node-mavlink 1.4.1 → 1.5.1

package/README.md

@@ -68,15 +68,22 @@ Sending messages is also very easy. One example that is very useful is to send t
 ```javascript
 import { MavLinkProtocolV2, send } from 'node-mavlink'
 
-// Create an instance of of the `CommandInt` class that will be the vessel
-// for containing the command data
-const msg = new common.CommandInt()
-msg.command = common.MavCmd.REQUEST_PROTOCOL_VERSION
-msg.param1 = 1
+// Create an instance of of the `RequestProtocolVersionCommand`
+// class that will be the vessel for containing the command data.
+// Underneath the cover it uses CommandLong to convert the data.
+//
+// By convention the intermediate fields that are then serialized
+// are named with `_` (underscore) prefix and should not be used
+// directly. That doesn't mean you can't use them, but if there
+// is a equivalend Command class it is just a lot easier and every
+// parameter not only has a more descriptive names but also in-line
+// documentation.
+const command = new common.RequestProtocolVersionCommand()
+command.confirmation = 1
 
 port.on('open', async () => {
   // the port is open - we're ready to send data
-  await send(port, msg, new MavLinkProtocolV2())
+  await send(port, command, new MavLinkProtocolV2())
 })
 ```
 

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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+{"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,EAC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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

@@ -37,13 +37,20 @@ 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
-
-  await port.send(cmdSetMode)
+  // Create an instance of of the `RequestProtocolVersionCommand`
+  // class that will be the vessel for containing the command data.
+  // Underneath the cover it uses CommandLong to convert the data.
+  //
+  // By convention the intermediate fields that are then serialized
+  // are named with `_` (underscore) prefix and should not be used
+  // directly. That doesn't mean you can't use them, but if there
+  // is a equivalend Command class it is just a lot easier and every
+  // parameter not only has a more descriptive names but also in-line
+  // documentation.
+  const command = new common.RequestProtocolVersionCommand()
+  command.confirmation = 1
+
+  await port.send(command)
 
   // Give the system time to process any incoming acknowledges
   const sleep = (ms: number) => new Promise(resolve => setTimeout(resolve, ms))

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.4.1",
+  "version": "1.5.1",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",