node-mavlink 1.2.1 → 1.3.0

package/lib/mavesp.ts

@@ -1,112 +0,0 @@
-import { EventEmitter } from 'events'
-
-import { Socket, createSocket } from 'dgram'
-import { Writable, PassThrough } from 'stream'
-import { MavLinkPacketSplitter, MavLinkPacketParser, MavLinkPacketSignature } from './mavlink'
-import { MavLinkProtocol, MavLinkProtocolV2 } from './mavlink'
-import { waitFor } from './utils'
-import { uint8_t, MavLinkData } from 'mavlink-mappings'
-
-/**
- * Encapsulation of communication with MavEsp8266
- */
-export class MavEsp8266 extends EventEmitter {
-  private input: Writable
-  private socket: Socket
-  private ip: string = ''
-  private sendPort: number = 14555
-  private seq: number = 0
-
-  constructor() {
-    super()
-
-    this.input = new PassThrough()
-
-    this.processIncommingUDPData = this.processIncommingUDPData.bind(this)
-    this.processIncommingPacket = this.processIncommingPacket.bind(this)
-
-    // Create the reader as usual by piping the source stream through the splitter
-    // and packet parser
-    const reader = this.input
-      .pipe(new MavLinkPacketSplitter())
-      .pipe(new MavLinkPacketParser())
-
-    reader.on('data', this.processIncommingPacket)
-  }
-
-  /**
-   * Start communication with the controller via MAVESP2866
-   *
-   * @param receivePort port to receive messages on (default: 14550)
-   * @param sendPort port to send messages to (default: 14555)
-   */
-  async start(receivePort: number = 14550, sendPort: number = 14555) {
-    this.sendPort = sendPort
-
-    // Create a UDP socket
-    this.socket = createSocket({ type: 'udp4', reuseAddr: true })
-    this.socket.on('message', this.processIncommingUDPData)
-
-    // Start listening on the socket
-    return new Promise((resolve, reject) => {
-      this.socket.bind(receivePort, () => {
-        // Wait for the first package to be returned to read the ip address
-        // of the controller
-        waitFor(() => this.ip !== '')
-          .then(() => { resolve(this.ip) })
-          .catch(e => { reject(e) })
-      })
-    })
-  }
-
-  /**
-   * Send a packet
-   *
-   * @param msg message to send
-   * @param sysid system id
-   * @param compid component id
-   */
-  send(msg: MavLinkData, sysid: uint8_t = MavLinkProtocol.SYS_ID, compid: uint8_t = MavLinkProtocol.COMP_ID) {
-    const protocol = new MavLinkProtocolV2(sysid, compid)
-    const buffer = protocol.serialize(msg, this.seq++)
-    this.seq &= 255
-    this.sendBuffer(buffer)
-  }
-
-  /**
-   * Send a signed packet
-   *
-   * @param msg message to send
-   * @param sysid system id
-   * @param compid component id
-   * @param linkId link id for the signature
-   */
-  sendSigned(msg: MavLinkData, key: Buffer, linkId: uint8_t = 1, sysid: uint8_t = MavLinkProtocol.SYS_ID, compid: uint8_t = MavLinkProtocol.COMP_ID) {
-    const protocol = new MavLinkProtocolV2(sysid, compid, MavLinkProtocolV2.IFLAG_SIGNED)
-    const b1 = protocol.serialize(msg, this.seq++)
-    this.seq &= 255
-    const b2 = protocol.sign(b1, linkId, key)
-    this.sendBuffer(b2)
-  }
-
-  /**
-   * Send raw data over the socket. Useful for custom implementation of data sending
-   *
-   * @param buffer buffer to send
-   */
-  sendBuffer(buffer: Buffer) {
-    this.socket.send(buffer, this.sendPort, this.ip)
-  }
-
-  private processIncommingUDPData(buffer, metadata) {
-    // store the remote ip address
-    if (this.ip === '') this.ip = metadata.address
-    // pass on the data to the input stream
-    this.input.write(buffer)
-  }
-
-  private processIncommingPacket(packet) {
-    // let the user know we received the packet
-    this.emit('data', packet)
-  }
-}