kahu-signalk 0.0.10 → 0.0.12

package/README.md

@@ -207,7 +207,7 @@ You may see an **ExperimentalWarning** about SQLite from Node; that is expected
 
 Use `--config-dir` (with an **n**), not `--confic-dir`:
 ```bash
-npm start -- --config-dir /home/bs01743/Projects/KAHU/signalk-server/signalk-server/config
+npm start -- --config-dir /home/signalk-server/config
 ```
 The `--` is needed so npm passes `--config-dir` to the start script.
 

package/data/protocol/migrations/0001-create-targets.sql

@@ -6,7 +6,7 @@ create table if not exists target (
 create table if not exists target_position (
     id integer primary key autoincrement,
     timestamp datetime default current_timestamp,
-    target_id integer references target(id),
+    target_id integer references target(target_id),
     target_distance float,
     target_bearing float,
     target_bearing_unit text,

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "kahu-signalk",
-  "version": "0.0.10",
+  "version": "0.0.12",
   "description": "Contribute AIS and ARPA targets from your vessel to crowdsourcing for marine safety!",
   "keywords": [
     "signalk-node-server-plugin",

package/plugin/index.js

@@ -1,43 +1,47 @@
-const { v4: uuidv4 } = require('uuid');
+const { v4: uuidv4 } = require("uuid");
 const { Routecache } = require("./routecache");
 const { Connector } = require("./connector");
-const path = require('path');
-const fs = require('fs');
+const path = require("path");
+const fs = require("fs");
 
 let packageDir = __dirname;
-while (packageDir !== path.dirname(packageDir)
-       && !fs.existsSync(path.join(packageDir, 'package.json'))) {
+while (
+  packageDir !== path.dirname(packageDir) &&
+  !fs.existsSync(path.join(packageDir, "package.json"))
+) {
   packageDir = path.dirname(packageDir);
 }
 
 const parseOptionalFloat = (value) => {
-  if (value === undefined || value === null || value === '') return undefined;
+  if (value === undefined || value === null || value === "") return undefined;
   const parsed = parseFloat(value);
   return Number.isNaN(parsed) ? undefined : parsed;
 };
 
 const parseRattmSentence = (sentence) => {
-  const [payload] = sentence.split('*');
+  const [payload] = sentence.split("*");
   if (!payload) return null;
 
-  const parts = payload.trim().split(',');
-  if (parts[0] !== '$RATTM') return null;
+  const parts = payload.trim().split(",");
+  if (parts[0] !== "$RATTM") return null;
   if (parts.length < 16) return null;
 
   const target_id = parseInt(parts[1], 10);
   const target_distance = parseOptionalFloat(parts[2]);
   const target_bearing = parseOptionalFloat(parts[3]);
-  const target_bearing_unit = parts[4] || '';
+  const target_bearing_unit = parts[4] || "";
   const target_speed = parseOptionalFloat(parts[5]);
   const target_course = parseOptionalFloat(parts[6]);
-  const target_course_unit = parts[7] || '';
-  const target_distance_unit = parts[10] || '';
-  const target_name = parts[12] || '';
-  const target_status = parts[13] || '';
-
-  if (!Number.isFinite(target_id) ||
-      !Number.isFinite(target_distance) ||
-      !Number.isFinite(target_bearing)) {
+  const target_course_unit = parts[7] || "";
+  const target_distance_unit = parts[10] || "";
+  const target_name = parts[11] || "";
+  const target_status = parts[12] || "";
+
+  if (
+    !Number.isFinite(target_id) ||
+    !Number.isFinite(target_distance) ||
+    !Number.isFinite(target_bearing)
+  ) {
     return null;
   }
 
@@ -59,41 +63,91 @@ const deg2rad = (degrees) => degrees * (Math.PI / 180);
 
 const polar2Pos = (ownPos, bearing, distance) => {
   return {
-    latitude: ownPos.latitude + distance * Math.cos(deg2rad(bearing)) / 60. / 1852.,
-    longitude: ownPos.longitude + distance * Math.sin(deg2rad(bearing)) / Math.cos(deg2rad(ownPos.latitude)) / 60. / 1852.};
-}
+    latitude:
+      ownPos.latitude + (distance * Math.cos(deg2rad(bearing))) / 60 / 1852,
+    longitude:
+      ownPos.longitude +
+      (distance * Math.sin(deg2rad(bearing))) /
+        Math.cos(deg2rad(ownPos.latitude)) /
+        60 /
+        1852,
+  };
+};
 
