mirror of
https://github.com/jwetzell/psn-js.git
synced 2026-08-16 12:53:38 +00:00
align structure more with underlying chunk layout
This commit is contained in:
+1
-1
@@ -17,7 +17,7 @@ decoder.decode(infoPacketBuffer);
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decoder.decode(dataPacketBuffer);
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// the system_name from info packets if available
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console.log(decoder.system_name);
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console.log(decoder.systemName);
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// map of trackers populated with any data that has been received
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// this merges both info and data packet properties into one
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@@ -23,18 +23,18 @@ setInterval(() => {
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}
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Object.entries(decoder.trackers).forEach(([trackerId, tracker]) => {
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const trackerName = decoder.trackers[trackerId]?.tracker_name?.tracker_name;
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const trackerName = decoder.trackers[trackerId]?.name;
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console.log(`Tracker - id: ${trackerId} | name: ${trackerName || ''}`);
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if (tracker.pos) {
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console.log(`\tpos: ${tracker.pos.pos_x}, ${tracker.pos.pos_y}, ${tracker.pos.pos_z}`);
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console.log(`\tpos: ${tracker.pos.x}, ${tracker.pos.x}, ${tracker.pos.x}`);
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}
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if (tracker.speed) {
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console.log(`\tspeed: ${tracker.speed.speed_x}, ${tracker.speed.speed_y}, ${tracker.speed.speed_z}`);
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console.log(`\tspeed: ${tracker.speed.x}, ${tracker.speed.y}, ${tracker.speed.z}`);
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}
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if (tracker.ori) {
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console.log(`\tori: ${tracker.ori.ori_x}, ${tracker.ori.ori_y}, ${tracker.ori.ori_z}`);
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console.log(`\tori: ${tracker.ori.x}, ${tracker.ori.y}, ${tracker.ori.z}`);
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}
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if (tracker.status) {
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@@ -42,17 +42,15 @@ setInterval(() => {
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}
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if (tracker.accel) {
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console.log(`\taccel: ${tracker.accel.accel_x}, ${tracker.accel.accel_y}, ${tracker.accel.accel_z}`);
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console.log(`\taccel: ${tracker.accel.x}, ${tracker.accel.y}, ${tracker.accel.z}`);
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}
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if (tracker.trgtpos) {
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console.log(
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`\ttrgtpos: ${tracker.trgtpos.trgtpos_x}, ${tracker.trgtpos.trgtpos_y}, ${tracker.trgtpos.trgtpos_z}`
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);
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console.log(`\ttrgtpos: ${tracker.trgtpos.x}, ${tracker.trgtpos.y}, ${tracker.trgtpos.z}`);
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}
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if (tracker.timestamp) {
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console.log(`\ttimestamp: ${tracker.timestamp.tracker_timestamp}`);
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console.log(`\ttimestamp: ${tracker.timestamp}`);
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}
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});
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}, 1000);
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+5
-13
@@ -1,10 +1,9 @@
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// recreation of psn_server.cpp example from https://github.com/vyv/psn-cpp
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const dgram = require('dgram');
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const { Encoder, Tracker, Decoder } = require('../dist/cjs');
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const { Encoder, Tracker } = require('../dist/cjs');
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const client = dgram.createSocket('udp4');
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const encoder = new Encoder('Test PSN Server', 2, 0);
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const decoder = new Decoder();
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const trackers = [];
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@@ -40,25 +39,18 @@ setInterval(() => {
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trackers[index].setTimestamp(timestamp);
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});
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console.log(`Sending Data Packets`);
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const dataPackets = encoder.getDataPackets(timestamp, trackers);
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dataPackets.forEach((packet, index) => {
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const decodedPacket = decoder.decode(packet);
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console.log(
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`Sending PSN_DATA_PACKET : Frame Id = ${decodedPacket.packet_header.frame_id} , Packet Count = ${index + 1}`
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);
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dataPackets.forEach((packet) => {
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client.send(packet, 56565, '236.10.10.10');
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});
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timestamp += 1;
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}, 5);
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setInterval(() => {
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console.log(`Sending Info Packets`);
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const infoPackets = encoder.getInfoPackets(timestamp, trackers);
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infoPackets.forEach((packet, index) => {
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const decodedPacket = decoder.decode(packet);
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console.log(
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`Sending PSN_INFO_PACKET : Frame Id = ${decodedPacket.packet_header.frame_id} , Packet Count = ${index + 1}`
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);
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infoPackets.forEach((packet) => {
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client.send(packet, 56565, '236.10.10.10');
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});
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}, 500);
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+51
-61
@@ -1,28 +1,32 @@
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import { Decoders } from '.';
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import { DataPacketChunk, InfoPacketChunk, InfoTrackerChunk } from './models';
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import { DataPacketChunk, InfoPacketChunk, Tracker, TrackerFromData, TrackerFromInfo } from './models';
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export class Decoder {
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infoPacketFrames: { [key: number]: InfoPacketChunk[] } = {};
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dataPacketFrames: { [key: number]: DataPacketChunk[] } = {};
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trackers: { [key: string]: InfoTrackerChunk } = {};
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trackers: { [key: string]: Tracker } = {};
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system_name: string = '';
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systemName: string = '';
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constructor() {}
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updateInfo(framePackets: InfoPacketChunk[]) {
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framePackets.forEach((packet) => {
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if (packet.system_name) {
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this.system_name = packet.system_name.system_name;
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if (packet.data.systemName?.data) {
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this.systemName = packet.data.systemName?.data.systemName;
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}
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if (packet.tracker_list?.trackers) {
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Object.entries(packet.tracker_list.trackers).forEach(([trackerId, tracker]) => {
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if (!this.trackers[trackerId]) {
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this.trackers[trackerId] = {};
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if (packet.data.trackerList?.data) {
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packet.data.trackerList.data.trackers.forEach((infoTrackerChunk) => {
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if (!this.trackers[infoTrackerChunk.chunk.header.id]) {
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const tracker = TrackerFromInfo(infoTrackerChunk);
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if (tracker) {
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this.trackers[infoTrackerChunk.chunk.header.id] = tracker;
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}
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}
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this.trackers[trackerId].tracker_name = tracker.tracker_name;
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const tracker = this.trackers[infoTrackerChunk.chunk.header.id];
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tracker.updateInfo(infoTrackerChunk);
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});
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}
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});
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@@ -30,94 +34,80 @@ export class Decoder {
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updateData(framePackets: DataPacketChunk[]) {
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framePackets.forEach((packet) => {
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if (packet.tracker_list) {
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Object.entries(packet.tracker_list.trackers).forEach(([trackerId, tracker]) => {
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this.trackers[trackerId] = {
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...this.trackers[trackerId],
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...tracker,
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};
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if (packet.data.trackerList) {
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packet.data.trackerList?.data.trackers.forEach((dataTrackerChunk) => {
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if (!this.trackers[dataTrackerChunk.chunk.header.id]) {
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const tracker = TrackerFromData(dataTrackerChunk);
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if (tracker) {
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this.trackers[dataTrackerChunk.chunk.header.id] = tracker;
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}
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}
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const tracker = this.trackers[dataTrackerChunk.chunk.header.id];
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tracker.updateData(dataTrackerChunk);
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});
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}
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});
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}
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// TODO(jwetzell): add invalid frame id decoding. Scenario where a frame id is reused before one is complete
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decode(packetBuf: Uint8Array): DataPacketChunk | InfoPacketChunk | undefined {
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const packet = Decoders.Packet(packetBuf);
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decode(packetBuf: Uint8Array) {
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const packet = Decoders.Chunk(packetBuf);
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if (packet === undefined) {
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return packet;
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}
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if (packet.id === 0x6756) {
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const infoPacket = packet as InfoPacketChunk;
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if (infoPacket && infoPacket.has_subchunks) {
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const currentInfoPacketHeader = infoPacket.packet_header;
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if (packet.header.id === 0x6756) {
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const infoPacket = Decoders.InfoPacketChunk(packetBuf);
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if (infoPacket && infoPacket.chunk.header.hasSubchunks) {
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const currentInfoPacketHeader = infoPacket.data.packetHeader;
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if (!currentInfoPacketHeader) {
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// NOTE(jwetzell): not sure that info packets without a header subchunk are valid?
