2.0.0

Bump @types/node from 22.10.1 to 22.10.2

.eslintrc.js

@@ -0,0 +1,12 @@
+module.exports = {
+  env: {
+    node: true,
+    commonjs: true,
+    es2021: true,
+  },
+  extends: ['airbnb', 'prettier'],
+  parserOptions: {
+    ecmaVersion: 'latest',
+  },
+  ignorePatterns: ['**/node_modules', '**/dist'],
+};

.vscode/settings.json

@@ -2,7 +2,7 @@
   "editor.defaultFormatter": "esbenp.prettier-vscode",
   "editor.formatOnSave": true,
   "editor.codeActionsOnSave": {
-    "source.fixAll": true,
-    "source.organizeImports": true
+    "source.fixAll": "explicit",
+    "source.organizeImports": "explicit"
   }
 }

LICENSE

@@ -0,0 +1,21 @@
+MIT License
+
+Copyright (c) 2024 Joel Wetzell
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

README.md

@@ -13,8 +13,16 @@ typesecript implementation of the [PosiStageNet protocol](https://github.com/vyv
 const { Decoder } = require('@jwetzell/posistagenet')
 const decoder = new Decoder()
 
-const infoPacketBuffer = Buffer.from('5667348000000c0001000000000000000203010101000b00536572766572204e616d650200118001000d8000000900547261636b65722031','hex')
-const dataPacketBuffer = Buffer.from('5567288000000c00010000000000000002030101010014800100108000000c000000803f0000803f0000803f','hex')
+const infoPacketBuffer = new Uint8Array([
+  0x56, 0x67, 0x34, 0x80, 0x00, 0x00, 0x0c, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x01,
+  0x01, 0x01, 0x00, 0x0b, 0x00, 0x53, 0x65, 0x72, 0x76, 0x65, 0x72, 0x20, 0x4e, 0x61, 0x6d, 0x65, 0x02, 0x00, 0x11,
+  0x80, 0x01, 0x00, 0x0d, 0x80, 0x00, 0x00, 0x09, 0x00, 0x54, 0x72, 0x61, 0x63, 0x6b, 0x65, 0x72, 0x20, 0x31,
+]);
+const dataPacketBuffer = new Uint8Array([
+  0x55, 0x67, 0x28, 0x80, 0x00, 0x00, 0x0c, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x01,
+  0x01, 0x01, 0x00, 0x14, 0x80, 0x01, 0x00, 0x10, 0x80, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00,
+  0x80, 0x3f, 0x00, 0x00, 0x80, 0x3f,
+]);
 
 decoder.decode(infoPacketBuffer)
 decoder.decode(dataPacketBuffer)
@@ -49,12 +57,12 @@ const infoPackets = encoder.getInfoPackets(timestamp, trackers)
 
 dataPackets.forEach((dataPacket)=>{
     console.log('send packet somehow')
-    console.log(dataPacket.toString('hex'))
+    console.log(dataPacket)
 })
 
 infoPackets.forEach((infoPacket)=>{
     console.log('send packet somehow')
-    console.log(infoPacket.toString('hex'))
+    console.log(infoPacket)
 })
 
 ```

benchmark.js

@@ -1,4 +1,4 @@
-const { Encoder, Decoder, Tracker } = require('./dist');
+const { Encoder, Decoder, Tracker } = require('./dist/cjs');
 
 const testSizes = [1, 10, 100, 1000];
 
@@ -40,7 +40,7 @@ function benchmark(trackerCount, iterations) {
   for (let index = 0; index < iterations; index += 1) {
     latestEncodedPackets = encoder.getDataPackets(Date.now(), trackers);
   }
-  benchmarkResults.data.encode = `${(performance.now() - dataEncoderStart).toFixed(2)}ms`;
+  benchmarkResults.data.encode = performance.now() - dataEncoderStart;
 
   const dataDecodedStart = performance.now();
   for (let index = 0; index < iterations; index += 1) {
@@ -48,14 +48,14 @@ function benchmark(trackerCount, iterations) {
       decoder.decode(packet);
     });
   }
-  benchmarkResults.data.decode = `${(performance.now() - dataDecodedStart).toFixed(2)}ms`;
+  benchmarkResults.data.decode = performance.now() - dataDecodedStart;
 
   // INFO
   const infoEncoderStart = performance.now();
   for (let index = 0; index < iterations; index += 1) {
     latestEncodedPackets = encoder.getInfoPackets(Date.now(), trackers);
   }
-  benchmarkResults.info.encode = `${(performance.now() - infoEncoderStart).toFixed(2)}ms`;
+  benchmarkResults.info.encode = performance.now() - infoEncoderStart;
 
   const infoDecodeStart = performance.now();
   for (let index = 0; index < iterations; index += 1) {
@@ -63,9 +63,9 @@ function benchmark(trackerCount, iterations) {
       decoder.decode(packet);
     });
   }
-  benchmarkResults.info.decode = `${(performance.now() - infoDecodeStart).toFixed(2)}ms`;
+  benchmarkResults.info.decode = performance.now() - infoDecodeStart;
 
-  console.table(benchmarkResults);
+  console.log(benchmarkResults);
 }
 
 testSizes.forEach((iterations) => {

examples/decode.js

@@ -0,0 +1,24 @@
+const { Decoder } = require('../dist/cjs');
+
+const decoder = new Decoder();
+
+const infoPacketBuffer = new Uint8Array([
+  0x56, 0x67, 0x34, 0x80, 0x00, 0x00, 0x0c, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x01,
+  0x01, 0x01, 0x00, 0x0b, 0x00, 0x53, 0x65, 0x72, 0x76, 0x65, 0x72, 0x20, 0x4e, 0x61, 0x6d, 0x65, 0x02, 0x00, 0x11,
+  0x80, 0x01, 0x00, 0x0d, 0x80, 0x00, 0x00, 0x09, 0x00, 0x54, 0x72, 0x61, 0x63, 0x6b, 0x65, 0x72, 0x20, 0x31,
+]);
+const dataPacketBuffer = new Uint8Array([
+  0x55, 0x67, 0x28, 0x80, 0x00, 0x00, 0x0c, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x02, 0x03, 0x01,
+  0x01, 0x01, 0x00, 0x14, 0x80, 0x01, 0x00, 0x10, 0x80, 0x00, 0x00, 0x0c, 0x00, 0x00, 0x00, 0x80, 0x3f, 0x00, 0x00,
+  0x80, 0x3f, 0x00, 0x00, 0x80, 0x3f,
+]);
+
+decoder.decode(infoPacketBuffer);
+decoder.decode(dataPacketBuffer);
+
+// the system_name from info packets if available
+console.log(decoder.systemName);
+
+// map of trackers populated with any data that has been received
+// this merges both info and data packet properties into one
+console.log(decoder.trackers);

examples/encode.js

@@ -0,0 +1,26 @@
+const { Encoder, Tracker } = require('../dist/cjs');
+
+const encoder = new Encoder('Server Name', 2, 3); // server name, version high, version low
+
+const trackers = [];
+
+const tracker = new Tracker(1, 'Tracker 1'); // id, name
+tracker.setPos(1.0, 1.0, 1.0); // x, y, z
+
+trackers.push(tracker);
+
+const timestamp = 1;
+
+// these two calls return an array of Buffers due to potential splitting that might take place because of max UDP packet size
