node-mavlink 1.6.0 → 2.0.0-alpha.0

package/dist/lib/mavesp.d.ts

@@ -1,6 +1,7 @@
 /// <reference types="node" />
 /// <reference types="node" />
 import { EventEmitter } from 'events';
+import { MavLinkPacketSplitter, MavLinkPacketParser } from './mavlink';
 import { uint8_t, MavLinkData } from 'mavlink-mappings';
 export interface ConnectionInfo {
     ip: string;
@@ -16,7 +17,14 @@ export declare class MavEsp8266 extends EventEmitter {
     private ip;
     private sendPort;
     private seq;
-    constructor();
+    /**
+     * @param splitter packet splitter instance
+     * @param parser packet parser instance
+     */
+    constructor({ splitter, parser, }?: {
+        splitter?: MavLinkPacketSplitter | undefined;
+        parser?: MavLinkPacketParser | undefined;
+    });
     /**
      * Start communication with the controller via MAVESP8266
      *

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,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,sBAAsB;IAO9B,OAAO,CAAC,qBAAqB;CAI9B"}
+{"version":3,"file":"mavesp.d.ts","sourceRoot":"","sources":["../../lib/mavesp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAIrC,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAA0B,MAAM,WAAW,CAAA;AAG9F,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;IAEvB;;;OAGG;gBACS,EACV,QAAsC,EACtC,MAAkC,GACnC;;;KAAK;IAiBN;;;;;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,sBAAsB;IAO9B,OAAO,CAAC,qBAAqB;CAI9B"}

package/dist/lib/mavesp.js

@@ -16,7 +16,11 @@ class MavEsp8266 extends events_1.EventEmitter {
     ip = '';
     sendPort = 14555;
     seq = 0;
-    constructor() {
+    /**
+     * @param splitter packet splitter instance
+     * @param parser packet parser instance
+     */
+    constructor({ splitter = new mavlink_1.MavLinkPacketSplitter(), parser = new mavlink_1.MavLinkPacketParser(), } = {}) {
         super();
         this.input = new stream_1.PassThrough();
         this.processIncomingUDPData = this.processIncomingUDPData.bind(this);
@@ -24,8 +28,8 @@ class MavEsp8266 extends events_1.EventEmitter {
         // Create the reader as usual by piping the source stream through the splitter
         // and packet parser
         const reader = this.input
-            .pipe(new mavlink_1.MavLinkPacketSplitter())
-            .pipe(new mavlink_1.MavLinkPacketParser());
+            .pipe(splitter)
+            .pipe(parser);
         reader.on('data', this.processIncomingPacket);
     }
     /**

package/dist/lib/mavlink.d.ts

@@ -196,6 +196,7 @@ export declare class MavLinkPacketSplitter extends Transform {
     protected readonly log: Logger;
     private buffer;
     private onCrcError;
+    private readonly magicNumbers;
     private timestamp;
     private _validPackagesCount;
     private _unknownPackagesCount;
@@ -205,7 +206,10 @@ export declare class MavLinkPacketSplitter extends Transform {
      * @param verbose print diagnostic information
      * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
      */
-    constructor(opts?: {}, onCrcError?: BufferCallback);
+    constructor(opts?: {}, { onCrcError, magicNumbers }?: {
+        onCrcError?: BufferCallback;
+        magicNumbers?: Record<string, number>;
+    });
     _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
     protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
     private getPacketProtocol;
@@ -263,7 +267,10 @@ export declare class MavLinkPacketParser extends Transform {
  *
  * @param input input stream to read from
  */
-export declare function createMavLinkStream(input: Readable, onCrcError: BufferCallback): MavLinkPacketParser;
+export declare function createMavLinkStream(input: Readable, { onCrcError, magicNumbers }?: {
+    onCrcError?: BufferCallback;
+    magicNumbers?: Record<string, number>;
+}): MavLinkPacketParser;
 /**
  * Send a packet to the stream
  *

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

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

@@ -408,6 +408,7 @@ class MavLinkPacketSplitter extends stream_1.Transform {
     log = logger_1.Logger.getLogger(this);
     buffer = Buffer.from([]);
     onCrcError = null;
+    magicNumbers;
     timestamp = null;
     _validPackagesCount = 0;
     _unknownPackagesCount = 0;
@@ -417,9 +418,10 @@ class MavLinkPacketSplitter extends stream_1.Transform {
      * @param verbose print diagnostic information
      * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
      */
-    constructor(opts = {}, onCrcError = () => { }) {
+    constructor(opts = {}, { onCrcError = () => { }, magicNumbers = mavlink_mappings_2.MSG_ID_MAGIC_NUMBER } = {}) {
         super({ ...opts, objectMode: true });
         this.onCrcError = onCrcError;
+        this.magicNumbers = magicNumbers;
     }
     _transform(chunk, encoding, callback) {
         this.buffer = Buffer.concat([this.buffer, chunk]);
@@ -527,8 +529,7 @@ class MavLinkPacketSplitter extends stream_1.Transform {
     validatePacket(buffer, Protocol) {
         const protocol = new Protocol();
         const header = protocol.header(buffer);
-        // @ts-ignore
-        const magic = mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[header.msgid];
+        const magic = this.magicNumbers[header.msgid];
         if (magic) {
             const crc = protocol.crc(buffer);
             const trim = this.isV2Signed(buffer)
@@ -669,9 +670,9 @@ exports.MavLinkPacketParser = MavLinkPacketParser;
  *
  * @param input input stream to read from
  */
-function createMavLinkStream(input, onCrcError) {
+function createMavLinkStream(input, { onCrcError, magicNumbers } = {}) {
     return input
-        .pipe(new MavLinkPacketSplitter({}, onCrcError))
+        .pipe(new MavLinkPacketSplitter({}, { onCrcError, magicNumbers }))
         .pipe(new MavLinkPacketParser());
 }
 exports.createMavLinkStream = createMavLinkStream;

package/examples/pool-param-udp.ts

@@ -9,7 +9,8 @@ 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 incoming messages
   port.on('data', (packet: MavLinkPacket) => {

package/examples/send-receive-file.ts

@@ -7,6 +7,11 @@ import {
   asluav, development, ualberta,
 } from '..'
 
+//
+// Example how to register your own magic numbers:
+//
+// const splitter = new MavLinkPacketSplitter({}, { magicNumbers: { '0': 50 } })
+//
 const splitter = new MavLinkPacketSplitter()
 const parser = new MavLinkPacketParser()
 const file = createReadStream(__dirname + '/GH-5.bin')

package/examples/send-receive-udp.ts

@@ -21,7 +21,7 @@ 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
-  const { ip, sendPort, receivePort } = await port.start(14551)
+  const { ip, sendPort, receivePort } = await port.start()
   console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
   // log incoming messages

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.6.0",
+  "version": "2.0.0-alpha.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",