pypilot-autopilot-provider 1.0.0-beta.3

package/.prettierrc.json

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+{
+  "semi": false,
+  "singleQuote": true,
+  "trailingComma": "none"
+}

package/CHANGELOG.md

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+# CHANGELOG: PyPilot-Autopilot-Provider - Signal K plugin 
+
+
+## v1.0.0-beta.3
+
+- Added support for manual steering when pilot is not engaged.
+- Updated angle processing to use values in degrees from Signal K server interface.
+
+## v1.0.0-beta.2
+
+- Updated to align with [Signal K Server PR #1596](https://github.com/SignalK/signalk-server/pull/1596).
+
+## v1.0.0-beta.1
+
+- Initial beta release.
+
+

package/LICENSE

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package/README.md

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+# Signal K PyPilot Autopilot Provider Plugin:
+
+
+## About
+
+Signal K server plugin for PyPilot that enables commands to be sent by Signal K client applications via the Autopilot API .
+
+
+## Requirements
+
+- Signal K server that implements the `Autopilot API`
+- `pypilot_web` process running on the PyPilot host
+
+
+## Configuration
+
+The plugin communicates with PyPilot via the websocket connection provided by the `pypilot_web` process so you will need to ensure that it is running.
+
+From the Signal K server `Admin` console:
+-  Select **Server** -> **Plugin Config**
+
+-  From the list of plugins select `Autopilot Provider(PyPilot)`  to display the details screen.
+
+- Enter the host name / ip address of the PyPilot host.
+
+- Enter the port on which `pypilot_web` is listening _(default: 8000)_.
+
+- To initiate connection **Enable** the plugin.
+
+

package/package.json

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+{
+    "name": "pypilot-autopilot-provider",
+    "version": "1.0.0-beta.3",
+    "description": "PyPilot autopilot provider plugin for Signal K server.",
+    "main": "plugin/index.js",
+    "keywords": [
+        "signalk-node-server-plugin",
+        "pypilot"
+    ],
+    "repository": "https://github.com/panaaj/pypilot-autopilot-provider",
+    "author": "AdrianP",
+    "contributors": [
+        {
+            "name": "panaaj@hotmail.com"
+        }
+    ],
+    "license": "Apache-20",
+    "scripts": {
+        "build": "tsc",
+        "build-declaration": "tsc --declaration --allowJs false",
+        "watch": "npm run build -- -w",
+        "test": "echo \"Error: no test specified\" && exit 1",
+        "start": "npm run build -- -w",
+        "format": "prettier --write src/*"
+    },
+    "dependencies": {
+        "socket.io-client": "^4.4.1"
+    },
+    "devDependencies": {
+        "@signalk/server-api": "^2.3.0",
+        "@types/express": "^4.17.6",
+        "@types/node-fetch": "^2.5.6",
+        "prettier": "^2.5.1",
+        "typescript": "^4.5.4"
+    },
+    "signalk-plugin-enabled-by-default": false
+}

package/plugin/index.d.ts

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+import { ServerAPI } from '@signalk/server-api';
+import { AutopilotProviderRegistry } from './sk-api';
+export interface AutopilotProviderApp extends ServerAPI, AutopilotProviderRegistry {
+}

