node-mavlink 1.6.0 → 2.0.0-alpha.1

package/README.md

@@ -243,6 +243,51 @@ $ Tools/autotest/sim_vehicle.py -v ArduCopter -f quad --console --map --out udpi
 
 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.
 
+## Registering custom messages
+
+There are times when you want to have custom messages, for example when you're building a rocket and there is no target you can use out of the box. There are actually two scenarios:
+
+1. You have a few custom messages, but generally you're happy with the original set of messages
+2. You don't care about the original messages, maybe you do about the heartbeat, but nothing else
+
+### Registering a single command
+
+There are 3 steps to register a custom command:
+
+a) create a class that defines your custom command
+b) add it to your `REGISTRY`
+c) register your custom command's magic number
+
+The first two steps are pretty self explanatory and there is a plethora of examples in the mavlink-mappings project - use those to learn how to create your own message definitions.
+
+The last step is quite easy:
+
+```javascript
+import { registerCustomMessageMagicNumber } from 'node-mavlink'
+
+registerCustomMessageMagicNumber('999999': 42)
+```
+
+From now on the splitter will know how to properly calculate CRC for your packages and you're all good.
+
+### Replacing magic numbers registry all together
+
+Well, if all you care about is the ping, why parse anything else, right? And if on top of the ping command you've got a number of custom messages - all the better to not parse even the messages!
+
+```javascript
+import { MavLinkSplitter, MavLinkParser } from 'node-mavlink'
+
+const MY_MAGIC_NUMBERS = {
+  '0': 50, // Heartbeat
+  // ...other magic number definitions go here
+}
+
+const source = ... // obtain source stream
+const reader = source
+  .pipe(new MavLinkPacketSplitter({}, { magicNumbers: MY_MAGIC_NUMBERS }))
+  .pipe(new MavLinkPacketParser())
+```
+
 ## 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/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

@@ -32,6 +32,7 @@ export declare abstract class MavLinkProtocol {
     static CHECKSUM_LENGTH: number;
     static SYS_ID: uint8_t;
     static COMP_ID: uint8_t;
+    get name(): string;
     /**
      * Serialize a message to a buffer
      */
@@ -196,6 +197,7 @@ 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 +207,10 @@ 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 +268,10 @@ 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

@@ -37,6 +37,9 @@ class MavLinkProtocol {
     static CHECKSUM_LENGTH = 2;
     static SYS_ID = 254;
     static COMP_ID = 1;
+    get name() {
+        return this.constructor.NAME;
+    }
     /**
      * Deserialize payload into actual data class
      */
@@ -101,7 +104,6 @@ class MavLinkProtocolV1 extends MavLinkProtocol {
         }
         const result = new MavLinkPacketHeader();
         result.timestamp = timestamp || null;
-        result.magic = startByte;
         result.payloadLength = buffer.readUInt8(1);
         result.seq = buffer.readUInt8(2);
         result.sysid = buffer.readUInt8(3);
@@ -374,16 +376,13 @@ class MavLinkPacket {
     debug() {
         return 'Packet ('
             // @ts-ignore
-            + `proto: ${this.protocol.constructor['NAME']}, `
+            + `proto: ${this.protocol.name}, `
             + `sysid: ${this.header.sysid}, `
             + `compid: ${this.header.compid}, `
             + `msgid: ${this.header.msgid}, `
             + `seq: ${this.header.seq}, `
             + `plen: ${this.header.payloadLength}, `
-            // @ts-ignore
-            + `magic: ${mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${(0, utils_1.hex)(mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid])}), `
             + `crc: ${(0, utils_1.hex)(this.crc, 4)}`
-            // @ts-ignore
             + this.signatureToString(this.signature)
             + ')';
     }
@@ -408,6 +407,7 @@ 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 +417,10 @@ 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 +528,7 @@ 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 +669,9 @@ 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-serial.ts

@@ -26,6 +26,9 @@ async function main() {
   // React to packet being retrieved.
   // This is the place where all your application-level logic will exist
   reader.on('data', (packet: MavLinkPacket) => {
+    // Output generic debug information about this packet
+    console.log(packet.debug())
+
     online = true
     const clazz = REGISTRY[packet.header.msgid]
     if (clazz) {

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.1",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",