+const dataPackets = encoder.getDataPackets(timestamp, trackers);
+const infoPackets = encoder.getInfoPackets(timestamp, trackers);
+
+dataPackets.forEach((dataPacket) => {
+  console.log('send packet somehow');
+  console.log(dataPacket);
+});
+
+infoPackets.forEach((infoPacket) => {
+  console.log('send packet somehow');
+  console.log(infoPacket);
+});

examples/psn_client.js

@@ -1,6 +1,6 @@
 // recreation of psn_client.cpp example from https://github.com/vyv/psn-cpp
 const dgram = require('dgram');
-const { Decoder } = require('../dist');
+const { Decoder } = require('../dist/cjs');
 
 const client = dgram.createSocket('udp4');
 const decoder = new Decoder();
@@ -23,18 +23,18 @@ setInterval(() => {
   }
 
   Object.entries(decoder.trackers).forEach(([trackerId, tracker]) => {
-    const trackerName = decoder.trackers[trackerId]?.tracker_name?.tracker_name;
+    const trackerName = decoder.trackers[trackerId]?.name;
     console.log(`Tracker - id: ${trackerId} | name: ${trackerName || ''}`);
     if (tracker.pos) {
-      console.log(`\tpos: ${tracker.pos.pos_x}, ${tracker.pos.pos_y}, ${tracker.pos.pos_z}`);
+      console.log(`\tpos: ${tracker.pos.x}, ${tracker.pos.x}, ${tracker.pos.x}`);
     }
 
     if (tracker.speed) {
-      console.log(`\tspeed: ${tracker.speed.speed_x}, ${tracker.speed.speed_y}, ${tracker.speed.speed_z}`);
+      console.log(`\tspeed: ${tracker.speed.x}, ${tracker.speed.y}, ${tracker.speed.z}`);
     }
 
     if (tracker.ori) {
-      console.log(`\tori: ${tracker.ori.ori_x}, ${tracker.ori.ori_y}, ${tracker.ori.ori_z}`);
+      console.log(`\tori: ${tracker.ori.x}, ${tracker.ori.y}, ${tracker.ori.z}`);
     }
 
     if (tracker.status) {
@@ -42,17 +42,15 @@ setInterval(() => {
     }
 
     if (tracker.accel) {
-      console.log(`\taccel: ${tracker.accel.accel_x}, ${tracker.accel.accel_y}, ${tracker.accel.accel_z}`);
+      console.log(`\taccel: ${tracker.accel.x}, ${tracker.accel.y}, ${tracker.accel.z}`);
     }
 
     if (tracker.trgtpos) {
-      console.log(
-        `\ttrgtpos: ${tracker.trgtpos.trgtpos_x}, ${tracker.trgtpos.trgtpos_y}, ${tracker.trgtpos.trgtpos_z}`
-      );
+      console.log(`\ttrgtpos: ${tracker.trgtpos.x}, ${tracker.trgtpos.y}, ${tracker.trgtpos.z}`);
     }
 
     if (tracker.timestamp) {
-      console.log(`\ttimestamp: ${tracker.timestamp.tracker_timestamp}`);
+      console.log(`\ttimestamp: ${tracker.timestamp}`);
     }
   });
 }, 1000);

examples/psn_server.js

@@ -1,10 +1,9 @@
 // recreation of psn_server.cpp example from https://github.com/vyv/psn-cpp
 const dgram = require('dgram');
-const { Encoder, Tracker, Decoder } = require('../dist');
+const { Encoder, Tracker } = require('../dist/cjs');
 
 const client = dgram.createSocket('udp4');
 const encoder = new Encoder('Test PSN Server', 2, 0);
-const decoder = new Decoder();
 
 const trackers = [];
 
@@ -40,25 +39,18 @@ setInterval(() => {
     trackers[index].setTimestamp(timestamp);
   });
 
+  console.log(`Sending Data Packets`);
   const dataPackets = encoder.getDataPackets(timestamp, trackers);
-  dataPackets.forEach((packet, index) => {
-    const decodedPacket = decoder.decode(packet);
-    console.log(
-      `Sending PSN_DATA_PACKET : Frame Id = ${decodedPacket.packet_header.frame_id} , Packet Count = ${index + 1}`
-    );
+  dataPackets.forEach((packet) => {
     client.send(packet, 56565, '236.10.10.10');
   });
   timestamp += 1;
 }, 5);
 
 setInterval(() => {
+  console.log(`Sending Info Packets`);
   const infoPackets = encoder.getInfoPackets(timestamp, trackers);
-  infoPackets.forEach((packet, index) => {
-    const decodedPacket = decoder.decode(packet);
-    console.log(
-      `Sending PSN_INFO_PACKET : Frame Id = ${decodedPacket.packet_header.frame_id} , Packet Count = ${index + 1}`
-    );
-
+  infoPackets.forEach((packet) => {
     client.send(packet, 56565, '236.10.10.10');
   });
 }, 500);

package.json

@@ -1,15 +1,29 @@
 {
   "name": "@jwetzell/posistagenet",
-  "version": "0.4.7",
+  "version": "2.0.0",
   "description": "",
-  "main": "dist/index.js",
-  "types": "dist/index.d.ts",
+  "main": "./dist/cjs/index.js",
+  "module": "./dist/esm/index.js",
+  "types": "./dist/types/index.d.ts",
+  "exports": {
+    ".": {
+      "import": "./dist/esm/index.js",
+      "require": "./dist/cjs/index.js",
+      "types": "./dist/types/index.d.ts"
+    }
+  },
   "scripts": {
     "prebuild": "rimraf dist",
-    "build": "tsc",
+    "build": "npm run build:cjs && npm run build:esm && npm run build:types",
+    "build:cjs": "tsc -p tsconfig.cjs.json",
+    "build:esm": "tsc -p tsconfig.esm.json",
+    "build:types": "tsc -p tsconfig.types.json",
     "example:client": "node examples/psn_client.js",
     "example:server": "node examples/psn_server.js",
-    "prepublishOnly": "npm run build"
+    "prepublishOnly": "npm run build",
+    "lint:check": "eslint ./",
+    "format:check": "prettier ./ --check",
+    "format:write": "prettier ./ --write"
   },
   "files": [
     "dist"
@@ -20,11 +34,14 @@
     "url": "https://jwetzell.com"
   },
   "repository": "https://github.com/jwetzell/psn-js",
-  "license": "ISC",
+  "license": "MIT",
   "devDependencies": {
-    "@types/node": "22.7.4",
-    "prettier": "3.3.3",
+    "@types/node": "22.10.2",
+    "prettier": "3.4.2",
     "rimraf": "6.0.1",
-    "typescript": "5.6.2"
+    "typescript": "5.7.2",
+    "eslint": "8.48.0",
+    "eslint-config-airbnb": "19.0.4",
+    "eslint-config-prettier": "9.0.0"
   }
 }

src/decoder.ts

@@ -1,33 +1,32 @@
 import { Decoders } from '.';
-import { DataPacketChunk, InfoPacketChunk, InfoTrackerChunk, PacketHeaderChunk } from './models';
+import { DataPacketChunk, InfoPacketChunk, Tracker, TrackerFromData, TrackerFromInfo } from './models';
 
 export class Decoder {
