add mavlink sigining and wss support
This commit is contained in:
Huibean
1
.gitignore
vendored
1
.gitignore
vendored
@@ -4,3 +4,4 @@ dist
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mav.parm
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mav.parm
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mav.tlog
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mav.tlog
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mav.tlog.raw
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mav.tlog.raw
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deploy.sh
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226
package-lock.json
generated
226
package-lock.json
generated
@@ -1,12 +1,12 @@
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{
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{
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"name": "dronecan-configurator",
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"name": "dronecan-webtools",
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"version": "1.0.0",
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"version": "1.0.2",
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"lockfileVersion": 3,
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"requires": true,
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"requires": true,
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"packages": {
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"packages": {
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"": {
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"": {
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"name": "dronecan-configurator",
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"name": "dronecan-webtools",
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"version": "1.0.0",
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"version": "1.0.2",
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"license": "MIT",
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"license": "MIT",
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"dependencies": {
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"dependencies": {
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"@babel/core": "^7.26.7",
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@@ -20,6 +20,7 @@
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"buffer": "^6.0.3",
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"buffer": "^6.0.3",
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"crypto-browserify": "^3.12.1",
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"crypto-browserify": "^3.12.1",
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"html-webpack-plugin": "^5.6.3",
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"html-webpack-plugin": "^5.6.3",
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"jspack": "^0.0.4",
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"long": "^5.2.4",
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"long": "^5.2.4",
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"process": "^0.11.10",
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"process": "^0.11.10",
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"react": "^18.3.1",
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"react": "^18.3.1",
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@@ -52,14 +53,14 @@
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}
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"license": "MIT",
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"dependencies": {
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"js-tokens": "^4.0.0",
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"js-tokens": "^4.0.0",
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"picocolors": "^1.0.0"
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"picocolors": "^1.1.1"
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@@ -320,18 +321,18 @@
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"node_modules/@babel/helper-validator-identifier": {
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"version": "7.27.1",
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@@ -361,25 +362,25 @@
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"license": "MIT",
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"dependencies": {
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"node_modules/@babel/parser": {
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"node_modules/@babel/parser": {
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"version": "7.26.7",
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"version": "7.28.0",
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"resolved": "https://registry.npmjs.org/@babel/parser/-/parser-7.26.7.tgz",
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"integrity": "sha512-kEvgGGgEjRUutvdVvZhbn/BxVt+5VSpwXz1j3WYXQbXDo8KzFOPNG2GQbdAiNq8g6wn1yKk7C/qrke03a84V+w==",
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"license": "MIT",
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"bin": {
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"bin": {
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"parser": "bin/babel-parser.js"
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"parser": "bin/babel-parser.js"
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@@ -1510,26 +1511,23 @@
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"license": "MIT",
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"dependencies": {
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"engines": {
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@@ -1554,13 +1552,13 @@
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"license": "MIT",
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"dependencies": {
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"engines": {
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@@ -2192,9 +2190,9 @@
