node-mavlink 1.2.0 → 1.3.1

package/dist/lib/mavlink.js

@@ -1 +1,704 @@
-"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: true });
+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");
+const crypto_1 = require("crypto");
+const mavlink_mappings_1 = require("mavlink-mappings");
+const mavlink_mappings_2 = require("mavlink-mappings");
+const utils_1 = require("./utils");
+const logger_1 = require("./logger");
+const serialization_1 = require("./serialization");
+/**
+ * Header definition of the MavLink packet
+ */
+class MavLinkPacketHeader {
+    timestamp = null;
+    magic = 0;
+    payloadLength = 0;
+    incompatibilityFlags = 0;
+    compatibilityFlags = 0;
+    seq = 0;
+    sysid = 0;
+    compid = 0;
+    msgid = 0;
+}
+exports.MavLinkPacketHeader = MavLinkPacketHeader;
+/**
+ * Base class for protocols
+ *
+ * Implements common functionality like getting the CRC and deserializing
+ * data classes from the given payload buffer
+ */
+class MavLinkProtocol {
+    log = logger_1.Logger.getLogger(this);
+    static NAME = 'unknown';
+    static START_BYTE = 0;
+    static PAYLOAD_OFFSET = 0;
+    static CHECKSUM_LENGTH = 2;
+    static SYS_ID = 254;
+    static COMP_ID = 1;
+    /**
+     * Deserialize payload into actual data class
+     */
+    data(payload, clazz) {
+        this.log.trace('Deserializing', clazz.MSG_NAME, 'with payload of size', payload.length);
+        const instance = new clazz();
+        for (const field of clazz.FIELDS) {
+            const deserialize = serialization_1.DESERIALIZERS[field.type];
+            if (!deserialize) {
+                throw new Error(`Unknown field type ${field.type}`);
+            }
+            // @ts-ignore
+            instance[field.name] = deserialize(payload, field.offset, field.length);
+        }
+        return instance;
+    }
+}
+exports.MavLinkProtocol = MavLinkProtocol;
+/**
+ * MavLink Protocol V1
+ */
+class MavLinkProtocolV1 extends MavLinkProtocol {
+    sysid;
+    compid;
+    static NAME = 'MAV_V1';
+    static START_BYTE = 0xFE;
+    static PAYLOAD_OFFSET = 6;
+    constructor(sysid = MavLinkProtocol.SYS_ID, compid = MavLinkProtocol.COMP_ID) {
+        super();
+        this.sysid = sysid;
+        this.compid = compid;
+    }
+    serialize(message, seq) {
+        this.log.trace('Serializing message (seq:', seq, ')');
+        const definition = message.constructor;
+        const buffer = Buffer.from(new Uint8Array(MavLinkProtocolV1.PAYLOAD_OFFSET + definition.PAYLOAD_LENGTH + MavLinkProtocol.CHECKSUM_LENGTH));
+        // serialize header
+        buffer.writeUInt8(MavLinkProtocolV1.START_BYTE, 0);
+        buffer.writeUInt8(definition.PAYLOAD_LENGTH, 1);
+        buffer.writeUInt8(seq, 2);
+        buffer.writeUInt8(this.sysid, 3);
+        buffer.writeUInt8(this.compid, 4);
+        buffer.writeUInt8(definition.MSG_ID, 5);
+        // serialize fields
+        definition.FIELDS.forEach(field => {
+            const serialize = serialization_1.SERIALIZERS[field.type];
+            if (!serialize)
+                throw new Error(`Unknown field type ${field.type}: serializer not found`);
+            // @ts-ignore
+            serialize(message[field.name], buffer, field.offset + MavLinkProtocolV1.PAYLOAD_OFFSET, field.length);
+        });
+        // serialize checksum
+        const crc = (0, mavlink_mappings_1.x25crc)(buffer, 1, 2, definition.MAGIC_NUMBER);
+        buffer.writeUInt16LE(crc, buffer.length - 2);
+        return buffer;
+    }
+    header(buffer, timestamp) {
+        this.log.trace('Reading header from buffer (len:', buffer.length, ')');
+        const startByte = buffer.readUInt8(0);
+        if (startByte !== MavLinkProtocolV1.START_BYTE) {
+            throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV1.START_BYTE}, got ${startByte})`);
+        }
+        const result = new MavLinkPacketHeader();
