- cols.push(col);
68
- if (col.sortable) {
69
- col.defaultDescSort = col.type === 'number';
70
- colNode.innerHTML =
71
- colNode.innerHTML + '<span class="sorter"></span>';
72
- }
73
- }
74
- return cols;
75
- }
76
- // attaches a data attribute to every tr element with an object
77
- // of data values keyed by column name
78
- function loadRowData(tableRow) {
79
- var tableCols = tableRow.querySelectorAll('td'),
80
- colNode,
81
- col,
82
- data = {},
83
- i,
84
- val;
85
- for (i = 0; i < tableCols.length; i += 1) {
86
- colNode = tableCols[i];
87
- col = cols[i];
88
- val = colNode.getAttribute('data-value');
89
- if (col.type === 'number') {
90
- val = Number(val);
91
- }
92
- data[col.key] = val;
93
- }
94
- return data;
95
- }
96
- // loads all row data
97
- function loadData() {
98
- var rows = getTableBody().querySelectorAll('tr'),
99
- i;
100
-
101
- for (i = 0; i < rows.length; i += 1) {
102
- rows[i].data = loadRowData(rows[i]);
103
- }
104
- }
105
- // sorts the table using the data for the ith column
106
- function sortByIndex(index, desc) {
107
- var key = cols[index].key,
108
- sorter = function(a, b) {
109
- a = a.data[key];
110
- b = b.data[key];
111
- return a < b ? -1 : a > b ? 1 : 0;
112
- },
113
- finalSorter = sorter,
114
- tableBody = document.querySelector('.coverage-summary tbody'),
115
- rowNodes = tableBody.querySelectorAll('tr'),
116
- rows = [],
117
- i;
118
-
119
- if (desc) {
120
- finalSorter = function(a, b) {
121
- return -1 * sorter(a, b);
122
- };
123
- }
124
-
125
- for (i = 0; i < rowNodes.length; i += 1) {
126
- rows.push(rowNodes[i]);
127
- tableBody.removeChild(rowNodes[i]);
128
- }
129
-
130
- rows.sort(finalSorter);
131
-
132
- for (i = 0; i < rows.length; i += 1) {
133
- tableBody.appendChild(rows[i]);
134
- }
135
- }
136
- // removes sort indicators for current column being sorted
137
- function removeSortIndicators() {
138
- var col = getNthColumn(currentSort.index),
139
- cls = col.className;
140
-
141
- cls = cls.replace(/ sorted$/, '').replace(/ sorted-desc$/, '');
142
- col.className = cls;
143
- }
144
- // adds sort indicators for current column being sorted
145
- function addSortIndicators() {
146
- getNthColumn(currentSort.index).className += currentSort.desc
147
- ? ' sorted-desc'
148
- : ' sorted';
149
- }
150
- // adds event listeners for all sorter widgets
151
- function enableUI() {
152
- var i,
153
- el,
154
- ithSorter = function ithSorter(i) {
155
- var col = cols[i];
156
-
157
- return function() {
158
- var desc = col.defaultDescSort;
159
-
160
- if (currentSort.index === i) {
161
- desc = !currentSort.desc;
162
- }
163
- sortByIndex(i, desc);
164
- removeSortIndicators();
165
- currentSort.index = i;
166
- currentSort.desc = desc;
167
- addSortIndicators();
168
- };
169
- };
170
- for (i = 0; i < cols.length; i += 1) {
171
- if (cols[i].sortable) {
172
- // add the click event handler on the th so users
173
- // dont have to click on those tiny arrows
174
- el = getNthColumn(i).querySelector('.sorter').parentElement;
175
- if (el.addEventListener) {
176
- el.addEventListener('click', ithSorter(i));
177
- } else {
178
- el.attachEvent('onclick', ithSorter(i));
179
- }
180
- }
181
- }
182
- }
183
- // adds sorting functionality to the UI
184
- return function() {
185
- if (!getTable()) {
186
- return;
187
- }
188
- cols = loadColumns();
189
- loadData();
190
- addSearchBox();
191
- addSortIndicators();
192
- enableUI();
193
- };
194
- })();
195
-
196
- window.addEventListener('load', addSorting);
File without changes
package/index.ts DELETED
@@ -1,5 +0,0 @@
1
- export * from 'mavlink-mappings'
2
- export * from './lib/utils'
3
- export * from './lib/logger'
4
- export * from './lib/mavlink'
5
- export * from './lib/mavesp'
package/jest.config.js DELETED
@@ -1,5 +0,0 @@
1
