@canboat/canboatjs 3.0.0-beta.2 → 3.0.0-beta.4

package/.github/workflows/publish.yml

@@ -11,13 +11,13 @@ jobs:
       with:
         node-version: '18.x'
         registry-url: 'https://registry.npmjs.org'
-      run: |
+    - run: |
           npm ci && npm cache clean --force
           if [[ "$tag" == *beta* ]];
             then
               npm publish --tag beta
             else
-              npm publish
+              npm publish --access public
           fi    
       env:
-        NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}
+        NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}

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/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.functionCodeRequest) {
-    handleRequestGroupFunction(device, n2kMsg)
-  } else if(n2kMsg.fields.functionCodeCommand) {
-    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

@@ -635,7 +635,7 @@ function readField(options, runPostProcessor, pgn, field, bs, fields) {
       }
       if ( options.checkForInvalidFields !== false && max !== 'undefined' &&
            field.FieldType !== 'LOOKUP' &&
-           field.FieldType !== 'FIELDTYPE_LOOKUP' &&
+           field.FieldType !== 'DYNAMIC_FIELD_KEY' &&
            field.FieldType !== 'PGN' &&
            field.BitLength > 1 &&
            max - value < 0 ) {
@@ -660,7 +660,7 @@ function readField(options, runPostProcessor, pgn, field, bs, fields) {
       }
 
       if ((field.FieldType === 'LOOKUP' ||
-           field.FieldType === 'FIELDTYPE_LOOKUP') &&
+           field.FieldType === 'DYNAMIC_FIELD_KEY') &&
           runPostProcessor &&
           (_.isUndefined(options.resolveEnums) ||
            options.resolveEnums)) {
@@ -691,7 +691,7 @@ function readField(options, runPostProcessor, pgn, field, bs, fields) {
 function readValue(options, pgn, field, bs, fields, bitLength) {
   var value
   if ( _.isUndefined(bitLength) ) {
-    if ( field.BitLengthVariable && field.FieldType === "KEY_VALUE" ) {
+    if ( field.BitLengthVariable && field.FieldType === "DYNAMIC_FIELD_VALUE" ) {
       bitLength = lookupKeyBitLength(pgn.fields, fields)
     } else {
       bitLength = field.BitLength

package/lib/n2kDevice.js

@@ -0,0 +1,365 @@
+/**
+ * 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.
+ */
+
+const debug = require('debug')('canboatjs:n2kdevice')
+const EventEmitter = require('events')
+const _ = require('lodash')
+const Uint64LE = require('int64-buffer').Uint64LE
+const { defaultTransmitPGNs, getIndustryCode, getManufacturerCode, getDeviceClassCode } = require('./codes')
+const { toPgn } = require('./toPgn')
+let packageJson
+
+try
+{
+  packageJson = require('../' + 'package.json')
+} catch (ex) {
+}
+
+const deviceTransmitPGNs = [ 60928, 59904, 126996, 126464 ]
+
+class N2kDevice extends EventEmitter {
+  constructor (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
+      }
+    } 
+
+    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)
+    }
+  }
+
+  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)
+      }
+      */
+    }
+  }
+
+  sendPGN(pgn, src) {
+  }
+}
+
+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
+    device.sendPGN(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.functionCode === 'Request') {
+    handleRequestGroupFunction(device, n2kMsg)
+  } else if(n2kMsg.fields.functionCode === '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
+      }
+      device.sendPGN(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
+      }
+      device.sendPGN(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
+  }
+  device.sendPGN({
+    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}`)
+  device.sendPGN(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
+  }
+  device.sendPGN(isoRequest, src)
+}
+
+
+function sendProductInformation(device) {
+  debug("Sending product info..")
+
+  device.sendPGN(device.productInfo)
+}
+
+function sendConfigInformation(device) {
+  if ( device.configurationInfo ) {
+    debug("Sending config info..")
+    device.sendPGN(device.configurationInfo)
+  }
+}
+
+function sendNAKAcknowledgement(device, src, requestedPGN) {
+  const acknowledgement = {
+    pgn: 59392,
+    dst: src,
+    Control: 1,
+    "Group Function": 255,
+    PGN: requestedPGN
+  }
+  device.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
+  }
+  device.sendPGN(pgnList)
+}
+
+function getISOAddressClaimAsUint64(pgn) {
+  return new Uint64LE(toPgn(pgn))
+}
+
+module.exports = N2kDevice

package/lib/simpleCan.js

@@ -39,7 +39,7 @@ SimpleCan.prototype.start = function () {
                                   disableDefaultTransmitPGNs: true,
                                   disableNAKs: true
                                  },
-)
+                                )
   this.candevice.start()
 }
 
