@canboat/canboatjs 2.10.0 → 2.11.0

package/.github/workflows/publish.yml

@@ -0,0 +1,23 @@
+name: Publish to npm
+on:
+  release:
+    types: [created]
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+    - uses: actions/setup-node@v1
+      with:
+        node-version: '18.x'
+        registry-url: 'https://registry.npmjs.org'
+    - run: |
+          npm ci && npm cache clean --force
+          if [[ "$tag" == *beta* ]];
+            then
+              npm publish --tag beta
+            else
+              npm publish --access public
+          fi    
+      env:
+        NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}

package/.github/workflows/release_on_tag.yml

@@ -0,0 +1,27 @@
+name: 'Release on tag'
+on:
+  push:
+    tags:
+      - '*'
+
+jobs:
+  release:
+    permissions:
+      contents: write
+    if: startsWith(github.ref, 'refs/tags/')
+    runs-on: ubuntu-latest
+    steps:
+      - name: Build Changelog
+        id: github_release
+        uses: mikepenz/release-changelog-builder-action@v5
+        env:
+          GITHUB_TOKEN: ${{ secrets.RELEASE_PAT }}
+
+      - name: Create Release
+        uses: actions/create-release@v1
+        with:
+          tag_name: ${{ github.ref }}
+          release_name: ${{ github.ref }}
+          body: ${{steps.github_release.outputs.changelog}}
+        env:
+          GITHUB_TOKEN: ${{ secrets.RELEASE_PAT }}

package/.github/workflows/require_pr_label.yml

@@ -0,0 +1,13 @@
+name: Pull Request Labels
+on:
+  pull_request:
+    types: [opened, labeled, unlabeled, synchronize]
+jobs:
+  label:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: mheap/github-action-required-labels@v1
+        with:
+          mode: exactly
+          count: 1
+          labels: "fix, feature, doc, chore, test, ignore, other, dependencies"

package/bin/to-pgn

@@ -4,14 +4,14 @@ const argv = require('minimist')(process.argv.slice(2), {
   string: ['format'],
   alias: { h: 'help' }
 })
-const { pgnToActisenseSerialFormat, pgnToActisenseN2KAsciiFormat, pgnToiKonvertSerialFormat, pgnToYdgwRawFormat, pgnToPCDIN, pgnToMXPGN } = require('../index')
+const { pgnToActisenseSerialFormat, pgnToActisenseN2KAsciiFormat, pgnToiKonvertSerialFormat, pgnToYdgwRawFormat, pgnToYdgwFullRawFormat, pgnToPCDIN, pgnToMXPGN } = require('../index')
 const { toActisenseSerialFormat } = require('../lib/stringMsg')
 
 if ( argv['help'] ) {
   console.error(`Usage: ${process.argv[0]} [options]
 
 Options:
-  --format <format>   actisense, actisensen2kascii, ikconvert, ydgw, pcdin, mxpgn
+  --format <format>   actisense, actisensen2kascii, ikconvert, ydgw, yd-full, pcdin, mxpgn
   -h, --help          output usage information`)
   process.exit(1)
 }
@@ -23,7 +23,8 @@ const formatters = {
   ikconvert: pgnToiKonvertSerialFormat,
   ydgw: pgnToYdgwRawFormat,
   'pcdin': pgnToPCDIN,
-  'mxpgn': pgnToMXPGN
+  'mxpgn': pgnToMXPGN,
+  'yd-full': pgnToYdgwFullRawFormat
 }
 
 const format = argv['format'] || 'actisense'

package/examples/signalk-device-emulator/dist/index.d.ts

@@ -0,0 +1,11 @@
+export default function (app: any): Plugin;
+interface Plugin {
+    start: (app: any) => void;
+    stop: () => void;
+    sendKeepAlive: () => void;
+    id: string;
+    name: string;
+    description: string;
+    schema: any;
+}
+export {};

