node-mavlink 1.3.2 → 1.4.0

package/dist/lib/mavesp.d.ts

@@ -2,6 +2,11 @@
 /// <reference types="node" />
 import { EventEmitter } from 'events';
 import { uint8_t, MavLinkData } from 'mavlink-mappings';
+export interface ConnectionInfo {
+    ip: string;
+    sendPort: number;
+    receivePort: number;
+}
 /**
  * Encapsulation of communication with MavEsp8266
  */
@@ -18,7 +23,11 @@ export declare class MavEsp8266 extends EventEmitter {
      * @param receivePort port to receive messages on (default: 14550)
      * @param sendPort port to send messages to (default: 14555)
      */
-    start(receivePort?: number, sendPort?: number): Promise<unknown>;
+    start(receivePort?: number, sendPort?: number): Promise<ConnectionInfo>;
+    /**
+     * Closes the client stopping any message handlers
+     */
+    close(): Promise<void>;
     /**
      * Send a packet
      *
@@ -26,7 +35,7 @@ export declare class MavEsp8266 extends EventEmitter {
      * @param sysid system id
      * @param compid component id
      */
-    send(msg: MavLinkData, sysid?: uint8_t, compid?: uint8_t): void;
+    send(msg: MavLinkData, sysid?: uint8_t, compid?: uint8_t): Promise<number>;
     /**
      * Send a signed packet
      *
@@ -35,13 +44,13 @@ export declare class MavEsp8266 extends EventEmitter {
      * @param compid component id
      * @param linkId link id for the signature
      */
-    sendSigned(msg: MavLinkData, key: Buffer, linkId?: uint8_t, sysid?: uint8_t, compid?: uint8_t): void;
+    sendSigned(msg: MavLinkData, key: Buffer, linkId?: uint8_t, sysid?: uint8_t, compid?: uint8_t): Promise<number>;
     /**
      * Send raw data over the socket. Useful for custom implementation of data sending
      *
      * @param buffer buffer to send
      */
-    sendBuffer(buffer: Buffer): void;
+    sendBuffer(buffer: Buffer): Promise<number>;
     private processIncommingUDPData;
     private processIncommingPacket;
 }

package/dist/lib/mavesp.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"mavesp.d.ts","sourceRoot":"","sources":["../../lib/mavesp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAOrC,OAAO,EAAE,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEvD;;GAEG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,KAAK,CAAU;IACvB,OAAO,CAAC,MAAM,CAAC,CAAQ;IACvB,OAAO,CAAC,EAAE,CAAa;IACvB,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,GAAG,CAAY;;IAmBvB;;;;;OAKG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc;IAmBjE;;;;;;OAMG;IACH,IAAI,CAAC,GAAG,EAAE,WAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC;IAOzG;;;;;;;OAOG;IACH,UAAU,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC;IAQjJ;;;;OAIG;IACH,UAAU,CAAC,MAAM,EAAE,MAAM;IAIzB,OAAO,CAAC,uBAAuB;IAO/B,OAAO,CAAC,sBAAsB;CAI/B"}
+{"version":3,"file":"mavesp.d.ts","sourceRoot":"","sources":["../../lib/mavesp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAOrC,OAAO,EAAE,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEvD,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;CACpB;AAED;;GAEG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,KAAK,CAAU;IACvB,OAAO,CAAC,MAAM,CAAC,CAAQ;IACvB,OAAO,CAAC,EAAE,CAAa;IACvB,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,GAAG,CAAY;;IAmBvB;;;;;OAKG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc,GAAG,OAAO,CAAC,cAAc,CAAC;IAmB3F;;OAEG;IACG,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAY5B;;;;;;OAMG;IACG,IAAI,CAAC,GAAG,EAAE,WAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,GAAG,OAAO,CAAC,MAAM,CAAC;IAOjI;;;;;;;OAOG;IACG,UAAU,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,GAAG,OAAO,CAAC,MAAM,CAAC;IAQzK;;;;OAIG;IACG,UAAU,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IASjD,OAAO,CAAC,uBAAuB;IAO/B,OAAO,CAAC,sBAAsB;CAI/B"}