@@ -98,6 +98,10 @@ SimpleCan.prototype.sendPGN = function (msg) {
   }
 }
 
+SimpleCan.prototype.sendActisenseFormat = function (msg) {
+  this.sendPGN(msg)
+}
+
 function binToActisense(pgn, data, length) {
   return (
     pgn.timestamp +

package/lib/stringMsg.js

@@ -8,6 +8,7 @@ const {
 const {
   buildCanId, encodeCanIdString, parseCanId, parseCanIdStr,
 } = require('./canId')
+const moment = require('moment')
 
 /**
  * Helper function that helps merge canId fields with format, data, and others.
@@ -117,6 +118,17 @@ exports.encodeYDRAW = ({ data, ...canIdInfo }) => {
   return pgns.map(buffer => canId + ' ' + byteString(buffer, ' '))
 }
 
+//16:29:27.082 R 19F51323 01 02<CR><LF>
+exports.encodeYDRAWFull = ({ data, ...canIdInfo }) => {
+  const canId = encodeCanIdString(canIdInfo)
+  const pgns = data.length > 8 || canIdInfo.pgn == 126720 ? getPlainPGNs(data) : [ data ]
+  return pgns.map(buffer =>
+    moment().utc().format('hh:mm:ss.SSS')
+      + ' R '
+      + canId + ' '
+      + byteString(buffer, ' '))
+}
+
 const get0183Sentence = (msg) => {
   let sentence = msg
   if (sentence.charAt(0) === '\\') {

package/lib/toPgn.js

@@ -21,7 +21,7 @@ const BitStream = require('bit-buffer').BitStream
 const Int64LE = require('int64-buffer').Int64LE
 const Uint64LE = require('int64-buffer').Uint64LE
 const { getPlainPGNs } = require('./utilities')
-const { encodeActisense, encodeActisenseN2KACSII, encodeYDRAW, parseActisense, encodePCDIN, encodeMXPGN, encodePDGY } = require('./stringMsg')
+const { encodeActisense, encodeActisenseN2KACSII, encodeYDRAW, encodeYDRAWFull, parseActisense, encodePCDIN, encodeMXPGN, encodePDGY } = require('./stringMsg')
 const { encodeN2KActisense } = require('./n2k-actisense')
 const { encodeCanId } = require('./canId')
 const { getIndustryCode, getManufacturerCode } = require('./codes')
@@ -147,7 +147,7 @@ function writeField(bs, pgn_number, field, data, value, fields, bitLength) {
   var startPos = bs.byteIndex
 
   if ( _.isUndefined(bitLength) ) {
-    if ( field.BitLengthVariable && field.FieldType === "KEY_VALUE" ) {
+    if ( field.BitLengthVariable && field.FieldType === "DYNAMIC_FIELD_VALUE" ) {
       bitLength = lookupKeyBitLength(data, fields)
     } else {
       bitLength = field.BitLength
@@ -178,7 +178,7 @@ function writeField(bs, pgn_number, field, data, value, fields, bitLength) {
     } else if ( type && fieldTypeMappers[type] ) {
       value = fieldTypeMappers[type](field, value)
     } else if ((field.FieldType === 'LOOKUP' ||
-                field.FieldType === 'FIELDTYPE_LOOKUP') && _.isString(value)) {
+                field.FieldType === 'DYNAMIC_FIELD_KEY') && _.isString(value)) {
       if (!(field.Id === "timeStamp" && value < 60)) {
         value = lookup(field, value)
       }
@@ -333,6 +333,10 @@ function pgnToYdgwRawFormat(info) {
   return encodeYDRAW({ ...info, data: toPgn(info) })
 }
 
+function pgnToYdgwFullRawFormat(info) {
+  return encodeYDRAWFull({ ...info, data: toPgn(info) })
+}
+
 function pgnToPCDIN(info) {
   return encodePCDIN({ ...info, data: toPgn(info) })
 }
@@ -342,6 +346,7 @@ function pgnToMXPGN(info) {
 }
 