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throw new Error('malformed packet');
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}
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const systemSubChunk = infoPacket.system_name;
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const systemSubChunk = infoPacket.data.systemName;
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if (!systemSubChunk) {
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// NOTE(jwetzell): not sure that info packets without a system subchunk are valid?
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throw new Error('malformed packet');
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}
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if (currentInfoPacketHeader.frame_id) {
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if (this.infoPacketFrames[currentInfoPacketHeader.frame_id] === undefined) {
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this.infoPacketFrames[currentInfoPacketHeader.frame_id] = [];
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if (currentInfoPacketHeader.data.frameId) {
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if (this.infoPacketFrames[currentInfoPacketHeader.data.frameId] === undefined) {
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this.infoPacketFrames[currentInfoPacketHeader.data.frameId] = [];
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}
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this.infoPacketFrames[currentInfoPacketHeader.frame_id].push(infoPacket);
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this.infoPacketFrames[currentInfoPacketHeader.data.frameId].push(infoPacket);
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if (
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this.infoPacketFrames[currentInfoPacketHeader.frame_id].length ===
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currentInfoPacketHeader.frame_packet_count
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this.infoPacketFrames[currentInfoPacketHeader.data.frameId].length ===
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currentInfoPacketHeader.data.framePacketCount
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) {
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this.updateInfo(this.infoPacketFrames[currentInfoPacketHeader.frame_id]);
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delete this.infoPacketFrames[currentInfoPacketHeader.frame_id];
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this.updateInfo(this.infoPacketFrames[currentInfoPacketHeader.data.frameId]);
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delete this.infoPacketFrames[currentInfoPacketHeader.data.frameId];
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}
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}
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}
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} else if (packet.id === 0x6755) {
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const dataPacket = packet as DataPacketChunk;
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if (dataPacket.has_subchunks) {
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const currentDataPacketHeader = dataPacket.packet_header;
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} else if (packet.header.id === 0x6755) {
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const dataPacket = Decoders.DataPacketChunk(packetBuf);
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if (dataPacket.chunk.header.hasSubchunks) {
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const currentDataPacketHeader = dataPacket.data.packetHeader;
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if (!currentDataPacketHeader) {
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// NOTE(jwetzell): not sure that info packets without a header subchunk are valid?
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throw new Error('malformed packet');
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}
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if (currentDataPacketHeader.frame_id) {
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if (this.dataPacketFrames[currentDataPacketHeader.frame_id] === undefined) {
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this.dataPacketFrames[currentDataPacketHeader.frame_id] = [];
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if (currentDataPacketHeader.data.frameId) {
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if (this.dataPacketFrames[currentDataPacketHeader.data.frameId] === undefined) {
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this.dataPacketFrames[currentDataPacketHeader.data.frameId] = [];
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}
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this.dataPacketFrames[currentDataPacketHeader.frame_id].push(dataPacket);
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this.dataPacketFrames[currentDataPacketHeader.data.frameId].push(dataPacket);
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if (
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this.dataPacketFrames[currentDataPacketHeader.frame_id].length ===
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currentDataPacketHeader.frame_packet_count
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this.dataPacketFrames[currentDataPacketHeader.data.frameId].length ===
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currentDataPacketHeader.data.framePacketCount
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) {
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this.updateData(this.dataPacketFrames[currentDataPacketHeader.frame_id]);
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delete this.dataPacketFrames[currentDataPacketHeader.frame_id];
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this.updateData(this.dataPacketFrames[currentDataPacketHeader.data.frameId]);
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delete this.dataPacketFrames[currentDataPacketHeader.data.frameId];
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}
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}
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}
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}
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return packet;
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}
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// NOTE(jwetzell): gets merged set of tracker field keys minus the guaranteed properties
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getTrackerFields(): Set<string> {
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const keys = new Set(
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Object.values(this.trackers)
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.map((tracker) => Object.keys(tracker))
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.flat(1)
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);
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// NOTE(jwetzell): remove fields that definitely exist
