node-mavlink 2.0.8 → 2.2.0

package/dist/index.d.ts

@@ -4,4 +4,5 @@ export * from './lib/utils';
 export * from './lib/logger';
 export * from './lib/mavlink';
 export * from './lib/mavesp';
+export * from './lib/mavsitl';
 //# sourceMappingURL=index.d.ts.map

package/dist/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../index.ts"],"names":[],"mappings":"AAAA,cAAc,kBAAkB,CAAA;AAChC,cAAc,qBAAqB,CAAA;AACnC,cAAc,aAAa,CAAA;AAC3B,cAAc,cAAc,CAAA;AAC5B,cAAc,eAAe,CAAA;AAC7B,cAAc,cAAc,CAAA"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../index.ts"],"names":[],"mappings":"AAAA,cAAc,kBAAkB,CAAA;AAChC,cAAc,qBAAqB,CAAA;AACnC,cAAc,aAAa,CAAA;AAC3B,cAAc,cAAc,CAAA;AAC5B,cAAc,eAAe,CAAA;AAC7B,cAAc,cAAc,CAAA;AAC5B,cAAc,eAAe,CAAA"}

package/dist/index.js

@@ -20,3 +20,4 @@ __exportStar(require("./lib/utils"), exports);
 __exportStar(require("./lib/logger"), exports);
 __exportStar(require("./lib/mavlink"), exports);
 __exportStar(require("./lib/mavesp"), exports);
+__exportStar(require("./lib/mavsitl"), exports);

package/dist/lib/mavesp.d.ts

@@ -3,7 +3,7 @@
 import { EventEmitter } from 'events';
 import { MavLinkPacketSplitter, MavLinkPacketParser } from './mavlink';
 import { uint8_t, MavLinkData } from 'mavlink-mappings';
-export interface ConnectionInfo {
+export interface EspConnectionInfo {
     ip: string;
     sendPort: number;
     receivePort: number;
@@ -32,7 +32,7 @@ export declare class MavEsp8266 extends EventEmitter {
      * @param sendPort port to send messages to (default: 14555)
      * @param ip IP address to send to in case there is no broadcast (default: empty string)
      */
-    start(receivePort?: number, sendPort?: number, ip?: string): Promise<ConnectionInfo>;
+    start(receivePort?: number, sendPort?: number, ip?: string): Promise<EspConnectionInfo>;
     /**
      * Closes the client stopping any message handlers
      */

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

@@ -1 +1 @@
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+{"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,iBAAiB;IAChC,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;;;;;;OAMG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc,EAAE,EAAE,GAAE,MAAW,GAAG,OAAO,CAAC,iBAAiB,CAAC;IAoB/G;;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/mavlink.d.ts.map

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

@@ -46,13 +46,27 @@ class MavLinkProtocol {
     data(payload, clazz) {
         this.log.trace('Deserializing', clazz.MSG_NAME, 'with payload of size', payload.length);
         const instance = new clazz();
+        let payloadLength = payload.length;
         for (const field of clazz.FIELDS) {
+            const fieldLength = field.length === 0 ? field.size : field.length * field.size;
             const deserialize = serialization_1.DESERIALIZERS[field.type];
             if (!deserialize) {
                 throw new Error(`Unknown field type ${field.type}`);
             }
+            // Pad the payload if it is trimmed
+            // https://mavlink.io/en/guide/serialization.html
+            // MAVLink 2 implementations must truncate any empty (zero-filled)
+            // bytes at the end of the serialized payload before it is sent.
+            if (fieldLength > payloadLength) {
+                const diff = fieldLength - payloadLength;
+                const newPayloadLength = payload.length + diff;
+                const newBuffer = Buffer.alloc(newPayloadLength);
+                payload.copy(newBuffer, 0, 0, payload.length);
+                payload = newBuffer;
+            }
             // @ts-ignore
             instance[field.name] = deserialize(payload, field.offset, field.length);
+            payloadLength -= fieldLength;
         }
         return instance;
     }

