node-mavlink 2.1.0 → 2.3.0

package/dist/index.d.ts

@@ -4,4 +4,6 @@ export * from './lib/utils';
 export * from './lib/logger';
 export * from './lib/mavlink';
 export * from './lib/mavesp';
+export * from './lib/mavtcp';
+export * from './lib/debug';
 //# 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,cAAc,CAAA;AAC5B,cAAc,aAAa,CAAA"}

package/dist/index.js

@@ -20,3 +20,5 @@ __exportStar(require("./lib/utils"), exports);
 __exportStar(require("./lib/logger"), exports);
 __exportStar(require("./lib/mavlink"), exports);
 __exportStar(require("./lib/mavesp"), exports);
+__exportStar(require("./lib/mavtcp"), exports);
+__exportStar(require("./lib/debug"), exports);

package/dist/lib/debug.d.ts

@@ -0,0 +1,14 @@
+/// <reference types="node" />
+import { MavLinkData } from 'mavlink-mappings';
+import { MavLinkProtocolV2 } from './mavlink';
+/**
+ * Serialize and deserialize a command into selected class
+ */
+export declare function reserialize(command: MavLinkData): {
+    protocol: MavLinkProtocolV2;
+    buffer: Buffer;
+    header: import("./mavlink").MavLinkPacketHeader;
+    payload: Buffer;
+    data: MavLinkData;
+};
+//# sourceMappingURL=debug.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"debug.d.ts","sourceRoot":"","sources":["../../lib/debug.ts"],"names":[],"mappings":";AAAA,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAC9C,OAAO,EAAmB,iBAAiB,EAAE,MAAM,WAAW,CAAA;AAE9D;;GAEG;AACH,wBAAgB,WAAW,CAAC,OAAO,EAAE,WAAW;;;;;;EAc/C"}

package/dist/lib/debug.js

@@ -0,0 +1,22 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.reserialize = void 0;
+const mavlink_1 = require("./mavlink");
+/**
+ * Serialize and deserialize a command into selected class
+ */
+function reserialize(command) {
+    const protocol = new mavlink_1.MavLinkProtocolV2(mavlink_1.MavLinkProtocol.SYS_ID, mavlink_1.MavLinkProtocol.COMP_ID);
+    const buffer = protocol.serialize(command, 1);
+    const header = protocol.header(buffer);
+    const payload = protocol.payload(buffer);
+    const data = protocol.data(payload, command.constructor);
+    return {
+        protocol,
+        buffer,
+        header,
+        payload,
+        data,
+    };
+}
+exports.reserialize = reserialize;

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 @@
-{"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;;;;;;OAMG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc,EAAE,EAAE,GAAE,MAAW,GAAG,OAAO,CAAC,cAAc,CAAC;IAoB5G;;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;AAGvD,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/mavesp.js

@@ -47,7 +47,7 @@ class MavEsp8266 extends events_1.EventEmitter {
         this.socket.on('message', this.processIncomingUDPData);
         // Start listening on the socket
         return new Promise((resolve, reject) => {
-            this.socket?.bind(receivePort, () => {
+            this.socket?.bind(receivePort, async () => {
                 // Wait for the first package to be returned to read the ip address
                 // of the controller
                 (0, utils_1.waitFor)(() => this.ip !== '')

package/dist/lib/mavtcp.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 TCPConnectionInfo {
+    ip: string;
+    port: number;
+}
+/**
+ * Encapsulation of communication over TCP
+ */
+export declare class MavTCP 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<TCPConnectionInfo>;
+    /**
+     * 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=mavtcp.d.ts.map

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

@@ -0,0 +1 @@
+{"version":3,"file":"mavtcp.d.ts","sourceRoot":"","sources":["../../lib/mavtcp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAIrC,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAA0B,MAAM,WAAW,CAAA;AAE9F,OAAO,EAAE,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEvD,MAAM,WAAW,iBAAiB;IAChC,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;CACb;AAED;;GAEG;AACH,qBAAa,MAAO,SAAQ,YAAY;IACtC,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,iBAAiB,CAAC;IAmBxF;;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/mavtcp.js

@@ -0,0 +1,123 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.MavTCP = 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 over TCP
+ */
+class MavTCP 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(this.port, host, async () => {
+                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.MavTCP = MavTCP;