+        result.timestamp = timestamp || null;
+        result.magic = startByte;
+        result.payloadLength = buffer.readUInt8(1);
+        result.seq = buffer.readUInt8(2);
+        result.sysid = buffer.readUInt8(3);
+        result.compid = buffer.readUInt8(4);
+        result.msgid = buffer.readUInt8(5);
+        return result;
+    }
+    /**
+     * Deserialize packet checksum
+     */
+    crc(buffer) {
+        this.log.trace('Reading crc from buffer (len:', buffer.length, ')');
+        const plen = buffer.readUInt8(1);
+        return buffer.readUInt16LE(MavLinkProtocolV1.PAYLOAD_OFFSET + plen);
+    }
+    payload(buffer) {
+        this.log.trace('Reading payload from buffer (len:', buffer.length, ')');
+        const plen = buffer.readUInt8(1);
+        const payload = buffer.slice(MavLinkProtocolV1.PAYLOAD_OFFSET, MavLinkProtocolV1.PAYLOAD_OFFSET + plen);
+        const padding = Buffer.from(new Uint8Array(255 - payload.length));
+        return Buffer.concat([payload, padding]);
+    }
+}
+exports.MavLinkProtocolV1 = MavLinkProtocolV1;
+/**
+ * MavLink Protocol V2
+ */
+class MavLinkProtocolV2 extends MavLinkProtocol {
+    sysid;
+    compid;
+    incompatibilityFlags;
+    compatibilityFlags;
+    static NAME = 'MAV_V2';
+    static START_BYTE = 0xFD;
+    static PAYLOAD_OFFSET = 10;
+    static INCOMPATIBILITY_FLAGS = 0;
+    static COMPATIBILITY_FLAGS = 0;
+    static IFLAG_SIGNED = 0x01;
+    constructor(sysid = MavLinkProtocol.SYS_ID, compid = MavLinkProtocol.COMP_ID, incompatibilityFlags = MavLinkProtocolV2.INCOMPATIBILITY_FLAGS, compatibilityFlags = MavLinkProtocolV2.COMPATIBILITY_FLAGS) {
+        super();
+        this.sysid = sysid;
+        this.compid = compid;
+        this.incompatibilityFlags = incompatibilityFlags;
+        this.compatibilityFlags = compatibilityFlags;
+    }
+    serialize(message, seq) {
+        this.log.trace('Serializing message (seq:', seq, ')');
+        const definition = message.constructor;
+        const buffer = Buffer.from(new Uint8Array(MavLinkProtocolV2.PAYLOAD_OFFSET + definition.PAYLOAD_LENGTH + MavLinkProtocol.CHECKSUM_LENGTH));
+        buffer.writeUInt8(MavLinkProtocolV2.START_BYTE, 0);
+        buffer.writeUInt8(this.incompatibilityFlags, 2);
+        buffer.writeUInt8(this.compatibilityFlags, 3);
+        buffer.writeUInt8(seq, 4);
+        buffer.writeUInt8(this.sysid, 5);
+        buffer.writeUInt8(this.compid, 6);
+        buffer.writeUIntLE(definition.MSG_ID, 7, 3);
+        definition.FIELDS.forEach(field => {
+            const serialize = serialization_1.SERIALIZERS[field.type];
+            if (!serialize)
+                throw new Error(`Unknown field type ${field.type}: serializer not found`);
+            // @ts-ignore
+            serialize(message[field.name], buffer, field.offset + MavLinkProtocolV2.PAYLOAD_OFFSET, field.length);
+        });
+        // calculate actual truncated payload length
+        const payloadLength = this.calculateTruncatedPayloadLength(buffer);
+        buffer.writeUInt8(payloadLength, 1);
+        // slice out the message buffer
+        const result = buffer.slice(0, MavLinkProtocolV2.PAYLOAD_OFFSET + payloadLength + MavLinkProtocol.CHECKSUM_LENGTH);
+        const crc = (0, mavlink_mappings_1.x25crc)(result, 1, 2, definition.MAGIC_NUMBER);
+        result.writeUInt16LE(crc, result.length - MavLinkProtocol.CHECKSUM_LENGTH);
+        return result;
+    }
+    /**
+     * Create a signed package buffer
+     *
+     * @param buffer buffer with the original, unsigned package
+     * @param linkId id of the link
+     * @param key key to sign the package with
+     * @param timestamp optional timestamp for packet signing (default: Date.now())
+     * @returns signed package
+     */
+    sign(buffer, linkId, key, timestamp = Date.now()) {
+        this.log.trace('Signing message');
