node-mavlink 1.4.0 → 1.5.0
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- package/README.md +10 -0
- package/dist/lib/mavlink.d.ts +5 -1
- package/dist/lib/mavlink.d.ts.map +1 -1
- package/dist/lib/mavlink.js +26 -4
- package/examples/parse-tlog-file.ts +12 -3
- package/examples/send-receive-udp.ts +16 -13
- package/package.json +2 -2
package/README.md
CHANGED
@@ -226,6 +226,16 @@ The default values for some parameters are as follows:
|
|
226
226
|
|
227
227
|
This is a very handy utility function that asynchronously pauses for a given time (ms).
|
228
228
|
|
229
|
+
## Running sim_vehicle.py
|
230
|
+
|
231
|
+
The easiest way to start playing around with this package is to use `sim_vehicle.py`. You can use the default parameters forthe MavEsp8266 if you'll make the simulator compatible with it:
|
232
|
+
|
233
|
+
```
|
234
|
+
$ Tools/autotest/sim_vehicle.py -v ArduCopter -f quad --console --map --out udpin:127.0.0.1:14555
|
235
|
+
```
|
236
|
+
|
237
|
+
That last parameter (`--out udpin:127.0.0.1:14555`) opens up for incoming messages in port 14555, which is the default send port for MavEsp8266 and its default firmware.
|
238
|
+
|
229
239
|
## Closing thoughts
|
230
240
|
|
231
241
|
The original generated sources lack one very important aspect of a reusable library: documentation. Also, most of the time the names are more C-like than JavaScript-like.
|
package/dist/lib/mavlink.d.ts
CHANGED
@@ -207,7 +207,7 @@ export declare class MavLinkPacketSplitter extends Transform {
|
|
207
207
|
*/
|
208
208
|
constructor(opts?: {}, onCrcError?: BufferCallback);
|
209
209
|
_transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
|
210
|
-
|
210
|
+
protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
|
211
211
|
private getPacketProtocol;
|
212
212
|
private readPacketLength;
|
213
213
|
private validatePacket;
|
@@ -242,6 +242,10 @@ export declare class MavLinkPacketSplitter extends Transform {
|
|
242
242
|
*/
|
243
243
|
resetUnknownPackagesCount(): void;
|
244
244
|
}
|
245
|
+
export declare class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
|
246
|
+
_transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
|
247
|
+
protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
|
248
|
+
}
|
245
249
|
/**
|
246
250
|
* A transform stream that takes a buffer with data and converts it to MavLinkPacket object
|
247
251
|
*/
|
@@ -1 +1 @@
|
|
1
|
-
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|
1
|
+