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"license": "MIT"
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"license": "MIT"
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@@ -3288,16 +3286,16 @@
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@@ -4342,9 +4340,9 @@
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@@ -4789,9 +4787,9 @@
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||||||
"resolved": "https://registry.npmjs.org/pbkdf2/-/pbkdf2-3.1.2.tgz",
|
"resolved": "https://registry.npmjs.org/pbkdf2/-/pbkdf2-3.1.3.tgz",
|
||||||
"integrity": "sha512-iuh7L6jA7JEGu2WxDwtQP1ddOpaJNC4KlDEFfdQajSGgGPNi4OyDc2R7QnbY2bR9QjBVGwgvTdNJZoE7RaxUMA==",
|
"integrity": "sha512-wfRLBZ0feWRhCIkoMB6ete7czJcnNnqRpcoWQBLqatqXXmelSRqfdDK4F3u9T2s2cXas/hQJcryI/4lAL+XTlA==",
|
||||||
"license": "MIT",
|
"license": "MIT",
|
||||||
"dependencies": {
|
"dependencies": {
|
||||||
"create-hash": "^1.1.2",
|
"create-hash": "~1.1.3",
|
||||||
"create-hmac": "^1.1.4",
|
"create-hmac": "^1.1.7",
|
||||||
"ripemd160": "^2.0.1",
|
"ripemd160": "=2.0.1",
|
||||||
"safe-buffer": "^5.0.1",
|
"safe-buffer": "^5.2.1",
|
||||||
"sha.js": "^2.4.8"
|
"sha.js": "^2.4.11",
|
||||||
|
"to-buffer": "^1.2.0"
|
||||||
},
|
},
|
||||||
"engines": {
|
"engines": {
|
||||||
"node": ">=0.12"
|
"node": ">=0.12"
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
"node_modules/pbkdf2/node_modules/create-hash": {
|
||||||
|
"version": "1.1.3",
|
||||||
|
"resolved": "https://registry.npmjs.org/create-hash/-/create-hash-1.1.3.tgz",
|
||||||
|
"integrity": "sha512-snRpch/kwQhcdlnZKYanNF1m0RDlrCdSKQaH87w1FCFPVPNCQ/Il9QJKAX2jVBZddRdaHBMC+zXa9Gw9tmkNUA==",
|
||||||
|
"license": "MIT",
|
||||||
|
"dependencies": {
|
||||||
|
"cipher-base": "^1.0.1",
|
||||||
|
"inherits": "^2.0.1",
|
||||||
|
"ripemd160": "^2.0.0",
|
||||||
|
"sha.js": "^2.4.0"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"node_modules/pbkdf2/node_modules/hash-base": {
|
||||||
|
"version": "2.0.2",
|
||||||
|
"resolved": "https://registry.npmjs.org/hash-base/-/hash-base-2.0.2.tgz",
|
||||||
|
"integrity": "sha512-0TROgQ1/SxE6KmxWSvXHvRj90/Xo1JvZShofnYF+f6ZsGtR4eES7WfrQzPalmyagfKZCXpVnitiRebZulWsbiw==",
|
||||||
|
"license": "MIT",
|
||||||
|
"dependencies": {
|
||||||
|
"inherits": "^2.0.1"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"node_modules/pbkdf2/node_modules/ripemd160": {
|
||||||
|
"version": "2.0.1",
|
||||||
|
"resolved": "https://registry.npmjs.org/ripemd160/-/ripemd160-2.0.1.tgz",
|
||||||
|
"integrity": "sha512-J7f4wutN8mdbV08MJnXibYpCOPHR+yzy+iQ/AsjMv2j8cLavQ8VGagDFUwwTAdF8FmRKVeNpbTTEwNHCW1g94w==",
|
||||||
|
"license": "MIT",
|
||||||
|
"dependencies": {
|
||||||
|
"hash-base": "^2.0.0",
|
||||||
|
"inherits": "^2.0.1"
|
||||||
|
}
|
||||||
|
},
|
||||||
"node_modules/picocolors": {
|
"node_modules/picocolors": {
|
||||||
"version": "1.1.1",
|
"version": "1.1.1",
|
||||||
"resolved": "https://registry.npmjs.org/picocolors/-/picocolors-1.1.1.tgz",
|
"resolved": "https://registry.npmjs.org/picocolors/-/picocolors-1.1.1.tgz",
|
||||||
@@ -6323,12 +6358,6 @@
|
|||||||
"node": ">=4"
|
"node": ">=4"
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
"node_modules/regenerator-runtime": {
|
|
||||||
"version": "0.14.1",
|
|
||||||
"resolved": "https://registry.npmjs.org/regenerator-runtime/-/regenerator-runtime-0.14.1.tgz",
|
|
||||||
"integrity": "sha512-dYnhHh0nJoMfnkZs6GmmhFknAGRrLznOu5nc9ML+EJxGvrx6H7teuevqVqCuPcPK//3eDrrjQhehXVx9cnkGdw==",
|
|
||||||
"license": "MIT"
|
|
||||||
},
|
|
||||||
"node_modules/regenerator-transform": {
|
"node_modules/regenerator-transform": {
|
||||||
"version": "0.15.2",
|
"version": "0.15.2",
|
||||||
"resolved": "https://registry.npmjs.org/regenerator-transform/-/regenerator-transform-0.15.2.tgz",
|
"resolved": "https://registry.npmjs.org/regenerator-transform/-/regenerator-transform-0.15.2.tgz",
|
||||||
@@ -7159,6 +7188,26 @@
|
|||||||
"integrity": "sha512-eHY7nBftgThBqOyHGVN+l8gF0BucP09fMo0oO/Lb0w1OF80dJv+lDVpXG60WMQvkcxAkNybKsrEIE3ZtKGmPrA==",
|
"integrity": "sha512-eHY7nBftgThBqOyHGVN+l8gF0BucP09fMo0oO/Lb0w1OF80dJv+lDVpXG60WMQvkcxAkNybKsrEIE3ZtKGmPrA==",
|
||||||
"license": "MIT"
|
"license": "MIT"
|
||||||
},
|
},
|
||||||
|
"node_modules/to-buffer": {
|
||||||
|
"version": "1.2.1",
|
||||||
|
"resolved": "https://registry.npmjs.org/to-buffer/-/to-buffer-1.2.1.tgz",
|
||||||
|
"integrity": "sha512-tB82LpAIWjhLYbqjx3X4zEeHN6M8CiuOEy2JY8SEQVdYRe3CCHOFaqrBW1doLDrfpWhplcW7BL+bO3/6S3pcDQ==",
|
||||||
|
"license": "MIT",
|
||||||
|
"dependencies": {
|
||||||
|
"isarray": "^2.0.5",
|
||||||
|
"safe-buffer": "^5.2.1",
|
||||||
|
"typed-array-buffer": "^1.0.3"
|
||||||
|
},
|
||||||
|
"engines": {
|
||||||
|
"node": ">= 0.4"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"node_modules/to-buffer/node_modules/isarray": {
|
||||||
|
"version": "2.0.5",
|
||||||
|
"resolved": "https://registry.npmjs.org/isarray/-/isarray-2.0.5.tgz",
|
||||||
|
"integrity": "sha512-xHjhDr3cNBK0BzdUJSPXZntQUx/mwMS5Rw4A7lPJ90XGAO6ISP/ePDNuo0vhqOZU+UD5JoodwCAAoZQd3FeAKw==",
|
||||||
|
"license": "MIT"
|
||||||
|
},
|
||||||
"node_modules/to-regex-range": {
|
"node_modules/to-regex-range": {
|
||||||
"version": "5.0.1",
|
"version": "5.0.1",
|
||||||
"resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz",
|
"resolved": "https://registry.npmjs.org/to-regex-range/-/to-regex-range-5.0.1.tgz",
|
||||||
@@ -7215,6 +7264,20 @@
|
|||||||
"node": ">= 0.6"
|
"node": ">= 0.6"
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
"node_modules/typed-array-buffer": {
|
||||||
|
"version": "1.0.3",
|
||||||
|
"resolved": "https://registry.npmjs.org/typed-array-buffer/-/typed-array-buffer-1.0.3.tgz",
|
||||||
|
"integrity": "sha512-nAYYwfY3qnzX30IkA6AQZjVbtK6duGontcQm1WSG1MD94YLqK0515GNApXkoxKOWMusVssAHWLh9SeaoefYFGw==",
|
||||||
|
"license": "MIT",
|
||||||
|
"dependencies": {
|
||||||
|
"call-bound": "^1.0.3",
|
||||||
|
"es-errors": "^1.3.0",
|
||||||
|
"is-typed-array": "^1.1.14"
|
||||||
|
},
|
||||||
|
"engines": {
|
||||||
|
"node": ">= 0.4"
|
||||||
|
}