-  // TODO(jwetzell): check if these last packet headers are necessary to hold on to
-  lastInfoPacketHeader?: PacketHeaderChunk;
-
-  lastDataPacketHeader?: PacketHeaderChunk;
-
   infoPacketFrames: { [key: number]: InfoPacketChunk[] } = {};
 
   dataPacketFrames: { [key: number]: DataPacketChunk[] } = {};
 
-  trackers: { [key: string]: InfoTrackerChunk } = {};
+  trackers: { [key: string]: Tracker } = {};
 
-  system_name: string = '';
+  systemName: string = '';
   constructor() {}
 
   updateInfo(framePackets: InfoPacketChunk[]) {
     framePackets.forEach((packet) => {
-      if (packet.system_name) {
-        this.system_name = packet.system_name.system_name;
+      if (packet.data.systemName?.data) {
+        this.systemName = packet.data.systemName?.data.systemName;
       }
 
-      if (packet.tracker_list?.trackers) {
-        Object.entries(packet.tracker_list.trackers).forEach(([trackerId, tracker]) => {
-          if (!this.trackers[trackerId]) {
-            this.trackers[trackerId] = {};
+      if (packet.data.trackerList?.data) {
+        packet.data.trackerList.data.trackers.forEach((infoTrackerChunk) => {
+          if (!this.trackers[infoTrackerChunk.chunk.header.id]) {
+            const tracker = TrackerFromInfo(infoTrackerChunk);
+            if (tracker) {
+              this.trackers[infoTrackerChunk.chunk.header.id] = tracker;
+            }
           }
-          this.trackers[trackerId].tracker_name = tracker.tracker_name;
+          const tracker = this.trackers[infoTrackerChunk.chunk.header.id];
+          tracker.updateInfo(infoTrackerChunk);
         });
       }
     });
@@ -35,97 +34,80 @@ export class Decoder {
 
   updateData(framePackets: DataPacketChunk[]) {
     framePackets.forEach((packet) => {
-      if (packet.tracker_list) {
-        Object.entries(packet.tracker_list.trackers).forEach(([trackerId, tracker]) => {
-          this.trackers[trackerId] = {
-            ...this.trackers[trackerId],
-            ...tracker,
-          };
+      if (packet.data.trackerList) {
+        packet.data.trackerList?.data.trackers.forEach((dataTrackerChunk) => {
+          if (!this.trackers[dataTrackerChunk.chunk.header.id]) {
+            const tracker = TrackerFromData(dataTrackerChunk);
+            if (tracker) {
+              this.trackers[dataTrackerChunk.chunk.header.id] = tracker;
+            }
+          }
+          const tracker = this.trackers[dataTrackerChunk.chunk.header.id];
+          tracker.updateData(dataTrackerChunk);
         });
       }
     });
   }
 
   // TODO(jwetzell): add invalid frame id decoding. Scenario where a frame id is reused before one is complete
-  decode(packetBuf: Buffer): DataPacketChunk | InfoPacketChunk | undefined {
-    const packet = Decoders.Packet(packetBuf);
+  decode(packetBuf: Uint8Array) {
+    const packet = Decoders.Chunk(packetBuf);
     if (packet === undefined) {
       return packet;
     }
 
-    if (packet.id === 0x6756) {
-      const infoPacket = packet as InfoPacketChunk;
-      if (infoPacket && infoPacket.has_subchunks) {
-        const currentInfoPacketHeader = infoPacket.packet_header;
+    if (packet.header.id === 0x6756) {
+      const infoPacket = Decoders.InfoPacketChunk(packetBuf);
+      if (infoPacket && infoPacket.chunk.header.hasSubchunks) {
+        const currentInfoPacketHeader = infoPacket.data.packetHeader;
         if (!currentInfoPacketHeader) {
           // NOTE(jwetzell): not sure that info packets without a header subchunk are valid?
           throw new Error('malformed packet');
         }
 
-        const systemSubChunk = infoPacket.system_name;
+        const systemSubChunk = infoPacket.data.systemName;
         if (!systemSubChunk) {
           // NOTE(jwetzell): not sure that info packets without a system subchunk are valid?
           throw new Error('malformed packet');
         }
-        if (currentInfoPacketHeader.frame_id) {
-          if (this.infoPacketFrames[currentInfoPacketHeader.frame_id] === undefined) {
-            this.infoPacketFrames[currentInfoPacketHeader.frame_id] = [];
+        if (currentInfoPacketHeader.data.frameId) {
+          if (this.infoPacketFrames[currentInfoPacketHeader.data.frameId] === undefined) {
+            this.infoPacketFrames[currentInfoPacketHeader.data.frameId] = [];
           }
-          this.infoPacketFrames[currentInfoPacketHeader.frame_id].push(infoPacket);
+          this.infoPacketFrames[currentInfoPacketHeader.data.frameId].push(infoPacket);
 
           if (
-            this.infoPacketFrames[currentInfoPacketHeader.frame_id].length ===
-            currentInfoPacketHeader.frame_packet_count
+            this.infoPacketFrames[currentInfoPacketHeader.data.frameId].length ===
+            currentInfoPacketHeader.data.framePacketCount
           ) {
-            this.updateInfo(this.infoPacketFrames[currentInfoPacketHeader.frame_id]);
-            delete this.infoPacketFrames[currentInfoPacketHeader.frame_id];
+            this.updateInfo(this.infoPacketFrames[currentInfoPacketHeader.data.frameId]);
+            delete this.infoPacketFrames[currentInfoPacketHeader.data.frameId];
           }
         }
-
-        this.lastInfoPacketHeader = currentInfoPacketHeader;
       }
-    } else if (packet.id === 0x6755) {
-      const dataPacket = packet as DataPacketChunk;
-      if (dataPacket.has_subchunks) {
-        const currentDataPacketHeader = dataPacket.packet_header;
+    } else if (packet.header.id === 0x6755) {
+      const dataPacket = Decoders.DataPacketChunk(packetBuf);
+      if (dataPacket.chunk.header.hasSubchunks) {
+        const currentDataPacketHeader = dataPacket.data.packetHeader;
         if (!currentDataPacketHeader) {
           // NOTE(jwetzell): not sure that info packets without a header subchunk are valid?