{"version":3,"file":"mavlink.d.ts","sourceRoot":"","sources":["../../lib/mavlink.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,SAAS,EAAE,iBAAiB,EAAE,QAAQ,EAAE,QAAQ,EAAE,MAAM,QAAQ,CAAA;AAEzE,OAAO,EAAE,OAAO,EAAE,QAAQ,EAAU,MAAM,kBAAkB,CAAA;AAE5D,OAAO,EAAE,WAAW,EAAE,sBAAsB,EAAE,MAAM,kBAAkB,CAAA;AAGtE,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAA;AAGjC;;GAEG;AACH,qBAAa,mBAAmB;IAC9B,SAAS,EAAE,MAAM,GAAG,IAAI,CAAO;IAC/B,KAAK,EAAE,MAAM,CAAI;IACjB,aAAa,EAAE,OAAO,CAAI;IAC1B,oBAAoB,EAAE,OAAO,CAAI;IACjC,kBAAkB,EAAE,OAAO,CAAI;IAC/B,GAAG,EAAE,OAAO,CAAI;IAChB,KAAK,EAAE,OAAO,CAAI;IAClB,MAAM,EAAE,OAAO,CAAI;IACnB,KAAK,EAAE,OAAO,CAAI;CACnB;AAED;;;;;GAKG;AACH,8BAAsB,eAAe;IACnC,SAAS,CAAC,QAAQ,CAAC,GAAG,SAAyB;IAE/C,MAAM,CAAC,IAAI,SAAY;IACvB,MAAM,CAAC,UAAU,SAAI;IACrB,MAAM,CAAC,cAAc,SAAI;IACzB,MAAM,CAAC,eAAe,SAAI;IAE1B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAM;IAC5B,MAAM,CAAC,OAAO,EAAE,OAAO,CAAI;IAE3B;;OAEG;IACH,QAAQ,CAAC,SAAS,CAAC,OAAO,EAAE,WAAW,EAAE,GAAG,EAAE,OAAO,GAAG,MAAM;IAE9D;;OAEG;IACH,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,MAAM,GAAG,mBAAmB;IAExE;;OAEG;IACH,QAAQ,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,QAAQ;IAEtC;;;;;;OAMG;IACH,QAAQ,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM;IAExC;;OAEG;IACH,IAAI,CAAC,CAAC,SAAS,WAAW,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,sBAAsB,CAAC,CAAC,CAAC,GAAG,CAAC;CAelF;AAgBD;;GAEG;AACH,qBAAa,iBAAkB,SAAQ,eAAe;IAM3C,KAAK,EAAE,OAAO;IACd,MAAM,EAAE,OAAO;IANxB,MAAM,CAAC,IAAI,SAAW;IACtB,MAAM,CAAC,UAAU,SAAO;IACxB,MAAM,CAAC,cAAc,SAAI;gBAGhB,KAAK,GAAE,OAAgC,EACvC,MAAM,GAAE,OAAiC;IAKlD,SAAS,CAAC,OAAO,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM;IA6BpD,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,MAAM,GAAG,mBAAmB;IAoB/D;;OAEG;IACH,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,QAAQ;IAO7B,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM;CAQhC;AAED;;GAEG;AACH,qBAAa,iBAAkB,SAAQ,eAAe;IAW3C,KAAK,EAAE,OAAO;IACd,MAAM,EAAE,OAAO;IACf,oBAAoB,EAAE,OAAO;IAC7B,kBAAkB,EAAE,OAAO;IAbpC,MAAM,CAAC,IAAI,SAAW;IACtB,MAAM,CAAC,UAAU,SAAO;IACxB,MAAM,CAAC,cAAc,SAAK;IAE1B,MAAM,CAAC,qBAAqB,EAAE,OAAO,CAAI;IACzC,MAAM,CAAC,mBAAmB,EAAE,OAAO,CAAI;IAEvC,MAAM,CAAC,QAAQ,CAAC,YAAY,KAAO;gBAG1B,KAAK,GAAE,OAAgC,EACvC,MAAM,GAAE,OAAiC,EACzC,oBAAoB,GAAE,OAAiD,EACvE,kBAAkB,GAAE,OAA+C;IAK5E,SAAS,CAAC,OAAO,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM;IAkCpD;;;;;;;;OAQG;IACH,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,EAAE,SAAS,SAAa;IAgBxE,OAAO,CAAC,+BAA+B;IAcvC,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,MAAM,GAAG,mBAAmB;IAsB/D;;OAEG;IACH,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,QAAQ;IAO7B,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM;IAS/B,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,mBAAmB,GAAG,sBAAsB,GAAG,IAAI;CAStF;AAUD;;GAEG;AACH,qBAAa,sBAAsB;IAerB,OAAO,CAAC,QAAQ,CAAC,MAAM;IAdnC,MAAM,CAAC,gBAAgB,SAAK;IAE5B;;;;;OAKG;IACH,MAAM,CAAC,GAAG,CAAC,UAAU,EAAE,MAAM;gBAMA,MAAM,EAAE,MAAM;IAE3C,OAAO,KAAK,MAAM,GAEjB;IAED;;OAEG;IACH,IAAI,MAAM,IAOQ,OAAO,CALxB;IAED;;OAEG;IACH,IAAI,MAAM,CAAC,KAAK,EAAE,OAAO,EAExB;IAED;;OAEG;IACH,IAAI,SAAS,IAOQ,MAAM,CAL1B;IAED;;OAEG;IACH,IAAI,SAAS,CAAC,KAAK,EAAE,MAAM,EAE1B;IAED;;OAEG;IACH,IAAI,SAAS,IAOQ,MAAM,CAL1B;IAED;;OAEG;IACH,IAAI,SAAS,CAAC,KAAK,EAAE,MAAM,EAE1B;IAED;;;;;;;OAOG;IACH,SAAS,CAAC,GAAG,EAAE,MAAM;IAUrB;;;;;;;OAOG;IACH,OAAO,CAAC,GAAG,EAAE,MAAM;IAInB,QAAQ;CAGT;AAED;;GAEG;AACH,qBAAa,aAAa;IAEtB,QAAQ,CAAC,MAAM,EAAE,MAAM;IACvB,QAAQ,CAAC,MAAM,EAAE,mBAAmB;IACpC,QAAQ,CAAC,OAAO,EAAE,MAAM;IACxB,QAAQ,CAAC,GAAG,EAAE,QAAQ;IACtB,QAAQ,CAAC,QAAQ,EAAE,eAAe;IAClC,QAAQ,CAAC,SAAS,EAAE,sBAAsB,GAAG,IAAI;gBALxC,MAAM,EAAE,MAAM,EACd,MAAM,GAAE,mBAA+C,EACvD,OAAO,GAAE,MAAyC,EAClD,GAAG,GAAE,QAAY,EACjB,QAAQ,GAAE,eAAyC,EACnD,SAAS,GAAE,sBAAsB,GAAG,IAAW;IAG1D;;;;OAIG;IACH,KAAK;IAiBL,OAAO,CAAC,iBAAiB;CAG1B;AAOD,aAAK,cAAc,GAAG,CAAC,MAAM,EAAE,MAAM,KAAK,IAAI,CAAA;AAE9C;;GAEG;AACH,qBAAa,qBAAsB,SAAQ,SAAS;IAClD,SAAS,CAAC,QAAQ,CAAC,GAAG,SAAyB;IAE/C,OAAO,CAAC,MAAM,CAAkB;IAChC,OAAO,CAAC,UAAU,CAA8B;IAChD,OAAO,CAAC,SAAS,CAAsB;IACvC,OAAO,CAAC,mBAAmB,CAAI;IAC/B,OAAO,CAAC,qBAAqB,CAAI;IACjC,OAAO,CAAC,qBAAqB,CAAI;IAEjC;;;;OAIG;gBACS,IAAI,KAAK,EAAE,UAAU,GAAE,cAAyB;IAK5D,UAAU,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,iBAAiB;IA4EvE,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,GAAE,MAAU;IAuB9D,OAAO,CAAC,iBAAiB;IAIzB,OAAO,CAAC,gBAAgB;IASxB,OAAO,CAAC,cAAc;IAoCtB;;;;OAIG;IACH,OAAO,CAAC,UAAU;IAQlB;;OAEG;IACH,IAAI,aAAa,WAEhB;IAED;;OAEG;IACH,uBAAuB;IAIvB;;OAEG;IACH,IAAI,eAAe,WAElB;IAED;;OAEG;IACH,yBAAyB;IAIzB;;OAEG;IACH,IAAI,oBAAoB,WAEvB;IAED;;OAEG;IACH,yBAAyB;CAG1B;AAED,qBAAa,yBAA0B,SAAQ,qBAAqB;IAClE,UAAU,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,iBAAiB;IAIvE,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,GAAE,MAAU;CAY/D;AAED;;GAEG;AACH,qBAAa,mBAAoB,SAAQ,SAAS;IAChD,SAAS,CAAC,QAAQ,CAAC,GAAG,SAAyB;gBAEnC,IAAI,KAAK;IAIrB,OAAO,CAAC,WAAW;IAYnB,UAAU,CAAC,EAAE,MAAwB,EAAE,SAAgB,EAAE,GAAG,IAAI,EAAE;;;iBAAK,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,iBAAiB;CAavH;AAED;;;;GAIG;AACH,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,QAAQ,EAAE,UAAU,EAAE,cAAc,uBAI9E;AAID;;;;;;;GAOG;AACH,wBAAsB,IAAI,CAAC,MAAM,EAAE,QAAQ,EAAE,GAAG,EAAE,WAAW,EAAE,QAAQ,GAAE,eAAyC,oBASjH;AAED;;;;;;;;;;;GAWG;AACH,wBAAsB,UAAU,CAC9B,MAAM,EAAE,QAAQ,EAChB,GAAG,EAAE,WAAW,EAChB,GAAG,EAAE,MAAM,EACX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|
package/dist/lib/mavlink.js
CHANGED
@@ -1,6 +1,6 @@
|
|
1
1
|
"use strict";
|
2
2
|
Object.defineProperty(exports, "__esModule", { value: true });
|
3
|
-
exports.sendSigned = exports.send = exports.createMavLinkStream = exports.MavLinkPacketParser = exports.MavLinkPacketSplitter = exports.MavLinkPacket = exports.MavLinkPacketSignature = exports.MavLinkProtocolV2 = exports.MavLinkProtocolV1 = exports.MavLinkProtocol = exports.MavLinkPacketHeader = void 0;
|
3
|
+
exports.sendSigned = exports.send = exports.createMavLinkStream = exports.MavLinkPacketParser = exports.MavLinkTLogPacketSplitter = exports.MavLinkPacketSplitter = exports.MavLinkPacket = exports.MavLinkPacketSignature = exports.MavLinkProtocolV2 = exports.MavLinkProtocolV1 = exports.MavLinkProtocol = exports.MavLinkPacketHeader = void 0;
