pypilot-autopilot-provider 1.0.0 → 1.1.0-beta.2

package/CHANGELOG.md

@@ -1,18 +1,26 @@
 # CHANGELOG: PyPilot-Autopilot-Provider - Signal K plugin 
 
+## v1.1.0-beta.2
+
+Add support for `actions`.
+
+
 ## v1.0.0
 
 Initial release.
 
+
 ## 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/README.md

@@ -3,7 +3,26 @@
 
 ## About
 
-Signal K server plugin for PyPilot that enables commands to be sent by Signal K client applications via the Autopilot API .
+Signal K server plugin for PyPilot that enables commands to be sent by Signal K client applications via the Autopilot API.
+
+This plugin provides support for the `actions` enhancement to the Signal K Autopilot API and makes available the following actions:
+
+- tack
+- courseCurrentPoint
+
+> **Note:** The actions available for use will change based on the current state of the autopilot.
+> - An error response will be received when trying to invoke an action that is not available.
+
+_e.g. **courseCurrentPoint** action is only available when:_
+1. _`navigation.course.nextPoint` Signal K path contains data._
+1. _PyPilot `nav` mode is available for selection._
+
+## `engage` Operation Behaviour
+
+Submitting an `enage` request via the Autopilot API will result in the following behaviour:
+1. If the `courseCurrentPoint` action is available, it will be executed _(place Pypilot into `nav` mode, and `enable`)_ 
+2. Enable PyPilot in its current `mode` setting.
+
 
 
 ## Requirements

package/package.json

@@ -1,6 +1,6 @@
 {
     "name": "pypilot-autopilot-provider",
-    "version": "1.0.0",
+    "version": "1.1.0-beta.2",
     "description": "PyPilot autopilot provider plugin for Signal K server.",
     "main": "plugin/index.js",
     "keywords": [
@@ -29,7 +29,8 @@
         "socket.io-client": "^4.4.1"
     },
     "devDependencies": {
-        "@signalk/server-api": "^2.3.0",
+        "@signalk/server-api": "^2.6.1",
+        "@types/baconjs": "^0.7.34",
         "@types/express": "^4.17.6",
         "@types/node-fetch": "^2.5.6",
         "prettier": "^2.5.1",

package/plugin/index.d.ts

@@ -1,4 +1,3 @@
-import { ServerAPI } from '@signalk/server-api';
-import { AutopilotProviderRegistry } from './sk-api';
+import { ServerAPI, AutopilotProviderRegistry } from '@signalk/server-api';
 export interface AutopilotProviderApp extends ServerAPI, AutopilotProviderRegistry {
 }

package/plugin/index.js

@@ -125,13 +125,19 @@ module.exports = (server) => {
                     return;
                 }),
                 engage: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
-                    (0, pypilot_1.apSetState)('enabled');
+                    (0, pypilot_1.engagePilot)();
                     return;
                 }),
                 disengage: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
                     (0, pypilot_1.apSetState)('disabled');
                     return;
                 }),
+                courseCurrentPoint: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    yield (0, pypilot_1.apSetNavMode)();
+                }),
+                courseNextPoint: (deviceId) => __awaiter(void 0, void 0, void 0, function* () {
+                    throw new Error('Not implemented!');
+                }),
                 tack: (direction, deviceId) => __awaiter(void 0, void 0, void 0, function* () {
                     return (0, pypilot_1.apTack)(direction === 'port' ? true : false);
                 }),

package/plugin/pypilot.d.ts

@@ -1,5 +1,5 @@
 import { AutopilotProviderApp } from './';
-import { AutopilotInfo } from './sk-api';
+import { AutopilotInfo } from '@signalk/server-api';
 export interface PYPILOT_CONFIG {
     host: string;
     port: number;
@@ -8,6 +8,8 @@ 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 apSetNavMode: () => Promise<void>;
+export declare const engagePilot: () => Promise<void>;
 export declare const apSetState: (state: string) => boolean;
 export declare const apSetMode: (mode: string) => void;
 export declare const apSetTarget: (value: number) => void;