-module.exports = (app) => {
+const buildRattmDelta = ({
+  route_id,
+  target_distance,
+  target_bearing,
+  target_bearing_unit,
+  target_distance_unit,
+  target_name,
+  target_speed,
+  target_course,
+  targetPos,
+  ownPos,
+}) => {
+  const relative = {
+    position: ownPos,
+    distance: target_distance,
+    bearing: target_bearing,
+    bearing_unit: target_bearing_unit,
+    distance_unit: target_distance_unit,
+  };
+
+  return {
+    context: "vessels.urn:mrn:signalk:uuid:" + route_id,
+    updates: [
+      {
+        values: [
+          { path: "name", value: target_name },
+          { path: "navigation.speedOverGround", value: target_speed },
+          { path: "navigation.courseOverGroundTrue", value: target_course },
+          { path: "navigation.position", value: { ...targetPos, relative } },
+        ],
+      },
+    ],
+  };
+};
 
+module.exports = (app) => {
   const plugin = {
-    id: 'radarhub',
-    name: 'KAHU Radar Hub',
+    id: "radarhub",
+    name: "KAHU Radar Hub",
     start: async (settings, restartPlugin) => {
-      console.log("Started KAHU radar Hub")
+      console.log("Started KAHU radar Hub");
+
+      plugin.pending_rattm = [];
+      plugin.last_no_ownpos_warning_at = 0;
 
       plugin.cache = new Routecache(
         path.join(packageDir, "data", "protocol", "migrations"),
-        path.join(app.getDataDirPath(), "routecache.sqlite3"));
+        path.join(app.getDataDirPath(), "routecache.sqlite3"),
+      );
       await plugin.cache.init();
-      
+
       plugin.connector = new Connector({
         routecache: plugin.cache,
         plugin_dir: packageDir,
         config: settings,
-        status_function: app.setPluginStatus.bind(app)});
-      
+        status_function: app.setPluginStatus.bind(app),
+      });
+
       const now = new Date(1970, 1, 1);
       plugin.route_updates = Array.from(Array(100)).map(() => now);
       plugin.route_ids = Array.from(Array(100));
-      
-      app.emitPropertyValue('nmea0183sentenceParser', {
-        sentence: 'TTM',
+
+      app.emitPropertyValue("nmea0183sentenceParser", {
+        sentence: "TTM",
         parser: ({ id, sentence, parts, tags }, session) => {
           if (sentence.startsWith("$RATTL")) {
           } else if (sentence.startsWith("$RATTM")) {
             const parsed = parseRattmSentence(sentence);
             if (!parsed) {
-              console.error("Failed to parse RATTM NMEA sentence: [", sentence, "]");
+              console.error(
+                "Failed to parse RATTM NMEA sentence: [",
+                sentence,
+                "]",
+              );
               return;
             }
 
@@ -110,96 +164,136 @@ module.exports = (app) => {
               target_status,
             } = parsed;
 