package/examples/signalk-device-emulator/dist/index.js

@@ -0,0 +1,129 @@
+"use strict";
+/*
+ * Copyright 2025 Scott Bender <scott@scottbender.net>
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+Object.defineProperty(exports, "__esModule", { value: true });
+var canboatjs = require('@canboat/canboatjs');
+var util = require('util');
+var keepAlivePGN = '%s,7,65305,%s,255,8,41,9f,01,17,1c,01,00,00';
+function default_1(app) {
+    var error = app.error;
+    var debug = app.debug;
+    var props;
+    var onStop = [];
+    var device;
+    var plugin = {
+        start: function (properties) {
+            var _this = this;
+            props = properties;
+            var n2kOptions = {
+                app: app,
+                canDevice: props.candevice,
+                preferredAddress: props.sourceAddress,
+                disableDefaultTransmitPGNs: true,
+                transmitPGNs: [126996],
+                addressClaim: {
+                    'Unique Number': 1731561,
+                    'Manufacturer Code': 'Navico',
+                    'Device Function': 190,
+                    'Device Class': 'Internal Environment',
+                    'Device Instance Lower': 0,
+                    'Device Instance Upper': 0,
+                    'System Instance': 0,
+                    'Industry Group': 'Marine'
+                },
+                productInfo: {
+                    'NMEA 2000 Version': 2100,
+                    'Product Code': 246,
+                    'Model ID': 'H5000 CPU',
+                    'Software Version Code': '2.0.45.0.29',
+                    'Model Version': '',
+                    'Model Serial Code': '005469',
+                    'Certification Level': 2,
+                    'Load Equivalency': 1
+                }
+            };
+            if (props.emulationType === 'socketcan') {
+                device = new canboatjs.SimpleCan(n2kOptions);
+                device.start();
+            }
+            else {
+                app.on('nmea2000OutAvailable', function () {
+                    device = new canboatjs.YdDevice(n2kOptions);
+                    device.start();
+                });
+            }
+            var timer = setInterval(function () {
+                _this.sendKeepAlive();
+            }, 1000);
+            onStop.push(function () { clearInterval(timer); });
+        },
+        sendKeepAlive: function () {
+            var msg = util.format(keepAlivePGN, (new Date()).toISOString(), device.address);
+            device.sendActisenseFormat(msg);
+            /*
+            device.sendPGN({
+              "prio":2,
+              "dst":255,
+              "pgn":127245,
+              "fields":{
+                "Instance":252,
+                "Direction Order":4,
+                "Angle Order":-0.0021,
+                "Position":-0.0029,
+                "Reserved1":null,
+                "Reserved2":null
+              }
+              })
+              */
+        },
+        stop: function () {
+            onStop.forEach(function (f) { return f(); });
+            onStop = [];
+        },
+        id: 'signalk-device-emulator',
+        name: 'signalk-device-emulator',
+        description: 'signalk-device-emulator',
+        schema: function () {
+            var schema = {
+                type: 'object',
+                properties: {
+                    emulationType: {
+                        type: 'string',
+                        title: 'Emulation Device',
+                        enum: ['socketcan', 'yd'],
+                        enumNames: [
+                            'SocketCan',
+                            'Yacht Devices'
+                        ],
+                        default: 'yd'
+                    },
+                    candevice: {
+                        type: "string",
+                        title: "Candevice to use for device emulation)",
+                        default: "can0"
+                    },
+                    sourceAddress: {
+                        type: "number",
+                        title: "Source device id for device emulation to use.",
+                        default: 199
+                    },
+                }
+            };
+            return schema;
+        }
+    };
+    return plugin;
+}
+exports.default = default_1;

package/examples/signalk-device-emulator/index.js

@@ -0,0 +1 @@
+module.exports = require('./dist/').default

package/examples/signalk-device-emulator/package.json

@@ -0,0 +1,24 @@
+{
+  "name": "signalk-device-emulator",
+  "version": "1.0.0",
+  "description": "Signal K Plugin which emulates a device",
+  "main": "index.js",
+  "scripts": {
+    "format": "prettier-standard 'src/*.ts'",
+    "build": "tsc",
+    "watch": "npm run build -- -w"
+  },
+  "keywords": [
+    "signalk-node-server-plugin"
+  ],
+  "author": "scott@scottbender.net",
+  "license": "Apache-2.0",
+  "dependencies": {
+    "@canboat/canboatjs": "^2.10.0"
+  },
+  "devDependencies": {
+    "@types/node": "^14.14.10",
+    "prettier-standard": "^16.4.1",
+    "typescript": "^4.1.2"
+  }
+}