+        const result = Buffer.concat([
+            buffer,
+            Buffer.from(new Uint8Array(MavLinkPacketSignature.SIGNATURE_LENGTH))
+        ]);
+        const signer = new MavLinkPacketSignature(result);
+        signer.linkId = linkId;
+        signer.timestamp = timestamp;
+        signer.signature = signer.calculate(key);
+        return result;
+    }
+    calculateTruncatedPayloadLength(buffer) {
+        let result = buffer.length;
+        for (let i = buffer.length - MavLinkProtocol.CHECKSUM_LENGTH - 1; i >= MavLinkProtocolV2.PAYLOAD_OFFSET; i--) {
+            result = i;
+            if (buffer[i] !== 0) {
+                result++;
+                break;
+            }
+        }
+        return result - MavLinkProtocolV2.PAYLOAD_OFFSET;
+    }
+    header(buffer, timestamp) {
+        this.log.trace('Reading header from buffer (len:', buffer.length, ')');
+        const startByte = buffer.readUInt8(0);
+        if (startByte !== MavLinkProtocolV2.START_BYTE) {
+            throw new Error(`Invalid start byte (expected: ${MavLinkProtocolV2.START_BYTE}, got ${startByte})`);
+        }
+        const result = new MavLinkPacketHeader();
+        result.timestamp = timestamp || null;
+        result.magic = startByte;
+        result.payloadLength = buffer.readUInt8(1);
+        result.incompatibilityFlags = buffer.readUInt8(2);
+        result.compatibilityFlags = buffer.readUInt8(3);
+        result.seq = buffer.readUInt8(4);
+        result.sysid = buffer.readUInt8(5);
+        result.compid = buffer.readUInt8(6);
+        result.msgid = buffer.readUIntLE(7, 3);
+        return result;
+    }
+    /**
+     * Deserialize packet checksum
+     */
+    crc(buffer) {
+        this.log.trace('Reading crc from buffer (len:', buffer.length, ')');
+        const plen = buffer.readUInt8(1);
+        return buffer.readUInt16LE(MavLinkProtocolV2.PAYLOAD_OFFSET + plen);
+    }
+    payload(buffer) {
+        this.log.trace('Reading payload from buffer (len:', buffer.length, ')');
+        const plen = buffer.readUInt8(1);
+        const payload = buffer.slice(MavLinkProtocolV2.PAYLOAD_OFFSET, MavLinkProtocolV2.PAYLOAD_OFFSET + plen);
+        const padding = Buffer.from(new Uint8Array(255 - payload.length));
+        return Buffer.concat([payload, padding]);
+    }
+    signature(buffer, header) {
+        this.log.trace('Reading signature from buffer (len:', buffer.length, ')');
+        if (header.incompatibilityFlags & MavLinkProtocolV2.IFLAG_SIGNED) {
+            return new MavLinkPacketSignature(buffer);
+        }
+        else {
+            return null;
+        }
+    }
+}
+exports.MavLinkProtocolV2 = MavLinkProtocolV2;
+/**
+ * Registry of known protocols by STX
+ */
+const KNOWN_PROTOCOLS_BY_STX = {
+    [MavLinkProtocolV1.START_BYTE]: MavLinkProtocolV1,
+    [MavLinkProtocolV2.START_BYTE]: MavLinkProtocolV2,
+};
+/**
+ * MavLink packet signature definition
+ */
+class MavLinkPacketSignature {
+    buffer;
+    static SIGNATURE_LENGTH = 13;
+    /**
+     * Calculate key based on secret passphrase
+     *
+     * @param passphrase secret to generate the key
+     * @returns key as a buffer
+     */
+    static key(passphrase) {
+        return (0, crypto_1.createHash)('sha256')
+            .update(passphrase)
+            .digest();
+    }
+    constructor(buffer) {
+        this.buffer = buffer;
+    }
+    get offset() {
+        return this.buffer.length - MavLinkPacketSignature.SIGNATURE_LENGTH;
+    }
+    /**
+     * Get the linkId from signature
+     */
+    get linkId() {
+        return this.buffer.readUInt8(this.offset);
+    }
+    /**
+     * Set the linkId in signature
+     */
+    set linkId(value) {
+        this.buffer.writeUInt8(this.offset);
+    }
+    /**
+     * Get the timestamp from signature
+     */
+    get timestamp() {
