@canboat/canboatjs 3.16.3 → 3.16.4

package/dist/actisense-serial.d.ts

@@ -14,4 +14,5 @@
  * limitations under the License.
  */
 export declare function ActisenseStream(this: any, options: any): any;
+export declare function composeMessage(command: number, buffer: Buffer, len: number): Buffer<ArrayBuffer>;
 //# sourceMappingURL=actisense-serial.d.ts.map

package/dist/actisense-serial.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"actisense-serial.d.ts","sourceRoot":"","sources":["../lib/actisense-serial.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AA0CH,wBAAgB,eAAe,CAAC,IAAI,EAAE,GAAG,EAAE,OAAO,EAAE,GAAG,OAkCtD"}
+{"version":3,"file":"actisense-serial.d.ts","sourceRoot":"","sources":["../lib/actisense-serial.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;GAcG;AA8CH,wBAAgB,eAAe,CAAC,IAAI,EAAE,GAAG,EAAE,OAAO,EAAE,GAAG,OAkCtD;AAqbD,wBAAgB,cAAc,CAAC,OAAO,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,uBA+B1E"}

package/dist/actisense-serial.js

@@ -19,6 +19,7 @@ var __importDefault = (this && this.__importDefault) || function (mod) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.ActisenseStream = ActisenseStream;
+exports.composeMessage = composeMessage;
 const utilities_1 = require("./utilities");
 const util_1 = require("util");
 const stream_1 = require("stream");
@@ -35,13 +36,17 @@ const DLE = 0x10; /* Start pto encode a STX or ETX send DLE+STX or DLE+ETX */
 const ESC = 0x1b; /* Escape */
 /* Actisense message structure is:
 
-   DLE STX <command> <len> [<data> ...]  <checksum> DLE ETX
+   DLE STX <command> <len> [<data> ...] <checksum> DLE ETX
 
-   <command> is a byte from the list below.
-   In <data> any DLE characters are double escaped (DLE DLE).
-   <len> encodes the unescaped length.
-   <checksum> is such that the sum of all unescaped data bytes plus the command
-              byte plus the length adds up to zero, modulo 256.
+   Byte stuffing: any DLE (0x10) byte appearing in <len>, <data>, or
+   <checksum> is duplicated on the wire (written as DLE DLE). The
+   leading DLE STX and trailing DLE ETX are framing markers and are
+   never stuffed.
+   <command> is a byte from the list below and is written as-is.
+   <len> is the payload length in bytes — the number of <data> bytes
+         before byte stuffing.
+   <checksum> is chosen so command + len + all unescaped <data> bytes +
+              checksum is 0 modulo 256.
 */
 const N2K_MSG_RECEIVED = 0x93; /* Receive standard N2K message */
 const N2K_MSG_SEND = 0x94; /* Send N2K message */
@@ -495,9 +500,11 @@ function composeMessage(command, buffer, len) {
     out.writeUint8(DLE);
     out.writeUint8(STX);
     out.writeUint8(command);
-    const lenPos = out.byteIndex;
-    out.writeUint8(0); //length. will update later
-    let crc = command;
+    out.writeUint8(len);
+    if (len == DLE) {
+        out.writeUint8(DLE);
+    }
+    let crc = addUInt8(command, len);
     for (let i = 0; i < len; i++) {
         const c = buffer.readUInt8(i);
         if (c == DLE) {
@@ -506,12 +513,13 @@ function composeMessage(command, buffer, len) {
         out.writeUint8(c);
         crc = addUInt8(crc, c);
     }
-    crc = addUInt8(crc, len);
-    out.writeUint8(256 - crc);
+    const checksum = (256 - crc) & 0xff;
+    if (checksum == DLE) {
+        out.writeUint8(DLE);
+    }
+    out.writeUint8(checksum);
     out.writeUint8(DLE);
     out.writeUint8(ETX);
-    out.view.buffer.writeUInt8(len, lenPos);
-    //that.debug(`command ${out.view.buffer[2]} ${lenPos} ${len} ${out.view.buffer[lenPos]} ${out.view.buffer.length} ${out.byteIndex}`)
     return out.view.buffer.slice(0, out.byteIndex);
 }
 function parseInput(msg) {

package/dist/actisense-serial.js.map

@@ -1 +1 @@
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package/dist/actisense-serial.test.d.ts