package/index.js

@@ -28,6 +28,7 @@ module.exports = {
   pgnToActisenseN2KAsciiFormat: require('./lib/toPgn').pgnToActisenseN2KAsciiFormat,
   pgnToiKonvertSerialFormat: require('./lib/toPgn').pgnToiKonvertSerialFormat,
   pgnToYdgwRawFormat: require('./lib/toPgn').pgnToYdgwRawFormat,
+  pgnToYdgwFullRawFormat: require('./lib/toPgn').pgnToYdgwFullRawFormat,
   pgnToPCDIN: require('./lib/toPgn').pgnToPCDIN,
   pgnToMXPGN: require('./lib/toPgn').pgnToMXPGN,
   canbus: require('./lib/canbus'),
@@ -39,6 +40,7 @@ module.exports = {
   VenusMQTT: require('./lib/venus-mqtt'),
   discover: require('./lib/discovery'),
   SimpleCan: require('./lib/simpleCan'),
+  YdDevice: require('./lib/yddevice'),
   addCustomPgns: pgns.addCustomPgns,
   lookupEnumerationValue: pgns.lookupEnumerationValue,
   lookupEnumerationName: pgns.lookupEnumerationName
@@ -48,3 +50,4 @@ try {
   module.exports.serial = require('./lib/serial')
 } catch ( ex ) {
 }
+

package/lib/candevice.js

@@ -20,8 +20,9 @@ const _ = require('lodash')
 const Uint64LE = require('int64-buffer').Uint64LE
 const { defaultTransmitPGNs, getIndustryCode, getManufacturerCode, getDeviceClassCode } = require('./codes')
 const { toPgn } = require('./toPgn')
-let packageJson
+const N2kDevice = require('./n2kDevice')
 
+let packageJson
 try
 {
   packageJson = require('../' + 'package.json')
@@ -30,344 +31,21 @@ try
 
 const deviceTransmitPGNs = [ 60928, 59904, 126996, 126464 ]
 
-class CanDevice extends EventEmitter {
+class CanDevice extends N2kDevice {
   constructor (canbus, options) {
-    super()
-
-    if ( options.addressClaim ) {
-      this.addressClaim = options.addressClaim
-      this.addressClaim.pgn = 60928
-      this.addressClaim.dst = 255
-      this.addressClaim.prio = 6
-    } else {
-      this.addressClaim = {
-        pgn: 60928,
-        dst: 255,
-        prio:6,        
-        "Unique Number": 1263,
-        "Manufacturer Code": 999,
-        "Device Function": 130,      // PC gateway
-        "Device Class": 25,          // Inter/Intranetwork Device
-        "Device Instance Lower": 0,
-        "Device Instance Upper": 0,
-        "System Instance": 0,
-        "Industry Group": 4,          // Marine
-        "Reserved1": 1,
-        "Reserved2": 2
-      }
-      this.addressClaim["Unique Number"] = options.uniqueNumber || Math.floor(Math.random() * Math.floor(2097151))
-    }
-
-    let version = packageJson ? packageJson.version : "1.0"
-
-    if ( options.productInfo ) {
-      this.productInfo = options.productInfo
-      this.productInfo.pgn = 126996
-      this.productInfo.dst = 255
-    } else {
-      this.productInfo = {
-        pgn: 126996,
-        dst: 255,
-        "NMEA 2000 Version": 1300,
-        "Product Code": 667,   // Just made up..
-        "Model ID": "Signal K",
-        "Model Version": "canboatjs",
-        "Model Serial Code": options.uniqueNumber ? options.uniqueNumber.toString() : "000001",
-        "Certification Level": 0,
-        "Load Equivalency": 1
-      }
-    }
-
-    this.productInfo["Software Version Code"] = version
-
-    if ( options.serverVersion && options.serverUrl ) {
-      this.configurationInfo = {
-        pgn: 126998,
-        dst: 255,
-        "Installation Description #1": options.serverUrl,
-        "Installation Description #2": options.serverDescription,
-        "Manufacturer Information": options.serverVersion
-      }
-    } 
-
+    super(options)
     this.canbus = canbus
-    this.options = _.isUndefined(options) ? {} : options
-
-    this.address = _.isUndefined(options.preferredAddress) ? 100 : options.preferredAddress
-    this.cansend = false
-    this.foundConflict = false
-    this.heartbeatCounter = 0
-    this.devices = {}
-
-    if ( !options.disableDefaultTransmitPGNs ) {
-      this.transmitPGNs = _.union(deviceTransmitPGNs, defaultTransmitPGNs)
-    } else {
-      this.transmitPGNs = [...deviceTransmitPGNs]
-    }
-    
-    if ( this.options.transmitPGNs ) {
-      this.transmitPGNs = _.union(this.transmitPGNs,
-                                  this.options.transmitPGNs)
-    }
 