|
||||||
|
},
|
||||||
"node_modules/underscore": {
|
"node_modules/underscore": {
|
||||||
"version": "1.13.7",
|
"version": "1.13.7",
|
||||||
"resolved": "https://registry.npmjs.org/underscore/-/underscore-1.13.7.tgz",
|
"resolved": "https://registry.npmjs.org/underscore/-/underscore-1.13.7.tgz",
|
||||||
@@ -7522,14 +7585,15 @@
|
|||||||
}
|
}
|
||||||
},
|
},
|
||||||
"node_modules/webpack-dev-server": {
|
"node_modules/webpack-dev-server": {
|
||||||
"version": "5.2.0",
|
"version": "5.2.2",
|
||||||
"resolved": "https://registry.npmjs.org/webpack-dev-server/-/webpack-dev-server-5.2.0.tgz",
|
"resolved": "https://registry.npmjs.org/webpack-dev-server/-/webpack-dev-server-5.2.2.tgz",
|
||||||
"integrity": "sha512-90SqqYXA2SK36KcT6o1bvwvZfJFcmoamqeJY7+boioffX9g9C0wjjJRGUrQIuh43pb0ttX7+ssavmj/WN2RHtA==",
|
"integrity": "sha512-QcQ72gh8a+7JO63TAx/6XZf/CWhgMzu5m0QirvPfGvptOusAxG12w2+aua1Jkjr7hzaWDnJ2n6JFeexMHI+Zjg==",
|
||||||
"license": "MIT",
|
"license": "MIT",
|
||||||
"dependencies": {
|
"dependencies": {
|
||||||
"@types/bonjour": "^3.5.13",
|
"@types/bonjour": "^3.5.13",
|
||||||
"@types/connect-history-api-fallback": "^1.5.4",
|
"@types/connect-history-api-fallback": "^1.5.4",
|
||||||
"@types/express": "^4.17.21",
|
"@types/express": "^4.17.21",
|
||||||
|
"@types/express-serve-static-core": "^4.17.21",
|
||||||
"@types/serve-index": "^1.9.4",
|
"@types/serve-index": "^1.9.4",
|
||||||
"@types/serve-static": "^1.15.5",
|
"@types/serve-static": "^1.15.5",
|
||||||
"@types/sockjs": "^0.3.36",
|
"@types/sockjs": "^0.3.36",
|
||||||
@@ -7542,7 +7606,7 @@
|
|||||||
"connect-history-api-fallback": "^2.0.0",
|
"connect-history-api-fallback": "^2.0.0",
|
||||||
"express": "^4.21.2",
|
"express": "^4.21.2",
|
||||||
"graceful-fs": "^4.2.6",
|
"graceful-fs": "^4.2.6",
|
||||||
"http-proxy-middleware": "^2.0.7",
|
"http-proxy-middleware": "^2.0.9",
|
||||||
"ipaddr.js": "^2.1.0",
|
"ipaddr.js": "^2.1.0",
|
||||||
"launch-editor": "^2.6.1",
|
"launch-editor": "^2.6.1",
|
||||||
"open": "^10.0.3",
|
"open": "^10.0.3",
|
||||||
@@ -7577,6 +7641,18 @@
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
},
|
},
|
||||||
|
"node_modules/webpack-dev-server/node_modules/@types/express-serve-static-core": {
|
||||||
|
"version": "4.19.6",
|
||||||
|
"resolved": "https://registry.npmjs.org/@types/express-serve-static-core/-/express-serve-static-core-4.19.6.tgz",
|
||||||
|
"integrity": "sha512-N4LZ2xG7DatVqhCZzOGb1Yi5lMbXSZcmdLDe9EzSndPV2HpWYWzRbaerl2n27irrm94EPpprqa8KpskPT085+A==",
|
||||||
|
"license": "MIT",
|
||||||
|
"dependencies": {
|
||||||
|
"@types/node": "*",
|
||||||
|
"@types/qs": "*",
|
||||||
|
"@types/range-parser": "*",
|
||||||
|
"@types/send": "*"
|
||||||
|
}
|
||||||
|
},
|
||||||
"node_modules/webpack-merge": {
|
"node_modules/webpack-merge": {
|
||||||
"version": "6.0.1",
|
"version": "6.0.1",
|
||||||
"resolved": "https://registry.npmjs.org/webpack-merge/-/webpack-merge-6.0.1.tgz",
|
"resolved": "https://registry.npmjs.org/webpack-merge/-/webpack-merge-6.0.1.tgz",
|
||||||
|
|||||||
@@ -1,6 +1,6 @@
|
|||||||
{
|
{
|
||||||
"name": "dronecan-webtools",
|
"name": "dronecan-webtools",
|
||||||
"version": "1.0.1",
|
"version": "1.0.2",
|
||||||
"description": "",
|
"description": "",
|
||||||
"main": "index.js",
|
"main": "index.js",
|
||||||
"scripts": {
|
"scripts": {
|
||||||
@@ -22,6 +22,7 @@
|
|||||||
"buffer": "^6.0.3",
|
"buffer": "^6.0.3",
|
||||||
"crypto-browserify": "^3.12.1",
|
"crypto-browserify": "^3.12.1",
|
||||||
"html-webpack-plugin": "^5.6.3",
|
"html-webpack-plugin": "^5.6.3",
|
||||||
|
"jspack": "^0.0.4",
|
||||||
"long": "^5.2.4",
|
"long": "^5.2.4",
|
||||||
"process": "^0.11.10",
|
"process": "^0.11.10",
|
||||||
"react": "^18.3.1",
|
"react": "^18.3.1",
|
||||||
|
|||||||
@@ -1,13 +1,15 @@
|
|||||||
import React, { useState, useEffect } from 'react';
|
import React, { useState, useEffect } from 'react';
|
||||||
import {
|
import {
|
||||||
Dialog, DialogTitle, DialogContent, DialogActions,
|
Dialog, DialogTitle, DialogContent,
|
||||||
Button, FormControl, InputLabel, Select, MenuItem,
|
Button, FormControl, InputLabel, Select, MenuItem,
|
||||||
Typography, Box, Divider, RadioGroup, FormControlLabel, Radio, Chip,
|
Typography, Box, Divider, Chip,
|
||||||
TextField, Tabs, Tab, Paper, IconButton
|
TextField, Paper, IconButton
|
||||||
} from '@mui/material';
|
} from '@mui/material';
|
||||||
import RefreshIcon from '@mui/icons-material/Refresh';
|
import RefreshIcon from '@mui/icons-material/Refresh';
|
||||||
import UsbIcon from '@mui/icons-material/Usb';
|
import UsbIcon from '@mui/icons-material/Usb';
|
||||||
import CloseIcon from '@mui/icons-material/Close';
|
import CloseIcon from '@mui/icons-material/Close';
|
||||||
|
import Visibility from '@mui/icons-material/Visibility';
|
||||||
|
import VisibilityOff from '@mui/icons-material/VisibilityOff';
|
||||||
import WebSerial from './web_serial';
|
import WebSerial from './web_serial';
|
||||||
|
|
||||||
// Add this constant at the top of your file, outside the component
|
// Add this constant at the top of your file, outside the component
|
||||||
@@ -74,6 +76,11 @@ const ConnectionSettingsModal = ({
|
|||||||
selectedBus, // New prop
|
selectedBus, // New prop
|
||||||
onBusChange // New prop
|
onBusChange // New prop
|
||||||
}) => {
|
}) => {
|
||||||
|
// State for showing/hiding mavlink signing
|
||||||
|
const [showMavlinkSigning, setShowMavlinkSigning] = useState(false);
|
||||||
|
const handleToggleMavlinkSigning = () => {
|
||||||
|
setShowMavlinkSigning((show) => !show);
|
||||||
|
};
|
||||||
// Port and connection management
|
// Port and connection management
|
||||||
const [ports, setPorts] = useState([]);
|
const [ports, setPorts] = useState([]);
|
||||||
const [selectedPort, setSelectedPort] = useState(null);
|
const [selectedPort, setSelectedPort] = useState(null);
|
||||||
@@ -88,11 +95,13 @@ const ConnectionSettingsModal = ({
|
|||||||
const [activeConnection, setActiveConnection] = useState(null); // null, 'serial', or 'websocket'