@@ -0,0 +1,2 @@
+export {};
+//# sourceMappingURL=actisense-serial.test.d.ts.map

package/dist/actisense-serial.test.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"actisense-serial.test.d.ts","sourceRoot":"","sources":["../lib/actisense-serial.test.ts"],"names":[],"mappings":""}

package/dist/actisense-serial.test.js

@@ -0,0 +1,99 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+const actisense_serial_1 = require("./actisense-serial");
+const DLE = 0x10;
+const STX = 0x02;
+const ETX = 0x03;
+const N2K_MSG_SEND = 0x94;
+// Reference framing parser matching the NGT-1's byte-stuffing protocol.
+// Returns the unescaped payload (command byte + body) extracted from a
+// well-formed DLE/STX...DLE/ETX frame, or null if framing is broken.
+function unframe(bytes) {
+    const out = [];
+    let i = 0;
+    if (bytes[i++] !== DLE || bytes[i++] !== STX)
+        return null;
+    while (i < bytes.length) {
+        const c = bytes[i++];
+        if (c === DLE) {
+            const next = bytes[i++];
+            if (next === ETX) {
+                // checksum is the last unescaped byte before DLE ETX
+                out.pop();
+                return Buffer.from(out);
+            }
+            if (next === DLE) {
+                out.push(DLE);
+                continue;
+            }
+            return null; // unexpected DLE escape
+        }
+        out.push(c);
+    }
+    return null; // never saw DLE ETX
+}
+describe('composeMessage DLE escaping', () => {
+    test('payload of exactly 16 bytes escapes the length byte (regression for unescaped len == DLE)', () => {
+        // The 126208 NMEA Command Group Function with two parameters produces
+        // a 10-byte data payload, which becomes a 16-byte framed body
+        // (1 prio + 3 pgn + 1 dst + 1 bytecount + 10 data). The body length
+        // 0x10 collides with the DLE escape byte. Without escaping, the NGT-1
+        // sees `94 10 02 ...` and resets framing on `DLE STX`, losing the
+        // command byte and the rest of the message.
+        const body = Buffer.from([
+            0x02, 0x00, 0xed, 0x01, 0x10, 0x0a, 0x01, 0x0d, 0xf2, 0x01, 0xf8, 0x02,
+            0x01, 0x2a, 0x0d, 0x01
+        ]);
+        expect(body.length).toBe(0x10);
+        const framed = (0, actisense_serial_1.composeMessage)(N2K_MSG_SEND, body, body.length);
+        // After the leading DLE STX command, the length byte 0x10 must be
+        // doubled so the receiver doesn't mistake it for a framing escape.
+        expect(framed[0]).toBe(DLE);
+        expect(framed[1]).toBe(STX);
+        expect(framed[2]).toBe(N2K_MSG_SEND);
+        expect(framed[3]).toBe(0x10); // length
+        expect(framed[4]).toBe(0x10); // escape — this is what the old code missed
+    });
+    test('payload of exactly 16 bytes round-trips through framing parser', () => {
+        const body = Buffer.from([
+            0x02, 0x00, 0xed, 0x01, 0x10, 0x0a, 0x01, 0x0d, 0xf2, 0x01, 0xf8, 0x02,
+            0x01, 0x2a, 0x0d, 0x01
+        ]);
+        const framed = (0, actisense_serial_1.composeMessage)(N2K_MSG_SEND, body, body.length);
+        const unframed = unframe(framed);
+        expect(unframed).not.toBeNull();
+        // unframed = [command, length, ...body]
+        expect(unframed[0]).toBe(N2K_MSG_SEND);
+        expect(unframed[1]).toBe(body.length);
+        expect(unframed.subarray(2)).toEqual(body);
+    });
+    test('checksum byte is escaped when it equals DLE', () => {
+        // Construct a body whose checksum collides with DLE.
+        // checksum = (256 - (command + len + sum(body))) mod 256
+        // For checksum = 0x10, need (command + len + sum(body)) mod 256 == 0xf0.
+        // command 0x94 (148) + len 1 + body[0] = 240  =>  body[0] = 91 (0x5b)
+        const body = Buffer.from([0x5b]);
+        const framed = (0, actisense_serial_1.composeMessage)(N2K_MSG_SEND, body, body.length);
+        // Trailing pattern: ... <escaped checksum> DLE ETX
+        // With escape: [..., 0x10, 0x10, 0x10, 0x03]
+        const tail = Array.from(framed.slice(framed.length - 4));
+        expect(tail).toEqual([0x10, 0x10, 0x10, 0x03]);
+        // Round-trip parse must still yield the original body and the
+        // computed checksum byte (0x10) without confusing the parser.
+        const unframed = unframe(framed);
+        expect(unframed).not.toBeNull();
+        expect(unframed[0]).toBe(N2K_MSG_SEND);
+        expect(unframed[1]).toBe(body.length);
+        expect(unframed.subarray(2)).toEqual(body);
+    });
+    test('payload with embedded DLE byte is escaped (existing behavior, regression guard)', () => {
+        const body = Buffer.from([0x01, DLE, 0x02]);
+        const framed = (0, actisense_serial_1.composeMessage)(N2K_MSG_SEND, body, body.length);
+        const unframed = unframe(framed);
+        expect(unframed).not.toBeNull();
+        expect(unframed[0]).toBe(N2K_MSG_SEND);
+        expect(unframed[1]).toBe(body.length);
+        expect(unframed.subarray(2)).toEqual(body);
+    });
+});
+//# sourceMappingURL=actisense-serial.test.js.map