package/dist/lib/mavesp.js

@@ -45,11 +45,24 @@ class MavEsp8266 extends events_1.EventEmitter {
                 // Wait for the first package to be returned to read the ip address
                 // of the controller
                 (0, utils_1.waitFor)(() => this.ip !== '')
-                    .then(() => { resolve(this.ip); })
+                    .then(() => { resolve({ ip: this.ip, sendPort, receivePort }); })
                     .catch(e => { reject(e); });
             });
         });
     }
+    /**
+     * Closes the client stopping any message handlers
+     */
+    async close() {
+        if (!this.socket)
+            throw new Error('Not connected');
+        // Unregister event handlers
+        this.socket.off('message', this.processIncommingUDPData);
+        // Close the socket
+        return new Promise(resolve => {
+            this.socket?.close(resolve);
+        });
+    }
     /**
      * Send a packet
      *
@@ -57,11 +70,11 @@ class MavEsp8266 extends events_1.EventEmitter {
      * @param sysid system id
      * @param compid component id
      */
-    send(msg, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
+    async send(msg, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
         const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid);
         const buffer = protocol.serialize(msg, this.seq++);
         this.seq &= 255;
-        this.sendBuffer(buffer);
+        return this.sendBuffer(buffer);
     }
     /**
      * Send a signed packet
@@ -71,20 +84,27 @@ class MavEsp8266 extends events_1.EventEmitter {
      * @param compid component id
      * @param linkId link id for the signature
      */
-    sendSigned(msg, key, linkId = 1, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
+    async sendSigned(msg, key, linkId = 1, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
         const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid, mavlink_2.MavLinkProtocolV2.IFLAG_SIGNED);
         const b1 = protocol.serialize(msg, this.seq++);
         this.seq &= 255;
         const b2 = protocol.sign(b1, linkId, key);
-        this.sendBuffer(b2);
+        return this.sendBuffer(b2);
     }
     /**
      * Send raw data over the socket. Useful for custom implementation of data sending
      *
      * @param buffer buffer to send
      */
-    sendBuffer(buffer) {
-        this.socket?.send(buffer, this.sendPort, this.ip);
+    async sendBuffer(buffer) {
+        return new Promise((resolve, reject) => {
+            this.socket?.send(buffer, this.sendPort, this.ip, (err, bytes) => {
+                if (err)
+                    reject(err);
+                else
+                    resolve(bytes);
+            });
+        });
     }
     processIncommingUDPData(buffer, metadata) {
         // store the remote ip address

package/examples/send-receive-signed-udp.ts

@@ -16,7 +16,8 @@ async function main() {
   const port = new MavEsp8266()
 
   // start the communication
-  await port.start()
+  const { ip, sendPort, receivePort } = await port.start()
+  console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
   // log incomming messages
   port.on('data', (packet: MavLinkPacket) => {

package/examples/send-receive-udp.ts

@@ -15,14 +15,17 @@ async function main() {
   // start the communication
   // After this line we have received at least one heartbeat message so we
   // know what is the remote IP address to send the messages to
-  await port.start()
+  const { ip, sendPort, receivePort } = await port.start()
+  console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
   // log incomming messages
   port.on('data', (packet: MavLinkPacket) => {
     const clazz = REGISTRY[packet.header.msgid]
     if (clazz) {
-      const data = packet.protocol.data(packet.payload, clazz)
-      console.log('>', data)
+      if (packet.header.msgid === common.CommandAck.MSG_ID) {
+        const data = packet.protocol.data(packet.payload, clazz)
+        console.log('>', data)
+      }
     } else {
       console.log('!', packet.debug())
     }
@@ -30,13 +33,21 @@ async function main() {
 
   // You're now ready to send messages to the controller using the socket
   // let's request the list of parameters
-  const message = new common.ParamRequestList()
-  message.targetSystem = 1
-  message.targetComponent = 1
+
+  const cmdParamList = new common.ParamRequestList()
+  cmdParamList.targetSystem = 1
+  cmdParamList.targetComponent = 1
 
   // The send method is another utility method, very handy to have it provided
   // by the library. It takes care of the sequence number and data serialization.
-  await port.send(message)
+  await port.send(cmdParamList)
+
+  // Here's another example of sending commands
+  const cmdSetRelay = new common.DoSetRelayCommand()
+  cmdSetRelay.instance = 0
+  cmdSetRelay.setting = 1
+
+  await port.send(cmdSetRelay)
 }
 
 main()

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.3.2",
+  "version": "1.4.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -22,7 +22,7 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.12-20220825"
+    "mavlink-mappings": "^1.0.13-20230115"
   },
   "scripts": {
     "clean": "rm -rf dist lib/*.js",