|
const [activeConnection, setActiveConnection] = useState(null); // null, 'serial', or 'websocket'
|
||||||
|
|
||||||
// Add these state variables after your other state declarations
|
// Add these state variables after your other state declarations
|
||||||
const [ipError, setIpError] = useState('');
|
const [hostError, setHostError] = useState('');
|
||||||
const [portError, setPortError] = useState('');
|
const [portError, setPortError] = useState('');
|
||||||
|
|
||||||
// Add nodeId state to use the prop value
|
// Add nodeId state to use the prop value
|
||||||
const [nodeId, setNodeId] = useState(127);
|
const [nodeId, setNodeId] = useState(127);
|
||||||
|
// Add mavlink signing state
|
||||||
|
const [mavlinkSigning, setMavlinkSigning] = useState('');
|
||||||
|
|
||||||
// Add state for the forwarding interval
|
// Add state for the forwarding interval
|
||||||
const [forwardingInterval, setForwardingInterval] = useState(null);
|
const [forwardingInterval, setForwardingInterval] = useState(null);
|
||||||
@@ -315,29 +324,22 @@ const ConnectionSettingsModal = ({
|
|||||||
return '';
|
return '';
|
||||||
}
|
}
|
||||||
|
|
||||||
// Check for IPv4 format
|
// If input matches IPv4 pattern, validate as IPv4, else treat as hostname/domain
|
||||||
if (input.includes('.')) {
|
const ipv4Pattern = /^\d{1,3}(\.\d{1,3}){3}$/;
|
||||||
|
if (ipv4Pattern.test(input)) {
|
||||||
const octets = input.split('.');
|
const octets = input.split('.');
|
||||||
|
|
||||||
// An IPv4 address must have exactly 4 octets
|
|
||||||
if (octets.length !== 4) {
|
|
||||||
return 'Invalid IPv4 format';
|
|
||||||
}
|
|
||||||
|
|
||||||
// Each octet must be a number between 0 and 255
|
|
||||||
for (const octet of octets) {
|
for (const octet of octets) {
|
||||||
const num = parseInt(octet, 10);
|
const num = parseInt(octet, 10);
|
||||||
if (isNaN(num) || num < 0 || num > 255 || octet !== num.toString()) {
|
if (isNaN(num) || num < 0 || num > 255 || octet !== num.toString()) {
|
||||||
return 'Each part must be a number between 0-255';
|
return 'Each part must be a number between 0-255';
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Valid IPv4
|
|
||||||
return '';
|
return '';
|
||||||
}
|
}
|
||||||
|
|
||||||
// Check for hostname format
|
// Check for hostname or domain (including subdomains)
|
||||||
const hostnamePattern = /^([a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])(\.[a-zA-Z0-9]|[a-zA-Z0-9][a-zA-Z0-9\-]*[a-zA-Z0-9])*$/;
|
// Allow domains like 'support.ardupilot.org', 'foo.local', etc.
|
||||||
|
const hostnamePattern = /^([a-zA-Z0-9]([a-zA-Z0-9\-]{0,61}[a-zA-Z0-9])?\.)*[a-zA-Z0-9]([a-zA-Z0-9\-]{0,61}[a-zA-Z0-9])?$/;
|
||||||
|
|
||||||
if (hostnamePattern.test(input)) {
|
if (hostnamePattern.test(input)) {
|
||||||
return '';
|
return '';
|
||||||
@@ -377,11 +379,16 @@ const ConnectionSettingsModal = ({
|
|||||||
}
|
}
|
||||||
};
|
};
|
||||||
|
|
||||||
|
// Handler for Mavlink Signing input
|
||||||
|
const handleMavlinkSigningChange = (e) => {
|
||||||
|
setMavlinkSigning(e.target.value);
|
||||||
|
};
|
||||||
|
|
||||||
// Update the ws host/port change handlers
|
// Update the ws host/port change handlers
|
||||||
const handleWsHostChange = (e) => {
|
const handleWsHostChange = (e) => {
|
||||||
const value = e.target.value;
|
const value = e.target.value;
|
||||||
setWsHost(value);
|
setWsHost(value);
|
||||||
setIpError(validateIpAddress(value));
|
setHostError(validateIpAddress(value));
|
||||||
};
|
};
|
||||||
|
|
||||||
const handleWsPortChange = (e) => {
|
const handleWsPortChange = (e) => {
|
||||||
@@ -396,54 +403,48 @@ const ConnectionSettingsModal = ({
|
|||||||
if (activeConnection === 'websocket') {
|
if (activeConnection === 'websocket') {
|
||||||
// Force close the connection
|
// Force close the connection
|
||||||
window.mavlinkSession.close();
|
window.mavlinkSession.close();
|
||||||
|
|
||||||
// Always update the UI state regardless of actual connection state
|
|
||||||
setActiveConnection(null);
|
setActiveConnection(null);
|
||||||
onConnectionStatusChange(false);
|
onConnectionStatusChange(false);
|
||||||
showMessage('WebSocket connection closed', 'info');
|
showMessage('WebSocket connection closed', 'info');
|
||||||
|
|
||||||
// Clear the forwarding interval
|
|
||||||
if (forwardingInterval) {
|
if (forwardingInterval) {
|
||||||
clearInterval(forwardingInterval);
|
clearInterval(forwardingInterval);
|
||||||
setForwardingInterval(null);
|
setForwardingInterval(null);
|
||||||
}
|
}
|
||||||
} else {
|
} else {
|
||||||
// Set in-progress state before attempting to connect
|
|
||||||
setConnectionInProgress(true);
|
setConnectionInProgress(true);
|
||||||
|
const hostErr = validateIpAddress(wsHost);
|
||||||
// Validate both fields before connecting
|
const portErr = validatePort(wsPort);
|
||||||
const hostError = validateIpAddress(wsHost);
|
setHostError(hostErr);
|
||||||
const portError = validatePort(wsPort);
|
setPortError(portErr);
|
||||||
|
if (!hostErr && !portErr) {
|
||||||
setIpError(hostError);
|
|
||||||
setPortError(portError);
|
|
||||||
|
|
||||||
// Only connect if both validations pass
|
|
||||||
if (!hostError && !portError) {
|
|
||||||
if (activeConnection) {
|
if (activeConnection) {
|
||||||
window.mavlinkSession.close();
|
window.mavlinkSession.close();
|
||||||
// Clear any existing interval
|
|
||||||
if (forwardingInterval) {
|
if (forwardingInterval) {
|
||||||
clearInterval(forwardingInterval);
|
clearInterval(forwardingInterval);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
// Use window.mavlinkSession consistently
|
// Use wss if signing is present, else ws
|
||||||
window.mavlinkSession.initWebSocketConnection(wsHost, parseInt(wsPort, 10));
|
const wsProtocol = mavlinkSigning ? 'wss' : 'ws';
|
||||||
|
// Compose the full URL for the websocket
|
||||||
|
const wsUrl = `${wsProtocol}://${wsHost}:${wsPort}`;
|
||||||
|
if (window.mavlinkSession.initWebSocketConnection.length === 1) {
|
||||||
|