+        return this.buffer.readUIntLE(this.offset + 1, 6);
+    }
+    /**
+     * Set the linkId in signature
+     */
+    set timestamp(value) {
+        this.buffer.writeUIntLE(value, this.offset + 1, 6);
+    }
+    /**
+     * Get the signature from signature
+     */
+    get signature() {
+        return this.buffer.slice(this.offset + 7, this.offset + 7 + 6).toString('hex');
+    }
+    /**
+     * Set the signature in signature
+     */
+    set signature(value) {
+        this.buffer.write(value, this.offset + 7, 'hex');
+    }
+    /**
+     * Calculates signature of the packet buffer using the provided secret.
+     * The secret is converted to a hash using the sha256 algorithm which matches
+     * the way Mission Planner creates keys.
+     *
+     * @param key the secret key (Buffer)
+     * @returns calculated signature value
+     */
+    calculate(key) {
+        const hash = (0, crypto_1.createHash)('sha256')
+            .update(key)
+            .update(this.buffer.slice(0, this.buffer.length - 6))
+            .digest('hex')
+            .substr(0, 12);
+        return hash;
+    }
+    /**
+     * Checks the signature of the packet buffer against a given secret
+     * The secret is converted to a hash using the sha256 algorithm which matches
+     * the way Mission Planner creates keys.
+     *
+     * @param key key
+     * @returns true if the signature matches, false otherwise
+     */
+    matches(key) {
+        return this.calculate(key) === this.signature;
+    }
+    toString() {
+        return `linkid: ${this.linkId}, timestamp ${this.timestamp}, signature ${this.signature}`;
+    }
+}
+exports.MavLinkPacketSignature = MavLinkPacketSignature;
+/**
+ * MavLink packet definition
+ */
+class MavLinkPacket {
+    buffer;
+    header;
+    payload;
+    crc;
+    protocol;
+    signature;
+    constructor(buffer, header = new MavLinkPacketHeader(), payload = Buffer.from(new Uint8Array(255)), crc = 0, protocol = new MavLinkProtocolV1(), signature = null) {
+        this.buffer = buffer;
+        this.header = header;
+        this.payload = payload;
+        this.crc = crc;
+        this.protocol = protocol;
+        this.signature = signature;
+    }
+    /**
+     * Debug information about the packet
+     *
+     * @returns string representing debug information about a packet
+     */
+    debug() {
+        return 'Packet ('
+            // @ts-ignore
+            + `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}, `
+            // @ts-ignore
+            + `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)}`
+            // @ts-ignore
+            + this.signatureToString(this.signature)
+            + ')';
+    }
+    signatureToString(signature) {
+        return signature ? `, ${signature.toString()}` : '';
+    }
+}
+exports.MavLinkPacket = MavLinkPacket;
+/**
+ * This enum describes the different ways validation of a buffer can end
+ */
+var PacketValidationResult;
+(function (PacketValidationResult) {
+    PacketValidationResult[PacketValidationResult["VALID"] = 0] = "VALID";
+    PacketValidationResult[PacketValidationResult["INVALID"] = 1] = "INVALID";
+    PacketValidationResult[PacketValidationResult["UNKNOWN"] = 2] = "UNKNOWN";
+})(PacketValidationResult || (PacketValidationResult = {}));
+/**
+ * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
+ */
+class MavLinkPacketSplitter extends stream_1.Transform {
+    log = logger_1.Logger.getLogger(this);
+    buffer = Buffer.from([]);
+    onCrcError = null;
+    timestamp = null;
+    _validPackagesCount = 0;
+    _unknownPackagesCount = 0;
+    _invalidPackagesCount = 0;
+    /**
+     * @param opts options to pass on to the Transform constructor
+     * @param verbose print diagnostic information
+     * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
+     */
+    constructor(opts = {}, onCrcError = () => { }) {