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keys.delete('id');
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keys.delete('has_subchunks');
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keys.delete('data_len');
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keys.delete('chunk_data');
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return keys;
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}
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}
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+17
-7
@@ -1,19 +1,29 @@
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import { Chunk } from '../models/chunk';
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export default (buffer: Uint8Array, dataDecoder: Function): Chunk => {
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export default (buffer: Uint8Array): Chunk => {
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let offset = 0;
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const view = new DataView(buffer.buffer, buffer.byteOffset, buffer.byteLength);
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const chunk: Chunk = {};
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chunk.id = view.getUint16(offset, true);
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const id = view.getUint16(offset, true);
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offset += 2;
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// NOTE(jwetzell): this data is split up as 1 bit for has_subchunks and 15 bits for the data_len
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const combinedLengthAndFlag = view.getUint16(offset, true);
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chunk.has_subchunks = combinedLengthAndFlag > 32768;
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chunk.data_len = chunk.has_subchunks ? combinedLengthAndFlag - 32768 : combinedLengthAndFlag;
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const hasSubchunks = combinedLengthAndFlag > 32768;
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const dataLen = hasSubchunks ? combinedLengthAndFlag - 32768 : combinedLengthAndFlag;
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offset += 2;
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chunk.chunk_data = buffer.slice(offset, offset + chunk.data_len);
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dataDecoder(chunk);
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const header = {
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id,
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dataLen,
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hasSubchunks,
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};
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const chunkData = buffer.subarray(offset, offset + header.dataLen);
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const chunk = {
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chunkData,
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header,
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};
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return chunk;
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};
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@@ -1,30 +1,30 @@
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import { Decoders } from '..';
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import { Constants } from '../../constants';
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import { DataPacketChunk } from '../../models/data/data-packet-chunk';
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import { DataPacketChunk, DataPacketChunkData } from '../../models/data/data-packet-chunk';
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function decodeDataPacketChunk(dataPacketChunk: DataPacketChunk) {
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if (dataPacketChunk.has_subchunks && dataPacketChunk.chunk_data && dataPacketChunk.data_len) {
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export default (buffer: Uint8Array): DataPacketChunk => {
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const chunk = Decoders.Chunk(buffer);
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const data: DataPacketChunkData = {};
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if (chunk.header.hasSubchunks && chunk.chunkData && chunk.header.dataLen) {
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let offset = 0;
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while (offset < dataPacketChunk.data_len) {
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const view = new DataView(
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dataPacketChunk.chunk_data.buffer,
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dataPacketChunk.chunk_data.byteOffset,
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dataPacketChunk.chunk_data.byteLength
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);
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while (offset < chunk.header.dataLen) {
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const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
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const chunkId = view.getUint16(offset, true);
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switch (chunkId) {
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case 0x0000:
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dataPacketChunk.packet_header = Decoders.PacketHeaderChunk(dataPacketChunk.chunk_data.slice(offset));
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data.packetHeader = Decoders.PacketHeaderChunk(chunk.chunkData.subarray(offset));
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offset += Constants.CHUNK_HEADER_SIZE;
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if (dataPacketChunk.packet_header?.data_len) {
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offset += dataPacketChunk.packet_header.data_len;
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if (data.packetHeader.chunk.header.dataLen) {
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offset += data.packetHeader.chunk.header.dataLen;
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}
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break;
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case 0x0001:
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dataPacketChunk.tracker_list = Decoders.DataTrackerListChunk(dataPacketChunk.chunk_data.slice(offset));
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data.trackerList = Decoders.DataTrackerListChunk(chunk.chunkData.subarray(offset));
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offset += Constants.CHUNK_HEADER_SIZE;
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if (dataPacketChunk.tracker_list.data_len) {
|
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offset += dataPacketChunk.tracker_list.data_len;
|
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if (data.trackerList.chunk.header.dataLen) {
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offset += data.trackerList.chunk.header.dataLen;
