{"_id":"multiwii-msp","_rev":"176-3d0244fdd385cac238e4675b26809996","name":"multiwii-msp","time":{"modified":"2022-06-20T14:05:20.086Z","created":"2015-02-05T23:37:43.770Z","0.0.1":"2015-02-05T23:37:46.675Z","0.0.2":"2015-02-06T02:07:44.209Z","0.0.3-b-1":"2015-02-06T02:16:12.731Z","0.0.3-beta-2":"2015-02-06T21:23:34.695Z","0.0.3-beta-3":"2015-02-06T21:27:26.068Z","0.0.3-beta-4":"2015-02-06T22:08:15.998Z","0.0.3-beta-5":"2015-02-06T22:25:45.633Z","0.0.3-beta-6":"2015-02-06T22:42:19.572Z","0.0.3-beta-7":"2015-02-07T16:48:37.966Z","0.0.3-beta-8":"2015-02-07T20:51:53.283Z","0.0.3-beta-9":"2015-02-07T22:09:15.744Z","0.0.3-beta-10":"2015-02-08T01:16:38.041Z","0.0.3-beta-11":"2015-02-08T02:55:18.789Z","0.0.3-beta-12":"2015-02-08T03:00:39.692Z","0.0.3-beta-13":"2015-02-08T03:04:16.136Z","0.0.3-beta-14":"2015-02-08T03:08:59.572Z","0.0.3-beta-15":"2015-02-08T03:11:23.627Z","0.0.3-beta-16":"2015-02-08T03:14:59.909Z","0.0.3-beta-17":"2015-02-08T03:18:53.490Z","0.0.3-beta-18":"2015-02-08T03:21:43.786Z","0.0.3-beta-19":"2015-02-08T03:25:30.023Z","0.0.3-beta-20":"2015-02-08T03:35:00.893Z","0.0.3-beta-21":"2015-02-08T03:39:22.025Z","0.0.3-beta-22":"2015-02-08T03:41:45.624Z","0.0.3-beta-23":"2015-02-08T03:49:24.094Z","0.0.3-beta-24":"2015-02-08T04:08:39.295Z","0.0.3-beta-25":"2015-02-08T05:08:23.210Z","0.0.3-beta-26":"2015-02-08T19:14:53.779Z","0.0.3-beta-27":"2015-02-08T21:37:32.662Z","0.0.3-beta-28":"2015-02-08T21:41:58.034Z","0.0.3-beta-29":"2015-02-08T21:45:16.288Z","0.0.3-beta-30":"2015-02-10T03:41:14.394Z","0.0.3-beta-31":"2015-02-10T04:22:54.329Z","0.0.3-beta-32":"2015-02-10T05:04:51.503Z","0.0.3-beta-33":"2015-02-10T05:14:53.263Z","0.0.3-beta-34":"2015-02-10T05:22:25.818Z","0.0.3-beta-35":"2015-02-10T05:40:41.765Z","0.0.3-beta-36":"2015-02-10T15:28:40.025Z","0.0.3-beta-37":"2015-02-10T16:18:39.271Z","0.0.3-beta-38":"2015-02-10T17:00:34.900Z","0.0.3-beta-39":"2015-02-13T07:25:05.741Z","0.0.3-beta-40":"2015-02-16T17:36:09.401Z","0.0.3-beta-41":"2015-02-16T17:42:44.163Z","0.0.3-beta-42":"2015-02-16T17:46:57.192Z","0.0.3-beta-43":"2015-02-16T17:50:26.571Z","0.0.3-beta-44":"2015-02-17T00:01:03.292Z","0.0.3-beta-45":"2015-02-17T00:04:35.056Z","0.0.3-beta-46":"2016-01-29T01:25:48.927Z","0.0.3-beta-47":"2016-01-29T10:03:00.596Z"},"maintainers":[{"name":"vincekovacs","email":"vincekovacs@hotmail.com"}],"description":"NodeJS MultiWii Serial Protocol to send or receive commands from MultiWii via TCP/IP","readme":"# MultiWii Serial Protocol via TCP/IP\r\n\r\nThis package is for [MultiWii](http://www.multiwii.com/) multicopters to communicate with [MSP protocol](multiwii.com/wiki/index.php?title=Multiwii_Serial_Protocol) over TCP/IP protocol. The package contains two public object the `TcpClient` and `TcpServer`.\r\n\r\n## Features\r\n\r\n* Communication over **TCP protocol**\r\n* Support **async** and **sync** command calls\r\n* **Command queue** on client side\r\n* **Priority command**\r\n\r\n## Installation\r\n\r\nSimply use npm with the following command:\r\n\r\n`npm install multiwii-msp`\r\n\r\n## Usage\r\n\r\n### Server\r\n\r\nThe server can listen for multiple client connection. After first successful connection new `Device` instance is created. During connection server polling client for actual data (`status`, `rawImu`, `rc`, `rawGps`, `compGps`, `attitude`, `altitude` and `analog`). The polling interval is continuous.