+        super({ ...opts, objectMode: true });
+        this.onCrcError = onCrcError;
+    }
+    _transform(chunk, encoding, callback) {
+        this.buffer = Buffer.concat([this.buffer, chunk]);
+        while (this.buffer.byteLength > 0) {
+            const offset = this.findStartOfPacket(this.buffer);
+            if (offset === null) {
+                // start of the package was not found - need more data
+                break;
+            }
+            // if the current offset is exactly the size of the timestamp field from tlog then read it.
+            if (offset >= 8) {
+                this.timestamp = this.buffer.readBigUInt64BE(offset - 8) / 1000n;
+            }
+            else {
+                this.timestamp = null;
+            }
+            // fast-forward the buffer to the first start byte
+            if (offset > 0) {
+                this.buffer = this.buffer.slice(offset);
+            }
+            this.log.debug('Found potential packet start at', offset);
+            // get protocol this buffer is encoded with
+            const Protocol = this.getPacketProtocol(this.buffer);
+            this.log.debug('Packet protocol is', Protocol.NAME);
+            // check if the buffer contains at least the minumum size of data
+            if (this.buffer.length < Protocol.PAYLOAD_OFFSET + MavLinkProtocol.CHECKSUM_LENGTH) {
+                // current buffer shorter than the shortest message - skipping
+                this.log.debug('Current buffer shorter than the shortest message - skipping');
+                break;
+            }
+            // check if the current buffer contains the entire message
+            const expectedBufferLength = this.readPacketLength(this.buffer, Protocol);
+            this.log.debug('Expected buffer length:', expectedBufferLength, `(${(0, utils_1.hex)(expectedBufferLength)})`);
+            if (this.buffer.length < expectedBufferLength) {
+                // current buffer is not fully retrieved yet - skipping
+                this.log.debug('Current buffer is not fully retrieved yet - skipping');
+                break;
+            }
+            else {
+                this.log.debug('Current buffer length:', this.buffer.length, `(${(0, utils_1.hex)(this.buffer.length, 4)})`);
+            }
+            // retrieve the buffer based on payload size
+            const buffer = this.buffer.slice(0, expectedBufferLength);
+            this.log.debug('Recognized buffer length:', buffer.length, `(${(0, utils_1.hex)(buffer.length, 2)})`);
+            switch (this.validatePacket(buffer, Protocol)) {
+                case PacketValidationResult.VALID:
+                    this.log.debug('Found a valid packet');
+                    this._validPackagesCount++;
+                    this.push({ buffer, timestamp: this.timestamp });
+                    // truncate the buffer to remove the current message
+                    this.buffer = this.buffer.slice(expectedBufferLength);
+                    break;
+                case PacketValidationResult.INVALID:
+                    this.log.debug('Found an invalid packet - skipping');
+                    this._invalidPackagesCount++;
+                    // truncate the buffer to remove the wrongly identified STX
+                    this.buffer = this.buffer.slice(1);
+                    break;
+                case PacketValidationResult.UNKNOWN:
+                    this.log.debug('Found an unknown packet - skipping');
+                    this._unknownPackagesCount++;
+                    // truncate the buffer to remove the current message
+                    this.buffer = this.buffer.slice(expectedBufferLength);
+                    break;
+            }
+        }
+        callback(null);
+    }
+    findStartOfPacket(buffer) {
+        const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE);
