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Aug 1, 2025
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allow javascript generator to work with both node and browser #1103

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bec6852
Generator: Javascript: whitespace fixup
IamPete1 Nov 11, 2024
8f2f854
Generator: Javascript: use `forEach` and `Uint8Array`
IamPete1 Nov 11, 2024
0a33fe4
mavgen_javascript: fixed signing and multi-message parsing
tridge Jul 27, 2025
c47a1e1
mavutil: added wss client support
tridge Jul 30, 2025
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42 changes: 11 additions & 31 deletions generator/javascript/test/mavlink10.js
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@ var fs = require('fs');
// Actual data stream taken from APM.
global.fixtures = global.fixtures || {};
global.fixtures.serialStream = fs.readFileSync("test/capture.mavlink");
//global.fixtures.heartbeatBinaryStream = fs.readFileSync("javascript/test/heartbeat-data-fixture");

describe("Generated MAVLink 1.0 protocol handler object", function() {

Expand Down Expand Up @@ -81,14 +80,7 @@ describe("Generated MAVLink 1.0 protocol handler object", function() {

describe("buffer decoder (parseBuffer)", function() {

// This test prepopulates a single message as a binary buffer.
it("decodes a binary stream representation of a single message correctly", function() {
this.m.pushBuffer(global.fixtures.heartbeatBinaryStream);
var messages = this.m.parseBuffer();

});

// This test includes a "noisy" signal, with non-mavlink data/messages/noise.
// This test includes a "noisy" signal, with non-mavlink data/messages/noise.
it("decodes a real serial binary stream into an array of MAVLink messages", function() {
this.m.pushBuffer(global.fixtures.serialStream);
var messages = this.m.parseBuffer();
Expand All @@ -113,11 +105,11 @@ describe("Generated MAVLink 1.0 protocol handler object", function() {
});

it("emits a 'message' event, provisioning callbacks with the message", function(done) {
this.m.on('message', function(message) {
message.should.be.an.instanceof(mavlink10.messages.heartbeat);
this.m.on('message', function(message) {
message.should.be.an.instanceof(mavlink10.messages.heartbeat);
done();
});
this.m.parseChar(this.heartbeatPayload);
});
this.m.parseChar(this.heartbeatPayload);
});

it("emits a 'message' event for bad messages, provisioning callbacks with the message", function(done) {
Expand All @@ -129,24 +121,12 @@ describe("Generated MAVLink 1.0 protocol handler object", function() {
this.m.parseChar(b);
});

it("on bad prefix: cuts-off first char in buffer and returns correct bad data", function() {
var b = new Buffer.from([3, 0, 1, 2, 3, 4, 5]); // invalid message
var message = this.m.parseChar(b);
message._msgbuf.length.should.be.eql(1);
message._msgbuf[0].should.be.eql(3);
this.m.buf.length.should.be.eql(6);
// should process next char
message = this.m.parseChar();
message._msgbuf.length.should.be.eql(1);
message._msgbuf[0].should.be.eql(0);
this.m.buf.length.should.be.eql(5);
});

it("on bad message: cuts-off message length and returns correct bad data", function() {
it("on bad message: cuts-off message length and returns correct bad data", function() {
var message = this.m.parseChar(this.completeInvalidMessage);
message._msgbuf.length.should.be.eql(8);
message._msgbuf.should.be.eql(this.completeInvalidMessage);
this.m.buf.length.should.be.eql(0);

message._msgbuf.length.should.be.eql(8);
Buffer.from(message._msgbuf).should.be.eql(this.completeInvalidMessage);
this.m.buf.length.should.be.eql(0);
});

it("error counter is raised on error", function() {
Expand Down Expand Up @@ -180,7 +160,7 @@ describe("Generated MAVLink 1.0 protocol handler object", function() {
var b = new Buffer.alloc(16);
b.fill("h");
this.m.pushBuffer(b);
this.m.buf.should.eql(b); // eql = wiggly equality
Buffer.from(this.m.buf).should.eql(b); // eql = wiggly equality
});
});

Expand Down
29 changes: 4 additions & 25 deletions generator/javascript/test/mavlink20.js
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Original file line number Diff line number Diff line change
Expand Up @@ -5,7 +5,6 @@ var fs = require('fs');
// Actual data stream taken from APM.
global.fixtures = global.fixtures || {};
global.fixtures.serialStream = fs.readFileSync("test/capture.mavlink");
//global.fixtures.heartbeatBinaryStream = fs.readFileSync("javascript/test/heartbeat-data-fixture");

describe("Generated MAVLink 2.0 protocol handler object", function() {

Expand Down Expand Up @@ -85,14 +84,7 @@ describe("Generated MAVLink 2.0 protocol handler object", function() {

describe("buffer decoder (parseBuffer)", function() {

// This test prepopulates a single message as a binary buffer.
it("decodes a binary stream representation of a single message correctly", function() {
this.m.pushBuffer(global.fixtures.heartbeatBinaryStream);
var messages = this.m.parseBuffer();

});

// This test includes a "noisy" signal, with non-mavlink data/messages/noise.
// This test includes a "noisy" signal, with non-mavlink data/messages/noise.
it("decodes a real serial binary stream into an array of MAVLink messages", function() {
this.m.pushBuffer(global.fixtures.serialStream);
var messages = this.m.parseBuffer();
Expand Down Expand Up @@ -133,23 +125,10 @@ describe("Generated MAVLink 2.0 protocol handler object", function() {
this.m.parseChar(b);
});

it("on bad prefix: cuts-off first char in buffer and returns correct bad data", function() {
var b = new Buffer.from([3, 0, 1, 2, 3, 4, 5, 6, 7]); // invalid message
var message = this.m.parseChar(b);
message._msgbuf.length.should.be.eql(1);
message._msgbuf[0].should.be.eql(3);
this.m.buf.length.should.be.eql(8);
// should process next char
message = this.m.parseChar();
message._msgbuf.length.should.be.eql(1);
message._msgbuf[0].should.be.eql(0);
this.m.buf.length.should.be.eql(7);
});

it("on bad message: cuts-off message length and returns correct bad data", function() {
it("on bad message: cuts-off message length and returns correct bad data", function() {
var message = this.m.parseChar(this.completeInvalidMessage);
message._msgbuf.length.should.be.eql(12);
message._msgbuf.should.be.eql(this.completeInvalidMessage);
Buffer.from(message._msgbuf).should.be.eql(this.completeInvalidMessage);
this.m.buf.length.should.be.eql(0);
});

Expand Down Expand Up @@ -184,7 +163,7 @@ describe("Generated MAVLink 2.0 protocol handler object", function() {
var b = new Buffer.alloc(16);
b.fill("h");
this.m.pushBuffer(b);
this.m.buf.should.eql(b); // eql = wiggly equality
Buffer.from(this.m.buf).should.eql(b); // eql = wiggly equality
});
});

Expand Down
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