package/dist/actisense-serial.test.js.map

@@ -0,0 +1 @@
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package/dist/canSocket.d.ts

@@ -1,19 +1,18 @@
 /**
- * Minimal CAN socket wrapper using fs streams instead of uv_poll_t.
+ * Minimal CAN socket wrapper using uv_poll_t-based reads.
  *
- * The native addon (native/canSocket.cpp) opens a PF_CAN socket, binds it
- * to the interface, and returns the raw fd in blocking mode.
+ * The native addon (native/canSocket.cpp) opens PF_CAN sockets in non-blocking
+ * mode and exposes a CanPoller class that registers a uv_poll_t watcher on the
+ * read fd. When frames are readable, the watcher invokes a JS callback that
+ * drains all available frames via a non-blocking native read. Writes also use
+ * a non-blocking native write so neither direction ever occupies a libuv
+ * threadpool worker — this keeps the threadpool free for fs operations and
+ * lets process.exit() terminate cleanly without hanging on a blocked syscall.
  *
- * Node.js's net.Socket cannot wrap CAN fds (uv_guess_handle returns
- * UV_UNKNOWN_HANDLE). Instead we use fs.createReadStream which uses libuv's
- * threadpool-based uv_fs_read — works on any fd, never stalls, and does not
- * use uv_poll_t.
- *
- * Reads and writes use separate CAN sockets bound to the same interface.
- * The read socket is blocking (for threadpool reads), the write socket is
- * O_NONBLOCK (to avoid stalling when the CAN bus has no listeners).
- * Separate fds prevent writeCanFrame from toggling O_NONBLOCK on the read
- * fd, which caused spurious ReadStream errors and reconnect cycles.
+ * Reads and writes use separate CAN sockets bound to the same interface:
+ * the read socket has the default (full) RX filter, the write socket has an
+ * empty RX filter so the kernel doesn't queue frames into a buffer nobody
+ * reads.
  *
  * Copyright 2025 Signal K contributors
  * Licensed under the Apache License, Version 2.0
@@ -29,13 +28,14 @@ export interface CanMessage {
  * start(), stop(), send(), removeAllListeners().
  */
 export declare class CanChannel extends EventEmitter {
-    private readStream;
     private readFd;
     private writeFd;
-    private remainder;
+    private poller;
     private stopped;
+    private exitHandler;
     constructor(ifname: string);
     start(): void;
+    private onReadable;
     stop(): void;
     send(msg: {
         id: number;