|
4
4
|
const stream_1 = require("stream");
|
5
5
|
const crypto_1 = require("crypto");
|
6
6
|
const mavlink_mappings_1 = require("mavlink-mappings");
|
@@ -488,9 +488,9 @@ class MavLinkPacketSplitter extends stream_1.Transform {
|
|
488
488
|
}
|
489
489
|
callback(null);
|
490
490
|
}
|
491
|
-
findStartOfPacket(buffer) {
|
492
|
-
const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE);
|
493
|
-
const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE);
|
491
|
+
findStartOfPacket(buffer, offset = 0) {
|
492
|
+
const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE, offset);
|
493
|
+
const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE, offset);
|
494
494
|
if (stxv1 >= 0 && stxv2 >= 0) {
|
495
495
|
// in the current buffer both STX v1 and v2 are found - get the first one
|
496
496
|
if (stxv1 < stxv2) {
|
@@ -610,6 +610,28 @@ class MavLinkPacketSplitter extends stream_1.Transform {
|
|
610
610
|
}
|
611
611
|
}
|
612
612
|
exports.MavLinkPacketSplitter = MavLinkPacketSplitter;
|
613
|
+
class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
|
614
|
+
_transform(chunk, encoding, callback) {
|
615
|
+
return super._transform(chunk, encoding, callback);
|
616
|
+
}
|
617
|
+
findStartOfPacket(buffer, offset = 0) {
|
618
|
+
// Finding the start of packet in TLog requires locating the start byte
|
619
|
+
// at an offset greater than
|
620
|
+
let offset1 = offset;
|
621
|
+
while (true) {
|
622
|
+
const start = super.findStartOfPacket(buffer, offset1);
|
623
|
+
if (start === null)
|
624
|
+
return null;
|
625
|
+
if (start < 8)
|
626
|
+
offset1 = start + 1;
|
627
|
+
else if (offset1 >= buffer.length - 1)
|
628
|
+
return null;
|
629
|
+
else
|
630
|
+
return start;
|
631
|
+
}
|
632
|
+
}
|
633
|
+
}
|
634
|
+
exports.MavLinkTLogPacketSplitter = MavLinkTLogPacketSplitter;
|
613
635
|
/**
|
614
636
|
* A transform stream that takes a buffer with data and converts it to MavLinkPacket object
|
615
637
|
*/
|
@@ -1,15 +1,24 @@
|
|
1
1
|
#!/usr/bin/env -S npx ts-node
|
2
2
|
|
3
3
|
import { createReadStream } from 'fs'
|
4
|
-
import {
|
4
|
+
import { Readable } from 'stream'
|
5
|
+
import { MavLinkTLogPacketSplitter, MavLinkPacketParser } from '..'
|
5
6
|
import {
|
6
7
|
minimal, common, ardupilotmega, uavionix, icarous,
|
7
8
|
asluav, development, ualberta,
|
8
9
|
} from '..'
|
9
10
|
|
10
|
-
const splitter = new
|
11
|
+
const splitter = new MavLinkTLogPacketSplitter()
|
11
12
|
const parser = new MavLinkPacketParser()
|
12
|
-
const file = createReadStream(__dirname + '/vtol.tlog')
|
13
|
+
// const file = createReadStream(__dirname + '/vtol.tlog')
|
14
|
+
|
15
|
+
// Example "dirty" stream containing a date that has the 0xFD protocol magic number in it
|
16
|
+
// and starts with 1 byte of garbage. Courtesy of emirkartal0 - thank you!