package/dist/lib/mavsitl.d.ts

@@ -0,0 +1,65 @@
+/// <reference types="node" />
+/// <reference types="node" />
+import { EventEmitter } from 'events';
+import { MavLinkPacketSplitter, MavLinkPacketParser } from './mavlink';
+import { uint8_t, MavLinkData } from 'mavlink-mappings';
+export interface SitlConnectionInfo {
+    ip: string;
+    port: number;
+}
+/**
+ * Encapsulation of communication with MavEsp8266
+ */
+export declare class MavSitl extends EventEmitter {
+    private input;
+    private socket?;
+    private ip;
+    private port;
+    private seq;
+    /**
+     * @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
+     *
+     * @param receivePort port to receive messages on (default: 14550)
+     * @param sendPort port to send messages to (default: 14555)
+     * @param ip IP address to send to in case there is no broadcast (default: empty string)
+     */
+    start(host?: string, port?: number): Promise<SitlConnectionInfo>;
+    /**
+     * Closes the client stopping any message handlers
+     */
+    close(): Promise<void>;
+    /**
+     * Send a packet
+     *
+     * @param msg message to send
+     * @param sysid system id
+     * @param compid component id
+     */
+    send(msg: MavLinkData, sysid?: uint8_t, compid?: uint8_t): Promise<number>;
+    /**
+     * Send a signed packet
+     *
+     * @param msg message to send
+     * @param sysid system id
+     * @param compid component id
+     * @param linkId link id for the signature
+     */
+    sendSigned(msg: MavLinkData, key: Buffer, linkId?: uint8_t, sysid?: uint8_t, compid?: uint8_t): Promise<number>;
+    /**
+     * Send raw data over the socket. Useful for custom implementation of data sending
+     *
+     * @param buffer buffer to send
+     */
+    sendBuffer(buffer: Buffer): Promise<number>;
+    private processIncomingTCPData;
+    private processIncomingPacket;
+}
+//# sourceMappingURL=mavsitl.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"mavsitl.d.ts","sourceRoot":"","sources":["../../lib/mavsitl.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,kBAAkB;IACjC,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;CACb;AAED;;GAEG;AACH,qBAAa,OAAQ,SAAQ,YAAY;IACvC,OAAO,CAAC,KAAK,CAAU;IACvB,OAAO,CAAC,MAAM,CAAC,CAAQ;IACvB,OAAO,CAAC,EAAE,CAAsB;IAChC,OAAO,CAAC,IAAI,CAAe;IAC3B,OAAO,CAAC,GAAG,CAAY;IAEvB;;;OAGG;gBACS,EACV,QAAsC,EACtC,MAAkC,GACnC;;;KAAK;IAiBN;;;;;;OAMG;IACG,KAAK,CAAC,IAAI,GAAE,MAAoB,EAAE,IAAI,GAAE,MAAa,GAAG,OAAO,CAAC,kBAAkB,CAAC;IAmBzF;;OAEG;IACG,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAa5B;;;;;;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;IAK9B,OAAO,CAAC,qBAAqB;CAI9B"}