     if ( options.app ) {
       options.app.on(options.analyzerOutEvent || 'N2KAnalyzerOut', this.n2kMessage.bind(this))
     }
   }
 
-  start() {
-    sendISORequest(this, 60928, 254)
-    setTimeout(() => {
-      sendAddressClaim(this)
-    }, 1000)
-  }
-
-  n2kMessage(pgn) {
-    if ( pgn.dst == 255 || pgn.dst == this.address ) {
-      try {
-        if ( pgn.pgn == 59904 ) {
-          handleISORequest(this, pgn)
-        } else if ( pgn.pgn == 126208 ) {
-          handleGroupFunction(this, pgn)
-        } else if ( pgn.pgn == 60928 ) {
-          handleISOAddressClaim(this, pgn)
-        } else if ( pgn.pgn == 126996 ) {
-          handleProductInformation(this, pgn)
-        }
-      } catch ( err ) {
-        console.error(err)
-        console.error(err.stack)
-      }
-
-      /*
-      var handler = this.handlers[pgn.pgn.toString()]
-      if ( pgn.dst == this.address )
-        debug(`handler ${handler}`)
-      if ( _.isFunction(handler) ) {
-        debug(`got handled PGN %j  ${handled}`, pgn)
-        handler(pgn)
-      }
-      */
-    }
-  }
-}
-
-function sendPGN(device, pgn, src, dest) {
-  pgn.src = src || device.address
-  debug('Sending PGN %j', pgn)
-  device.canbus.sendPGN(pgn)
-}
-
-function handleISORequest(device, n2kMsg) {
-  debug('handleISORequest %j', n2kMsg)
-
-  switch (n2kMsg.fields.PGN) {
-  case 126996:  // Product Information request
-    sendProductInformation(device)
-    break;
-  case 126998:  // Config Information request
-    sendConfigInformation(device)
-    break;
-  case 60928:   // ISO address claim request
-    sendPGN(device, device.addressClaim)
-    break;
-  case 126464:
-    sendPGNList(device)
-    break;
-  default:
-    if ( !device.options.disableNAKs ) {
-      debug(`Got unsupported ISO request for PGN ${n2kMsg.fields.PGN}. Sending NAK.`)
-      sendNAKAcknowledgement(device, n2kMsg.src, n2kMsg.fields.PGN)
-    }
-  }
-}
-
-function handleGroupFunction(device, n2kMsg) {
-  debug('handleGroupFunction %j', n2kMsg)
-  if(n2kMsg.fields["Function Code"] === 'Request') {
-    handleRequestGroupFunction(device, n2kMsg)
-  } else if(n2kMsg.fields["Function Code"] === 'Command') {
-    handleCommandGroupFunction(device, n2kMsg)
-  } else {
-    debug('Got unsupported Group Function PGN: %j', n2kMsg)
-  }
-
-  function handleRequestGroupFunction(device, n2kMsg) {
-    if ( !device.options.disableNAKs ) {
-      // We really don't support group function requests for any PGNs yet -> always respond with pgnErrorCode 1 = "PGN not supported"
-      debug("Sending 'PGN Not Supported' Group Function response for requested PGN", n2kMsg.fields.PGN)
-      
-      const acknowledgement = {
-        pgn: 126208,
-        dst: n2kMsg.src,
-        "Function Code": 2,
-        "PGN": n2kMsg.fields.PGN,
-        "PGN error code": 4,
-        "Transmission interval/Priority error code": 0,
-      "# of Parameters": 0
-      }
-      sendPGN(device, acknowledgement)
-    }
-  }
-
-  function handleCommandGroupFunction(device, n2kMsg) {
-    if ( !device.options.disableNAKs ) {
-      // We really don't support group function commands for any PGNs yet -> always respond with pgnErrorCode 1 = "PGN not supported"
-      debug("Sending 'PGN Not Supported' Group Function response for commanded PGN", n2kMsg.fields.PGN)
-      
-      const acknowledgement = {
-        pgn: 126208,
-        dst: n2kMsg.src,
-        "Function Code": 2,
-        "PGN": n2kMsg.fields.PGN,
-        "PGN error code": 4,
-      "Transmission interval/Priority error code": 0,
-        "# of Parameters": 0