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}
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break;
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default:
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@@ -32,7 +32,9 @@ function decodeDataPacketChunk(dataPacketChunk: DataPacketChunk) {
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}
|
||||
}
|
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}
|
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}
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|
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export default (buffer: Uint8Array): DataPacketChunk =>
|
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Decoders.Chunk(buffer, decodeDataPacketChunk) as DataPacketChunk;
|
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return {
|
||||
chunk,
|
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data,
|
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};
|
||||
};
|
||||
|
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@@ -1,43 +1,46 @@
|
||||
import { Decoders } from '..';
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import { Constants } from '../../constants';
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||||
import { DataTrackerChunk } from '../../models/data/data-tracker-chunk';
|
||||
import { DataTrackerChunk, DataTrackerChunkData } from '../../models/data/data-tracker-chunk';
|
||||
|
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function decodeTrackerChunk(trackerChunk: DataTrackerChunk) {
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if (trackerChunk.chunk_data && trackerChunk.data_len) {
|
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export default (buffer: Uint8Array): DataTrackerChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
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const data: DataTrackerChunkData = {};
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if (chunk.chunkData && chunk.header.dataLen) {
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let offset = 0;
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while (offset < trackerChunk.data_len) {
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const trackerFieldChunk = Decoders.DataTrackerFieldChunk(trackerChunk.chunk_data.slice(offset));
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||||
offset += Constants.CHUNK_HEADER_SIZE;
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if (trackerFieldChunk.data_len) {
|
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offset += trackerFieldChunk.data_len;
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switch (trackerFieldChunk.id) {
|
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case 0x0000:
|
||||
trackerChunk.pos = trackerFieldChunk;
|
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break;
|
||||
case 0x0001:
|
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trackerChunk.speed = trackerFieldChunk;
|
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break;
|
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case 0x0002:
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trackerChunk.ori = trackerFieldChunk;
|
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break;
|
||||
case 0x0003:
|
||||
trackerChunk.status = trackerFieldChunk;
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||||
break;
|
||||
case 0x0004:
|
||||
trackerChunk.accel = trackerFieldChunk;
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||||
break;
|
||||
case 0x0005:
|
||||
trackerChunk.trgtpos = trackerFieldChunk;
|
||||
break;
|
||||
case 0x0006:
|
||||
trackerChunk.timestamp = trackerFieldChunk;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
while (offset < chunk.header.dataLen) {
|
||||
const trackerFieldChunk = Decoders.Chunk(chunk.chunkData.subarray(offset));
|
||||
switch (trackerFieldChunk.header.id) {
|
||||
case 0x0000:
|
||||
data.pos = Decoders.DataTrackerXYZChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
case 0x0001:
|
||||
data.speed = Decoders.DataTrackerXYZChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
case 0x0002:
|
||||
data.ori = Decoders.DataTrackerXYZChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
case 0x0003:
|
||||
data.status = Decoders.DataTrackerStatusChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
case 0x0004:
|
||||
data.accel = Decoders.DataTrackerXYZChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
case 0x0005:
|
||||
data.trgtpos = Decoders.DataTrackerXYZChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
case 0x0006:
|
||||
data.timestamp = Decoders.DataTrackerTimestampChunk(chunk.chunkData.subarray(offset));
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
offset += trackerFieldChunk.header.dataLen;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export default (buffer: Uint8Array): DataTrackerChunk => Decoders.Chunk(buffer, decodeTrackerChunk) as DataTrackerChunk;
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,63 +0,0 @@
|
||||
/* eslint-disable no-case-declarations */
|
||||
|
||||
import { Decoders } from '..';
|
||||
import { DataTrackerFieldChunk } from '../../models/data/data-tracker-field-chunk';
|
||||
|
||||
function readXYZ(trackerFieldChunk: DataTrackerFieldChunk, prefix: string = '') {
|
||||
if (trackerFieldChunk.chunk_data) {
|
||||
const view = new DataView(
|
||||
trackerFieldChunk.chunk_data.buffer,
|
||||
trackerFieldChunk.chunk_data.byteOffset,
|
||||
trackerFieldChunk.chunk_data.byteLength
|
||||
);
|
||||
trackerFieldChunk[`${prefix}x`] = view.getFloat32(0, true);
|
||||
trackerFieldChunk[`${prefix}y`] = view.getFloat32(4, true);
|
||||
trackerFieldChunk[`${prefix}z`] = view.getFloat32(8, true);
|
||||
}
|
||||
}
|
||||
function decodeTrackerFieldChunk(trackerFieldChunk: DataTrackerFieldChunk) {
|
||||
if (trackerFieldChunk.id !== undefined) {
|
||||
switch (trackerFieldChunk.id) {
|
||||
case 0x0000:
|
||||
readXYZ(trackerFieldChunk, 'pos_');
|
||||
break;
|
||||
case 0x0001:
|
||||
readXYZ(trackerFieldChunk, 'speed_');
|
||||
break;
|
||||
case 0x0002:
|
||||
readXYZ(trackerFieldChunk, 'ori_');
|
||||
break;
|
||||
case 0x0003:
|
||||
if (trackerFieldChunk.chunk_data) {
|
||||
const view = new DataView(
|
||||
trackerFieldChunk.chunk_data.buffer,
|
||||
trackerFieldChunk.chunk_data.byteOffset,
|
||||
trackerFieldChunk.chunk_data.byteLength
|
||||
);
|
||||
trackerFieldChunk.validity = view.getFloat32(0, true);
|
||||
}
|
||||
break;
|
||||
case 0x0004:
|
||||
readXYZ(trackerFieldChunk, 'accel_');
|
||||
break;
|
||||
case 0x0005:
|
||||
readXYZ(trackerFieldChunk, 'trgtpos_');
|
||||
break;
|
||||
case 0x0006:
|
||||
if (trackerFieldChunk.chunk_data) {
|
||||
const view = new DataView(
|
||||
trackerFieldChunk.chunk_data.buffer,
|
||||
trackerFieldChunk.chunk_data.byteOffset,
|
||||
trackerFieldChunk.chunk_data.byteLength
|
||||
);
|
||||
trackerFieldChunk.tracker_timestamp = view.getBigUint64(0, true);
|
||||
}
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export default (buffer: Uint8Array): DataTrackerFieldChunk =>
|
||||
Decoders.Chunk(buffer, decodeTrackerFieldChunk) as DataTrackerFieldChunk;
|