package/dist/lib/mavsitl.js

@@ -0,0 +1,123 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MavSitl = void 0;
+const events_1 = require("events");
+const net_1 = require("net");
+const stream_1 = require("stream");
+const mavlink_1 = require("./mavlink");
+const mavlink_2 = require("./mavlink");
+/**
+ * Encapsulation of communication with MavEsp8266
+ */
+class MavSitl extends events_1.EventEmitter {
+    input;
+    socket;
+    ip = '127.0.0.1';
+    port = 5760;
+    seq = 0;
+    /**
+     * @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.processIncomingTCPData = this.processIncomingTCPData.bind(this);
+        this.processIncomingPacket = this.processIncomingPacket.bind(this);
+        // Create the reader as usual by piping the source stream through the splitter
+        // and packet parser
+        const reader = this.input
+            .pipe(splitter)
+            .pipe(parser);
+        reader.on('data', this.processIncomingPacket);
+    }
+    /**
+     * Start communication with the controller via MAVESP8266
+     *
+     * @param receivePort port to receive messages on (default: 14550)
+     * @param sendPort port to send messages to (default: 14555)
+     * @param ip IP address to send to in case there is no broadcast (default: empty string)
+     */
+    async start(host = '127.0.0.1', port = 5760) {
+        if (this.socket)
+            throw new Error('Already connected');
+        this.ip = host;
+        this.port = port;
+        // Create a TCP socket to connect to SITL
+        this.socket = new net_1.Socket();
+        this.socket.on('data', this.processIncomingTCPData);
+        this.socket.once('close', () => this.emit('close'));
+        // Start listening on the socket
+        return new Promise((resolve, reject) => {
+            this.socket?.connect(5760, host, () => {
+                resolve({ ip: this.ip, port: this.port });
+            });
+        });
+    }
+    /**
+     * Closes the client stopping any message handlers
+     */
+    async close() {
+        if (!this.socket)
+            throw new Error('Not connected');
+        // Unregister event handlers
+        this.socket.off('data', this.processIncomingTCPData);
+        // Close the socket
+        return new Promise(resolve => {
+            this.socket?.end(resolve);
+            this.socket = undefined;
+        });
+    }
+    /**
+     * Send a packet
+     *
+     * @param msg message to send
+     * @param sysid system id
+     * @param compid component id
+     */
+    async send(msg, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
+        const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid);
+        const buffer = protocol.serialize(msg, this.seq++);
+        this.seq &= 255;
+        return this.sendBuffer(buffer);
+    }
+    /**
+     * Send a signed packet
+     *
+     * @param msg message to send
+     * @param sysid system id
+     * @param compid component id
+     * @param linkId link id for the signature
+     */
+    async sendSigned(msg, key, linkId = 1, sysid = mavlink_2.MavLinkProtocol.SYS_ID, compid = mavlink_2.MavLinkProtocol.COMP_ID) {
+        const protocol = new mavlink_2.MavLinkProtocolV2(sysid, compid, mavlink_2.MavLinkProtocolV2.IFLAG_SIGNED);
+        const b1 = protocol.serialize(msg, this.seq++);
+        this.seq &= 255;
+        const b2 = protocol.sign(b1, linkId, key);
+        return this.sendBuffer(b2);
+    }
+    /**
+     * Send raw data over the socket. Useful for custom implementation of data sending
+     *
+     * @param buffer buffer to send
+     */
+    async sendBuffer(buffer) {
+        return new Promise((resolve, reject) => {
+            this.socket?.write(buffer, (err) => {
+                if (err)
+                    reject(err);
+                else
+                    resolve(buffer.length);
+            });
+        });
+    }
+    processIncomingTCPData(buffer) {
+        // pass on the data to the input stream
+        this.input.write(buffer);
+    }
+    processIncomingPacket(packet) {
+        // let the user know we received the packet
+        this.emit('data', packet);
+    }
+}
+exports.MavSitl = MavSitl;

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

@@ -1 +1 @@
-{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../lib/utils.ts"],"names":[],"mappings":";AAAA;;;;;;;GAOG;AACH,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,GAAG,GAAE,MAAU,EAAE,MAAM,SAAO,UAE5D;AAED;;;;;GAKG;AACH,wBAAgB,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,SAAK,QAclD;AAED;;;;GAIG;AACH,wBAAgB,KAAK,CAAC,EAAE,EAAE,MAAM,oBAE/B;AAED;;;;;;;;;;GAUG;AACH,wBAAsB,OAAO,CAAC,CAAC,EAAE,EAAE,EAAE,MAAM,CAAC,EAAE,OAAO,SAAQ,EAAE,QAAQ,SAAM,GAAG,OAAO,CAAC,CAAC,CAAC,CAoBzF"}
+{"version":3,"file":"utils.d.ts","sourceRoot":"","sources":["../../lib/utils.ts"],"names":[],"mappings":";AAAA;;;;;;;GAOG;AACH,wBAAgB,GAAG,CAAC,CAAC,EAAE,MAAM,EAAE,GAAG,GAAE,MAAU,EAAE,MAAM,SAAO,UAE5D;AAED;;;;;GAKG;AACH,wBAAgB,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,SAAK,QAclD;AAED;;;;GAIG;AACH,wBAAgB,KAAK,CAAC,EAAE,EAAE,MAAM,oBAE/B;AAED;;;;;;;;;;GAUG;AACH,wBAAsB,OAAO,CAAC,CAAC,EAAE,EAAE,EAAE,MAAM,CAAC,EAAE,OAAO,SAAQ,EAAE,QAAQ,SAAM,GAAG,OAAO,CAAC,CAAC,CAAC,CAyBzF"}