package/plugin/index.js

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+"use strict";
+var __awaiter = (this && this.__awaiter) || function (thisArg, _arguments, P, generator) {
+    function adopt(value) { return value instanceof P ? value : new P(function (resolve) { resolve(value); }); }
+    return new (P || (P = Promise))(function (resolve, reject) {
+        function fulfilled(value) { try { step(generator.next(value)); } catch (e) { reject(e); } }
+        function rejected(value) { try { step(generator["throw"](value)); } catch (e) { reject(e); } }
+        function step(result) { result.done ? resolve(result.value) : adopt(result.value).then(fulfilled, rejected); }
+        step((generator = generator.apply(thisArg, _arguments || [])).next());
+    });
+};
+Object.defineProperty(exports, "__esModule", { value: true });
+const pypilot_1 = require("./pypilot");
+const CONFIG_SCHEMA = {
+    properties: {
+        pypilot: {
+            type: 'object',
+            title: 'PyPilot host details.',
+            description: 'Configure the PyPilot connection settings.',
+            properties: {
+                host: {
+                    type: 'string',
+                    title: 'Host name / address',
+                    default: 'localhost'
+                },
+                port: {
+                    type: 'number',
+                    title: 'Port number',
+                    default: 8000
+                }
+            }
+        }
+    }
+};
+const CONFIG_UISCHEMA = {};
+module.exports = (server) => {
+    let subscriptions = []; // stream subscriptions
+    const plugin = {
+        id: 'pypilot-autopilot-provider',
+        name: 'Autopilot Provider (PyPilot)',
+        schema: () => CONFIG_SCHEMA,
+        uiSchema: () => CONFIG_UISCHEMA,
+        start: (options, restart) => {
+            doStartup(options);
+        },
+        stop: () => {
+            doShutdown();
+        }
+    };
+    let settings = {
+        pypilot: {
+            host: 'localhost',
+            port: 8000
+        }
+    };
+    const doStartup = (options) => {
+        try {
+            server.debug(`${plugin.name} starting.......`);
+            if (options && options.pypilot) {
+                settings = options;
+            }
+            else {
+                // save defaults if no options loaded
+                server.savePluginOptions(settings, () => {
+                    server.debug(`Default configuration applied...`);
+                });
+            }
+            server.debug(`Applied configuration: ${JSON.stringify(settings)}`);
+            // register as autopilot provider
+            const result = registerProvider();
+            const msg = !result ? `PyPilot` : `Provider not registered!`;
+            server.setPluginStatus(msg);
+            // initialise autopilot connection
+            initialise();
+        }
+        catch (error) {
+            const msg = `Started with errors!`;
+            server.setPluginError(msg);
+            server.error('error: ' + error);
+        }
+    };
+    const doShutdown = () => {
+        server.debug(`${plugin.name} stopping.......`);
+        (0, pypilot_1.closePyPilot)();
+        server.debug('** Un-registering Update Handler(s) **');
+        subscriptions.forEach((b) => b());
+        subscriptions = [];
+        const msg = 'Stopped.';
+        server.setPluginStatus(msg);
+    };
+    const registerProvider = () => {
+        try {
+            server.registerAutopilotProvider({
+                getData: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return pypilot_1.apData;
+                }),
+                getState: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return pypilot_1.apData.state;
+                }),
+                setState: (state, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    (0, pypilot_1.apSetState)(state);
+                    return;
+                }),
+                getMode: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return pypilot_1.apData.mode;
+                }),
+                setMode: (mode, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return (0, pypilot_1.apSetMode)(mode);
+                }),
+                getTarget: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return pypilot_1.apData.target;
+                }),
+                setTarget: (value, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return (0, pypilot_1.apSetTarget)(value);
+                }),
+                adjustTarget: (value, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    if (pypilot_1.apData.engaged) {
+                        const t = typeof pypilot_1.apData.target !== 'number'
+                            ? 0 + value
+                            : pypilot_1.apData.target + value;
+                        (0, pypilot_1.apSetTarget)(t);
+                    }
+                    else {
+                        (0, pypilot_1.apDodge)(value);
+                    }
+                    return;
+                }),
+                engage: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    (0, pypilot_1.apSetState)('enabled');
+                    return;
+                }),
+                disengage: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    (0, pypilot_1.apSetState)('disabled');
+                    return;
+                }),
+                tack: (direction, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    return (0, pypilot_1.apTack)(direction === 'port' ? true : false);
+                }),
+                gybe: (direction, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    throw new Error('Not implemented!');
+                }),
+                dodge: (value, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    if (value) {
+                        (0, pypilot_1.apDodge)(value);
+                    }
+                    return;
+                })
+            }, pypilot_1.PILOTIDS);
+            return true;
+        }
+        catch (error) {
+            return false;
+        }
+    };
+    // initialise autopilot connection / emit status
+    const initialise = () => {
+        server.debug('Initialising autopilot comms....');
+        (0, pypilot_1.initPyPilot)(server, plugin.id, settings.pypilot);
+    };
+    return plugin;
+};