// If the function expects a URL
|
||||||
|
window.mavlinkSession.initWebSocketConnection(wsUrl);
|
||||||
|
} else {
|
||||||
|
// Fallback to old signature (host, port)
|
||||||
|
window.mavlinkSession.initWebSocketConnection(wsHost, parseInt(wsPort, 10), mavlinkSigning);
|
||||||
|
}
|
||||||
|
|
||||||
window.mavlinkSession.addWebSocketOpenHandler(() => {
|
window.mavlinkSession.addWebSocketOpenHandler(() => {
|
||||||
console.log('WebSocket connection open');
|
console.log('WebSocket connection open');
|
||||||
// Set Node ID and Bus for the local node
|
|
||||||
window.localNode.setNodeId(parseInt(nodeId, 10));
|
window.localNode.setNodeId(parseInt(nodeId, 10));
|
||||||
window.localNode.setBus(selectedBus);
|
window.localNode.setBus(selectedBus);
|
||||||
|
|
||||||
// Start the mavlinkCanForward interval
|
|
||||||
const intervalId = setInterval(() => {
|
const intervalId = setInterval(() => {
|
||||||
if (window.mavlinkSession) {
|
if (window.mavlinkSession) {
|
||||||
window.mavlinkSession.enableMavlinkCanForward(window.localNode.bus);
|
window.mavlinkSession.enableMavlinkCanForward(window.localNode.bus);
|
||||||
}
|
}
|
||||||
}, 1000);
|
}, 1000);
|
||||||
|
|
||||||
setForwardingInterval(intervalId);
|
setForwardingInterval(intervalId);
|
||||||
setActiveConnection('websocket');
|
setActiveConnection('websocket');
|
||||||
onConnectionStatusChange(true);
|
onConnectionStatusChange(true);
|
||||||
@@ -453,20 +454,13 @@ const ConnectionSettingsModal = ({
|
|||||||
|
|
||||||
window.mavlinkSession.addWebSocketErrorHandler((error) => {
|
window.mavlinkSession.addWebSocketErrorHandler((error) => {
|
||||||
console.error('WebSocket error:', error);
|
console.error('WebSocket error:', error);
|
||||||
|
|
||||||
// Clear any existing interval
|
|
||||||
if (forwardingInterval) {
|
if (forwardingInterval) {
|
||||||
clearInterval(forwardingInterval);
|
clearInterval(forwardingInterval);
|
||||||
setForwardingInterval(null);
|
setForwardingInterval(null);
|
||||||
}
|
}
|
||||||
|
|
||||||
setActiveConnection(null);
|
setActiveConnection(null);
|
||||||
onConnectionStatusChange(false);
|
onConnectionStatusChange(false);
|
||||||
|
|
||||||
// Reset in-progress state on error
|
|
||||||
setConnectionInProgress(false);
|
setConnectionInProgress(false);
|
||||||
|
|
||||||
// Show error message using App's showMessage function
|
|
||||||
let errorMsg = 'Connection failed';
|
let errorMsg = 'Connection failed';
|
||||||
if (error && error.message) {
|
if (error && error.message) {
|
||||||
errorMsg = `Connection failed: ${error.message}`;
|
errorMsg = `Connection failed: ${error.message}`;
|
||||||
@@ -478,14 +472,12 @@ const ConnectionSettingsModal = ({
|
|||||||
|
|
||||||
window.mavlinkSession.webSocketConnect();
|
window.mavlinkSession.webSocketConnect();
|
||||||
} else {
|
} else {
|
||||||
// If validation fails, reset the in-progress state
|
|
||||||
setConnectionInProgress(false);
|
setConnectionInProgress(false);
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
} catch (error) {
|
} catch (error) {
|
||||||
console.error('Error with WebSocket connection:', error);
|
console.error('Error with WebSocket connection:', error);
|
||||||
showMessage(`WebSocket error: ${error.message || 'Unknown error'}`, 'error');
|
showMessage(`WebSocket error: ${error.message || 'Unknown error'}`, 'error');
|
||||||
// Reset in-progress state on any error
|
|
||||||
setConnectionInProgress(false);
|
setConnectionInProgress(false);
|
||||||
}
|
}
|
||||||
};
|
};
|
||||||
@@ -650,8 +642,8 @@ const ConnectionSettingsModal = ({
|
|||||||
disabled={activeConnection !== null}
|
disabled={activeConnection !== null}
|
||||||
size="small"
|
size="small"
|
||||||
sx={{ flex: 3 }}
|
sx={{ flex: 3 }}
|
||||||
error={!!ipError}
|
error={!!hostError}
|
||||||
helperText={ipError}
|
helperText={hostError}
|
||||||
/>
|
/>
|
||||||
<TextField
|
<TextField
|
||||||
label="Port"
|
label="Port"
|
||||||
@@ -673,7 +665,7 @@ const ConnectionSettingsModal = ({
|
|||||||
variant="contained"
|
variant="contained"
|
||||||
disabled={
|
disabled={
|
||||||
connectionInProgress || // Disable when connection attempt is in progress
|
connectionInProgress || // Disable when connection attempt is in progress
|
||||||
!!ipError ||
|
!!hostError ||
|
||||||
!!portError ||
|
!!portError ||
|
||||||
!wsHost ||
|
!wsHost ||
|
||||||
!wsPort ||
|
!wsPort ||
|
||||||
@@ -691,7 +683,7 @@ const ConnectionSettingsModal = ({
|
|||||||
|
|
||||||
<Divider />
|
<Divider />
|
||||||
|
|
||||||
{/* Bus Selection */}
|
{/* Bus Selection and Mavlink Signing */}
|
||||||
<Box>
|
<Box>
|
||||||
<Box sx={{ display: 'flex', alignItems: 'center', gap: 2 }}>
|
<Box sx={{ display: 'flex', alignItems: 'center', gap: 2 }}>
|
||||||
<TextField
|
<TextField
|
||||||
@@ -708,6 +700,29 @@ const ConnectionSettingsModal = ({
|
|||||||
error={validateNodeId(nodeId) !== ''}
|
error={validateNodeId(nodeId) !== ''}
|
||||||
helperText={validateNodeId(nodeId)}
|
helperText={validateNodeId(nodeId)}
|
||||||
/>
|
/>
|
||||||
|
<TextField
|
||||||
|
label="Mavlink Signing"
|
||||||
|
value={mavlinkSigning}
|
||||||
|
onChange={handleMavlinkSigningChange}
|
||||||
|
disabled={activeConnection !== null}
|
||||||
|
size="small"
|
||||||
|
placeholder="Secret Key"
|
||||||
|
type={showMavlinkSigning ? 'text' : 'password'}
|
||||||
|
sx={{ flex: 1 }}
|
||||||
|
InputProps={{
|
||||||
|
endAdornment: (
|
||||||
|
<IconButton
|
||||||
|
aria-label={showMavlinkSigning ? 'Hide secret' : 'Show secret'}
|
||||||
|
onClick={handleToggleMavlinkSigning}
|
||||||
|
edge="end"
|
||||||
|
size="small"
|
||||||
|
tabIndex={-1}
|
||||||
|
>
|
||||||
|
{showMavlinkSigning ? <VisibilityOff fontSize="small" /> : <Visibility fontSize="small" />}
|
||||||
|
</IconButton>
|
||||||
|
),
|
||||||
|
}}
|
||||||
|
/>
|
||||||
</Box>
|
</Box>
|
||||||
</Box>
|
</Box>
|
||||||
</Box>
|
</Box>
|
||||||
|
|||||||
270
src/local_modules/jspack/jspack.js
Normal file
270
src/local_modules/jspack/jspack.js
Normal file
@@ -0,0 +1,270 @@
|
|||||||
|
/*!