||||
@@ -1,24 +1,33 @@
|
||||
import { Decoders } from '..';
|
||||
import { Constants } from '../../constants';
|
||||
import { DataTrackerListChunk } from '../../models/data/data-tracker-list-chunk';
|
||||
import { DataTrackerChunk } from '../../models';
|
||||
import { DataTrackerListChunk, DataTrackerListChunkData } from '../../models/data/data-tracker-list-chunk';
|
||||
|
||||
function decodeDataTrackerListChunk(dataTrackerListChunk: DataTrackerListChunk) {
|
||||
dataTrackerListChunk.trackers = {};
|
||||
export default (buffer: Uint8Array): DataTrackerListChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
const trackers: DataTrackerChunk[] = [];
|
||||
|
||||
// TODO(jwetzell): add error handling
|
||||
let offset = 0;
|
||||
if (dataTrackerListChunk.chunk_data) {
|
||||
while (offset < dataTrackerListChunk.chunk_data.length) {
|
||||
const trackerChunk = Decoders.DataTrackerChunk(dataTrackerListChunk.chunk_data.slice(offset));
|
||||
if (chunk.chunkData) {
|
||||
let offset = 0;
|
||||
while (offset < chunk.chunkData.length) {
|
||||
const trackerChunk = Decoders.DataTrackerChunk(chunk.chunkData.subarray(offset));
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
if (trackerChunk.data_len) {
|
||||
offset += trackerChunk.data_len;
|
||||
if (trackerChunk.chunk.header.dataLen) {
|
||||
offset += trackerChunk.chunk.header.dataLen;
|
||||
}
|
||||
if (trackerChunk.id !== undefined) {
|
||||
dataTrackerListChunk.trackers[trackerChunk.id] = trackerChunk;
|
||||
if (trackerChunk.chunk.header.id !== undefined) {
|
||||
trackers.push(trackerChunk);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
export default (buffer: Uint8Array): DataTrackerListChunk =>
|
||||
Decoders.Chunk(buffer, decodeDataTrackerListChunk) as DataTrackerListChunk;
|
||||
|
||||
const data: DataTrackerListChunkData = {
|
||||
trackers,
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -0,0 +1,20 @@
|
||||
/* eslint-disable no-case-declarations */
|
||||
|
||||
import { Decoders } from '..';
|
||||
import { DataTrackerStatusChunk, DataTrackerStatusChunkData } from '../../models/data/data-tracker-status-chunk';
|
||||
|
||||
export default (buffer: Uint8Array): DataTrackerStatusChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
|
||||
const validity = view.getFloat32(0, true);
|
||||
|
||||
const data: DataTrackerStatusChunkData = {
|
||||
validity,
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,23 @@
|
||||
/* eslint-disable no-case-declarations */
|
||||
|
||||
import { Decoders } from '..';
|
||||
import {
|
||||
DataTrackerTimestampChunk,
|
||||
DataTrackerTimestampChunkData,
|
||||
} from '../../models/data/data-tracker-timestamp-chunk';
|
||||
|
||||
export default (buffer: Uint8Array): DataTrackerTimestampChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
|
||||
const timestamp = view.getBigUint64(0, true);
|
||||
|
||||
const data: DataTrackerTimestampChunkData = {
|
||||
timestamp,
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
@@ -0,0 +1,20 @@
|
||||
import { Decoders } from '..';
|
||||
import { DataTrackerXYZChunk, DataTrackerXYZChunkData } from '../../models/data/data-tracker-xyz-chunk';
|
||||
|
||||
export default (buffer: Uint8Array): DataTrackerXYZChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
// TODO(jwetzell): add error handling
|
||||
const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
|
||||
|
||||
const data: DataTrackerXYZChunkData = {
|
||||
x: view.getFloat32(0, true),
|
||||
y: view.getFloat32(4, true),
|
||||
z: view.getFloat32(8, true),
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
@@ -4,8 +4,10 @@ import PacketHeaderChunk from './packet-header-chunk';
|
||||
|
||||
import DataPacketChunk from './data/data-packet-chunk';
|
||||
import DataTrackerChunk from './data/data-tracker-chunk';
|
||||
import DataTrackerFieldChunk from './data/data-tracker-field-chunk';
|
||||
import DataTrackerListChunk from './data/data-tracker-list-chunk';
|
||||
import DataTrackerStatusChunk from './data/data-tracker-status-chunk';
|
||||
import DataTrackerTimestampChunk from './data/data-tracker-timestamp-chunk';
|
||||
import DataTrackerXYZChunk from './data/data-tracker-xyz-chunk';
|
||||
|
||||
import InfoPacketChunk from './info/info-packet-chunk';
|
||||
import InfoSystemNameChunk from './info/info-system-name-chunk';
|
||||
@@ -19,7 +21,9 @@ export const Decoders = {
|
||||
Packet,
|
||||
DataPacketChunk,
|
||||
DataTrackerChunk,
|
||||
DataTrackerFieldChunk,
|
||||
DataTrackerXYZChunk,
|
||||
DataTrackerStatusChunk,
|
||||
DataTrackerTimestampChunk,
|
||||
DataTrackerListChunk,
|
||||
InfoPacketChunk,
|
||||
InfoSystemNameChunk,
|
||||
|
||||
@@ -1,37 +1,37 @@
|
||||
import { Decoders } from '..';
|
||||
import { Constants } from '../../constants';
|
||||
import { InfoPacketChunk } from '../../models/info/info-packet-chunk';
|
||||
import { InfoPacketChunk, InfoPacketChunkData } from '../../models/info/info-packet-chunk';
|
||||
|
||||
function decodeInfoPacketChunk(infoPacketChunk: InfoPacketChunk) {
|
||||
if (infoPacketChunk.has_subchunks && infoPacketChunk.chunk_data && infoPacketChunk.data_len) {
|
||||
export default (buffer: Uint8Array): InfoPacketChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
const data: InfoPacketChunkData = {};
|
||||
|
||||
if (chunk.header.hasSubchunks && chunk.chunkData && chunk.header.dataLen) {
|
||||
let offset = 0;
|
||||
while (offset < infoPacketChunk.data_len) {
|
||||
const view = new DataView(
|
||||
infoPacketChunk.chunk_data.buffer,
|
||||
infoPacketChunk.chunk_data.byteOffset,
|
||||
infoPacketChunk.chunk_data.byteLength
|
||||
);
|
||||
while (offset < chunk.header.dataLen) {
|
||||
const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
|
||||
const chunkId = view.getUint16(offset, true);
|
||||
switch (chunkId) {
|
||||
case 0x0000:
|
||||
infoPacketChunk.packet_header = Decoders.PacketHeaderChunk(infoPacketChunk.chunk_data.slice(offset));
|
||||
data.packetHeader = Decoders.PacketHeaderChunk(chunk.chunkData.subarray(offset));
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
if (infoPacketChunk.packet_header?.data_len) {
|
||||
offset += infoPacketChunk.packet_header.data_len;
|
||||
if (data.packetHeader?.chunk.header.dataLen) {
|
||||
offset += data.packetHeader.chunk.header.dataLen;
|
||||
}
|
||||
break;
|
||||
case 0x0001:
|
||||
infoPacketChunk.system_name = Decoders.InfoSystemNameChunk(infoPacketChunk.chunk_data.slice(offset));
|
||||
data.systemName = Decoders.InfoSystemNameChunk(chunk.chunkData.subarray(offset));
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
if (infoPacketChunk.system_name?.data_len) {
|
||||
offset += infoPacketChunk.system_name.data_len;
|
||||
if (data.systemName?.chunk.header.dataLen) {
|
||||
offset += data.systemName?.chunk.header.dataLen;
|
||||
}
|
||||
break;
|
||||
case 0x0002:
|
||||
infoPacketChunk.tracker_list = Decoders.InfoTrackerListChunk(infoPacketChunk.chunk_data.slice(offset));
|
||||
data.trackerList = Decoders.InfoTrackerListChunk(chunk.chunkData.subarray(offset));
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
if (infoPacketChunk.tracker_list?.data_len) {
|
||||
offset += infoPacketChunk.tracker_list.data_len;