           throw new Error('malformed packet');
         }
 
-        if (currentDataPacketHeader.frame_id) {
-          if (this.dataPacketFrames[currentDataPacketHeader.frame_id] === undefined) {
-            this.dataPacketFrames[currentDataPacketHeader.frame_id] = [];
+        if (currentDataPacketHeader.data.frameId) {
+          if (this.dataPacketFrames[currentDataPacketHeader.data.frameId] === undefined) {
+            this.dataPacketFrames[currentDataPacketHeader.data.frameId] = [];
           }
-          this.dataPacketFrames[currentDataPacketHeader.frame_id].push(dataPacket);
+          this.dataPacketFrames[currentDataPacketHeader.data.frameId].push(dataPacket);
           if (
-            this.dataPacketFrames[currentDataPacketHeader.frame_id].length ===
-            currentDataPacketHeader.frame_packet_count
+            this.dataPacketFrames[currentDataPacketHeader.data.frameId].length ===
+            currentDataPacketHeader.data.framePacketCount
           ) {
-            this.updateData(this.dataPacketFrames[currentDataPacketHeader.frame_id]);
-            delete this.dataPacketFrames[currentDataPacketHeader.frame_id];
+            this.updateData(this.dataPacketFrames[currentDataPacketHeader.data.frameId]);
+            delete this.dataPacketFrames[currentDataPacketHeader.data.frameId];
           }
         }
-        this.lastDataPacketHeader = currentDataPacketHeader;
       }
     }
-    return packet;
-  }
-
-  // NOTE(jwetzell): gets merged set of tracker field keys minus the guaranteed properties
-  getTrackerFields(): Set<string> {
-    const keys = new Set(
-      Object.values(this.trackers)
-        .map((tracker) => Object.keys(tracker))
-        .flat(1)
-    );
-
-    // NOTE(jwetzell): remove fields that definitely exist
-    keys.delete('id');
-    keys.delete('has_subchunks');
-    keys.delete('data_len');
-    keys.delete('chunk_data');
-
-    return keys;
   }
 }

src/decoders/chunk.ts

@@ -1,18 +1,29 @@
 import { Chunk } from '../models/chunk';
 
-export default (buffer: Buffer, dataDecoder: Function): Chunk => {
+export default (buffer: Uint8Array): Chunk => {
   let offset = 0;
-  const chunk: Chunk = {};
-  chunk.id = buffer.readUInt16LE(offset);
+  const view = new DataView(buffer.buffer, buffer.byteOffset, buffer.byteLength);
+  const id = view.getUint16(offset, true);
   offset += 2;
 
   // NOTE(jwetzell): this data is split up as 1 bit for has_subchunks and 15 bits for the data_len
-  const combinedLengthAndFlag = buffer.readUInt16LE(offset);
-  chunk.has_subchunks = combinedLengthAndFlag > 32768;
-  chunk.data_len = chunk.has_subchunks ? combinedLengthAndFlag - 32768 : combinedLengthAndFlag;
+  const combinedLengthAndFlag = view.getUint16(offset, true);
+  const hasSubchunks = combinedLengthAndFlag > 32768;
+  const dataLen = hasSubchunks ? combinedLengthAndFlag - 32768 : combinedLengthAndFlag;
   offset += 2;
-  chunk.chunk_data = buffer.subarray(offset, offset + chunk.data_len);
 
-  dataDecoder(chunk);
+  const header = {
+    id,
+    dataLen,
+    hasSubchunks,
+  };
+
+  const chunkData = buffer.subarray(offset, offset + header.dataLen);
+
+  const chunk = {
+    chunkData,
+    header,
+  };
+
   return chunk;
 };

src/decoders/data/data-packet-chunk.ts

@@ -1,25 +1,30 @@
 import { Decoders } from '..';
 import { Constants } from '../../constants';
-import { DataPacketChunk } from '../../models/data/data-packet-chunk';
+import { DataPacketChunk, DataPacketChunkData } from '../../models/data/data-packet-chunk';
 
-function decodeDataPacketChunk(dataPacketChunk: DataPacketChunk) {
-  if (dataPacketChunk.has_subchunks && dataPacketChunk.chunk_data && dataPacketChunk.data_len) {
+export default (buffer: Uint8Array): DataPacketChunk => {
+  const chunk = Decoders.Chunk(buffer);
+
+  const data: DataPacketChunkData = {};
+
+  if (chunk.header.hasSubchunks && chunk.chunkData && chunk.header.dataLen) {
     let offset = 0;
-    while (offset < dataPacketChunk.data_len) {
-      const chunkId = dataPacketChunk.chunk_data.readUInt16LE(offset);
+    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:
-          dataPacketChunk.packet_header = Decoders.PacketHeaderChunk(dataPacketChunk.chunk_data.subarray(offset));
+          data.packetHeader = Decoders.PacketHeaderChunk(chunk.chunkData.subarray(offset));
           offset += Constants.CHUNK_HEADER_SIZE;
-          if (dataPacketChunk.packet_header?.data_len) {
-            offset += dataPacketChunk.packet_header.data_len;
+          if (data.packetHeader.chunk.header.dataLen) {
+            offset += data.packetHeader.chunk.header.dataLen;
           }
           break;
         case 0x0001:
-          dataPacketChunk.tracker_list = Decoders.DataTrackerListChunk(dataPacketChunk.chunk_data.subarray(offset));
+          data.trackerList = Decoders.DataTrackerListChunk(chunk.chunkData.subarray(offset));
           offset += Constants.CHUNK_HEADER_SIZE;
-          if (dataPacketChunk.tracker_list.data_len) {
-            offset += dataPacketChunk.tracker_list.data_len;
+          if (data.trackerList.chunk.header.dataLen) {
+            offset += data.trackerList.chunk.header.dataLen;
           }
           break;
         default:
@@ -27,6 +32,9 @@ function decodeDataPacketChunk(dataPacketChunk: DataPacketChunk) {
       }
     }
   }
-}
 
-export default (buffer: Buffer): DataPacketChunk => Decoders.Chunk(buffer, decodeDataPacketChunk) as DataPacketChunk;
+  return {
+    chunk,
+    data,
+  };
+};

src/decoders/data/data-tracker-chunk.ts

@@ -1,43 +1,46 @@
 import { Decoders } from '..';
 import { Constants } from '../../constants';
-import { DataTrackerChunk } from '../../models/data/data-tracker-chunk';