+        const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE);
+        if (stxv1 >= 0 && stxv2 >= 0) {
+            // in the current buffer both STX v1 and v2 are found - get the first one
+            if (stxv1 < stxv2) {
+                return stxv1;
+            }
+            else {
+                return stxv2;
+            }
+        }
+        else if (stxv1 >= 0) {
+            // in the current buffer STX v1 is found
+            return stxv1;
+        }
+        else if (stxv2 >= 0) {
+            // in the current buffer STX v2 is found
+            return stxv2;
+        }
+        else {
+            // no STX found
+            return null;
+        }
+    }
+    getPacketProtocol(buffer) {
+        return KNOWN_PROTOCOLS_BY_STX[buffer.readUInt8(0)] || null;
+    }
+    readPacketLength(buffer, Protocol) {
+        // check if the current buffer contains the entire message
+        const payloadLength = buffer.readUInt8(1);
+        return Protocol.PAYLOAD_OFFSET
+            + payloadLength
+            + MavLinkProtocol.CHECKSUM_LENGTH
+            + (this.isV2Signed(buffer) ? MavLinkPacketSignature.SIGNATURE_LENGTH : 0);
+    }
+    validatePacket(buffer, Protocol) {
+        const protocol = new Protocol();
+        const header = protocol.header(buffer);
+        // @ts-ignore
+        const magic = mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[header.msgid];
+        if (magic) {
+            const crc = protocol.crc(buffer);
+            const trim = this.isV2Signed(buffer)
+                ? MavLinkPacketSignature.SIGNATURE_LENGTH + MavLinkProtocol.CHECKSUM_LENGTH
+                : MavLinkProtocol.CHECKSUM_LENGTH;
+            const crc2 = (0, mavlink_mappings_1.x25crc)(buffer, 1, trim, magic);
+            if (crc === crc2) {
+                // this is a proper message that is known and has been validated for corrupted data
+                return PacketValidationResult.VALID;
+            }
+            else {
+                // CRC mismatch
+                const message = [
+                    `CRC error; expected: ${crc2} (${(0, utils_1.hex)(crc2, 4)}), got ${crc} (${(0, utils_1.hex)(crc, 4)});`,
+                    `msgid: ${header.msgid} (${(0, utils_1.hex)(header.msgid)}),`,
+                    `seq: ${header.seq} (${(0, utils_1.hex)(header.seq)}),`,
+                    `plen: ${header.payloadLength} (${(0, utils_1.hex)(header.payloadLength)}),`,
+                    `magic: ${magic} (${(0, utils_1.hex)(magic)})`,
+                ];
+                this.log.warn(message.join(' '));
+                if (this.onCrcError)
+                    this.onCrcError(buffer);
+                return PacketValidationResult.INVALID;
+            }
+        }
+        else {
+            // unknown message (as in not generated from the XML sources)
+            this.log.debug(`Unknown message with id ${header.msgid} (magic number not found) - skipping`);
+            return PacketValidationResult.UNKNOWN;
+        }
+    }
+    /**
+     * Checks if the buffer contains the entire message with signature
+     *
+     * @param buffer buffer with the message
+     */
+    isV2Signed(buffer) {
+        const protocol = buffer.readUInt8(0);
+        if (protocol === MavLinkProtocolV2.START_BYTE) {
+            const flags = buffer.readUInt8(2);
+            return !!(flags & MavLinkProtocolV2.IFLAG_SIGNED);
+        }
+    }
+    /**
+     * Number of invalid packages
+     */
+    get validPackages() {
+        return this._validPackagesCount;
+    }
+    /**
+     * Reset the number of valid packages
+     */
+    resetValidPackagesCount() {
+        this._validPackagesCount = 0;
+    }
+    /**
+     * Number of invalid packages
+     */
+    get invalidPackages() {
+        return this._invalidPackagesCount;
+    }
+    /**
+     * Reset the number of invalid packages