package/plugin/pypilot.d.ts

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+import { AutopilotProviderApp } from './';
+import { AutopilotInfo } from './sk-api';
+export interface PYPILOT_CONFIG {
+    host: string;
+    port: number;
+}
+export declare const apData: AutopilotInfo;
+export declare const PILOTIDS: string[];
+export declare const initPyPilot: (app: AutopilotProviderApp, id: string, config: PYPILOT_CONFIG) => void;
+export declare const closePyPilot: () => void;
+export declare const apSetState: (state: string) => boolean;
+export declare const apSetMode: (mode: string) => void;
+export declare const apSetTarget: (value: number) => void;
+export declare const apDodge: (value: number) => void;
+export declare const apTack: (port: boolean) => void;

package/plugin/pypilot.js

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+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.apTack = exports.apDodge = exports.apSetTarget = exports.apSetMode = exports.apSetState = exports.closePyPilot = exports.initPyPilot = exports.PILOTIDS = exports.apData = void 0;
+const socket_io_client_1 = require("socket.io-client");
+// autopilot data
+exports.apData = {
+    options: {
+        states: [
+            { name: 'enabled', engaged: true },
+            { name: 'disabled', engaged: false }
+        ],
+        modes: []
+    },
+    state: null,
+    mode: null,
+    target: null,
+    engaged: false
+};
+let server;
+let pluginId;
+let socket;
+const degToRad = (deg) => deg * (Math.PI / 180);
+const radToDeg = (rad) => rad * (180 / Math.PI);
+exports.PILOTIDS = ['pypilot-d1'];
+// initialise connection to autopilot and register pypilot_web socket listeners
+const initPyPilot = (app, id, config) => {
+    server = app;
+    pluginId = id;
+    server.debug(`** Connecting to PyPilot **`);
+    socket = (0, socket_io_client_1.io)(`http://${config.host}:${config.port}`);
+    if (!socket) {
+        const msg = `PyPilot NOT connected @ ${config.host}:${config.port}... ensure 'pypilot_web' is running.`;
+        console.log(msg);
+        server.setPluginStatus(msg);
+        return;
+    }
+    initPyPilotListeners();
+};
+exports.initPyPilot = initPyPilot;
+const closePyPilot = () => {
+    if (socket) {
+        socket.close();
+    }
+};
+exports.closePyPilot = closePyPilot;
+// PyPilot socket event listeners
+const initPyPilotListeners = () => {
+    socket.on('connect', () => {
+        server.debug('socket connected...');
+        let msg = `Started: Connected to PyPilot.`;
+        server.setPluginStatus(msg);
+        setTimeout(() => {
+            const period = 1;
+            //socket.emit('pypilot', `watch={"ap.heading": ${JSON.stringify(period)}}`)
+            socket.emit('pypilot', `watch={"ap.heading_command": ${JSON.stringify(period)}}`);
+            socket.emit('pypilot', `watch={"ap.enabled": ${JSON.stringify(period)}}`);
+            socket.emit('pypilot', `watch={"ap.mode": ${JSON.stringify(period)}}`);
+        }, 1000);
+    });
+    socket.on('connect_error', () => {
+        server.debug('socket connect_error!');
+        server.setPluginStatus(`Unable to connect to PyPilot!`);
+        exports.apData.state = 'off-line';
+        exports.apData.engaged = false;
+        server.autopilotUpdate(exports.PILOTIDS[0], {
+            state: exports.apData.state,
+            engaged: exports.apData.engaged
+        });
+    });
+    // pypilot updates listener (values)
+    socket.on('pypilot', (msg) => {
+        handlePyPilotUpdateMsg(JSON.parse(msg));
+    });
+    // pypilot_values listener (choices)
+    socket.on('pypilot_values', (msg) => {
+        handlePyPilotValuesMsg(JSON.parse(msg));
+    });
+};
+// Send values to pypilot
+const sendToPyPilot = (path, value) => {
+    server.debug(path);
+    server.debug(value);
+    let mode = '';
+    if (path === 'mode') {
+        if (typeof value === 'string') {
+            mode = 'ap.mode';
+        }
+    }
+    else if (path === 'state') {
+        if (typeof value === 'boolean') {
+            mode = 'ap.enabled';
+        }
+    }
+    else if (path === 'target') {
+        if (typeof value === 'number') {
+            mode = 'ap.heading_command';
+        }
+    }
+    else if (path === 'tack') {
+        if (typeof value === 'string' &&
+            (value === 'port' || value === 'starboard')) {
+            mode = 'ap.tack.direction';
+        }
+    }
+    else if (path === 'dodge') {
+        server.debug('** DODGE **');
+        let servo_command = 0;
+        let servo_command_timeout = 0;
+        // update manual servo command