|
||||||
|
* Copyright © 2008 Fair Oaks Labs, Inc.
|
||||||
|
* All rights reserved.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// Utility object: Encode/Decode C-style binary primitives to/from octet arrays
|
||||||
|
function JSPack()
|
||||||
|
{
|
||||||
|
// Module-level (private) variables
|
||||||
|
var el, bBE = false, m = this;
|
||||||
|
|
||||||
|
|
||||||
|
// Raw byte arrays
|
||||||
|
m._DeArray = function (a, p, l)
|
||||||
|
{
|
||||||
|
return [a.slice(p,p+l)];
|
||||||
|
};
|
||||||
|
m._EnArray = function (a, p, l, v)
|
||||||
|
{
|
||||||
|
for (var i = 0; i < l; a[p+i] = v[i]?v[i]:0, i++);
|
||||||
|
};
|
||||||
|
|
||||||
|
// ASCII characters
|
||||||
|
m._DeChar = function (a, p)
|
||||||
|
{
|
||||||
|
return String.fromCharCode(a[p]);
|
||||||
|
};
|
||||||
|
m._EnChar = function (a, p, v)
|
||||||
|
{
|
||||||
|
a[p] = v.charCodeAt(0);
|
||||||
|
};
|
||||||
|
|
||||||
|
// Little-endian (un)signed N-byte integers
|
||||||
|
m._DeInt = function (a, p)
|
||||||
|
{
|
||||||
|
var lsb = bBE?(el.len-1):0, nsb = bBE?-1:1, stop = lsb+nsb*el.len, rv, i, f;
|
||||||
|
for (rv = 0, i = lsb, f = 1; i != stop; rv+=(a[p+i]*f), i+=nsb, f*=256);
|
||||||
|
if (el.bSigned && (rv & Math.pow(2, el.len*8-1))) { rv -= Math.pow(2, el.len*8); }
|
||||||
|
return rv;
|
||||||
|
};
|
||||||
|
m._EnInt = function (a, p, v)
|
||||||
|
{
|
||||||
|
var lsb = bBE?(el.len-1):0, nsb = bBE?-1:1, stop = lsb+nsb*el.len, i;
|
||||||
|
v = (v<el.min)?el.min:(v>el.max)?el.max:v;
|
||||||
|
for (i = lsb; i != stop; a[p+i]=v&0xff, i+=nsb, v>>=8);
|
||||||
|
};
|
||||||
|
|
||||||
|
// ASCII character strings
|
||||||
|
m._DeString = function (a, p, l)
|
||||||
|
{
|
||||||
|
for (var rv = new Array(l), i = 0; i < l; rv[i] = String.fromCharCode(a[p+i]), i++);
|
||||||
|
return rv.join('');
|
||||||
|
};
|
||||||
|
m._EnString = function (a, p, l, v)
|
||||||
|
{
|
||||||
|
for (var t, i = 0; i < l; a[p+i] = (t=v.charCodeAt(i))?t:0, i++);
|
||||||
|
};
|
||||||
|
|
||||||
|
// Little-endian N-bit IEEE 754 floating point
|
||||||
|
m._De754 = function (a, p)
|
||||||
|
{
|
||||||
|
var s, e, m, i, d, nBits, mLen, eLen, eBias, eMax;
|
||||||
|
mLen = el.mLen, eLen = el.len*8-el.mLen-1, eMax = (1<<eLen)-1, eBias = eMax>>1;
|
||||||
|
|
||||||
|
i = bBE?0:(el.len-1); d = bBE?1:-1; s = a[p+i]; i+=d; nBits = -7;
|
||||||
|
for (e = s&((1<<(-nBits))-1), s>>=(-nBits), nBits += eLen; nBits > 0; e=e*256+a[p+i], i+=d, nBits-=8);
|
||||||
|
for (m = e&((1<<(-nBits))-1), e>>=(-nBits), nBits += mLen; nBits > 0; m=m*256+a[p+i], i+=d, nBits-=8);
|
||||||
|
|
||||||
|
switch (e)
|
||||||
|
{
|
||||||
|
case 0:
|
||||||
|
// Zero, or denormalized number
|
||||||
|
e = 1-eBias;
|
||||||
|
break;
|
||||||
|
case eMax:
|
||||||
|
// NaN, or +/-Infinity
|
||||||
|
return m?NaN:((s?-1:1)*Infinity);
|
||||||
|
default:
|
||||||
|
// Normalized number
|
||||||
|
m = m + Math.pow(2, mLen);
|
||||||
|
e = e - eBias;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return (s?-1:1) * m * Math.pow(2, e-mLen);
|
||||||
|
};
|
||||||
|
m._En754 = function (a, p, v)
|
||||||
|
{
|
||||||
|
var s, e, m, i, d, c, mLen, eLen, eBias, eMax;
|
||||||
|
mLen = el.mLen, eLen = el.len*8-el.mLen-1, eMax = (1<<eLen)-1, eBias = eMax>>1;
|
||||||
|
|
||||||
|
s = v<0?1:0;
|
||||||
|
v = Math.abs(v);
|
||||||
|
if (isNaN(v) || (v == Infinity))
|
||||||
|
{
|
||||||
|
m = isNaN(v)?1:0;
|
||||||
|
e = eMax;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
e = Math.floor(Math.log(v)/Math.LN2); // Calculate log2 of the value
|
||||||
|
if (v*(c = Math.pow(2, -e)) < 1) { e--; c*=2; } // Math.log() isn't 100% reliable
|
||||||
|
|
||||||
|
// Round by adding 1/2 the significand's LSD
|
||||||
|
if (e+eBias >= 1) { v += el.rt/c; } // Normalized: mLen significand digits
|
||||||
|
else { v += el.rt*Math.pow(2, 1-eBias); } // Denormalized: <= mLen significand digits
|
||||||
|
if (v*c >= 2) { e++; c/=2; } // Rounding can increment the exponent
|
||||||
|
|
||||||
|
if (e+eBias >= eMax)
|
||||||
|
{
|
||||||
|
// Overflow
|
||||||
|
m = 0;
|
||||||
|
e = eMax;
|
||||||
|
}
|
||||||
|
else if (e+eBias >= 1)
|
||||||
|
{
|
||||||
|
// Normalized - term order matters, as Math.pow(2, 52-e) and v*Math.pow(2, 52) can overflow
|
||||||
|
m = (v*c-1)*Math.pow(2, mLen);
|
||||||
|
e = e + eBias;
|
||||||
|
}
|
||||||
|
else
|
||||||
|
{
|
||||||
|
// Denormalized - also catches the '0' case, somewhat by chance
|
||||||
|