- /** @type {import('ts-jest/dist/types').InitialOptionsTsJest} */
2
- module.exports = {
3
- preset: 'ts-jest',
4
- testEnvironment: 'node',
5
- }
package/lib/logger.ts DELETED
@@ -1,128 +0,0 @@
1
- import EventEmitter = require('events')
2
-
3
- /**
4
- * Level of the log entry
5
- */
6
- export enum LogLevel {
7
- trace = 5,
8
- debug = 4,
9
- info = 3,
10
- warn = 2,
11
- error = 1,
12
- fatal = 0,
13
- }
14
-
15
- type LoggerRegistry = { [x: string]: Logger }
16
- type LoggerEvents = 'log'
17
- type LoggerEventHandler = (context: string, level: LogLevel, message: any[]) => void
18
-
19
- /**
20
- * Simplified interface for logging facilities
21
- */
22
- export class Logger {
23
- private static readonly events: EventEmitter = new EventEmitter()
24
- private static registry: LoggerRegistry = {}
25
-
26
- /**
27
- * Gets a logger by name
28
- *
29
- * @param context logger context
30
- */
31
- static getLogger(context) {
32
- let name = ''
33
- if (typeof context === 'function') name = context.name
34
- else if (typeof context === 'object') name = (<any>context).constructor.name
35
- else if (typeof context === 'string') name = context
36
- else throw new Error(`Do not know how to get logger for ${context} (${typeof context})`)
37
-
38
- if (!Logger.registry[name]) Logger.registry[name] = new Logger(name)
39
-
40
- return Logger.registry[name]
41
- }
42
-
43
- /**
44
- * Binds an event handler
45
- *
46
- * @param event event to react to
47
- * @param handler event handler
48
- */
49
- static on(event: LoggerEvents, handler: (context, level, message) => void) {
50
- this.events.on(event, handler)
51
- }
52
-
53
- /**
54
- * Removes an event handler
55
- *
56
- * @param event event to react to
57
- * @param handler event handler
58
- */
59
- static off(event: LoggerEvents, handler: LoggerEventHandler) {
60
- this.events.off(event, handler)
61
- }
62
-
63
- private context: string
64
-
65
- /**
66
- * Constructs a new logger instance
67
- *
68
- * @param context logger context
69
- */
70
- constructor(context: string) {
71
- this.context = context
72
- Logger.events.emit('logger-created', Logger.registry[context])
73
- }
74
-
75
- /**
76
- * Sends a log message if the trace level is enabled for this logger
77
- *
78
- * @param args parameters for the log entry
79
- */
80
- trace(...args: any) {
81
- Logger.events.emit('log', { context: this.context, level: LogLevel.trace, message: args })
82
- }
83
-
84
- /**
85
- * Sends a log message if the debug level is enabled for this logger
86
- *
87
- * @param args parameters for the log entry
88
- */
89
- debug(...args: any) {
90
- Logger.events.emit('log', { context: this.context, level: LogLevel.debug, message: args })
91
- }
92
-
93
- /**
94
- * Sends a log message if the info level is enabled for this logger
95
- *
96
- * @param args parameters for the log entry
97
- */
98
- info(...args: any) {
99
- Logger.events.emit('log', { context: this.context, level: LogLevel.info, message: args })
100
- }
101
-
102
- /**
103
- * Sends a log message if the warn level is enabled for this logger
104
- *
105
- * @param args parameters for the log entry
106
- */
107
- warn(...args: any) {
108
- Logger.events.emit('log', { context: this.context, level: LogLevel.warn, message: args })
109
- }
110
-
111
- /**
112
- * Sends a log message if the error level is enabled for this logger
113
- *
114
- * @param args parameters for the log entry
115
- */
116
- error(...args: any) {
117
- Logger.events.emit('log', { context: this.context, level: LogLevel.error, message: args })
118
- }
119
-
120
- /**
121
- * Sends a log message if the fatal level is enabled for this logger
122
- *
123
- * @param args parameters for the log entry
124
- */
125
- fatal(...args: any) {
126
- Logger.events.emit('log', { context: this.context, level: LogLevel.fatal, message: args })