+        const poll_pypilot = () => {
+            server.debug(`** DODGE poll_pypilot -> timeout: ${servo_command_timeout}, cmd: ${servo_command} **`);
+            server.debug(`** mode: ${mode}`);
+            if (servo_command_timeout > 0) {
+                setTimeout(poll_pypilot, 200);
+                servo_command_timeout--;
+                if (servo_command_timeout <= 0)
+                    servo_command = 0;
+                socket.emit('pypilot', mode + '=' + JSON.stringify(servo_command));
+            }
+        };
+        if (typeof value === 'number' && value !== 0) {
+            server.debug(`** DODGE value = ${value} **`);
+            const sign = value > 0 ? 1 : -1;
+            servo_command = -sign;
+            servo_command_timeout = Math.abs(value) > 5 ? 6 : 2;
+            mode = 'servo.command';
+            setTimeout(poll_pypilot, 1000);
+        }
+    }
+    else {
+        server.debug('Error: Invalid value!');
+    }
+    if (mode) {
+        try {
+            if (mode !== 'ap.servo_command') {
+                socket.emit('pypilot', mode + '=' + JSON.stringify(value));
+            }
+            return Promise.resolve();
+        }
+        catch (error) {
+            server.debug(error.message);
+            throw new Error('Error: Sending data to autopilot!');
+        }
+    }
+    else {
+        throw new Error('Error: Invalid value!');
+    }
+};
+// process received pypilot update messages (values)
+const handlePyPilotUpdateMsg = (data) => {
+    // compare and send delta
+    if (typeof data['ap.heading_command'] !== 'undefined') {
+        const heading = data['ap.heading_command'] === false ? null : data['ap.heading_command'];
+        if (typeof heading === 'number') {
+            const rad = degToRad(heading);
+            if (rad !== exports.apData.target) {
+                exports.apData.target = rad;
+                server.autopilotUpdate(exports.PILOTIDS[0], {
+                    target: exports.apData.target
+                });
+            }
+        }
+    }
+    if (typeof data['ap.mode'] !== 'undefined') {
+        if (data['ap.mode'] !== exports.apData.mode) {
+            exports.apData.mode = data['ap.mode'];
+            server.autopilotUpdate(exports.PILOTIDS[0], {
+                mode: exports.apData.mode
+            });
+        }
+    }
+    if (typeof data['ap.enabled'] !== 'undefined') {
+        if (data['ap.enabled'] !== exports.apData.engaged) {
+            exports.apData.state = data['ap.enabled'] ? 'enabled' : 'disabled';
+            exports.apData.engaged = data['ap.enabled'];
+            server.autopilotUpdate(exports.PILOTIDS[0], {
+                state: exports.apData.state,
+                engaged: exports.apData.engaged
+            });
+        }
+    }
+};
+// process received pypilot_values message (choices)
+const handlePyPilotValuesMsg = (data) => {
+    // available modes
+    if (typeof data['ap.mode'] !== undefined && data['ap.mode'].choices) {
+        exports.apData.options.modes = Array.isArray(data['ap.mode'].choices)
+            ? data['ap.mode'].choices
+            : [];
+    }
+};
+// set autopilot state
+const apSetState = (state) => {
+    server.debug(`${pluginId} => apSetState(${state})`);
+    let st;
+    exports.apData.options.states.forEach((i) => {
+        if (i.name === state) {
+            st = i;
+        }
+    });
+    if (!st) {
+        throw new Error('Invalid state supplied!');
+    }
+    sendToPyPilot('state', st.engaged);
+    return st.engaged;
+};
+exports.apSetState = apSetState;
+// set autopilot mode
+const apSetMode = (mode) => {
+    server.debug(`${pluginId} => apsetMode(${mode})`);
+    if (exports.apData.options.modes.includes(mode)) {
+        sendToPyPilot('mode', mode);
+        return;
+    }
+    else {
+        throw new Error('Invalid mode supplied!');
+    }
+};
+exports.apSetMode = apSetMode;
+// set autopilot target
+const apSetTarget = (value) => {
+    const deg = radToDeg(value);
+    server.debug(`${pluginId} => Setting Target value to ${value} (${deg})`);
+    sendToPyPilot('target', deg);
+    return;
+};
+exports.apSetTarget = apSetTarget;
+// set autopilot target
+const apDodge = (value) => {
+    const deg = radToDeg(value);
+    server.debug(`${pluginId} => Dodge value = ${value} (${deg})`);
+    sendToPyPilot('dodge', deg);
+    return;
+};
+exports.apDodge = apDodge;
+// perform tack
+const apTack = (port) => {
+    server.debug(`${pluginId} => apTack(${port})`);
+    sendToPyPilot('tack', port ? 'port' : 'starboard');
+    return;
+};
+exports.apTack = apTack;