 const actisenseToYdgwRawFormat = _.flow(parseActisense, encodeYDRAW)
+const actisenseToYdgwFullRawFormat = _.flow(parseActisense, encodeYDRAWFull)
 const actisenseToPCDIN = _.flow(parseActisense, encodePCDIN)
 const actisenseToMXPGN = _.flow(parseActisense, encodeMXPGN)
 const actisenseToiKonvert = _.flow(parseActisense, encodePDGY)
@@ -498,7 +503,9 @@ module.exports.toPgn = toPgn
 module.exports.toiKonvertSerialFormat = toiKonvertSerialFormat
 module.exports.pgnToiKonvertSerialFormat = pgnToiKonvertSerialFormat
 module.exports.pgnToYdgwRawFormat = pgnToYdgwRawFormat
+module.exports.pgnToYdgwFullRawFormat = pgnToYdgwFullRawFormat
 module.exports.actisenseToYdgwRawFormat = actisenseToYdgwRawFormat
+module.exports.actisenseToYdgwFullRawFormat = actisenseToYdgwFullRawFormat
 module.exports.pgnToActisenseSerialFormat = pgnToActisenseSerialFormat
 module.exports.pgnToActisenseN2KAsciiFormat = pgnToActisenseN2KAsciiFormat
 module.exports.pgnToN2KActisenseFormat = pgnToN2KActisenseFormat

package/lib/yddevice.js

@@ -0,0 +1,47 @@
+/**
+ * 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.
+ */
+
+
+const debug = require('debug')('canboatjs:n2kdevice')
+const N2kDevice = require('./n2kDevice')
+
+const { actisenseToYdgwFullRawFormat  } = require('./toPgn')
+
+class YdDevice extends N2kDevice {
+  constructor (options) {
+    super(options)
+    this.app = options.app
+    this.n2kOutEvent = options.jsonOutEvent || 'nmea2000JsonOut'
+    
+    const analyzerOutEvent = options.analyzerOutEvent || 'N2KAnalyzerOut'
+    
+    this.app.on(options.analyzerOutEvent || 'N2KAnalyzerOut', this.n2kMessage.bind(this))
+  }
+
+  sendPGN(pgn, src) {
+    pgn.src = src || this.address
+    pgn.
+    pgn.ydFullFormat = true
+    debug('Sending PGN %j', pgn)
+    this.app.emit(this.n2kOutEvent, pgn)
+  }
+
+  sendActisenseFormat(msg) {
+    this.app.emit('ydFullRawOut', actisenseToYdgwFullRawFormat(msg))
+  }
+}
+
+module.exports = YdDevice

package/lib/ydgw02.js

@@ -20,7 +20,7 @@ const FromPgn = require('./fromPgn').Parser
 const Parser = require('./fromPgn').Parser
 const _ = require('lodash')
 const { defaultTransmitPGNs } = require('./codes')
-const { pgnToYdgwRawFormat, actisenseToYdgwRawFormat } = require('./toPgn')
+const { pgnToYdgwRawFormat, pgnToYdgwFullRawFormat, actisenseToYdgwRawFormat } = require('./toPgn')
 
 const pgnsSent = {}
 
@@ -63,6 +63,11 @@ function Ydgw02Stream (options, type) {
       options.app.emit('connectionwrite', { providerId: options.providerId })
     })
 
+    options.app.on('ydFullRawOut', (msgs) => {
+      this.sendYdgwFullPGN(msgs)
+      options.app.emit('connectionwrite', { providerId: options.providerId })
+    })
+
     //this.sendString('$PDGY,N2NET_OFFLINE')
 
     if ( type === 'usb' ) {
@@ -82,12 +87,24 @@ Ydgw02Stream.prototype.sendString = function (msg) {
 Ydgw02Stream.prototype.sendPGN = function (pgn) {
   let now = Date.now()
   let lastSent = pgnsSent[pgn.pgn]
-  pgnToYdgwRawFormat(pgn).forEach(raw => {
+  let msgs
+  if ( pgn.ydFullFormat === true ) {
+    msgs = pgnToYdgwFullRawFormat(pgn)
+  } else {
+    msgs = pgnToYdgwRawFormat(pgn)
+  }
+  msgs.forEach(raw => {
     this.sendString(raw + '\r\n')
   })
   pgnsSent[pgn.pgn] = now
 }
 
+Ydgw02Stream.prototype.sendYdgwFullPGN = function (msgs) {
+  msgs.forEach(raw => {
+    this.sendString(raw + '\r\n')
+  })
+}
+
 Ydgw02Stream.prototype.sendYdgwPGN = function (msg) {
 
   actisenseToYdgwRawFormat(msg).forEach(raw => {

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "@canboat/canboatjs",
-  "version": "3.0.0-beta.2",
+  "version": "3.0.0-beta.4",
   "description": "Native javascript version of canboat",
   "main": "index.js",
   "scripts": {
@@ -53,7 +53,7 @@
   ],
   "license": "Apache-2.0",
   "dependencies": {
-    "@canboat/pgns": "6.0.0-beta.1",
+    "@canboat/pgns": "6.0.0-beta.2",
     "bit-buffer": "0.2.3",
     "debug": "^4.3.4",
     "dnssd": "^0.4.1",