127
- }
128
- }
package/lib/mavesp.ts DELETED
@@ -1,112 +0,0 @@
1
- import { EventEmitter } from 'events'
2
-
3
- import { Socket, createSocket } from 'dgram'
4
- import { Writable, PassThrough } from 'stream'
5
- import { MavLinkPacketSplitter, MavLinkPacketParser, MavLinkPacketSignature } from './mavlink'
6
- import { MavLinkProtocol, MavLinkProtocolV2 } from './mavlink'
7
- import { waitFor } from './utils'
8
- import { uint8_t, MavLinkData } from 'mavlink-mappings'
9
-
10
- /**
11
- * Encapsulation of communication with MavEsp8266
12
- */
13
- export class MavEsp8266 extends EventEmitter {
14
- private input: Writable
15
- private socket: Socket
16
- private ip: string = ''
17
- private sendPort: number = 14555
18
- private seq: number = 0
19
-
20
- constructor() {
21
- super()
22
-
23
- this.input = new PassThrough()
24
-
25
- this.processIncommingUDPData = this.processIncommingUDPData.bind(this)
26
- this.processIncommingPacket = this.processIncommingPacket.bind(this)
27
-
28
- // Create the reader as usual by piping the source stream through the splitter
29
- // and packet parser
30
- const reader = this.input
31
- .pipe(new MavLinkPacketSplitter())
32
- .pipe(new MavLinkPacketParser())
33
-
34
- reader.on('data', this.processIncommingPacket)
35
- }
36
-
37
- /**
38
- * Start communication with the controller via MAVESP2866
39
- *
40
- * @param receivePort port to receive messages on (default: 14550)
41
- * @param sendPort port to send messages to (default: 14555)
42
- */
43
- async start(receivePort: number = 14550, sendPort: number = 14555) {
44
- this.sendPort = sendPort
45
-
46
- // Create a UDP socket
47
- this.socket = createSocket({ type: 'udp4', reuseAddr: true })
48
- this.socket.on('message', this.processIncommingUDPData)
49
-
50
- // Start listening on the socket
51
- return new Promise((resolve, reject) => {
52
- this.socket.bind(receivePort, () => {
53
- // Wait for the first package to be returned to read the ip address
54
- // of the controller
55
- waitFor(() => this.ip !== '')
56
- .then(() => { resolve(this.ip) })
57
- .catch(e => { reject(e) })
58
- })
59
- })
60
- }
61
-
62
- /**
63
- * Send a packet
64
- *
65
- * @param msg message to send
66
- * @param sysid system id
67
- * @param compid component id
68
- */
69
- send(msg: MavLinkData, sysid: uint8_t = MavLinkProtocol.SYS_ID, compid: uint8_t = MavLinkProtocol.COMP_ID) {
70
- const protocol = new MavLinkProtocolV2(sysid, compid)
71
- const buffer = protocol.serialize(msg, this.seq++)
72
- this.seq &= 255
73
- this.sendBuffer(buffer)
74
- }
75
-
76
- /**
77
- * Send a signed packet
78
- *
79
- * @param msg message to send
80
- * @param sysid system id
81
- * @param compid component id
82
- * @param linkId link id for the signature
83
- */
84
- sendSigned(msg: MavLinkData, key: Buffer, linkId: uint8_t = 1, sysid: uint8_t = MavLinkProtocol.SYS_ID, compid: uint8_t = MavLinkProtocol.COMP_ID) {
85
- const protocol = new MavLinkProtocolV2(sysid, compid, MavLinkProtocolV2.IFLAG_SIGNED)
86
- const b1 = protocol.serialize(msg, this.seq++)
87
- this.seq &= 255
88
- const b2 = protocol.sign(b1, linkId, key)
89
- this.sendBuffer(b2)
90
- }
91
-
92
- /**
93
- * Send raw data over the socket. Useful for custom implementation of data sending
94
- *
95
- * @param buffer buffer to send
96
- */
97
- sendBuffer(buffer: Buffer) {
98
- this.socket.send(buffer, this.sendPort, this.ip)
99
- }
100
-
101
- private processIncommingUDPData(buffer, metadata) {
102
- // store the remote ip address
103
- if (this.ip === '') this.ip = metadata.address
104
- // pass on the data to the input stream
105
- this.input.write(buffer)
106
- }
107
-
108
- private processIncommingPacket(packet) {
109
- // let the user know we received the packet
110
- this.emit('data', packet)
111
- }
112
- }