+import { DataTrackerChunk, DataTrackerChunkData } from '../../models/data/data-tracker-chunk';
 
-function decodeTrackerChunk(trackerChunk: DataTrackerChunk) {
-  if (trackerChunk.chunk_data && trackerChunk.data_len) {
+export default (buffer: Uint8Array): DataTrackerChunk => {
+  const chunk = Decoders.Chunk(buffer);
+  const data: DataTrackerChunkData = {};
+  if (chunk.chunkData && chunk.header.dataLen) {
     let offset = 0;
-    while (offset < trackerChunk.data_len) {
-      const trackerFieldChunk = Decoders.DataTrackerFieldChunk(trackerChunk.chunk_data.subarray(offset));
-      offset += Constants.CHUNK_HEADER_SIZE;
-      if (trackerFieldChunk.data_len) {
-        offset += trackerFieldChunk.data_len;
-        switch (trackerFieldChunk.id) {
-          case 0x0000:
-            trackerChunk.pos = trackerFieldChunk;
-            break;
-          case 0x0001:
-            trackerChunk.speed = trackerFieldChunk;
-            break;
-          case 0x0002:
-            trackerChunk.ori = trackerFieldChunk;
-            break;
-          case 0x0003:
-            trackerChunk.status = trackerFieldChunk;
-            break;
-          case 0x0004:
-            trackerChunk.accel = trackerFieldChunk;
-            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: Buffer): DataTrackerChunk => Decoders.Chunk(buffer, decodeTrackerChunk) as DataTrackerChunk;
+  return {
+    chunk,
+    data,
+  };
+};

src/decoders/data/data-tracker-field-chunk.ts

@@ -1,48 +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) {
-    trackerFieldChunk[`${prefix}x`] = trackerFieldChunk.chunk_data.readFloatLE(0);
-    trackerFieldChunk[`${prefix}y`] = trackerFieldChunk.chunk_data.readFloatLE(4);
-    trackerFieldChunk[`${prefix}z`] = trackerFieldChunk.chunk_data.readFloatLE(8);
-  }
-}
-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) {
-          trackerFieldChunk.validity = trackerFieldChunk.chunk_data.readFloatLE();
-        }
-        break;
-      case 0x0004:
-        readXYZ(trackerFieldChunk, 'accel_');
-        break;
-      case 0x0005:
-        readXYZ(trackerFieldChunk, 'trgtpos_');
-        break;
-      case 0x0006:
-        if (trackerFieldChunk.chunk_data) {
-          trackerFieldChunk.tracker_timestamp = trackerFieldChunk.chunk_data.readBigUInt64LE();
-        }
-        break;
-      default:
-        break;
-    }
-  }
-}
-
-export default (buffer: Buffer): DataTrackerFieldChunk =>
-  Decoders.Chunk(buffer, decodeTrackerFieldChunk) as DataTrackerFieldChunk;

src/decoders/data/data-tracker-list-chunk.ts

@@ -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.subarray(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: Buffer): DataTrackerListChunk =>
-  Decoders.Chunk(buffer, decodeDataTrackerListChunk) as DataTrackerListChunk;
+
+  const data: DataTrackerListChunkData = {
+    trackers,
+  };
+
+  return {
+    chunk,
+    data,
+  };
+};

src/decoders/data/data-tracker-status-chunk.ts

@@ -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,
+  };
+};

src/decoders/data/data-tracker-timestamp-chunk.ts

@@ -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,
+  };
+};

src/decoders/data/data-tracker-xyz-chunk.ts

@@ -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,
+  };
+};

src/decoders/index.ts

@@ -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,

src/decoders/info/info-packet-chunk.ts

@@ -1,32 +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 chunkId = infoPacketChunk.chunk_data.readUInt16LE(offset);
+    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.subarray(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.subarray(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.subarray(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:
@@ -34,6 +39,9 @@ function decodeInfoPacketChunk(infoPacketChunk: InfoPacketChunk) {
       }
     }
   }
-}
 
-export default (buffer: Buffer): InfoPacketChunk => Decoders.Chunk(buffer, decodeInfoPacketChunk) as InfoPacketChunk;
+  return {
+    chunk,
+    data,
+  };
+};

src/decoders/info/info-system-name-chunk.ts

@@ -1,11 +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 = systemNameChunk.chunk_data.subarray(0, systemNameChunk.data_len).toString();
-  }
-}
+export default (buffer: Uint8Array): InfoSystemNameChunk => {
+  const chunk = Decoders.Chunk(buffer);
 
-export default (buffer: Buffer): InfoSystemNameChunk =>
-  Decoders.Chunk(buffer, decodeSystemNameChunk) as InfoSystemNameChunk;
+  const data: InfoSystemNameChunkData = {
+    systemName: new TextDecoder().decode(chunk.chunkData.subarray(0, chunk.header.dataLen)),
+  };
+
+  return {
+    chunk,
+    data,
+  };
+};

src/decoders/info/info-tracker-chunk.ts

@@ -1,26 +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 chunkId = infoTrackerChunk.chunk_data.readUInt16LE(offset);
+    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.subarray(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: Buffer): InfoTrackerChunk => Decoders.Chunk(buffer, decodeInfoTrackerChunk);
+  return {
+    chunk,
+  };
+};

src/decoders/info/info-tracker-list-chunk.ts

@@ -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.subarray(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: Buffer): InfoTrackerListChunk =>
-  Decoders.Chunk(buffer, decodeInfoTrackerListChunk) as InfoTrackerListChunk;
+  const data: InfoTrackerListChunkData = {
+    trackers,
+  };
+  return {
+    chunk,
+    data,
+  };
+};

src/decoders/info/info-tracker-name-chunk.ts

@@ -1,10 +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 = trackerNameChunk.chunk_data.subarray(0, trackerNameChunk.data_len).toString();
-  }
-}
-export default (buffer: Buffer): 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,
