multiwii-msp v0.0.3-beta-47
MultiWii Serial Protocol via TCP/IP
This package is for MultiWii multicopters to communicate with MSP protocol over TCP/IP protocol. The package contains two public object the TcpClient
and TcpServer
.
Features
- Communication over TCP protocol
- Support async and sync command calls
- Command queue on client side
- Priority command
Installation
Simply use npm with the following command:
npm install multiwii-msp
Usage
Server
The server can listen for multiple client connection. After first successful connection new Device
instance is created. During connection server polling client for actual data (status
, rawImu
, rc
, rawGps
, compGps
, attitude
, altitude
and analog
). The polling interval is continuous.
Note: Device can handle maximum 255 commands simultaneously.
Sample code
var TcpServer = require('multiwii-msp').TcpServer;
// Create new TCP server on 3002 port and enable logging
var server = new TcpServer(3002, true);
// Register device's first connection
server.on('register', function (key, device) {
// Register device's open event
device.on('open', function () {
// Do something
});
// Register device's update event
device.on('update', function (data) {
// Do something
});
// Register device's close event
device.on('close', function () {
// Do something
});
});
Device
Device instance describe each MultiWii board. It has multiple methods that represent commands. The command can grouped in three groups:
getter - The getter commands return data from flight controller. The syntax is
{command name}(options, callback)
, whereoptions
andcallback
are only optional parameters.- The
options
parameter is object of available options. - If
callback
parameter is not set, then command will execute synchronously otherwise, will execute as async call and result will pass to the callback function. Thecallback
format is standard nodeJs callback,function(error, response){}
.
- The
setter - The setter command send some data to the flight controller. The syntax is
{command name}(dataObject, options, callback)
, wheredataObject
is object that contains data for each command. ThedataObject
structure depends on individual command. Theoptions
andcallback
arguments are same as above.special - The special commands no need parameters or return data from flight controller. The syntax is same as getters
{command name}(options, callback)
.
In the following examples the ident
command are used.
Sync and async command calls
// Synchronous way
var ident = device.ident();
// Do something with ident
// or
// Asynchronous way
device.ident({}, function (error, ident) {
// Do something with ident
});
Priority call
You can call command in priority order. Queue on clients side send commands to serial port in order which are commands are in queue. The priority call put command to the beginning of queue, so command is executed nearly immediately.
// Send command as priority
var ident = device.ident({
prior: true
});
Note: Default command calls are put on end of the queue.
Use cache
Commands response can stored in cache. It useful for example at boxNames
, pidNames
or ident
commands, where response only change if flight control was changed. If response not found in cache, then command get it from flight controller, save to cache and return as response or add to callback.
// Get response from cache
var ident = device.ident({
cache: true
});
Client
The client try connect to server. After connection is established, then client is waiting for data over TCP and send response, what received from MultiWii via serial port. If connection is lost then client try to reconnect to server.
var TcpClient = require('multiwii-msp').TcpClient;
// Create new client to connect to server via 192.168.0.1:3002 port,
// connect to serial pot via /dev/ttyAMA0 with 115200 baud rate and
// enable logging
var client = new TcpClient('192.168.0.1', 3002, '/dev/ttyAMA0', 115200, true);
Public api
The library api documentation should be something like this.
TcpServer
Tcp server inherits from node's EventEmitter.
Methods
TcpServer
This is object's constructor.
Parameters
Type | Parameter | Description |
---|---|---|
int | port | Port number to listen |
boolean | log | Console log is enabled or not |
Example
var server = new TcpServer(3002, true);
getDevice
Get device by key
Parameters
Type | Parameter | Description |
---|---|---|
string | key | Device key |
Returns
Returns null
if device not found otherwise Device
.
Example
var device = server.getDevice('192.168.1.1:3005');
hasDevice
Check if device exists with key
Parameters
Type | Parameter | Description |
---|---|---|
string | key | Device key |
Returns
Returns true
if device with key exists, otherwise false
.
Example
var exists = server.hasDevice('192.168.1.1:3005');
listDevices
List all devices registered by server.
Returns
Returns object
with key
-Device
pairs.
Example
var devices = server.listDevices();
devices[key].ident(); // if device exists with "key"
Events
register
The register event fires when new client first time connected. It means if client reconnecting then this event not fires.
Event parameters
Type | Parameter | Description |
---|---|---|
string | key | Newly connected device identifier |
Device | device | Device instance for newly connected device |
Example
server.on('register', function (key, device) {
// Do something
}
TcpClient
Device
License
This package is licensed under the MIT License
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