package/plugin/pypilot.js

@@ -1,6 +1,15 @@
 "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 });
-exports.apTack = exports.apDodge = exports.apSetTarget = exports.apSetMode = exports.apSetState = exports.closePyPilot = exports.initPyPilot = exports.PILOTIDS = exports.apData = void 0;
+exports.apTack = exports.apDodge = exports.apSetTarget = exports.apSetMode = exports.apSetState = exports.engagePilot = exports.apSetNavMode = exports.closePyPilot = exports.initPyPilot = exports.PILOTIDS = exports.apData = void 0;
 const socket_io_client_1 = require("socket.io-client");
 // autopilot data
 exports.apData = {
@@ -9,7 +18,24 @@ exports.apData = {
             { name: 'enabled', engaged: true },
             { name: 'disabled', engaged: false }
         ],
-        modes: []
+        modes: [],
+        actions: [
+            {
+                id: 'tack',
+                name: 'Tack',
+                available: false
+            },
+            {
+                id: 'courseCurrentPoint',
+                name: 'To Destination',
+                available: false
+            },
+            {
+                id: 'courseNextPoint',
+                name: 'Adv. Waypoint',
+                available: false
+            }
+        ]
     },
     state: 'disabled',
     mode: null,
@@ -21,6 +47,7 @@ let pluginId;
 let socket;
 const degToRad = (deg) => deg * (Math.PI / 180);
 const radToDeg = (rad) => rad * (180 / Math.PI);
+let pypilotModes = []; // available modes received from PyPilot
 exports.PILOTIDS = ['pypilot-sk'];
 // initialise connection to autopilot and register pypilot_web socket listeners
 const initPyPilot = (app, id, config) => {
@@ -55,24 +82,18 @@ const initPyPilotListeners = () => {
             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)}}`);
+            socket.emit('pypilot', `watch={"ap.modes": ${JSON.stringify(period)}}`);
+            socket.emit('pypilot', `watch={"profiles": ${JSON.stringify(period)}}`);
         }, 1000);
         exports.apData.state = 'disabled';
-        server.autopilotUpdate(exports.PILOTIDS[0], {
-            state: exports.apData.state,
-            mode: exports.apData.mode,
-            target: exports.apData.target,
-            engaged: exports.apData.engaged
-        });
+        sendToSK();
     });
     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
-        });
+        sendToSK();
     });
     // pypilot updates listener (values)
     socket.on('pypilot', (msg) => {
@@ -153,6 +174,63 @@ const sendToPyPilot = (path, value) => {
         throw new Error('Error: Invalid value!');
     }
 };
+// send status update to SK Server
+const sendToSK = () => {
+    setAvailableActions();
+    server.autopilotUpdate(exports.PILOTIDS[0], {
+        state: exports.apData.state,
+        mode: exports.apData.mode,
+        target: exports.apData.target,
+        engaged: exports.apData.engaged,
+        availableActions: getAvailableActions()
+    });
+};
+// return array of availableActions
+const getAvailableActions = () => {
+    return exports.apData.options.actions
+        .filter((i) => i.available)
+        .map((i) => i.id);
+};
+// update the options.actions array
+const setAvailableActions = () => {
+    if (exports.apData.engaged) {
+        exports.apData.options.actions.forEach((i) => {
+            if (i.id === 'tack') {
+                i.available = true;
+            }
+            if (i.id === 'courseCurrentPoint') {
+                i.available = pypilotModes.includes('nav');
+            }
+        });
+    }
+    else {
+        exports.apData.options.actions.forEach((i) => {
+            i.available = false;
+        });
+    }
+};
+// set nav mode if available
+const apSetNavMode = () => __awaiter(void 0, void 0, void 0, function* () {
+    const cdata = yield server.getCourse();
+    if (cdata.nextPoint && getAvailableActions().includes('courseCurrentPoint')) {
+        (0, exports.apSetMode)('nav');
+        setTimeout(() => (0, exports.apSetState)('enabled'), 500);
+    }
+    else {
+        throw new Error('Nav mode is not available!');
+    }
+});
+exports.apSetNavMode = apSetNavMode;
+// perform `engage` operation
+const engagePilot = () => __awaiter(void 0, void 0, void 0, function* () {
+    try {
+        yield (0, exports.apSetNavMode)();
+    }
+    catch (err) {
+        (0, exports.apSetState)('enabled');
+    }
+});
+exports.engagePilot = engagePilot;
 // process received pypilot update messages (values)
 const handlePyPilotUpdateMsg = (data) => {
     // compare and send delta
@@ -162,45 +240,35 @@ const handlePyPilotUpdateMsg = (data) => {
             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 (exports.apData.options.modes.length === 0) {
+                exports.apData.options.modes.push(exports.apData.mode);
+            }
         }
     }
+    if (typeof data['ap.modes'] !== 'undefined') {
+        pypilotModes = data['ap.modes'];
+    }
     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
-            });
-        }
+        exports.apData.state = data['ap.enabled'] ? 'enabled' : 'disabled';
+        exports.apData.engaged = data['ap.enabled'];
     }
     if (typeof data['ap.heading'] !== 'undefined') {
-        server.autopilotUpdate(exports.PILOTIDS[0], {
-            state: exports.apData.state,
-            engaged: exports.apData.engaged
-        });
     }
+    sendToSK();
 };
 // 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
-            : [];
-    }
+    var _a;
+    // supported modes
+    exports.apData.options.modes = Array.isArray((_a = data['ap.mode']) === null || _a === void 0 ? void 0 : _a.choices)
+        ? data['ap.mode'].choices
+        : pypilotModes !== null && pypilotModes !== void 0 ? pypilotModes : [];
 };
 // set autopilot state
 const apSetState = (state) => {