m = v*Math.pow(2, eBias-1)*Math.pow(2, mLen);
|
||||||
|
e = 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
for (i = bBE?(el.len-1):0, d=bBE?-1:1; mLen >= 8; a[p+i]=m&0xff, i+=d, m/=256, mLen-=8);
|
||||||
|
for (e=(e<<mLen)|m, eLen+=mLen; eLen > 0; a[p+i]=e&0xff, i+=d, e/=256, eLen-=8);
|
||||||
|
a[p+i-d] |= s*128;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Convert int64 to array with 3 elements: [lowBits, highBits, unsignedFlag]
|
||||||
|
// '>>>' trick to convert signed 32bit int to unsigned int (because << always results in a signed 32bit int)
|
||||||
|
m._DeInt64 = function (a, p) {
|
||||||
|
var start = bBE ? 0 : 7, nsb = bBE ? 1 : -1, stop = start + nsb * 8, rv = [0,0, !el.bSigned], i, f, rvi;
|
||||||
|
for (i = start, rvi = 1, f = 0;
|
||||||
|
i != stop;
|
||||||
|
rv[rvi] = (((rv[rvi]<<8)>>>0) + a[p + i]), i += nsb, f++, rvi = (f < 4 ? 1 : 0));
|
||||||
|
return rv;
|
||||||
|
};
|
||||||
|
m._EnInt64 = function (a, p, v) {
|
||||||
|
var start = bBE ? 0 : 7, nsb = bBE ? 1 : -1, stop = start + nsb * 8, i, f, rvi, s;
|
||||||
|
for (i = start, rvi = 1, f = 0, s = 24;
|
||||||
|
i != stop;
|
||||||
|
a[p + i] = v[rvi]>>s & 0xff, i += nsb, f++, rvi = (f < 4 ? 1 : 0), s = 24 - (8 * (f % 4)));
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
// Class data
|
||||||
|
m._sPattern = '(\\d+)?([AxcbBhHsfdiIlLqQ])';
|
||||||
|
m._lenLut = {'A':1, 'x':1, 'c':1, 'b':1, 'B':1, 'h':2, 'H':2, 's':1, 'f':4, 'd':8, 'i':4, 'I':4, 'l':4, 'L':4, 'q':8, 'Q':8};
|
||||||
|
m._elLut = { 'A': {en:m._EnArray, de:m._DeArray},
|
||||||
|
's': {en:m._EnString, de:m._DeString},
|
||||||
|
'c': {en:m._EnChar, de:m._DeChar},
|
||||||
|
'b': {en:m._EnInt, de:m._DeInt, len:1, bSigned:true, min:-Math.pow(2, 7), max:Math.pow(2, 7)-1},
|
||||||
|
'B': {en:m._EnInt, de:m._DeInt, len:1, bSigned:false, min:0, max:Math.pow(2, 8)-1},
|
||||||
|
'h': {en:m._EnInt, de:m._DeInt, len:2, bSigned:true, min:-Math.pow(2, 15), max:Math.pow(2, 15)-1},
|
||||||
|
'H': {en:m._EnInt, de:m._DeInt, len:2, bSigned:false, min:0, max:Math.pow(2, 16)-1},
|
||||||
|
'i': {en:m._EnInt, de:m._DeInt, len:4, bSigned:true, min:-Math.pow(2, 31), max:Math.pow(2, 31)-1},
|
||||||
|
'I': {en:m._EnInt, de:m._DeInt, len:4, bSigned:false, min:0, max:Math.pow(2, 32)-1},
|
||||||
|
'l': {en:m._EnInt, de:m._DeInt, len:4, bSigned:true, min:-Math.pow(2, 31), max:Math.pow(2, 31)-1},
|
||||||
|
'L': {en:m._EnInt, de:m._DeInt, len:4, bSigned:false, min:0, max:Math.pow(2, 32)-1},
|
||||||
|
'f': {en:m._En754, de:m._De754, len:4, mLen:23, rt:Math.pow(2, -24)-Math.pow(2, -77)},
|
||||||
|
'd': {en:m._En754, de:m._De754, len:8, mLen:52, rt:0},
|
||||||
|
'q': {en:m._EnInt64, de:m._DeInt64, bSigned:true},
|
||||||
|
'Q': {en:m._EnInt64, de:m._DeInt64, bSigned:false}};
|
||||||
|
|
||||||
|
// Unpack a series of n elements of size s from array a at offset p with fxn
|
||||||
|
m._UnpackSeries = function (n, s, a, p)
|
||||||
|
{
|
||||||
|
for (var fxn = el.de, rv = [], i = 0; i < n; rv.push(fxn(a, p+i*s)), i++);
|
||||||
|
return rv;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Pack a series of n elements of size s from array v at offset i to array a at offset p with fxn
|
||||||
|
m._PackSeries = function (n, s, a, p, v, i)
|
||||||
|
{
|
||||||
|
for (var fxn = el.en, o = 0; o < n; fxn(a, p+o*s, v[i+o]), o++);
|
||||||
|
};
|
||||||
|
|
||||||
|
// Unpack the octet array a, beginning at offset p, according to the fmt string
|
||||||
|
m.Unpack = function (fmt, a, p)
|
||||||
|
{
|
||||||
|
// Set the private bBE flag based on the format string - assume big-endianness
|
||||||
|
bBE = (fmt.charAt(0) != '<');
|
||||||
|
|
||||||
|
p = p?p:0;
|
||||||
|
var re = new RegExp(this._sPattern, 'g'), m, n, s, rv = [];
|
||||||
|
while (m = re.exec(fmt))
|
||||||
|
{
|
||||||
|
n = ((m[1]==undefined)||(m[1]==''))?1:parseInt(m[1]);
|
||||||
|
s = this._lenLut[m[2]];
|
||||||
|
if ((p + n*s) > a.length)
|
||||||
|
{
|
||||||
|
return undefined;
|
||||||
|
}
|
||||||
|
switch (m[2])
|
||||||
|
{
|
||||||
|
case 'A': case 's':
|
||||||
|
rv.push(this._elLut[m[2]].de(a, p, n));
|
||||||
|
break;
|
||||||
|
case 'c': case 'b': case 'B': case 'h': case 'H':
|
||||||
|
case 'i': case 'I': case 'l': case 'L': case 'f': case 'd': case 'q': case 'Q':
|
||||||
|
el = this._elLut[m[2]];
|
||||||
|
rv.push(this._UnpackSeries(n, s, a, p));
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
p += n*s;
|
||||||
|
}
|
||||||
|
return Array.prototype.concat.apply([], rv);