-            if (target_bearing_unit === 'R') {
-              console.warn("Relative bearings not yet supported, skipping RATTM sentence");
+            if (target_bearing_unit === "R") {
+              console.warn(
+                "Relative bearings not yet supported, skipping RATTM sentence",
+              );
               return;
             }
-            
+
             const ownPos = app.getSelfPath("navigation.position")?.value;
             if (!ownPos) {
-              console.warn("No own-ship position available, skipping RATTM sentence");
+              // Common at startup / in mixed streams: RATTM may arrive before the first GPS fix.
+              plugin.pending_rattm.push({ parsed, received_at: Date.now() });
+              if (plugin.pending_rattm.length > 500) plugin.pending_rattm.shift();
+
+              const nowMs = Date.now();
+              if (nowMs - plugin.last_no_ownpos_warning_at > 5000) {
+                plugin.last_no_ownpos_warning_at = nowMs;
+                console.warn(
+                  "No own-ship position available yet; buffering RATTM sentences until GPS fix is available",
+                );
+              }
               return;
             }
-            const targetPos = polar2Pos(ownPos, target_bearing, target_distance);
-            
-            const relative = {
-              position: ownPos,
-              distance: target_distance,
-              bearing: target_bearing,
-              bearing_unit: target_bearing_unit,
-              distance_unit: target_distance_unit,
+
+            // If GPS is available now, flush any buffered RATTM sentences.
+            if (plugin.pending_rattm?.length) {
+              if (typeof app.handleMessage === "function") {
+                const buffered = plugin.pending_rattm.splice(0);
+                for (const item of buffered) {
+                  const b = item?.parsed;
+                  if (!b) continue;
+                  if (b.target_bearing_unit === "R") continue;
+                  const bTargetPos = polar2Pos(
+                    ownPos,
+                    b.target_bearing,
+                    b.target_distance,
+                  );
+
+                  const bNow = new Date();
+                  if (bNow - plugin.route_updates[b.target_id] > 60000) {
+                    plugin.route_updates[b.target_id] = bNow;
+                    plugin.route_ids[b.target_id] = uuidv4();
+                  }
+
+                  app.handleMessage(
+                    plugin.id,
+                    buildRattmDelta({
+                      route_id: plugin.route_ids[b.target_id],
+                      target_distance: b.target_distance,
+                      target_bearing: b.target_bearing,
+                      target_bearing_unit: b.target_bearing_unit,
+                      target_distance_unit: b.target_distance_unit,
+                      target_name: b.target_name,
+                      target_speed: b.target_speed,
+                      target_course: b.target_course,
+                      targetPos: bTargetPos,
+                      ownPos,
+                    }),
+                  );
+                }
+              } else {
+                // Can't publish buffered deltas in this environment; drop to prevent leaks.
+                plugin.pending_rattm.length = 0;
+              }
             }
+            const targetPos = polar2Pos(
+              ownPos,
+              target_bearing,
+              target_distance,
+            );
 
             // target_distance_closes_point_of_approac: parseInt(match[8]),
             // target_time_closes_point_of_approac: parseInt(match[9]),
-            
+
             const now = new Date();
             if (now - plugin.route_updates[target_id] > 60000) {
               plugin.route_updates[target_id] = now;
               plugin.route_ids[target_id] = uuidv4();
             }
-            
-            return {
-              context: 'vessels.urn:mrn:signalk:uuid:' + plugin.route_ids[target_id],
-              updates: [
-                {
-                  values: [
-                    { path: 'name',
-                      value: target_name
-                    },
-                    { path: 'navigation.speedOverGround',
-                      value: target_speed
-                    },
-                    { path: 'navigation.courseOverGroundTrue',
-                      value: target_course
-                    },
-                    { path: 'navigation.position',
-                      value: {...targetPos, relative}
-                    },
-                  ]
-                }
-              ]
-            };
+
+            return buildRattmDelta({
+              route_id: plugin.route_ids[target_id],
+              target_distance,
+              target_bearing,
+              target_bearing_unit,
+              target_distance_unit,
+              target_name,
+              target_speed,
+              target_course,
+              targetPos,
+              ownPos,
+            });
           }
-        }
+        },
       });
 
       app.streambundle
-        .getBus('navigation.position')
+        .getBus("navigation.position")
         .forEach(plugin.updatePosition);
-  
     },
     stop: async () => {
       await plugin.connector?.destroy?.();
       await plugin.cache?.destroy?.();
-      console.log("Stopped KAHU radar Hub")
+      console.log("Stopped KAHU radar Hub");
     },
     schema: () => {
       return {
         properties: {
-          server: {type: "string", default: "crowdsource.kahu.earth"},
-          port: {type: "number", default: 9900},
-          api_key: {type: "string"},
-          min_reconnect_time: {type: "number", default: 100.0},
-          max_reconnect_time: {type: "number", default: 600.0}
-        }
+          server: { type: "string", default: "crowdsource.kahu.earth" },
+          port: { type: "number", default: 9900 },
+          api_key: { type: "string" },
+          min_reconnect_time: { type: "number", default: 100.0 },
+          max_reconnect_time: { type: "number", default: 600.0 },
+        },
       };
     },
     updatePosition: (pos) => {
       if (pos.source.sentence != "TTM") return;
 
       const rest = app.getPath(pos.context);
-      
+
       const target_id = pos.context.split("vessels.urn:mrn:signalk:uuid:")[1];
-      
+
       plugin.cache.insert({
         target_id: target_id,
         position: pos.value,
         speedOverGround: rest?.navigation?.speedOverGround?.value,
         courseOverGroundTrue: rest?.navigation?.courseOverGroundTrue?.value,
         name: rest?.name?.value,
-        });
-    }
+      });
+    },
   };
 
   return plugin;