|
17
|
+
|
18
|
+
// @ts-ignore
|
19
|
+
const data = Buffer.from("b3 20 05 f1 fd 7a 1a c9 48 fd 10 20 20 eb 01 01 1e 20 20 20 20 20 20 95 7e 10 3d 0a 92 90 bb 88 f1 09 be d2 49 20 05 f1 fd 7a 1a f8 28 fd 19 20 20 ec 01 01 21 20 20 20 20 20 20 5c 96 f3 17 d2 29 dd 13 36 d8 0f 20 ee ff ff ff 20 20 20 20 03 6e f0 20 05 f1 fd 7a 1b f2 28 fd 1e 20 20 ed 01 01 18 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 58 20 9a 20 20 20 d3 40 05 0b 66 39".replaceAll(' ',''),"hex")
|
20
|
+
const file = Readable.from(data)
|
21
|
+
|
13
22
|
const reader = file.pipe(splitter).pipe(parser)
|
14
23
|
|
15
24
|
// create a registry of mappings between a message id and a data class
|
@@ -9,13 +9,19 @@ const REGISTRY: MavLinkPacketRegistry = {
|
|
9
9
|
...ardupilotmega.REGISTRY,
|
10
10
|
}
|
11
11
|
|
12
|
+
// This is how you could build a registry of all commands from different packages
|
13
|
+
const COMMANDS: common.MavLinkCommandRegistry = {
|
14
|
+
...common.COMMANDS,
|
15
|
+
...ardupilotmega.COMMANDS,
|
16
|
+
}
|
17
|
+
|
12
18
|
async function main() {
|
13
19
|
const port = new MavEsp8266()
|
14
20
|
|
15
21
|
// start the communication
|
16
22
|
// After this line we have received at least one heartbeat message so we
|
17
23
|
// know what is the remote IP address to send the messages to
|
18
|
-
const { ip, sendPort, receivePort } = await port.start()
|
24
|
+
const { ip, sendPort, receivePort } = await port.start(14551)
|
19
25
|
console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
|
20
26
|
|
21
27
|
// log incomming messages
|
@@ -33,21 +39,18 @@ async function main() {
|
|
33
39
|
|
34
40
|
// You're now ready to send messages to the controller using the socket
|
35
41
|
// let's request the list of parameters
|
42
|
+
const cmdSetMode = new common.DoSetModeCommand()
|
43
|
+
cmdSetMode.mode = 1
|
44
|
+
cmdSetMode.customMode = ardupilotmega.CopterMode.DRIFT
|
36
45
|
|
37
|
-
|
38
|
-
cmdParamList.targetSystem = 1
|
39
|
-
cmdParamList.targetComponent = 1
|
40
|
-
|
41
|
-
// The send method is another utility method, very handy to have it provided
|
42
|
-
// by the library. It takes care of the sequence number and data serialization.
|
43
|
-
await port.send(cmdParamList)
|
46
|
+
await port.send(cmdSetMode)
|
44
47
|
|
45
|
-
//
|
46
|
-
const
|
47
|
-
|
48
|
-
cmdSetRelay.setting = 1
|
48
|
+
// Give the system time to process any incoming acknowledges
|
49
|
+
const sleep = (ms: number) => new Promise(resolve => setTimeout(resolve, ms))
|
50
|
+
await sleep(1000)
|
49
51
|
|
50
|
-
|
52
|
+
// Close communication
|
53
|
+
port.close()
|
51
54
|
}
|
52
55
|
|
53
56
|
main()
|
package/package.json
CHANGED
@@ -1,6 +1,6 @@
|
|
1
1
|
{
|
2
2
|
"name": "node-mavlink",
|
3
|
-
"version": "1.
|
3
|
+
"version": "1.5.0",
|
4
4
|
"author": "Matthias Hryniszak <padcom@gmail.com>",
|
5
5
|
"license": "LGPL",
|
6
6
|
"description": "MavLink definitions and parsing library",
|
@@ -22,7 +22,7 @@
|
|
22
22
|
"main": "dist/index.js",
|
23
23
|
"types": "dist/index.d.ts",
|
24
24
|
"dependencies": {
|
25
|
-
"mavlink-mappings": "^1.0.13-20230115"
|
25
|
+
"mavlink-mappings": "^1.0.13-20230115-3"
|
26
26
|
},
|
27
27
|
"scripts": {
|
28
28
|
"clean": "rm -rf dist lib/*.js",
|