+  };
+};

src/decoders/packet-header-chunk.ts

@@ -1,14 +1,20 @@
 import { Decoders } from '.';
-import { PacketHeaderChunk } from '../models/packet-header-chunk';
+import { PacketHeaderChunk, PacketHeaderChunkData } from '../models/packet-header-chunk';
 
-function decodePacketHeaderChunk(packetHeaderChunk: PacketHeaderChunk) {
-  if (packetHeaderChunk.chunk_data) {
-    packetHeaderChunk.packet_timestamp = packetHeaderChunk.chunk_data.readBigUInt64LE(0);
-    packetHeaderChunk.version_high = packetHeaderChunk.chunk_data.readUInt8(8);
-    packetHeaderChunk.version_low = packetHeaderChunk.chunk_data.readUInt8(9);
-    packetHeaderChunk.frame_id = packetHeaderChunk.chunk_data.readUInt8(10);
-    packetHeaderChunk.frame_packet_count = packetHeaderChunk.chunk_data.readUInt8(11);
-  }
-}
+export default (buffer: Uint8Array): PacketHeaderChunk => {
+  const chunk = Decoders.Chunk(buffer);
 
-export default (buffer: Buffer): PacketHeaderChunk => Decoders.Chunk(buffer, decodePacketHeaderChunk);
+  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,
+  };
+};

src/decoders/packet.ts

@@ -2,8 +2,10 @@ import { Decoders } from '.';
 import { DataPacketChunk } from '../models/data/data-packet-chunk';
 import { InfoPacketChunk } from '../models/info/info-packet-chunk';
 
-export default (buffer: Buffer): InfoPacketChunk | DataPacketChunk | undefined => {
-  const chunkId = buffer.readUInt16LE();
+export default (buffer: Uint8Array): InfoPacketChunk | DataPacketChunk | undefined => {
+  const view = new DataView(buffer.buffer, buffer.byteOffset, buffer.byteLength);
+  const chunkId = view.getUint16(0, true);
+
   switch (chunkId) {
     case 0x6756:
       return Decoders.InfoPacketChunk(buffer);

src/encoder.ts

@@ -47,14 +47,14 @@ export class Encoder {
 
     const trackerChunks = trackers.map((tracker: Tracker) => tracker.getInfoChunk());
 
-    const infoPackets: Buffer[] = [];
+    const infoPackets: Uint8Array[] = [];
 
-    const trackerChunksLists: Buffer[][] = [];
-    let currentTrackerList: Buffer[] = [];
+    const trackerChunksLists: Uint8Array[][] = [];
+    let currentTrackerList: Uint8Array[] = [];
 
     let currentInfoPacketSize = Constants.PACKET_HEADER_SIZE + systemNameChunk.length + Constants.CHUNK_HEADER_SIZE;
 
-    trackerChunks.forEach((trackerChunk: Buffer) => {
+    trackerChunks.forEach((trackerChunk: Uint8Array) => {
       if (currentInfoPacketSize + trackerChunk.length > Constants.MAX_UDP_PACKET_SIZE) {
         trackerChunksLists.push(currentTrackerList);
         currentTrackerList = [];
@@ -95,10 +95,10 @@ export class Encoder {
     }
 
     const allTrackerChunks = trackers.map((tracker) => tracker.getDataChunk());
-    const dataPackets: Buffer[] = [];
+    const dataPackets: Uint8Array[] = [];
 
-    const trackerChunksLists: Buffer[][] = [];
-    let currentTrackerList: Buffer[] = [];
+    const trackerChunksLists: Uint8Array[][] = [];
+    let currentTrackerList: Uint8Array[] = [];
 
     let currentDataPacketSize = Constants.PACKET_HEADER_SIZE + Constants.CHUNK_HEADER_SIZE;
 

src/encoders/chunk.ts

@@ -1,4 +1,4 @@
-export default (id: number, chunkData: Buffer, hasSubchunks: boolean): Buffer => {
+export default (id: number, chunkData: Uint8Array, hasSubchunks: boolean): Uint8Array => {
   if (!Number.isInteger(id)) {
     throw new Error('chunk id must be an integer');
   }
@@ -11,10 +11,15 @@ export default (id: number, chunkData: Buffer, hasSubchunks: boolean): Buffer =>
     throw new Error('chunkData can not be greater than 32767 bytes');
   }
 
-  const header = Buffer.alloc(4);
-  header.writeUInt16LE(id);
+  const header = new DataView(new ArrayBuffer(4));
+  header.setUint16(0, id, true);
   const hasSubChunksBit = (hasSubchunks ? 1 : 0) << 15;
-  header.writeUInt16LE(hasSubChunksBit + chunkData.length, 2);
+  header.setUint16(2, hasSubChunksBit + chunkData.length, true);
 
-  return Buffer.concat([header, chunkData]);
+  const headerBytes = new Uint8Array(header.buffer);
+
+  const bytes = new Uint8Array(headerBytes.length + chunkData.length);
+  bytes.set(headerBytes);
+  bytes.set(chunkData, headerBytes.length);
+  return bytes;
 };

src/encoders/data/data-packet-chunk.ts

@@ -1,3 +1,7 @@
 import chunk from '../chunk';
-export default (packetHeaderChunk: Buffer, trackerListChunk: Buffer): Buffer =>
-  chunk(0x6755, Buffer.concat([packetHeaderChunk, trackerListChunk]), true);
+export default (packetHeaderChunk: Uint8Array, trackerListChunk: Uint8Array): Uint8Array => {
+  const chunkData = new Uint8Array(packetHeaderChunk.length + trackerListChunk.length);
+  chunkData.set(packetHeaderChunk);
+  chunkData.set(trackerListChunk, packetHeaderChunk.length);
+  return chunk(0x6755, chunkData, true);
+};

src/encoders/data/data-tracker-accel-chunk.ts

@@ -1,9 +1,9 @@
 import chunk from '../chunk';
 
-export default (x: number, y: number, z: number): Buffer => {
-  const buf = Buffer.alloc(12);
-  buf.writeFloatLE(x);
-  buf.writeFloatLE(y, 4);
-  buf.writeFloatLE(z, 8);
-  return chunk(0x0004, buf, false);
+export default (x: number, y: number, z: number): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(12));
+  buf.setFloat32(0, x, true);
+  buf.setFloat32(4, y, true);
+  buf.setFloat32(8, z, true);
+  return chunk(0x0004, new Uint8Array(buf.buffer), false);
 };

src/encoders/data/data-tracker-chunk.ts

@@ -1,4 +1,20 @@
 import chunk from '../chunk';
 
-export default (trackerId: number, fieldChunks: Buffer[]): Buffer =>
-  chunk(trackerId, Buffer.concat(fieldChunks), fieldChunks.length > 0);
+export default (trackerId: number, fieldChunks: Uint8Array[]): Uint8Array => {
+  let fieldChunksTotalLength = 0;
+
+  fieldChunks.forEach((fieldChunk) => {