-      }
-      sendPGN(device, acknowledgement)
-    }
-  }
-}
-
-function handleISOAddressClaim(device, n2kMsg) {
-  if ( n2kMsg.src != device.address ) {
-    if ( !device.devices[n2kMsg.src] ) {
-      debug(`registering device ${n2kMsg.src}`)
-      device.devices[n2kMsg.src] = { addressClaim: n2kMsg }
-      if ( device.cansend ) {
-        //sendISORequest(device, 126996, undefined, n2kMsg.src)
-      }
-    }
-    return
-  }
-
-  debug('Checking ISO address claim. %j', n2kMsg)
-
-  const uint64ValueFromReceivedClaim = getISOAddressClaimAsUint64(n2kMsg)
-  const uint64ValueFromOurOwnClaim = getISOAddressClaimAsUint64(device.addressClaim)
-
-  if(uint64ValueFromOurOwnClaim < uint64ValueFromReceivedClaim) {
-    debug(`Address conflict detected! Kept our address as ${device.address}.`)
-    sendAddressClaim(device)      // We have smaller address claim data -> we can keep our address -> re-claim it
-  } else if(uint64ValueFromOurOwnClaim > uint64ValueFromReceivedClaim) {
-    this.foundConflict = true
-    increaseOwnAddress(device)    // We have bigger address claim data -> we have to change our address
-    sendAddressClaim(device)
-    debug(`Address conflict detected! Changed our address to ${device.address}.`)
-  }
-}
-
-function increaseOwnAddress(device) {
-  var start = device.address
-  do {
-    device.address = (device.address + 1) % 253
-  } while ( device.address != start && device.devices[device.address] )
-}
-
-function handleProductInformation(device, n2kMsg) {
-  if ( !device.devices[n2kMsg.src] ) {
-    device.devices[n2kMsg.src] = {}
-  }
-  debug('got production information %j', n2kMsg)
-  device.devices[n2kMsg.src].productInformation = n2kMsg
-}
-
-function sendHeartbeat(device)
-{
-  device.heartbeatCounter = device.heartbeatCounter + 1
-  if ( device.heartbeatCounter > 252 )
-  {
-    device.heartbeatCounter = 0
-  }
-  sendPGN(device,{
-    pgn: 126993,
-    dst: 255,
-    prio:7,
-    "Data transmit offset": "00:01:00",
-    "Sequence Counter": device.heartbeatCounter,
-    "Controller 1 State":"Error Active"
-  })
-}
-
-
-function sendAddressClaim(device) {
-  if ( device.devices[device.address] ) {
-    //someone already has this address, so find a free one
-    increaseOwnAddress(device)
-  }
-  debug(`Sending address claim ${device.address}`)
-  sendPGN(device, device.addressClaim)
-  setTimeout(() => {
-    if ( !device.foundConflict ) {
-      debug('no address conflics, enabling send')
-      device.cansend = true
-      if ( device.options.app ) {
-        device.options.app.emit('nmea2000OutAvailable')
-      }
-      sendISORequest(device, 126996)
-      device.heartbeatInterval = setInterval(() => {
-        sendHeartbeat(device)
-      }, 60*1000)
-      /*
-      _.keys(device.devices).forEach((address) => {
-        sendISORequest(device, 126996, undefined, address)
-      })
-      */
-
-    }
-  }, 250)
-}
-
-function sendISORequest(device, pgn, src, dst=255) {
-  debug(`Sending iso request for ${pgn} to ${dst}`)
-
-  const isoRequest = {
-    pgn: 59904,
-    dst: dst,
-    "PGN": pgn
-  }
-  sendPGN(device, isoRequest, src)
-}
-
-
-function sendProductInformation(device) {
-  debug("Sending product info..")
-
-  sendPGN(device, device.productInfo)
-}
-
-function sendConfigInformation(device) {
-  if ( device.configurationInfo ) {
-    debug("Sending config info..")
-    sendPGN(device, device.configurationInfo)
+  sendPGN(pgn, src) {
+    pgn.src = src || this.address
+    debug('Sending PGN %j', pgn)
+    this.canbus.sendPGN(pgn)
   }
 }
 