|
||||||
|
};
|
||||||
|
|
||||||
|
// Pack the supplied values into the octet array a, beginning at offset p, according to the fmt string
|
||||||
|
m.PackTo = function (fmt, a, p, values)
|
||||||
|
{
|
||||||
|
// Set the private bBE flag based on the format string - assume big-endianness
|
||||||
|
bBE = (fmt.charAt(0) != '<');
|
||||||
|
|
||||||
|
var re = new RegExp(this._sPattern, 'g'), m, n, s, i = 0, j;
|
||||||
|
while (m = re.exec(fmt))
|
||||||
|
{
|
||||||
|
n = ((m[1]==undefined)||(m[1]==''))?1:parseInt(m[1]);
|
||||||
|
s = this._lenLut[m[2]];
|
||||||
|
if ((p + n*s) > a.length)
|
||||||
|
{
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
switch (m[2])
|
||||||
|
{
|
||||||
|
case 'A': case 's':
|
||||||
|
if ((i + 1) > values.length) { return false; }
|
||||||
|
this._elLut[m[2]].en(a, p, n, values[i]);
|
||||||
|
i += 1;
|
||||||
|
break;
|
||||||
|
case 'c': case 'b': case 'B': case 'h': case 'H':
|
||||||
|
case 'i': case 'I': case 'l': case 'L': case 'f': case 'd': case 'q': case 'Q':
|
||||||
|
el = this._elLut[m[2]];
|
||||||
|
if ((i + n) > values.length) { return false; }
|
||||||
|
this._PackSeries(n, s, a, p, values, i);
|
||||||
|
i += n;
|
||||||
|
break;
|
||||||
|
case 'x':
|
||||||
|
for (j = 0; j < n; j++) { a[p+j] = 0; }
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
p += n*s;
|
||||||
|
}
|
||||||
|
return a;
|
||||||
|
};
|
||||||
|
|
||||||
|
// Pack the supplied values into a new octet array, according to the fmt string
|
||||||
|
m.Pack = function (fmt, values)
|
||||||
|
{
|
||||||
|
return this.PackTo(fmt, new Array(this.CalcLength(fmt)), 0, values);
|
||||||
|
};
|
||||||
|
|
||||||
|
// Determine the number of bytes represented by the format string
|
||||||
|
m.CalcLength = function (fmt)
|
||||||
|
{
|
||||||
|
var re = new RegExp(this._sPattern, 'g'), m, sum = 0;
|
||||||
|
while (m = re.exec(fmt))
|
||||||
|
{
|
||||||
|
sum += (((m[1]==undefined)||(m[1]==''))?1:parseInt(m[1])) * this._lenLut[m[2]];
|
||||||
|
}
|
||||||
|
return sum;
|
||||||
|
};
|
||||||
|
};
|
||||||
|
|
||||||
|
exports.jspack = new JSPack();
|
||||||
9244
src/mavlink.js
9244
src/mavlink.js
File diff suppressed because it is too large
Load Diff
@@ -1,8 +1,8 @@
|
|||||||
import { EventEmitter } from 'events';
|
import { EventEmitter } from 'events';
|
||||||
import WebSocketClient from './ws_client';
|
import WebSocketClient from './ws_client';
|
||||||
import WebSerial from './web_serial';
|
import WebSerial from './web_serial';
|
||||||
import { mavlink20, MAVLink20Processor } from './mavlink';
|
|
||||||
import dronecan from './dronecan';
|
import dronecan from './dronecan';
|
||||||
|
import './mavlink';
|
||||||
|
|
||||||
class MavlinkSession extends EventEmitter {
|
class MavlinkSession extends EventEmitter {
|
||||||
constructor() {
|
constructor() {
|
||||||
@@ -27,8 +27,17 @@ class MavlinkSession extends EventEmitter {
|
|||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
initWebSocketConnection(ip, port) {
|
initWebSocketConnection(ip, port, mavlinkSigning='') {
|
||||||
|
if (mavlinkSigning) {
|
||||||
|
const enc = new TextEncoder();
|
||||||
|
const data = enc.encode(mavlinkSigning);
|
||||||
|
const hash = mavlink20.sha256(data);
|
||||||
|
this.mavlinkProcessor.signing.secret_key = new Uint8Array(hash);
|
||||||
|
this.mavlinkProcessor.signing.sign_outgoing = true;
|
||||||
|
this.wsClient = new WebSocketClient(`wss://${ip}:${port}`);
|
||||||
|
} else {
|
||||||
this.wsClient = new WebSocketClient(`ws://${ip}:${port}`);
|
this.wsClient = new WebSocketClient(`ws://${ip}:${port}`);
|
||||||
|
}
|
||||||
this.mavlinkProcessor.file = this.wsClient;
|
this.mavlinkProcessor.file = this.wsClient;
|
||||||
|
|
||||||
this.wsClient.addMessageHandler((buffer) => {
|
this.wsClient.addMessageHandler((buffer) => {
|
||||||
|
|||||||
@@ -12,6 +12,7 @@ class WebSocketClient {
|
|||||||
connect() {
|
connect() {
|
||||||
// Reset connected status before attempting a new connection
|
// Reset connected status before attempting a new connection
|
||||||
this.connected = false;
|
this.connected = false;
|
||||||
|
console.log(`Connecting to WebSocket at ${this.url}`);
|
||||||
this.socket = new WebSocket(this.url);
|
this.socket = new WebSocket(this.url);
|
||||||
|
|
||||||
this.socket.addEventListener('open', (event) => {
|
this.socket.addEventListener('open', (event) => {
|
||||||
|
|||||||
Reference in New Issue
Block a user