|
||||
if (data.trackerList?.chunk.header.dataLen) {
|
||||
offset += data.trackerList.chunk.header.dataLen;
|
||||
}
|
||||
break;
|
||||
default:
|
||||
@@ -39,7 +39,9 @@ function decodeInfoPacketChunk(infoPacketChunk: InfoPacketChunk) {
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export default (buffer: Uint8Array): InfoPacketChunk =>
|
||||
Decoders.Chunk(buffer, decodeInfoPacketChunk) as InfoPacketChunk;
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,13 +1,15 @@
|
||||
import { Decoders } from '..';
|
||||
import { InfoSystemNameChunk } from '../../models/info/info-system-name-chunk';
|
||||
import { InfoSystemNameChunk, InfoSystemNameChunkData } from '../../models/info/info-system-name-chunk';
|
||||
|
||||
function decodeSystemNameChunk(systemNameChunk: InfoSystemNameChunk) {
|
||||
if (systemNameChunk.chunk_data !== undefined && systemNameChunk.data_len !== undefined) {
|
||||
systemNameChunk.system_name = new TextDecoder().decode(
|
||||
systemNameChunk.chunk_data.slice(0, systemNameChunk.data_len)
|
||||
);
|
||||
}
|
||||
}
|
||||
export default (buffer: Uint8Array): InfoSystemNameChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
export default (buffer: Uint8Array): InfoSystemNameChunk =>
|
||||
Decoders.Chunk(buffer, decodeSystemNameChunk) as InfoSystemNameChunk;
|
||||
const data: InfoSystemNameChunkData = {
|
||||
systemName: new TextDecoder().decode(chunk.chunkData.subarray(0, chunk.header.dataLen)),
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,31 +1,36 @@
|
||||
import { Decoders } from '..';
|
||||
import { Constants } from '../../constants';
|
||||
import { InfoTrackerChunk } from '../../models/info/info-tracker-chunk';
|
||||
import { InfoTrackerChunk, InfoTrackerChunkData } from '../../models/info/info-tracker-chunk';
|
||||
|
||||
function decodeInfoTrackerChunk(infoTrackerChunk: InfoTrackerChunk) {
|
||||
if (infoTrackerChunk.has_subchunks && infoTrackerChunk.chunk_data && infoTrackerChunk.data_len) {
|
||||
export default (buffer: Uint8Array): InfoTrackerChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
if (chunk.header.hasSubchunks && chunk.chunkData && chunk.header.dataLen) {
|
||||
let offset = 0;
|
||||
while (offset < infoTrackerChunk.data_len) {
|
||||
const view = new DataView(
|
||||
infoTrackerChunk.chunk_data.buffer,
|
||||
infoTrackerChunk.chunk_data.byteOffset,
|
||||
infoTrackerChunk.chunk_data.byteLength
|
||||
);
|
||||
while (offset < chunk.header.dataLen) {
|
||||
const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
|
||||
const chunkId = view.getUint16(offset, true);
|
||||
switch (chunkId) {
|
||||
case 0x0000:
|
||||
infoTrackerChunk.tracker_name = Decoders.InfoTrackerNameChunk(infoTrackerChunk.chunk_data.slice(offset));
|
||||
const data: InfoTrackerChunkData = {
|
||||
trackerName: Decoders.InfoTrackerNameChunk(chunk.chunkData.subarray(offset)),
|
||||
};
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
if (infoTrackerChunk.tracker_name?.data_len) {
|
||||
offset += infoTrackerChunk?.tracker_name?.data_len;
|
||||
if (data.trackerName.chunk.header.dataLen) {
|
||||
offset += data.trackerName.chunk.header.dataLen;
|
||||
}
|
||||
break;
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export default (buffer: Uint8Array): InfoTrackerChunk => Decoders.Chunk(buffer, decodeInfoTrackerChunk);
|
||||
return {
|
||||
chunk,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,24 +1,33 @@
|
||||
import { Decoders } from '..';
|
||||
import { Constants } from '../../constants';
|
||||
import { InfoTrackerListChunk } from '../../models/info/info-tracker-list-chunk';
|
||||
import { InfoTrackerChunk } from '../../models/info/info-tracker-chunk';
|
||||
import { InfoTrackerListChunk, InfoTrackerListChunkData } from '../../models/info/info-tracker-list-chunk';
|
||||
|
||||
function decodeInfoTrackerListChunk(infoTrackerListChunk: InfoTrackerListChunk) {
|
||||
infoTrackerListChunk.trackers = {};
|
||||
if (infoTrackerListChunk.has_subchunks && infoTrackerListChunk.chunk_data) {
|
||||
export default (buffer: Uint8Array): InfoTrackerListChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
const trackers: InfoTrackerChunk[] = [];
|
||||
|
||||
if (chunk.header.hasSubchunks && chunk.chunkData) {
|
||||
let offset = 0;
|
||||
if (infoTrackerListChunk.data_len) {
|
||||
while (offset < infoTrackerListChunk.data_len) {
|
||||
const trackerChunk = Decoders.InfoTrackerChunk(infoTrackerListChunk.chunk_data.slice(offset));
|
||||
if (chunk.header.dataLen) {
|
||||
while (offset < chunk.header.dataLen) {
|
||||
const trackerChunk = Decoders.InfoTrackerChunk(chunk.chunkData.subarray(offset));
|
||||
offset += Constants.CHUNK_HEADER_SIZE;
|
||||
if (trackerChunk.data_len) {
|
||||
offset += trackerChunk.data_len;
|
||||
if (trackerChunk.chunk.header.dataLen) {
|
||||
offset += trackerChunk.chunk.header.dataLen;
|
||||
}
|
||||
if (trackerChunk.id !== undefined) {
|
||||
infoTrackerListChunk.trackers[trackerChunk.id] = trackerChunk;
|
||||
if (trackerChunk.chunk.header.id !== undefined) {
|
||||
trackers.push(trackerChunk);
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
export default (buffer: Uint8Array): InfoTrackerListChunk =>
|
||||
Decoders.Chunk(buffer, decodeInfoTrackerListChunk) as InfoTrackerListChunk;
|
||||
const data: InfoTrackerListChunkData = {
|
||||
trackers,
|
||||
};
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,12 +1,15 @@
|
||||
import { Decoders } from '..';
|
||||
import { InfoTrackerNameChunk } from '../../models/info/info-tracker-name-chunk';
|
||||
import { InfoTrackerNameChunk, InfoTrackerNameChunkData } from '../../models/info/info-tracker-name-chunk';
|
||||
|
||||
function decodeTrackerNameChunk(trackerNameChunk: InfoTrackerNameChunk) {
|
||||
if (trackerNameChunk.chunk_data !== undefined && trackerNameChunk.data_len !== undefined) {
|
||||
trackerNameChunk.tracker_name = new TextDecoder().decode(
|
||||
trackerNameChunk.chunk_data.slice(0, trackerNameChunk.data_len)
|
||||
);
|
||||
}
|
||||
}
|
||||
export default (buffer: Uint8Array): InfoTrackerNameChunk =>
|
||||
Decoders.Chunk(buffer, decodeTrackerNameChunk) as InfoTrackerNameChunk;
|
||||
export default (buffer: Uint8Array): InfoTrackerNameChunk => {
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
const data: InfoTrackerNameChunkData = {
|
||||
trackerName: new TextDecoder().decode(chunk.chunkData.subarray(0, chunk.header.dataLen)),
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
@@ -1,21 +1,20 @@
|
||||
import { Decoders } from '.';
|
||||
import { PacketHeaderChunk } from '../models/packet-header-chunk';
|
||||
|
||||
function decodePacketHeaderChunk(packetHeaderChunk: PacketHeaderChunk) {
|
||||
if (packetHeaderChunk.chunk_data) {
|
||||
const view = new DataView(
|
||||
packetHeaderChunk.chunk_data.buffer,
|
||||
packetHeaderChunk.chunk_data.byteOffset,
|
||||
packetHeaderChunk.chunk_data.byteLength
|
||||
);
|
||||
packetHeaderChunk.packet_timestamp = view.getBigUint64(0, true);
|
||||
packetHeaderChunk.version_high = view.getUint8(8);
|
||||
packetHeaderChunk.version_low = view.getUint8(9);
|
||||
packetHeaderChunk.frame_id = view.getUint8(10);
|
||||
