node-mavlink 1.4.0 → 1.5.0

package/README.md

@@ -226,6 +226,16 @@ The default values for some parameters are as follows:
 
 This is a very handy utility function that asynchronously pauses for a given time (ms).
 
+## Running sim_vehicle.py
+
+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:
+
+```
+$ Tools/autotest/sim_vehicle.py -v ArduCopter -f quad --console --map --out udpin:127.0.0.1:14555
+```
+
+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.
+
 ## Closing thoughts
 
 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

@@ -207,7 +207,7 @@ export declare class MavLinkPacketSplitter extends Transform {
      */
     constructor(opts?: {}, onCrcError?: BufferCallback);
     _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
-    private findStartOfPacket;
+    protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
     private getPacketProtocol;
     private readPacketLength;
     private validatePacket;
@@ -242,6 +242,10 @@ export declare class MavLinkPacketSplitter extends Transform {
      */
     resetUnknownPackagesCount(): void;
 }
+export declare class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
+    _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
+    protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
+}
 /**
  * A transform stream that takes a buffer with data and converts it to MavLinkPacket object
  */

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

@@ -1 +1 @@
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package/dist/lib/mavlink.js

@@ -1,6 +1,6 @@
 "use strict";
 Object.defineProperty(exports, "__esModule", { value: true });
-exports.sendSigned = exports.send = exports.createMavLinkStream = exports.MavLinkPacketParser = exports.MavLinkPacketSplitter = exports.MavLinkPacket = exports.MavLinkPacketSignature = exports.MavLinkProtocolV2 = exports.MavLinkProtocolV1 = exports.MavLinkProtocol = exports.MavLinkPacketHeader = void 0;
+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;
 const stream_1 = require("stream");
 const crypto_1 = require("crypto");
 const mavlink_mappings_1 = require("mavlink-mappings");
@@ -488,9 +488,9 @@ class MavLinkPacketSplitter extends stream_1.Transform {
         }
         callback(null);
     }
-    findStartOfPacket(buffer) {
-        const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE);
-        const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE);
+    findStartOfPacket(buffer, offset = 0) {
+        const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE, offset);
+        const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE, offset);
         if (stxv1 >= 0 && stxv2 >= 0) {
             // in the current buffer both STX v1 and v2 are found - get the first one
             if (stxv1 < stxv2) {
@@ -610,6 +610,28 @@ class MavLinkPacketSplitter extends stream_1.Transform {
     }
 }
 exports.MavLinkPacketSplitter = MavLinkPacketSplitter;
+class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
+    _transform(chunk, encoding, callback) {
+        return super._transform(chunk, encoding, callback);
+    }
+    findStartOfPacket(buffer, offset = 0) {
+        // Finding the start of packet in TLog requires locating the start byte
+        // at an offset greater than
+        let offset1 = offset;
+        while (true) {
+            const start = super.findStartOfPacket(buffer, offset1);
+            if (start === null)
+                return null;
+            if (start < 8)
+                offset1 = start + 1;
+            else if (offset1 >= buffer.length - 1)
+                return null;
+            else
+                return start;
+        }
+    }
+}
+exports.MavLinkTLogPacketSplitter = MavLinkTLogPacketSplitter;
 /**
  * A transform stream that takes a buffer with data and converts it to MavLinkPacket object
  */

package/examples/parse-tlog-file.ts

@@ -1,15 +1,24 @@
 #!/usr/bin/env -S npx ts-node
 
 import { createReadStream } from 'fs'
-import { MavLinkPacketSplitter, MavLinkPacketParser } from '..'
+import { Readable } from 'stream'
+import { MavLinkTLogPacketSplitter, MavLinkPacketParser } from '..'
 import {
   minimal, common, ardupilotmega, uavionix, icarous,
   asluav, development, ualberta,
 } from '..'
 
-const splitter = new MavLinkPacketSplitter()
+const splitter = new MavLinkTLogPacketSplitter()
 const parser = new MavLinkPacketParser()
-const file = createReadStream(__dirname + '/vtol.tlog')
+// const file = createReadStream(__dirname + '/vtol.tlog')
+
+// Example "dirty" stream containing a date that has the 0xFD protocol magic number in it
+// and starts with 1 byte of garbage. Courtesy of emirkartal0 - thank you!
+
+// @ts-ignore
+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")
+const file = Readable.from(data)
+
 const reader = file.pipe(splitter).pipe(parser)
 
 // create a registry of mappings between a message id and a data class

package/examples/send-receive-udp.ts

@@ -9,13 +9,19 @@ const REGISTRY: MavLinkPacketRegistry = {
   ...ardupilotmega.REGISTRY,
 }
 
+// This is how you could build a registry of all commands from different packages
+const COMMANDS: common.MavLinkCommandRegistry = {
+  ...common.COMMANDS,
+  ...ardupilotmega.COMMANDS,
+}
+
 async function main() {
   const port = new MavEsp8266()
 
   // 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
-  const { ip, sendPort, receivePort } = await port.start()
+  const { ip, sendPort, receivePort } = await port.start(14551)
   console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
   // log incomming messages
@@ -33,21 +39,18 @@ async function main() {
 
   // You're now ready to send messages to the controller using the socket
   // let's request the list of parameters
+  const cmdSetMode = new common.DoSetModeCommand()
+  cmdSetMode.mode = 1
+  cmdSetMode.customMode = ardupilotmega.CopterMode.DRIFT
 
-  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(cmdParamList)
+  await port.send(cmdSetMode)
 
-  // Here's another example of sending commands
-  const cmdSetRelay = new common.DoSetRelayCommand()
-  cmdSetRelay.instance = 0
-  cmdSetRelay.setting = 1
+  // Give the system time to process any incoming acknowledges
+  const sleep = (ms: number) => new Promise(resolve => setTimeout(resolve, ms))
+  await sleep(1000)
 
-  await port.send(cmdSetRelay)
+  // Close communication
+  port.close()
 }
 
 main()

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.4.0",
+  "version": "1.5.0",
   "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": "^1.0.13-20230115"
+    "mavlink-mappings": "^1.0.13-20230115-3"
   },
   "scripts": {
     "clean": "rm -rf dist lib/*.js",