package/dist/canSocket.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"canSocket.d.ts","sourceRoot":"","sources":["../lib/canSocket.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;;GAmBG;AAEH,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAwBrC,MAAM,WAAW,UAAU;IACzB,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;CACb;AAED;;;;GAIG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,UAAU,CAA0B;IAC5C,OAAO,CAAC,MAAM,CAAQ;IACtB,OAAO,CAAC,OAAO,CAAQ;IACvB,OAAO,CAAC,SAAS,CAA0B;IAC3C,OAAO,CAAC,OAAO,CAAiB;gBAEpB,MAAM,EAAE,MAAM;IAc1B,KAAK,IAAI,IAAI;IAuCb,IAAI,IAAI,IAAI;IAUZ,IAAI,CAAC,GAAG,EAAE;QAAE,EAAE,EAAE,MAAM,CAAC;QAAC,GAAG,CAAC,EAAE,OAAO,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,GAAG,IAAI;CAgB7D"}
+{"version":3,"file":"canSocket.d.ts","sourceRoot":"","sources":["../lib/canSocket.ts"],"names":[],"mappings":"AAAA;;;;;;;;;;;;;;;;;;GAkBG;AAEH,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAkCrC,MAAM,WAAW,UAAU;IACzB,EAAE,EAAE,MAAM,CAAA;IACV,IAAI,EAAE,MAAM,CAAA;CACb;AAED;;;;GAIG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,MAAM,CAAQ;IACtB,OAAO,CAAC,OAAO,CAAQ;IACvB,OAAO,CAAC,MAAM,CAA+B;IAC7C,OAAO,CAAC,OAAO,CAAiB;IAChC,OAAO,CAAC,WAAW,CAA4B;gBAEnC,MAAM,EAAE,MAAM;IAqB1B,KAAK,IAAI,IAAI;IAKb,OAAO,CAAC,UAAU;IA6BlB,IAAI,IAAI,IAAI;IAqBZ,IAAI,CAAC,GAAG,EAAE;QAAE,EAAE,EAAE,MAAM,CAAC;QAAC,GAAG,CAAC,EAAE,OAAO,CAAC;QAAC,IAAI,EAAE,MAAM,CAAA;KAAE,GAAG,IAAI;CAgB7D"}

