node-mavlink 1.2.1 → 1.3.0

package/lib/mavlink.ts

@@ -1,806 +0,0 @@
-import { Transform, TransformCallback, Readable, Writable } from 'stream'
-import { createHash } from 'crypto'
-import { uint8_t, uint16_t, x25crc } from 'mavlink-mappings'
-import { MSG_ID_MAGIC_NUMBER } from 'mavlink-mappings'
-import { MavLinkData, MavLinkDataConstructor } from 'mavlink-mappings'
-
-import { hex } from './utils'
-import { Logger } from './logger'
-import { SERIALIZERS, DESERIALIZERS } from './serialization'
-
-/**
- * Header definition of the MavLink packet
- */
-export class MavLinkPacketHeader {
-  timestamp: BigInt = null
-  magic: number = 0
-  payloadLength: uint8_t = 0
-  incompatibilityFlags: uint8_t = 0
-  compatibilityFlags: uint8_t = 0
-  seq: uint8_t = 0
-  sysid: uint8_t = 0
-  compid: uint8_t = 0
-  msgid: uint8_t = 0
-}
-
-/**
- * Base class for protocols
- *
- * Implements common functionality like getting the CRC and deserializing
- * data classes from the given payload buffer
- */
-export abstract class MavLinkProtocol {
-  protected readonly log = Logger.getLogger(this)
-
-  static NAME = 'unknown'
-  static START_BYTE = 0
-  static PAYLOAD_OFFSET = 0
-  static CHECKSUM_LENGTH = 2
-
-  static SYS_ID: uint8_t = 254
-  static COMP_ID: uint8_t = 1
-
-  /**
-   * Serialize a message to a buffer
-   */
-  abstract serialize(message: MavLinkData, seq: uint8_t): Buffer
-
-  /**
-   * Deserialize packet header
-   */
-  abstract header(buffer, timestamp?): MavLinkPacketHeader
-
-  /**
-   * Deserialize packet checksum
-   */
-  abstract crc(buffer): uint16_t;
-
-  /**
-   * Extract payload buffer
-   *
-   * The returned payload buffer needs to be long enough to read all
-   * the fields, including extensions that are sometimes not being sent
-   * from the transmitting system.
-   */
-  abstract payload(buffer: Buffer): Buffer
-
-  /**
-   * Deserialize payload into actual data class
-   */
-  data<T extends MavLinkData>(payload: Buffer, clazz: MavLinkDataConstructor<T>): T {
-    this.log.trace('Deserializing', clazz.MSG_NAME, 'with payload of size', payload.length)
-
-    const instance = new clazz()
-    clazz.FIELDS.forEach(field => {
-      const deserialize = DESERIALIZERS[field.type]
-      if (!deserialize) {
-        throw new Error(`Unknown field type ${field.type}`)
-      }
-      instance[field.name] = deserialize(payload, field.offset, field.length)
-    })
-
-    return instance
-  }
-}
-
-/**
- * Interface describing static fields of a protocol classes
- */
-interface MavLinkProtocolConstructor {
-  NAME: string
-  START_BYTE: number
-  PAYLOAD_OFFSET: number
-
-  SYS_ID: uint8_t
-  COMP_ID: uint8_t
-
-  new (): MavLinkProtocol
-}
-
-/**
- * MavLink Protocol V1
- */
-export class MavLinkProtocolV1 extends MavLinkProtocol {
-  static NAME = 'MAV_V1'
-  static START_BYTE = 0xFE
-  static PAYLOAD_OFFSET = 6
-
-  constructor(
-    public sysid: uint8_t = MavLinkProtocol.SYS_ID,
-    public compid: uint8_t = MavLinkProtocol.COMP_ID,
-  ) {
-    super()
-  }
-
-  serialize(message: MavLinkData, seq: number): Buffer {
-    this.log.trace('Serializing message (seq:', seq, ')')
-
-    const definition: MavLinkDataConstructor<MavLinkData> = <any>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 = SERIALIZERS[field.type]
-      if (!serialize) throw new Error(`Unknown field type ${field.type}: serializer not found`)
-      serialize(message[field.name], buffer, field.offset + MavLinkProtocolV1.PAYLOAD_OFFSET, field.length)
-    })
-
-    // serialize checksum
-    const crc = x25crc(buffer, 1, 2, definition.MAGIC_NUMBER)
-    buffer.writeUInt16LE(crc, buffer.length - 2)
-
-    return buffer
-  }
-
-  header(buffer: Buffer, timestamp = null): MavLinkPacketHeader {
-    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
-    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: Buffer): uint16_t {
-    this.log.trace('Reading crc from buffer (len:', buffer.length, ')')
-
-    const plen = buffer.readUInt8(1)
-    return buffer.readUInt16LE(MavLinkProtocolV1.PAYLOAD_OFFSET + plen)
-  }
-
-  payload(buffer: Buffer): 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 ])
-  }
-}
-
-/**
- * MavLink Protocol V2
- */
-export class MavLinkProtocolV2 extends MavLinkProtocol {
-  static NAME = 'MAV_V2'
-  static START_BYTE = 0xFD
-  static PAYLOAD_OFFSET = 10
-
-  static INCOMPATIBILITY_FLAGS: uint8_t = 0
-  static COMPATIBILITY_FLAGS: uint8_t = 0
-
-  static readonly IFLAG_SIGNED = 0x01
-
-  constructor(
-    public sysid: uint8_t = MavLinkProtocol.SYS_ID,
-    public compid: uint8_t = MavLinkProtocol.COMP_ID,