package/dist/lib/utils.js

@@ -62,15 +62,21 @@ async function waitFor(cb, timeout = 10000, interval = 100) {
             reject('Timeout');
         }, timeout);
         const intervalTimer = setInterval(() => {
-            const result = cb();
-            if (result) {
+            try {
+                const result = cb();
+                if (result) {
+                    cleanup();
+                    resolve(result);
+                }
+            }
+            catch (error) {
                 cleanup();
-                resolve(result);
+                reject(error);
             }
-        });
+        }, interval);
         const cleanup = () => {
             clearTimeout(timeoutTimer);
-            clearTimeout(intervalTimer);
+            clearInterval(intervalTimer);
         };
     });
 }

package/examples/send-receive-param-list-sitl.ts

@@ -0,0 +1,52 @@
+#!/usr/bin/env -S npx ts-node
+
+import { MavParamType } from 'mavlink-mappings/dist/lib/common'
+import { MavSitl, minimal, common, ardupilotmega } from '..'
+import { MavLinkPacket, MavLinkPacketRegistry } from '..'
+
+// start the simulator as follows:
+//
+// ./sim_vehicle.py -v ArduCopter -f quad --no-mavproxy
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
+
+async function main() {
+  const port = new MavSitl()
+
+  // start the communication
+  const { ip } = await port.start()
+  console.log(`Connected to: ${ip}`)
+
+  // log incoming messages
+  port.on('data', (packet: MavLinkPacket) => {
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      if (packet.header.msgid === common.ParamValue.MSG_ID) {
+        const data = packet.protocol.data(packet.payload, clazz) as common.ParamValue
+        console.log('>', data)
+      }
+    } else {
+      console.log('!', packet.debug())
+    }
+  })
+
+  // Create an instance of of the `ParamRequestList`
+  // class that will be the vessel for coRequestProtocolVersionCommandntaining 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 an equivalent 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.ParamRequestList()
+
+  await port.send(command)
+}
+
+main()

package/examples/send-receive-sitl.ts

@@ -0,0 +1,52 @@
+#!/usr/bin/env -S npx ts-node
+
+import { MavSitl, minimal, common, ardupilotmega } from '..'
+import { MavLinkPacket, MavLinkPacketRegistry } from '..'
+
+// start the simulator as follows:
+//
+// ./sim_vehicle.py -v ArduCopter -f quad --no-mavproxy
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
+
+async function main() {
+  const port = new MavSitl()
+
+  // start the communication
+  const { ip } = await port.start()
+  console.log(`Connected to: ${ip}`)
+
+  // log incoming messages
+  port.on('data', (packet: MavLinkPacket) => {
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      if (packet.header.msgid === common.ParamValue.MSG_ID) {
+        const data = packet.protocol.data(packet.payload, clazz)
+        console.log('>', data)
+      }
+    } else {
+      console.log('!', packet.debug())
+    }
+  })
+
+  // 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 an equivalent 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)
+}
+
+main()

package/examples/send-receive-udp.ts

@@ -9,12 +9,6 @@ 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()
 

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "2.0.8",
+  "version": "2.2.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -9,11 +9,11 @@
   ],
   "repository": {
     "type": "git",
-    "url": "git+https://github.com/padcom/node-mavlink.git"
+    "url": "git+https://github.com/ArduPilot/node-mavlink.git"
   },
   "bugs": {
     "email": "padcom@gmail.com",
-    "url": "https://github.com/padcom/node-mavlink/issues"
+    "url": "https://github.com/ArduPilot/node-mavlink/issues"
   },
   "funding": {
     "type": "patreon",
@@ -22,7 +22,7 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.20-20240131-0"
+    "mavlink-mappings": "^1.0.21-20250824-1"
   },
   "scripts": {
     "clean": "rm -rf dist lib/*.js",