\r\n\r\n**Note**: Device can handle maximum 255 commands simultaneously.\r\n\r\n**Sample code**\r\n\r\n```javascript\r\nvar TcpServer = require('multiwii-msp').TcpServer;\r\n\r\n// Create new TCP server on 3002 port and enable logging\r\nvar server = new TcpServer(3002, true);\r\n\r\n// Register device's first connection\r\nserver.on('register', function (key, device) {\r\n    \r\n    // Register device's open event\r\n    device.on('open', function () {\r\n        // Do something\r\n    });\r\n    \r\n    // Register device's update event\r\n    device.on('update', function (data) {\r\n        // Do something\r\n    });\r\n    \r\n    // Register device's close event\r\n    device.on('close', function () {\r\n        // Do something\r\n    });\r\n});\r\n```\r\n\r\n#### Device\r\n\r\nDevice instance describe each MultiWii board. It has multiple methods that represent commands. The command can grouped in three groups:\r\n\r\n* **getter** - The getter commands return data from flight controller. The syntax is `{command name}(options, callback)`, where `options` and `callback` are only optional parameters. \r\n  * The `options` parameter is object of available options.\r\n  * If `callback` parameter is not set, then command will execute synchronously otherwise, will execute as async call and result will pass to the callback function. The `callback` format is standard nodeJs callback, `function(error, response){}`.\r\n\r\n* **setter** - The setter command send some data to the flight controller. The syntax is `{command name}(dataObject, options, callback)`, where `dataObject` is object that contains data for each command. The `dataObject` structure depends on individual command. The `options` and `callback` arguments are same as above.\r\n\r\n* **special** - The special commands no need parameters or return data from flight controller. The syntax is same as getters `{command name}(options, callback)`.\r\n\r\nIn the following examples the `ident` command are used.\r\n\r\n**Sync and async command calls**\r\n\r\n```javascript\r\n// Synchronous way\r\nvar ident = device.ident();\r\n// Do something with ident\r\n\r\n// or\r\n\r\n// Asynchronous way\r\ndevice.ident({}, function (error, ident) {\r\n    // Do something with ident\r\n});\r\n```\r\n\r\n**Priority call**\r\n\r\nYou can call command in priority order. Queue on clients side send commands to serial port in order which are commands are in queue. The priority call put command to the beginning of queue, so command is executed nearly immediately. \r\n\r\n```javascript\r\n// Send command as priority\r\nvar ident = device.ident({\r\n  prior: true\r\n});\r\n```\r\n\r\n**Note**: Default command calls are put on end of the queue.\r\n\r\n**Use cache**\r\n\r\nCommands response can stored in cache. It useful for example at `boxNames`, `pidNames` or `ident` commands, where response only change if flight control was changed. If response not found in cache, then command get it from flight controller, save to cache and return as response or add to callback.\r\n\r\n```javascript\r\n// Get response from cache\r\nvar ident = device.ident({\r\n  cache: true\r\n});\r\n```\r\n\r\n\r\n### Client\r\n\r\nThe client try connect to server. After connection is established, then client is waiting for data over TCP and send response, what received from MultiWii via serial port. If connection is lost then client try to reconnect to server.