package/dist/canSocket.js

@@ -1,20 +1,19 @@
 "use strict";
 /**
- * Minimal CAN socket wrapper using fs streams instead of uv_poll_t.
+ * Minimal CAN socket wrapper using uv_poll_t-based reads.
  *
- * The native addon (native/canSocket.cpp) opens a PF_CAN socket, binds it
- * to the interface, and returns the raw fd in blocking mode.
+ * The native addon (native/canSocket.cpp) opens PF_CAN sockets in non-blocking
+ * mode and exposes a CanPoller class that registers a uv_poll_t watcher on the
+ * read fd. When frames are readable, the watcher invokes a JS callback that
+ * drains all available frames via a non-blocking native read. Writes also use
+ * a non-blocking native write so neither direction ever occupies a libuv
+ * threadpool worker — this keeps the threadpool free for fs operations and
+ * lets process.exit() terminate cleanly without hanging on a blocked syscall.
  *
- * Node.js's net.Socket cannot wrap CAN fds (uv_guess_handle returns
- * UV_UNKNOWN_HANDLE). Instead we use fs.createReadStream which uses libuv's
- * threadpool-based uv_fs_read — works on any fd, never stalls, and does not
- * use uv_poll_t.
- *
- * Reads and writes use separate CAN sockets bound to the same interface.
- * The read socket is blocking (for threadpool reads), the write socket is
- * O_NONBLOCK (to avoid stalling when the CAN bus has no listeners).
- * Separate fds prevent writeCanFrame from toggling O_NONBLOCK on the read
- * fd, which caused spurious ReadStream errors and reconnect cycles.
+ * Reads and writes use separate CAN sockets bound to the same interface:
+ * the read socket has the default (full) RX filter, the write socket has an
+ * empty RX filter so the kernel doesn't queue frames into a buffer nobody
+ * reads.
  *
  * Copyright 2025 Signal K contributors
  * Licensed under the Apache License, Version 2.0
@@ -28,16 +27,19 @@ const CAN_EFF_MASK = 0x1fffffff;
 const CAN_FRAME_SIZE = 16; // sizeof(struct can_frame)
 const CAN_DATA_OFFSET = 8;
 let native;
+let nativeLoadError;
 try {
     // eslint-disable-next-line @typescript-eslint/no-require-imports
     native = require('../build/Release/canSocket.node');
 }
-catch (_e) {
+catch (releaseErr) {
     try {
         // eslint-disable-next-line @typescript-eslint/no-require-imports
         native = require('../build/Debug/canSocket.node');
     }
-    catch (_e) { }
+    catch (_debugErr) {
+        nativeLoadError = releaseErr;
+    }
 }
 /**
  * Drop-in replacement for socketcan's channel object.
@@ -45,63 +47,81 @@ catch (_e) {
  * start(), stop(), send(), removeAllListeners().
  */
 class CanChannel extends events_1.EventEmitter {
-    readStream = null;
     readFd;
     writeFd;
-    remainder = Buffer.alloc(0);
+    poller = null;
     stopped = false;
+    exitHandler = null;
     constructor(ifname) {
         super();
         if (native === undefined) {
-            throw new Error('Failed to load native canSocket module');
+            const detail = nativeLoadError ? `: ${nativeLoadError.message}` : '';
+            throw new Error(`Failed to load native canSocket module${detail}`);
         }
-        this.readFd = native.openCanSocket(ifname);
+        this.readFd = native.openCanReadSocket(ifname);
         try {
-            this.writeFd = native.openCanSocketNonBlock(ifname);
+            this.writeFd = native.openCanWriteSocket(ifname);
         }
         catch (e) {
-            (0, fs_1.close)(this.readFd, () => { });
+            (0, fs_1.closeSync)(this.readFd);
             throw e;
         }
+        // Defensive: if the process exits without an explicit stop(), the
+        // CanPoller's uv_poll_t handle will keep the libuv loop alive and
+        // process.exit() may hesitate. Clean up on 'exit' as a safety net.
+        this.exitHandler = () => this.stop();
+        process.on('exit', this.exitHandler);
     }
     start() {
         this.stopped = false;
-        this.readStream = (0, fs_1.createReadStream)('', {
-            fd: this.readFd,
-            autoClose: false,
-            highWaterMark: CAN_FRAME_SIZE * 64
-        });
-        this.readStream.on('data', (chunk) => {
-            this.remainder = Buffer.concat([this.remainder, chunk]);
-            while (this.remainder.length >= CAN_FRAME_SIZE) {
-                const frame = this.remainder.subarray(0, CAN_FRAME_SIZE);
-                this.remainder = this.remainder.subarray(CAN_FRAME_SIZE);
-                const rawId = frame.readUInt32LE(0);
-                const id = rawId & CAN_EFF_MASK;
-                const dlc = frame[4];
-                const data = Buffer.from(frame.subarray(CAN_DATA_OFFSET, CAN_DATA_OFFSET + dlc));
-                this.emit('onMessage', { id, data });
-            }
-        });
-        this.readStream.on('error', (err) => {
+        this.poller = new native.CanPoller(this.readFd, () => this.onReadable());
+    }
+    onReadable() {
+        if (this.stopped) {
+            return;
+        }
+        let frames;
+        try {
+            frames = native.readCanFrames(this.readFd);
+        }
+        catch (err) {
             if (!this.stopped) {
                 this.emit('onStopped', err.message);
             }
-        });
-        this.readStream.on('close', () => {
-            if (!this.stopped) {
-                this.emit('onStopped', 'closed');
+            return;
+        }
+        for (const frame of frames) {
+            if (frame.length < CAN_FRAME_SIZE) {
+                continue;
             }
-        });
+            const rawId = frame.readUInt32LE(0);
+            const id = rawId & CAN_EFF_MASK;
+            const dlc = frame[4];
+            const data = Buffer.from(frame.subarray(CAN_DATA_OFFSET, CAN_DATA_OFFSET + dlc));
+            this.emit('onMessage', { id, data });
+        }
     }
     stop() {
+        if (this.stopped) {
+            return;
+        }
         this.stopped = true;
-        if (this.readStream) {
-            this.readStream.destroy();
-            this.readStream = null;
+        if (this.exitHandler) {
+            process.removeListener('exit', this.exitHandler);
+            this.exitHandler = null;
+        }
+        if (this.poller) {
+            this.poller.close();
+            this.poller = null;
+        }
+        try {
+            (0, fs_1.closeSync)(this.readFd);
+        }
+        catch (_e) { }
+        try {
+            (0, fs_1.closeSync)(this.writeFd);
         }
-        (0, fs_1.close)(this.readFd, () => { });
-        (0, fs_1.close)(this.writeFd, () => { });
+        catch (_e) { }
     }
     send(msg) {
         if (this.stopped) {

package/dist/canSocket.js.map

@@ -1 +1 @@
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package/dist/toPgn.js

@@ -489,7 +489,7 @@ fieldTypeWriters['String with start/stop byte'] = (pgn, field, value, bs) => {
     bs.writeUint8(0x01);
 };
 fieldTypeWriters[RES_STRINGLAU] = (pgn, field, value, bs) => {
-    if (pgn === 129041 && field.Name === 'AtoN Name') {
+    if (pgn === 129041 && field.Name === 'AtoN Name' && value) {
         if (value.length > 18) {
             value = value.substring(0, 18);
         }