node-mavlink 1.2.0 → 1.2.1

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.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;
+"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?`, ${t.toString()}`:""}}exports.MavLinkPacket=MavLinkPacket;var PacketValidationResult;(function(a){a[a.VALID=0]="VALID",a[a.INVALID=1]="INVALID",a[a.UNKNOWN=2]="UNKNOWN"})(PacketValidationResult||(PacketValidationResult={}));class MavLinkPacketSplitter extends stream_1.Transform{constructor(t={},s=()=>{}){super({...t,objectMode:!0}),this.log=logger_1.Logger.getLogger(this),this.buffer=Buffer.from([]),this.onCrcError=null,this.timestamp=null,this._validPackagesCount=0,this._unknownPackagesCount=0,this._invalidPackagesCount=0,this.onCrcError=s}_transform(t,s,n){for(this.buffer=Buffer.concat([this.buffer,t]);this.buffer.byteLength>0;){const e=this.findStartOfPacket(this.buffer);if(e===null)break;e>=8?this.timestamp=this.buffer.readBigUInt64BE(e-8)/1000n:this.timestamp=null,e>0&&(this.buffer=this.buffer.slice(e)),this.log.debug("Found potential packet start at",e);const i=this.getPacketProtocol(this.buffer);if(this.log.debug("Packet protocol is",i.NAME),this.buffer.length<i.PAYLOAD_OFFSET+MavLinkProtocol.CHECKSUM_LENGTH){this.log.debug("Current buffer shorter than the shortest message - skipping");break}const r=this.readPacketLength(this.buffer,i);if(this.log.debug("Expected buffer length:",r,`(${(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/send-receive-file.ts

@@ -9,7 +9,7 @@ import {
 
 const splitter = new MavLinkPacketSplitter()
 const parser = new MavLinkPacketParser()
-const file = createReadStream('./GH-5.bin')
+const file = createReadStream(__dirname + '/GH-5.bin')
 const reader = file.pipe(splitter).pipe(parser)
 
 // create a registry of mappings between a message id and a data class
@@ -28,7 +28,11 @@ reader.on('data', packet => {
   const clazz = REGISTRY[packet.header.msgid]
   if (clazz) {
     const data = packet.protocol.data(packet.payload, clazz)
-    console.log(data)
+    if (packet.header.timestamp) {
+      console.log(new Date(Number(packet.header.timestamp)).toISOString(), data)
+    } else {
+      console.log(data)
+    }
   }
 })
 

package/lib/mavlink.ts

@@ -513,8 +513,8 @@ export class MavLinkPacketSplitter extends Transform {
       }
 
       // 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
+      if (offset >= 8) {
+        this.timestamp = this.buffer.readBigUInt64BE(offset - 8) / 1000n
       } else {
         this.timestamp = null
       }

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.2.0",
+  "version": "1.2.1",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",