\r\n\r\n```javascript\r\nvar TcpClient = require('multiwii-msp').TcpClient;\r\n\r\n// Create new client to connect to server via 192.168.0.1:3002 port,\r\n// connect to serial pot via /dev/ttyAMA0 with 115200 baud rate and\r\n// enable logging\r\nvar client = new TcpClient('192.168.0.1', 3002, '/dev/ttyAMA0', 115200, true);\r\n```\r\n\r\n## Public api\r\n\r\nThe library api documentation should be something like this.\r\n\r\n### TcpServer\r\n\r\nTcp server inherits from node's [EventEmitter](http://nodejs.org/api/events.html#events_class_events_eventemitter).\r\n\r\n#### Methods\r\n\r\n##### TcpServer\r\n\r\nThis is object's constructor.\r\n\r\n**Parameters**\r\n\r\nType      | Parameter | Description\r\n----------|-----------|------------------------------\r\n`int`     | `port`    | Port number to listen\r\n`boolean` | `log`     | Console log is enabled or not\r\n\r\n**Example**\r\n\r\n```javascript\r\nvar server = new TcpServer(3002, true);\r\n```\r\n\r\n##### getDevice\r\n\r\nGet device by key\r\n\r\n**Parameters**\r\n\r\nType     | Parameter | Description\r\n---------|-----------|------------------------------\r\n`string` | `key`     | Device key\r\n\r\n**Returns**\r\n\r\nReturns `null` if device not found otherwise `Device`.\r\n\r\n**Example**\r\n\r\n```javascript\r\nvar device = server.getDevice('192.168.1.1:3005');\r\n```\r\n\r\n##### hasDevice\r\n\r\nCheck if device exists with key\r\n\r\n**Parameters**\r\n\r\nType     | Parameter | Description\r\n---------|-----------|------------------------------\r\n`string` | `key`     | Device key\r\n\r\n**Returns**\r\n\r\nReturns  `true` if device with key exists, otherwise `false`. \r\n\r\n**Example**\r\n\r\n```javascript\r\nvar exists = server.hasDevice('192.168.1.1:3005');\r\n```\r\n\r\n##### listDevices\r\n\r\nList all devices registered by server.\r\n\r\n**Returns**\r\n\r\nReturns  `object` with `key`-`Device` pairs.\r\n\r\n**Example**\r\n\r\n```javascript\r\nvar devices = server.listDevices();\r\n\r\ndevices[key].ident(); // if device exists with \"key\"\r\n```\r\n\r\n#### Events\r\n\r\n##### register\r\n\r\nThe register event fires when new client first time connected. It means if client reconnecting then this event not fires.\r\n\r\n**Event parameters**\r\n\r\nType     | Parameter | Description\r\n-------- |-----------|-------------------------------------------\r\n`string` | `key`     | Newly connected device identifier\r\n`Device` | `device`  | Device instance for newly connected device\r\n\r\n**Example**\r\n\r\n```javascript\r\nserver.on('register', function (key, device) {\r\n    // Do something\r\n}\r\n```\r\n\r\n### TcpClient\r\n\r\n### Device\r\n\r\n## License\r\n\r\nThis package is licensed under the MIT License\r\n","versions":{"0.0.2":{"name":"multiwii-msp","version":"0.0.2","description":"NodeJS MultiWii Serial Protocol to send or receive commands from MultiWii via TCP/IP","main":"index.js","scripts":{"test":"echo \"Error: no test specified\" && exit 1"},"repository":{"type":"git","url":"https://github.com/vi-kon/multiwii-node-msp"},"keywords":["multiwii","msp","tcp"],"author":{"name":"Kovacs 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