package/plugin/sk-api.d.ts

@@ -0,0 +1,45 @@
+export type AutopilotUpdateAttrib = 'mode' | 'state' | 'target' | 'engaged' | 'options';
+export type TackGybeDirection = 'port' | 'starboard';
+export interface AutopilotApi {
+    register(pluginId: string, provider: AutopilotProvider): void;
+    unRegister(pluginId: string): void;
+    apUpdate(pluginId: string, deviceId: string, apInfo: {
+        [path: string]: any;
+    }): void;
+}
+export interface AutopilotProvider {
+    getData(deviceId: string): Promise<AutopilotInfo>;
+    getState(deviceId: string): Promise<string>;
+    setState(state: string, deviceId: string): Promise<void>;
+    getMode(deviceId: string): Promise<string>;
+    setMode(mode: string, deviceId: string): Promise<void>;
+    getTarget(deviceId: string): Promise<number>;
+    setTarget(value: number, deviceId: string): Promise<void>;
+    adjustTarget(value: number, deviceId: string): Promise<void>;
+    engage(deviceId: string): Promise<void>;
+    disengage(deviceId: string): Promise<void>;
+    tack(direction: TackGybeDirection, deviceId: string): Promise<void>;
+    gybe(direction: TackGybeDirection, deviceId: string): Promise<void>;
+    dodge(direction: number | null, deviceId: string): Promise<void>;
+}
+export interface AutopilotStateDef {
+    name: string;
+    engaged: boolean;
+}
+export interface AutopilotOptions {
+    states: AutopilotStateDef[];
+    modes: string[];
+}
+export interface AutopilotInfo {
+    options: AutopilotOptions;
+    target: number | null;
+    mode: string | null;
+    state: string | null;
+    engaged: boolean;
+}
+export interface AutopilotProviderRegistry {
+    registerAutopilotProvider(provider: AutopilotProvider, devices: string[]): void;
+    autopilotUpdate(deviceId: string, apInfo: {
+        [path: string]: any;
+    }): void;
+}

package/plugin/sk-api.js

@@ -0,0 +1,3 @@
+"use strict";
+// Shim for unpublished @signalk/server-api changes
+Object.defineProperty(exports, "__esModule", { value: true });