+     */
+    resetInvalidPackagesCount() {
+        this._invalidPackagesCount = 0;
+    }
+    /**
+     * Number of invalid packages
+     */
+    get unknownPackagesCount() {
+        return this._unknownPackagesCount;
+    }
+    /**
+     * Reset the number of invalid packages
+     */
+    resetUnknownPackagesCount() {
+        this._unknownPackagesCount = 0;
+    }
+}
+exports.MavLinkPacketSplitter = MavLinkPacketSplitter;
+/**
+ * A transform stream that takes a buffer with data and converts it to MavLinkPacket object
+ */
+class MavLinkPacketParser extends stream_1.Transform {
+    log = logger_1.Logger.getLogger(this);
+    constructor(opts = {}) {
+        super({ ...opts, objectMode: true });
+    }
+    getProtocol(buffer) {
+        const startByte = buffer.readUInt8(0);
+        switch (startByte) {
+            case MavLinkProtocolV1.START_BYTE:
+                return new MavLinkProtocolV1();
+            case MavLinkProtocolV2.START_BYTE:
+                return new MavLinkProtocolV2();
+            default:
+                throw new Error(`Unknown protocol '${(0, utils_1.hex)(startByte)}'`);
+        }
+    }
+    _transform({ buffer = Buffer.from([]), timestamp = null, ...rest } = {}, encoding, callback) {
+        const protocol = this.getProtocol(buffer);
+        const header = protocol.header(buffer, timestamp || undefined);
+        const payload = protocol.payload(buffer);
+        const crc = protocol.crc(buffer);
+        const signature = protocol instanceof MavLinkProtocolV2
+            ? protocol.signature(buffer, header)
+            : null;
+        const packet = new MavLinkPacket(buffer, header, payload, crc, protocol, signature);
+        callback(null, packet);
+    }
+}
+exports.MavLinkPacketParser = MavLinkPacketParser;
+/**
+ * Creates a MavLink packet stream reader that is reading packets from the given input
+ *
+ * @param input input stream to read from
+ */
+function createMavLinkStream(input, onCrcError) {
+    return input
+        .pipe(new MavLinkPacketSplitter({}, onCrcError))
+        .pipe(new MavLinkPacketParser());
+}
+exports.createMavLinkStream = createMavLinkStream;
+let seq = 0;
+/**
+ * Send a packet to the stream
+ *
+ * @param stream Stream to send the data to
+ * @param msg message to serialize and send
+ * @param protocol protocol to use (default: MavLinkProtocolV1)
+ * @returns number of bytes sent
+ */
+async function send(stream, msg, protocol = new MavLinkProtocolV1()) {
+    return new Promise((resolve, reject) => {
+        const buffer = protocol.serialize(msg, seq++);
+        seq &= 255;
+        stream.write(buffer, err => {
+            if (err)
+                reject(err);
+            else
+                resolve(buffer.length);
+        });
+    });
+}
+exports.send = send;
+/**
+ * Send a signed packet to the stream. Signed packets are always V2 protocol
+ *
+ * @param stream Stream to send the data to
+ * @param msg message to serialize and send
+ * @param key key to sign the message with
+ * @param linkId link id for the signature
+ * @param sysid system id
+ * @param compid component id
+ * @param timestamp optional timestamp for packet signing (default: Date.now())
+ * @returns number of bytes sent
+ */
+async function sendSigned(stream, msg, key, linkId = 1, sysid = MavLinkProtocol.SYS_ID, compid = MavLinkProtocol.COMP_ID, timestamp = Date.now()) {
+    return new Promise((resolve, reject) => {
+        const protocol = new MavLinkProtocolV2(sysid, compid, MavLinkProtocolV2.IFLAG_SIGNED);
+        const b1 = protocol.serialize(msg, seq++);
+        seq &= 255;
+        const b2 = protocol.sign(b1, linkId, key, timestamp);
+        stream.write(b2, err => {
+            if (err)
+                reject(err);
+            else
+                resolve(b2.length);
+        });
+    });
+}
+exports.sendSigned = sendSigned;