-function sendNAKAcknowledgement(device, src, requestedPGN) {
-  const acknowledgement = {
-    pgn: 59392,
-    dst: src,
-    Control: 1,
-    "Group Function": 255,
-    PGN: requestedPGN
-  }
-  sendPGN(device, acknowledgement)
-}
-
-function sendPGNList(device, src) {
-  //FIXME: for now, adding everything that signalk-to-nmea2000 supports
-  //need a way for plugins, etc. to register the pgns they provide
-  const pgnList = {
-    pgn: 126464,
-    dst: src,
-    "Function Code": 0,
-    list: device.transmitPGNs
-  }
-  sendPGN(device, pgnList)
-}
-
-function getISOAddressClaimAsUint64(pgn) {
-  return new Uint64LE(toPgn(pgn))
-}
-
 module.exports = CanDevice

package/lib/fromPgn.js

@@ -847,7 +847,7 @@ fieldTypeReaders[
     buf.writeUInt8(c, idx)
   }
 
-  return buf.toString('ascii', 0, idx)
+  return buf.toString('utf-8', 0, idx)
 }
 
 fieldTypeReaders["String with start/stop byte"] = (pgn, field, bs) => {
@@ -891,18 +891,27 @@ fieldTypeReaders['STRING_FIX'] = (pgn, field, bs) => {
   }
 
   var lastbyte = buf[len-1]
-  if (lastbyte == 0xff ||
-      lastbyte == 32 ||
-      lastbyte == 0 ||
-      lastbyte == 64
-     )
-  {
-    while (len > 0 && (buf[len - 1] == lastbyte))
-    {
-      len--;
-    }
-  }
-  return buf.toString('ascii', 0, len)
+  while (len > 0 && (lastbyte == 0xff ||
+                     lastbyte == 32 ||
+                     lastbyte == 0 ||
+                     lastbyte == 64
+                    )) {
+    len--
+    lastbyte = buf[len-1]
+  }
+
+  //look for a zero byte, some proprietary Raymarine pgns do this
+  let zero = 0
+  while ( zero < len ) {
+    if ( buf[zero] == 0 ) {
+      len = zero
+      break
+    }
+    zero++
+  }
+  len = zero
+  let res = len > 0 ? buf.toString('ascii', 0, len) : undefined
+  return res
 }
 
 fieldTypeReaders['BITLOOKUP'] = (pgn, field, bs) => {