-    public incompatibilityFlags: uint8_t = MavLinkProtocolV2.INCOMPATIBILITY_FLAGS,
-    public compatibilityFlags: uint8_t = MavLinkProtocolV2.COMPATIBILITY_FLAGS,
-  ) {
-    super()
-  }
-
-  serialize(message: MavLinkData, seq: number): Buffer {
-    this.log.trace('Serializing message (seq:', seq, ')')
-
-    const definition: MavLinkDataConstructor<MavLinkData> = <any>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 = SERIALIZERS[field.type]
-      if (!serialize) throw new Error(`Unknown field type ${field.type}: serializer not found`)
-      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 = 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: Buffer, linkId: number, key: Buffer, 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
-  }
-
-  private calculateTruncatedPayloadLength(buffer: Buffer): number {
-    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: Buffer, timestamp = null): MavLinkPacketHeader {
-    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
-    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: Buffer): uint16_t {
-    this.log.trace('Reading crc from buffer (len:', buffer.length, ')')
-
-    const plen = buffer.readUInt8(1)
-    return buffer.readUInt16LE(MavLinkProtocolV2.PAYLOAD_OFFSET + plen)
-  }
-
-  payload(buffer: Buffer): 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: Buffer, header: MavLinkPacketHeader): MavLinkPacketSignature {
-    this.log.trace('Reading signature from buffer (len:', buffer.length, ')')
-
-    if (header.incompatibilityFlags & MavLinkProtocolV2.IFLAG_SIGNED) {
-      return new MavLinkPacketSignature(buffer)
-    } else {
-      return null
-    }
-  }
-}
-
-/**
- * Registry of known protocols by STX
- */
-const KNOWN_PROTOCOLS_BY_STX = {
-  [MavLinkProtocolV1.START_BYTE]: MavLinkProtocolV1,
-  [MavLinkProtocolV2.START_BYTE]: MavLinkProtocolV2,
-}
-
-/**
- * MavLink packet signature definition
- */
-export class MavLinkPacketSignature {
-  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: string) {
-    return createHash('sha256')
-      .update(passphrase)
-      .digest()
-  }
-
-  constructor(private readonly buffer: Buffer) {}
-
-  private 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: uint8_t) {
-    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: number) {
-    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: string) {
-    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: Buffer) {
-    const hash = 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: Buffer) {
-    return this.calculate(key) === this.signature
-  }
-
-  toString() {
-    return `linkid: ${this.linkId}, timestamp ${this.timestamp}, signature ${this.signature}`
-  }
-}
-
-/**
- * MavLink packet definition
- */
-export class MavLinkPacket {
-  constructor(
-    readonly buffer: Buffer,
-    readonly header: MavLinkPacketHeader = new MavLinkPacketHeader(),
-    readonly payload: Buffer = Buffer.from(new Uint8Array(255)),
-    readonly crc: uint16_t = 0,
-    readonly protocol: MavLinkProtocol = new MavLinkProtocolV1(),
-    readonly signature: MavLinkPacketSignature = null,
-  ) {}
-
-  /**
-   * Debug information about the packet
-   *
-   * @returns string representing debug information about a packet
-   */
-  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: ${MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${hex(MSG_ID_MAGIC_NUMBER[this.header.msgid])}), `
-      + `crc: ${hex(this.crc, 4)}`
-      + this.signatureToString(this.signature)
-      + ')'
-  }
-
-  private signatureToString(signature: MavLinkPacketSignature) {
-    return signature ? `, ${signature.toString()}` : ''
-  }
-}
-
-/**
- * This enum describes the different ways validation of a buffer can end
- */
-enum PacketValidationResult { VALID, INVALID, UNKNOWN }
-
-type BufferCallback = (buffer: Buffer) => void
-
-/**
- * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
- */
-export class MavLinkPacketSplitter extends Transform {
-  protected readonly log = Logger.getLogger(this)
-
-  private buffer = Buffer.from([])
-  private onCrcError = null
-  private timestamp = null
-  private _validPackagesCount = 0
-  private _unknownPackagesCount = 0
-  private _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: BufferCallback = () => {}) {
-    super({ ...opts, objectMode: true })
-    this.onCrcError = onCrcError
-  }
-
-  _transform(chunk: Buffer, encoding, callback: TransformCallback) {
-    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, `(${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, `(${hex(this.buffer.length, 4)})`)