packetHeaderChunk.frame_packet_count = view.getUint8(11);
|
||||
}
|
||||
}
|
||||
import { PacketHeaderChunk, PacketHeaderChunkData } from '../models/packet-header-chunk';
|
||||
|
||||
export default (buffer: Uint8Array): PacketHeaderChunk => {
|
||||
return Decoders.Chunk(buffer, decodePacketHeaderChunk);
|
||||
const chunk = Decoders.Chunk(buffer);
|
||||
|
||||
const view = new DataView(chunk.chunkData.buffer, chunk.chunkData.byteOffset, chunk.chunkData.byteLength);
|
||||
const data: PacketHeaderChunkData = {
|
||||
packetTimestamp: view.getBigUint64(0, true),
|
||||
versionHigh: chunk.chunkData[8],
|
||||
versionLow: chunk.chunkData[9],
|
||||
frameId: chunk.chunkData[10],
|
||||
framePacketCount: chunk.chunkData[11],
|
||||
};
|
||||
|
||||
return {
|
||||
chunk,
|
||||
data,
|
||||
};
|
||||
};
|
||||
|
||||
+9
-5
@@ -1,6 +1,10 @@
|
||||
export interface Chunk {
|
||||
id?: number;
|
||||
has_subchunks?: boolean;
|
||||
data_len?: number;
|
||||
chunk_data?: Uint8Array;
|
||||
export interface ChunkHeader {
|
||||
id: number;
|
||||
dataLen: number;
|
||||
hasSubchunks: boolean;
|
||||
}
|
||||
|
||||
export interface Chunk {
|
||||
chunkData: Uint8Array;
|
||||
header: ChunkHeader;
|
||||
}
|
||||
|
||||
@@ -2,7 +2,12 @@ import { Chunk } from '../chunk';
|
||||
import { PacketHeaderChunk } from '../packet-header-chunk';
|
||||
import { DataTrackerListChunk } from './data-tracker-list-chunk';
|
||||
|
||||
export interface DataPacketChunk extends Chunk {
|
||||
packet_header: PacketHeaderChunk;
|
||||
tracker_list: DataTrackerListChunk;
|
||||
export interface DataPacketChunkData {
|
||||
packetHeader?: PacketHeaderChunk;
|
||||
trackerList?: DataTrackerListChunk;
|
||||
}
|
||||
|
||||
export interface DataPacketChunk {
|
||||
chunk: Chunk;
|
||||
data: DataPacketChunkData;
|
||||
}
|
||||
|
||||
@@ -1,12 +1,19 @@
|
||||
import { Chunk } from '../chunk';
|
||||
import { DataTrackerFieldChunk } from './data-tracker-field-chunk';
|
||||
import { DataTrackerStatusChunk } from './data-tracker-status-chunk';
|
||||
import { DataTrackerTimestampChunk } from './data-tracker-timestamp-chunk';
|
||||
import { DataTrackerXYZChunk } from './data-tracker-xyz-chunk';
|
||||
|
||||
export interface DataTrackerChunk extends Chunk {
|
||||
pos?: DataTrackerFieldChunk;
|
||||
speed?: DataTrackerFieldChunk;
|
||||
ori?: DataTrackerFieldChunk;
|
||||
status?: DataTrackerFieldChunk;
|
||||
accel?: DataTrackerFieldChunk;
|
||||
trgtpos?: DataTrackerFieldChunk;
|
||||
timestamp?: DataTrackerFieldChunk;
|
||||
export interface DataTrackerChunkData {
|
||||
pos?: DataTrackerXYZChunk;
|
||||
speed?: DataTrackerXYZChunk;
|
||||
ori?: DataTrackerXYZChunk;
|
||||
status?: DataTrackerStatusChunk;
|
||||
accel?: DataTrackerXYZChunk;
|
||||
trgtpos?: DataTrackerXYZChunk;
|
||||
timestamp?: DataTrackerTimestampChunk;
|
||||
}
|
||||
|
||||
export interface DataTrackerChunk {
|
||||
chunk: Chunk;
|
||||
data: DataTrackerChunkData;
|
||||
}
|
||||
|
||||
@@ -1,5 +0,0 @@
|
||||
import { Chunk } from '../chunk';
|
||||
|
||||
export interface DataTrackerFieldChunk extends Chunk {
|
||||
[key: string]: number | bigint | number[] | Uint8Array | undefined | boolean;
|
||||
}
|
||||
@@ -1,8 +1,11 @@
|
||||
import { Chunk } from '../chunk';
|
||||
import { DataTrackerChunk } from './data-tracker-chunk';
|
||||
|
||||
export interface DataTrackerListChunk extends Chunk {
|
||||
trackers: {
|
||||
[key: number]: DataTrackerChunk;
|
||||
};
|
||||
export interface DataTrackerListChunkData {
|
||||
trackers: DataTrackerChunk[];
|
||||
}
|
||||
|
||||
export interface DataTrackerListChunk {
|
||||
chunk: Chunk;
|
||||
data: DataTrackerListChunkData;
|
||||
}
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
import { Chunk } from '../chunk';
|
||||
|
||||
export interface DataTrackerStatusChunkData {
|
||||
validity: number;
|
||||
}
|
||||
|
||||
export interface DataTrackerStatusChunk {
|
||||
chunk: Chunk;
|
||||
data: DataTrackerStatusChunkData;
|
||||
}
|
||||
@@ -0,0 +1,10 @@
|
||||
import { Chunk } from '../chunk';
|
||||
|
||||
export interface DataTrackerTimestampChunkData {
|
||||
timestamp: bigint;
|
||||
}
|
||||
|
||||
export interface DataTrackerTimestampChunk {
|
||||
chunk: Chunk;
|
||||
data: DataTrackerTimestampChunkData;
|
||||
}
|
||||
@@ -0,0 +1,12 @@
|
||||
import { Chunk } from '../chunk';
|
||||
|
||||
export interface DataTrackerXYZChunkData {
|
||||
x: number;
|
||||
y: number;
|
||||
z: number;
|
||||
}
|
||||
|
||||
export interface DataTrackerXYZChunk {
|
||||
chunk: Chunk;
|
||||
data: DataTrackerXYZChunkData;
|
||||
}
|
||||
@@ -1,7 +1,6 @@
|
||||
export * from './chunk';
|
||||
export * from './data/data-packet-chunk';
|
||||
export * from './data/data-tracker-chunk';
|
||||
export * from './data/data-tracker-field-chunk';
|
||||
export * from './data/data-tracker-list-chunk';
|
||||
export * from './info/info-packet-chunk';
|
||||
export * from './info/info-system-name-chunk';
|
||||
|
||||
@@ -3,8 +3,12 @@ import { PacketHeaderChunk } from '../packet-header-chunk';
|
||||
import { InfoSystemNameChunk } from './info-system-name-chunk';
|
||||
import { InfoTrackerListChunk } from './info-tracker-list-chunk';
|
||||
|
||||
export interface InfoPacketChunk extends Chunk {
|
||||
packet_header: PacketHeaderChunk;
|
||||
system_name: InfoSystemNameChunk;
|
||||
tracker_list: InfoTrackerListChunk;
|
||||
export interface InfoPacketChunkData {
|
||||
packetHeader?: PacketHeaderChunk;
|
||||
systemName?: InfoSystemNameChunk;
|
||||
trackerList?: InfoTrackerListChunk;
|
||||
}
|
||||
export interface InfoPacketChunk {
|
||||
chunk: Chunk;
|
||||
data: InfoPacketChunkData;
|
||||
}
|
||||
|
||||
@@ -1,5 +1,10 @@
|
||||
import { Chunk } from '../chunk';
|
||||
|
||||
export interface InfoSystemNameChunk extends Chunk {
|
||||
system_name: string;
|
||||
export interface InfoSystemNameChunkData {
|
||||
systemName: string;
|
||||
}
|
||||
|
||||
export interface InfoSystemNameChunk {
|
||||
chunk: Chunk;
|
||||
data: InfoSystemNameChunkData;
|
||||
}
|
||||
|
||||
@@ -1,6 +1,11 @@
|
||||
import { Chunk } from '../chunk';
|
||||
import { InfoTrackerNameChunk } from './info-tracker-name-chunk';
|
||||
|
||||
export interface InfoTrackerChunk extends Chunk {
|
||||
tracker_name?: InfoTrackerNameChunk;
|
||||
export interface InfoTrackerChunkData {
|
||||
trackerName: InfoTrackerNameChunk;
|
||||
}
|
||||
|
||||
export interface InfoTrackerChunk {
|
||||
chunk: Chunk;
|
||||
data?: InfoTrackerChunkData;
|
||||
}
|
||||
|
||||
@@ -1,8 +1,11 @@
|
||||
import { Chunk } from '../chunk';
|
||||
import { InfoTrackerChunk } from './info-tracker-chunk';
|
||||
|
||||
export interface InfoTrackerListChunk extends Chunk {
|
||||
trackers: {
|
||||
[key: number]: InfoTrackerChunk;
|
||||
};
|
||||
export interface InfoTrackerListChunkData {
|
||||
trackers: InfoTrackerChunk[];
|
||||
}
|
||||
|
||||
export interface InfoTrackerListChunk {
|
||||
chunk: Chunk;
|
||||
data: InfoTrackerListChunkData;
|
||||
}
|
||||
|
||||
@@ -1,5 +1,10 @@
|
||||
import { Chunk } from '../chunk';
|
||||
|
||||
export interface InfoTrackerNameChunk extends Chunk {
|
||||
tracker_name: string;
|
||||