+    fieldChunksTotalLength += fieldChunk.length;
+  });
+
+  const fieldChunksBytes = new Uint8Array(fieldChunksTotalLength);
+
+  let offset = 0;
+
+  fieldChunks.forEach((fieldChunk) => {
+    fieldChunksBytes.set(fieldChunk, offset);
+    offset += fieldChunk.length;
+  });
+
+  return chunk(trackerId, fieldChunksBytes, fieldChunks.length > 0);
+};

src/encoders/data/data-tracker-list-chunk.ts

@@ -1,3 +1,20 @@
 import chunk from '../chunk';
 
-export default (trackerChunks: Buffer[]) => chunk(0x0001, Buffer.concat(trackerChunks), true);
+export default (trackerChunks: Uint8Array[]) => {
+  let trackerChunksTotalLength = 0;
+
+  trackerChunks.forEach((trackerChunk) => {
+    trackerChunksTotalLength += trackerChunk.length;
+  });
+
+  const trackerChunksBytes = new Uint8Array(trackerChunksTotalLength);
+
+  let offset = 0;
+
+  trackerChunks.forEach((trackerChunk) => {
+    trackerChunksBytes.set(trackerChunk, offset);
+    offset += trackerChunk.length;
+  });
+
+  return chunk(0x0001, trackerChunksBytes, true);
+};

src/encoders/data/data-tracker-ori-chunk.ts

@@ -1,9 +1,10 @@
 import chunk from '../chunk';
 
-export default (x: number, y: number, z: number): Buffer => {
-  const buf = Buffer.alloc(12);
-  buf.writeFloatLE(x);
-  buf.writeFloatLE(y, 4);
-  buf.writeFloatLE(z, 8);
-  return chunk(0x0002, buf, false);
+export default (x: number, y: number, z: number): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(12));
+
+  buf.setFloat32(0, x, true);
+  buf.setFloat32(4, y, true);
+  buf.setFloat32(8, z, true);
+  return chunk(0x0002, new Uint8Array(buf.buffer), false);
 };

src/encoders/data/data-tracker-pos-chunk.ts

@@ -1,9 +1,11 @@
 import chunk from '../chunk';
 
-export default (x: number, y: number, z: number): Buffer => {
-  const buf = Buffer.alloc(12);
-  buf.writeFloatLE(x);
-  buf.writeFloatLE(y, 4);
-  buf.writeFloatLE(z, 8);
-  return chunk(0x0000, buf, false);
+export default (x: number, y: number, z: number): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(12));
+
+  buf.setFloat32(0, x, true);
+  buf.setFloat32(4, y, true);
+  buf.setFloat32(8, z, true);
+
+  return chunk(0x0000, new Uint8Array(buf.buffer), false);
 };

src/encoders/data/data-tracker-speed-chunk.ts

@@ -1,9 +1,11 @@
 import chunk from '../chunk';
 
-export default (x: number, y: number, z: number): Buffer => {
-  const buf = Buffer.alloc(12);
-  buf.writeFloatLE(x);
-  buf.writeFloatLE(y, 4);
-  buf.writeFloatLE(z, 8);
-  return chunk(0x0001, buf, false);
+export default (x: number, y: number, z: number): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(12));
+
+  buf.setFloat32(0, x, true);
+  buf.setFloat32(4, y, true);
+  buf.setFloat32(8, z, true);
+
+  return chunk(0x0001, new Uint8Array(buf.buffer), false);
 };

src/encoders/data/data-tracker-status-chunk.ts

@@ -1,7 +1,7 @@
 import chunk from '../chunk';
 
-export default (validity: number): Buffer => {
-  const buf = Buffer.alloc(4);
-  buf.writeFloatLE(validity);
-  return chunk(0x0003, buf, false);
+export default (validity: number): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(4));
+  buf.setFloat32(0, validity, true);
+  return chunk(0x0003, new Uint8Array(buf.buffer), false);
 };

src/encoders/data/data-tracker-timestamp-chunk.ts

@@ -1,7 +1,7 @@
 import chunk from '../chunk';
 
-export default (timestamp: bigint): Buffer => {
-  const buf = Buffer.alloc(8);
-  buf.writeBigUInt64LE(BigInt(timestamp));
-  return chunk(0x0006, buf, false);
+export default (timestamp: bigint): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(8));
+  buf.setBigUint64(0, BigInt(timestamp), true);
+  return chunk(0x0006, new Uint8Array(buf.buffer), false);
 };

src/encoders/data/data-tracker-trgtpos-chunk.ts

@@ -1,9 +1,11 @@
 import chunk from '../chunk';
 
-export default (x: number, y: number, z: number): Buffer => {
-  const buf = Buffer.alloc(12);
-  buf.writeFloatLE(x);
-  buf.writeFloatLE(y, 4);
-  buf.writeFloatLE(z, 8);
-  return chunk(0x0005, buf, false);
+export default (x: number, y: number, z: number): Uint8Array => {
+  const buf = new DataView(new ArrayBuffer(12));
+
+  buf.setFloat32(0, x, true);
+  buf.setFloat32(4, y, true);
+  buf.setFloat32(8, z, true);
+
+  return chunk(0x0005, new Uint8Array(buf.buffer), false);
 };

src/encoders/info/info-packet-chunk.ts

@@ -1,4 +1,14 @@
 import chunk from '../chunk';
 
-export default (packetHeaderChunk: Buffer, systemNameChunk: Buffer, trackerListChunk: Buffer): Buffer =>
-  chunk(0x6756, Buffer.concat([packetHeaderChunk, systemNameChunk, trackerListChunk]), true);
+export default (
+  packetHeaderChunk: Uint8Array,
+  systemNameChunk: Uint8Array,
+  trackerListChunk: Uint8Array
+): Uint8Array => {
+  const chunkData = new Uint8Array(packetHeaderChunk.length + systemNameChunk.length + trackerListChunk.length);
+
+  chunkData.set(packetHeaderChunk);
+  chunkData.set(systemNameChunk, packetHeaderChunk.length);
+  chunkData.set(trackerListChunk, packetHeaderChunk.length + systemNameChunk.length);
+  return chunk(0x6756, chunkData, true);
+};

src/encoders/info/info-system-name-chunk.ts

@@ -1,3 +1,3 @@
 import chunk from '../chunk';
 
-export default (systemName: string): Buffer => chunk(0x0001, Buffer.from(systemName), false);
+export default (systemName: string): Uint8Array => chunk(0x0001, new TextEncoder().encode(systemName), false);

src/encoders/info/info-tracker-chunk.ts

@@ -1,3 +1,4 @@
 import chunk from '../chunk';
 
-export default (trackerId: number, trackerNameChunk: Buffer): Buffer => chunk(trackerId, trackerNameChunk, true);
+export default (trackerId: number, trackerNameChunk: Uint8Array): Uint8Array =>
+  chunk(trackerId, trackerNameChunk, true);

src/encoders/info/info-tracker-list-chunk.ts

@@ -1,3 +1,19 @@