-      }
-
-      // retrieve the buffer based on payload size
-      const buffer = this.buffer.slice(0, expectedBufferLength)
-      this.log.debug('Recognized buffer length:', buffer.length, `(${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)
-  }
-
-  private findStartOfPacket(buffer: 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
-    }
-  }
-
-  private getPacketProtocol(buffer: Buffer) {
-    return KNOWN_PROTOCOLS_BY_STX[buffer.readUInt8(0)] || null
-  }
-
-  private readPacketLength(buffer: Buffer, Protocol: MavLinkProtocolConstructor) {
-    // 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)
-  }
-
-  private validatePacket(buffer: Buffer, Protocol: MavLinkProtocolConstructor) {
-    const protocol = new Protocol()
-    const header = protocol.header(buffer)
-    const magic = 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 = 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: ${crc2} (${hex(crc2, 4)}), got ${crc} (${hex(crc, 4)});`,
-          `msgid: ${header.msgid} (${hex(header.msgid)}),`,
-          `seq: ${header.seq} (${hex(header.seq)}),`,
-          `plen: ${header.payloadLength} (${hex(header.payloadLength)}),`,
-          `magic: ${magic} (${hex(magic)})`,
-        ]
-        this.log.warn(message.join(' '))
-        this.onCrcError(buffer)
-
-        return PacketValidationResult.INVALID
-      }
-    } else {
-      // unknown message (as in not generated from the XML sources)
-      this.log.debug(`Unknown message with id ${header.msgid} (magic number not found) - skipping`)
-
-      return PacketValidationResult.UNKNOWN
-    }
-  }
-
-  /**
-   * Checks if the buffer contains the entire message with signature
-   *
-   * @param buffer buffer with the message
-   */
-  private isV2Signed(buffer: Buffer) {
-    const protocol = buffer.readUInt8(0)
-    if (protocol === MavLinkProtocolV2.START_BYTE) {
-      const flags = buffer.readUInt8(2)
-      return !!(flags & MavLinkProtocolV2.IFLAG_SIGNED)
-    }
-  }
-
-  /**
-   * Number of invalid packages
-   */
-  get validPackages() {
-    return this._validPackagesCount
-  }
-
-  /**
-   * Reset the number of valid packages
-   */
-  resetValidPackagesCount() {
-    this._validPackagesCount = 0
-  }
-
-  /**
-   * Number of invalid packages
-   */
-  get invalidPackages() {
-    return this._invalidPackagesCount
-  }
-
-  /**
-   * Reset the number of invalid packages
-   */
-  resetInvalidPackagesCount() {
-    this._invalidPackagesCount = 0
-  }
-
-  /**
-   * Number of invalid packages
-   */
-  get unknownPackagesCount() {
-    return this._unknownPackagesCount
-  }
-
-  /**
-   * Reset the number of invalid packages
-   */
-  resetUnknownPackagesCount() {
-    this._unknownPackagesCount = 0
-  }
-}
-
-/**
- * A transform stream that takes a buffer with data and converts it to MavLinkPacket object
- */
-export class MavLinkPacketParser extends Transform {
-  protected readonly log = Logger.getLogger(this)
-
-  constructor(opts = {}) {
-    super({ ...opts, objectMode: true })
-  }
-
-  private getProtocol(buffer): MavLinkProtocol {
-    const startByte = buffer.readUInt8(0)
-    switch (startByte) {
-      case MavLinkProtocolV1.START_BYTE:
-        return new MavLinkProtocolV1()
-      case MavLinkProtocolV2.START_BYTE:
-        return new MavLinkProtocolV2()
-      default:
-        throw new Error(`Unknown protocol '${hex(startByte)}'`)
-    }
-  }
-
-  _transform({ buffer = Buffer.from([]), timestamp = null, ...rest } = {}, encoding, callback: TransformCallback) {
-    const protocol = this.getProtocol(buffer)
-    const header = protocol.header(buffer, timestamp)
-    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)
-  }
-}
-
-/**
- * Creates a MavLink packet stream reader that is reading packets from the given input
- *
- * @param input input stream to read from
- */
-export function createMavLinkStream(input: Readable, onCrcError: BufferCallback) {
-  return input
-    .pipe(new MavLinkPacketSplitter({}, onCrcError))
-    .pipe(new MavLinkPacketParser())
-}
-
-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
- */
-export async function send(stream: Writable, msg: MavLinkData, protocol: MavLinkProtocol = 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)
-    })
-  })
-}
-
-/**
- * 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
- */
-export async function sendSigned(
-  stream: Writable,
-  msg: MavLinkData,
-  key: Buffer,
-  linkId: uint8_t = 1, sysid: uint8_t = MavLinkProtocol.SYS_ID, compid: uint8_t = 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)
-    })
-  })
-}