node-mavlink 1.4.0 → 1.5.0

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
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.
@@ -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
- private findStartOfPacket;
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
- {"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,OAAO,CAAC,iBAAiB;IAuBzB,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;;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,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,EACvG,SAAS,SAAa,oBAYvB"}
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,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,EACvG,SAAS,SAAa,oBAYvB"}
@@ -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 { MavLinkPacketSplitter, MavLinkPacketParser } from '..'
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 MavLinkPacketSplitter()
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
- const cmdParamList = new common.ParamRequestList()
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
- // Here's another example of sending commands
46
- const cmdSetRelay = new common.DoSetRelayCommand()
47
- cmdSetRelay.instance = 0
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
- await port.send(cmdSetRelay)
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": "1.4.0",
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",