 import chunk from '../chunk';
 
-export default (trackerChunks: Buffer[]): Buffer => chunk(0x0002, Buffer.concat(trackerChunks), true);
+export default (trackerChunks: Uint8Array[]): Uint8Array => {
+  let trackerChunksTotalLength = 0;
+
+  trackerChunks.forEach((trackerChunk) => {
+    trackerChunksTotalLength += trackerChunk.length;
+  });
+
+  const trackerChunksBytes = new Uint8Array(trackerChunksTotalLength);
+
+  let offset = 0;
+
+  trackerChunks.forEach((trackerChunk) => {
+    trackerChunksBytes.set(trackerChunk, offset);
+    offset += trackerChunk.length;
+  });
+  return chunk(0x0002, trackerChunksBytes, true);
+};

src/encoders/info/info-tracker-name-chunk.ts

@@ -1,3 +1,3 @@
 import chunk from '../chunk';
 
-export default (trackerName: string) => chunk(0x0000, Buffer.from(trackerName), false);
+export default (trackerName: string) => chunk(0x0000, new TextEncoder().encode(trackerName), false);

src/encoders/packet-header-chunk.ts

@@ -6,7 +6,7 @@ export default (
   versionLow: number,
   frameId: number,
   framePacketCount: number
-): Buffer => {
+): Uint8Array => {
   if (!Number.isInteger(versionHigh)) {
     throw new Error('version high must be an integer');
   }
@@ -33,12 +33,12 @@ export default (
     throw new Error('frame packet count must be >= 0 and <= 255');
   }
 
-  const packetHeader = Buffer.alloc(12);
-  packetHeader.writeBigUInt64LE(BigInt(timestamp));
-  packetHeader.writeUint8(versionHigh, 8);
-  packetHeader.writeUint8(versionLow, 9);
-  packetHeader.writeUint8(frameId, 10);
-  packetHeader.writeUint8(framePacketCount, 11);
+  const packetHeader = new DataView(new ArrayBuffer(12));
+  packetHeader.setBigUint64(0, BigInt(timestamp), true);
+  packetHeader.setUint8(8, versionHigh);
+  packetHeader.setUint8(9, versionLow);
+  packetHeader.setUint8(10, frameId);
+  packetHeader.setUint8(11, framePacketCount);
 
-  return chunk(0x0000, packetHeader, false);
+  return chunk(0x0000, new Uint8Array(packetHeader.buffer), false);
 };

src/models/chunk.ts

@@ -1,6 +1,10 @@
-export interface Chunk {
-  id?: number;
-  has_subchunks?: boolean;
-  data_len?: number;
-  chunk_data?: Buffer;
+export interface ChunkHeader {
+  id: number;
+  dataLen: number;
+  hasSubchunks: boolean;
+}
+
+export interface Chunk {
+  chunkData: Uint8Array;
+  header: ChunkHeader;
 }

src/models/data/data-packet-chunk.ts

@@ -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;
 }

src/models/data/data-tracker-chunk.ts

@@ -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;
 }

src/models/data/data-tracker-field-chunk.ts

@@ -1,5 +0,0 @@
-import { Chunk } from '../chunk';
-
-export interface DataTrackerFieldChunk extends Chunk {
-  [key: string]: number | bigint | number[] | Buffer | undefined | boolean;
-}

src/models/data/data-tracker-list-chunk.ts

@@ -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;
 }

src/models/data/data-tracker-status-chunk.ts

@@ -0,0 +1,10 @@
+import { Chunk } from '../chunk';
+
+export interface DataTrackerStatusChunkData {
+  validity: number;
+}
+
+export interface DataTrackerStatusChunk {
+  chunk: Chunk;
+  data: DataTrackerStatusChunkData;
+}

src/models/data/data-tracker-timestamp-chunk.ts

@@ -0,0 +1,10 @@
+import { Chunk } from '../chunk';
+
+export interface DataTrackerTimestampChunkData {
+  timestamp: bigint;
+}
+
+export interface DataTrackerTimestampChunk {
+  chunk: Chunk;
+  data: DataTrackerTimestampChunkData;
+}

src/models/data/data-tracker-xyz-chunk.ts

@@ -0,0 +1,12 @@
+import { Chunk } from '../chunk';
+
+export interface DataTrackerXYZChunkData {
+  x: number;
+  y: number;
+  z: number;
+}
+
+export interface DataTrackerXYZChunk {
+  chunk: Chunk;
+  data: DataTrackerXYZChunkData;
+}

src/models/index.ts

@@ -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';

src/models/info/info-packet-chunk.ts

@@ -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;
 }

src/models/info/info-system-name-chunk.ts

@@ -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;
 }

src/models/info/info-tracker-chunk.ts

@@ -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;
 }

src/models/info/info-tracker-list-chunk.ts

@@ -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;
 }

src/models/info/info-tracker-name-chunk.ts

@@ -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;
 }

src/models/packet-header-chunk.ts

@@ -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;
 }

src/models/tracker.ts

@@ -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) {
@@ -61,18 +119,18 @@ export class Tracker {
   }
 
   getDataChunk() {
-    const fieldChunks: Buffer[] = [];
+    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;
 }

tsconfig.cjs.json

@@ -0,0 +1,8 @@
+{
+  "extends": "./tsconfig.json",
+  "compilerOptions": {
+    "module": "CommonJS",
+    "declaration": false,
+    "outDir": "./dist/cjs"
+  }
+}

tsconfig.esm.json

@@ -0,0 +1,8 @@
+{
+  "extends": "./tsconfig.json",
+  "compilerOptions": {
+    "module": "ESNext",
+    "declaration": false,
+    "outDir": "./dist/esm"
+  }
+}

tsconfig.json

@@ -1,12 +1,12 @@
 {
   "compilerOptions": {
+    "moduleResolution": "Node",
+    "lib": ["ESNext"],
+    "target": "ESNext",
     "esModuleInterop": true,
-    "module": "commonjs",
-    "target": "ES2020",
-    "declaration": true,
-    "rootDir": "./src",
-    "strict": true,
-    "outDir": "dist"
+    "isolatedModules": true,
+    "rootDir": "src/",
+    "strict": true
   },
-  "exclude": ["node_modules", "dist", "examples"]
+  "include": ["src/"]
 }

tsconfig.types.json

@@ -0,0 +1,8 @@
+{
+  "extends": "./tsconfig.json",
+  "compilerOptions": {
+    "emitDeclarationOnly": true,
+    "declaration": true,
+    "outDir": "./dist/types"
+  }
+}