export interface InfoTrackerNameChunkData {
|
||||
trackerName: string;
|
||||
}
|
||||
|
||||
export interface InfoTrackerNameChunk {
|
||||
chunk: Chunk;
|
||||
data: InfoTrackerNameChunkData;
|
||||
}
|
||||
|
||||
@@ -1,9 +1,14 @@
|
||||
import { Chunk } from './chunk';
|
||||
|
||||
export interface PacketHeaderChunk extends Chunk {
|
||||
packet_timestamp?: bigint;
|
||||
version_high?: number;
|
||||
version_low?: number;
|
||||
frame_id?: number;
|
||||
frame_packet_count?: number;
|
||||
export interface PacketHeaderChunkData {
|
||||
packetTimestamp: bigint;
|
||||
versionHigh: number;
|
||||
versionLow: number;
|
||||
frameId: number;
|
||||
framePacketCount: number;
|
||||
}
|
||||
|
||||
export interface PacketHeaderChunk {
|
||||
chunk: Chunk;
|
||||
data: PacketHeaderChunkData;
|
||||
}
|
||||
|
||||
+137
-15
@@ -8,16 +8,24 @@ import dataTrackerTimestampChunk from '../encoders/data/data-tracker-timestamp-c
|
||||
import dataTrackerTrgtposChunk from '../encoders/data/data-tracker-trgtpos-chunk';
|
||||
import infoTrackerChunk from '../encoders/info/info-tracker-chunk';
|
||||
import infoTrackerNameChunk from '../encoders/info/info-tracker-name-chunk';
|
||||
import { DataTrackerChunk } from './data/data-tracker-chunk';
|
||||
import { InfoTrackerChunk } from './info/info-tracker-chunk';
|
||||
|
||||
export type XYZData = {
|
||||
x: number;
|
||||
y: number;
|
||||
z: number;
|
||||
};
|
||||
|
||||
export class Tracker {
|
||||
id: number;
|
||||
name: string;
|
||||
pos?: [number, number, number];
|
||||
speed?: [number, number, number];
|
||||
ori?: [number, number, number];
|
||||
pos?: XYZData;
|
||||
speed?: XYZData;
|
||||
ori?: XYZData;
|
||||
validity?: number;
|
||||
accel?: [number, number, number];
|
||||
trgtpos?: [number, number, number];
|
||||
accel?: XYZData;
|
||||
trgtpos?: XYZData;
|
||||
timestamp?: bigint;
|
||||
|
||||
constructor(id: number, name: string) {
|
||||
@@ -33,15 +41,45 @@ export class Tracker {
|
||||
}
|
||||
|
||||
setPos(x: number, y: number, z: number) {
|
||||
this.pos = [x, y, z];
|
||||
if (this.pos === undefined) {
|
||||
this.pos = {
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
};
|
||||
} else {
|
||||
this.pos.x = x;
|
||||
this.pos.y = y;
|
||||
this.pos.z = z;
|
||||
}
|
||||
}
|
||||
|
||||
setSpeed(x: number, y: number, z: number) {
|
||||
this.speed = [x, y, z];
|
||||
if (this.speed === undefined) {
|
||||
this.speed = {
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
};
|
||||
} else {
|
||||
this.speed.x = x;
|
||||
this.speed.y = y;
|
||||
this.speed.z = z;
|
||||
}
|
||||
}
|
||||
|
||||
setOri(x: number, y: number, z: number) {
|
||||
this.ori = [x, y, z];
|
||||
if (this.ori === undefined) {
|
||||
this.ori = {
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
};
|
||||
} else {
|
||||
this.ori.x = x;
|
||||
this.ori.y = y;
|
||||
this.ori.z = z;
|
||||
}
|
||||
}
|
||||
|
||||
setStatus(validity: number) {
|
||||
@@ -49,11 +87,31 @@ export class Tracker {
|
||||
}
|
||||
|
||||
setAccel(x: number, y: number, z: number) {
|
||||
this.accel = [x, y, z];
|
||||
if (this.accel === undefined) {
|
||||
this.accel = {
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
};
|
||||
} else {
|
||||
this.accel.x = x;
|
||||
this.accel.y = y;
|
||||
this.accel.z = z;
|
||||
}
|
||||
}
|
||||
|
||||
setTrgtPos(x: number, y: number, z: number) {
|
||||
this.trgtpos = [x, y, z];
|
||||
if (this.trgtpos === undefined) {
|
||||
this.trgtpos = {
|
||||
x,
|
||||
y,
|
||||
z,
|
||||
};
|
||||
} else {
|
||||
this.trgtpos.x = x;
|
||||
this.trgtpos.y = y;
|
||||
this.trgtpos.z = z;
|
||||
}
|
||||
}
|
||||
|
||||
setTimestamp(timestamp: bigint) {
|
||||
@@ -64,15 +122,15 @@ export class Tracker {
|
||||
const fieldChunks: Uint8Array[] = [];
|
||||
|
||||
if (this.pos) {
|
||||
fieldChunks.push(dataTrackerPosChunk(...this.pos));
|
||||
fieldChunks.push(dataTrackerPosChunk(this.pos.x, this.pos.y, this.pos.z));
|
||||
}
|
||||
|
||||
if (this.speed) {
|
||||
fieldChunks.push(dataTrackerSpeedChunk(...this.speed));
|
||||
fieldChunks.push(dataTrackerSpeedChunk(this.speed.x, this.speed.y, this.speed.z));
|
||||
}
|
||||
|
||||
if (this.ori) {
|
||||
fieldChunks.push(dataTrackerOriChunk(...this.ori));
|
||||
fieldChunks.push(dataTrackerOriChunk(this.ori.x, this.ori.y, this.ori.z));
|
||||
}
|
||||
|
||||
if (this.validity) {
|
||||
@@ -80,11 +138,11 @@ export class Tracker {
|
||||
}
|
||||
|
||||
if (this.accel) {
|
||||
fieldChunks.push(dataTrackerAccelChunk(...this.accel));
|
||||
fieldChunks.push(dataTrackerAccelChunk(this.accel.x, this.accel.y, this.accel.z));
|
||||
}
|
||||
|
||||
if (this.trgtpos) {
|
||||
fieldChunks.push(dataTrackerTrgtposChunk(...this.trgtpos));
|
||||
fieldChunks.push(dataTrackerTrgtposChunk(this.trgtpos.x, this.trgtpos.y, this.trgtpos.z));
|
||||
}
|
||||
|
||||
if (this.timestamp) {
|
||||
@@ -97,4 +155,68 @@ export class Tracker {
|
||||
getInfoChunk() {
|
||||
return infoTrackerChunk(this.id, infoTrackerNameChunk(this.name));
|
||||
}
|
||||
|
||||
updateInfo(infoTrackerChunk: InfoTrackerChunk) {
|
||||
if (infoTrackerChunk.data) {
|
||||
this.name = infoTrackerChunk.data.trackerName.data.trackerName;
|
||||
}
|
||||
}
|
||||
|
||||
updateData(dataTrackerChunk: DataTrackerChunk) {
|
||||
if (dataTrackerChunk.data.pos) {
|
||||
this.setPos(dataTrackerChunk.data.pos.data.x, dataTrackerChunk.data.pos.data.y, dataTrackerChunk.data.pos.data.z);
|
||||
}
|
||||
|
||||
if (dataTrackerChunk.data.speed) {
|
||||
this.setSpeed(
|
||||
dataTrackerChunk.data.speed.data.x,
|
||||
dataTrackerChunk.data.speed.data.y,
|
||||
dataTrackerChunk.data.speed.data.z
|
||||
);
|
||||
}
|
||||
|
||||
if (dataTrackerChunk.data.ori) {
|
||||
this.setOri(dataTrackerChunk.data.ori.data.x, dataTrackerChunk.data.ori.data.y, dataTrackerChunk.data.ori.data.z);
|
||||
}
|
||||
|
||||
if (dataTrackerChunk.data.status) {
|
||||
this.setStatus(dataTrackerChunk.data.status.data.validity);
|
||||
}
|
||||
|
||||
if (dataTrackerChunk.data.accel) {
|
||||
this.setAccel(
|
||||
dataTrackerChunk.data.accel.data.x,
|
||||
dataTrackerChunk.data.accel.data.y,
|
||||
dataTrackerChunk.data.accel.data.z
|
||||
);
|
||||
}
|
||||
|
||||
if (dataTrackerChunk.data.trgtpos) {
|
||||
this.setTrgtPos(
|
||||
dataTrackerChunk.data.trgtpos.data.x,
|
||||
dataTrackerChunk.data.trgtpos.data.y,
|
||||
dataTrackerChunk.data.trgtpos.data.z
|
||||
);
|
||||
}
|
||||
|
||||
if (dataTrackerChunk.data.timestamp) {
|
||||
this.setTimestamp(dataTrackerChunk.data.timestamp.data.timestamp);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
export function TrackerFromInfo(infoTrackerChunk: InfoTrackerChunk) {
|
||||
if (infoTrackerChunk.data) {
|
||||
return new Tracker(infoTrackerChunk.chunk.header.id, infoTrackerChunk.data.trackerName.data.trackerName);
|
||||
}
|
||||
return undefined;
|
||||
}
|
||||
|
||||
export function TrackerFromData(dataTrackerChunk: DataTrackerChunk) {
|
||||
if (dataTrackerChunk.data) {
|
||||
const tracker = new Tracker(dataTrackerChunk.chunk.header.id, '');
|
||||
tracker.updateData(dataTrackerChunk);
|
||||
return tracker;
|
||||
}
|
||||
return undefined;
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user