@essense/iso-claim/build/main/lib/can-bus.js

Library & background program that implements the ISO address claim procedure for CANbus (i.e. for NMEA2000 devices)

"use strict";
var __importDefault = (this && this.__importDefault) || function (mod) {
    return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
const debug_1 = __importDefault(require("debug"));
const events_1 = require("events");
const canboatjs_1 = require("@canboat/canboatjs");
// @ts-ignore
const socketcan_1 = require("socketcan");
const debug = debug_1.default('CANBus');
class CANBus extends events_1.EventEmitter {
    constructor(bus) {
        super();
        this.onChannelMessage = (msg) => {
            const message = this.CANtoN2Kmessage(msg);
            this.emit('N2KMessage', message);
            try {
                this.parser.parsePgnData(message, message.length, message.data);
            }
            catch (e) {
                debug('Error whilst parsing message: ' + e.message);
            }
        };
        this.onChannelStopped = () => {
            this.open = false;
            this.channel = null;
            this.emit('disconnected');
            debug(`Disconnected from ${this.bus}`);
        };
        this.network = {};
        this.address = -1;
        this.bus = bus || 'can0';
        this.channel = null;
        this.open = false;
        this.parser = new canboatjs_1.FromPgn();
        this.parser.on('pgn', (pgn) => {
            this.handlePGN(pgn);
        });
        this.parser.on('error', (pgn, err) => {
            debug(`Error for pgn ${pgn}: ${err}`);
            this.emit('error', err);
        });
        this.parser.on('warning', (pgn, err) => {
            debug(`Warning for pgn ${pgn}: ${err}`);
            this.emit('warning', err);
        });
        this.connect();
    }
    getAddress() {
        return this.address;
    }
    setAddress(address) {
        this.address = address;
    }
    addDevice(src, device) {
        this.network = Object.assign(Object.assign({}, this.network), { [src]: Object.assign(Object.assign({}, (this.network[src] || {})), device) });
        // Clean up raw IDs & raw can data
        Object.keys(this.network).forEach(source => {
            Object.keys(this.network[source]).forEach(key => {
                let node = this.network[source][key];
                if (!node || typeof node !== 'object') {
                    return;
                }
                // Remove raw CAN data
                if (node.hasOwnProperty('data')) {
                    delete node.data;
                }
                // Remove raw CAN ID
                if (node.hasOwnProperty('id')) {
                    delete node.id;
                }
                // Flatten fields
                if (node.hasOwnProperty('fields')) {
                    node = Object.assign(Object.assign({}, node), node.fields);
                    delete node.fields;
                }
                this.network[source][key] = Object.assign({}, node);
            });
        });
        debug(`[addDevice] adding/modifying device ${src}. Network has changed: ${JSON.stringify(this.network, null, 2)}`);
    }
    getDevices(array = false) {
        const devices = Object.assign({}, this.network);
        if (array === true) {
            return Object.keys(devices).reduce((list, src) => {
                list.push({
                    src,
                    device: devices[src]
                });
                return list;
            }, []);
        }
        return devices;
    }
    reconnect() {
        // @FIXME: do we need to do cleanup?
        // if (this.channel) {
        //   this.channel.removeListener('onStopped')
        //   this.channel.removeListener('onMessage')
        //   this.open = false
        //   this.channel = null
        // }
        // Reconnect after 200 ms; assuming the CAN bus is set up with "reconnect-ms 100".
        setTimeout(() => this.connect(), 200);
    }
    connect() {
        try {
            this.channel = socketcan_1.createRawChannel(this.bus, true);
            this.open = true;
            this.emit('connected');
            debug(`Connected to ${this.bus}`);
            this.channel.addListener('onStopped', this.onChannelStopped);
            this.channel.addListener('onMessage', this.onChannelMessage);
            this.channel.start();
        }
        catch (err) {
            debug(`Error opening channel: ${err.message}`);
            this.emit('error', err);
        }
    }
    send(message) {
        if (this.open === false ||
            !this.channel ||
            typeof this.channel.send !== 'function') {
            this.emit('error', new Error(`Can't send message before bus is open: ${JSON.stringify(message)}`));
        }
        // 60928 = address claim
        if (this.address === -1 && message.pgn !== 60928) {
            this.emit('error', new Error(`Can't send messages before an address is claimed`));
        }
        // Fix discrepancies between canboatjs & internal format
        if (message.hasOwnProperty('dest') && !message.hasOwnProperty('dst')) {
            message.dst = message.dest;
        }
        // Fix discrepancies between canboatjs & internal format
        if (message.hasOwnProperty('dst') && !message.hasOwnProperty('dest')) {
            message.dest = message.dst;
        }
        if (message.dest === 0 || message.dst === 0) {
            message.dest = 255;
            message.dst = 255;
        }
        const frame = {
            id: this.PGNtoID(message.pgn, message.src, message.dst),
            ext: true,
            data: canboatjs_1.toPgn(Object.assign(Object.assign({}, message), message.data))
        };
        let frames = [frame];
        // If it's actually a fast-packet
        if (frame.data.length > 8) {
            frames = this.generateCANFrames(frame);
        }
        try {
            debug(`[send] Sending ${frames.length} CAN frames...`);
            frames.forEach((canframe, index) => {
                debug(`[send] (${index + 1} / ${frames.length}) Sending CAN frame with ID ${canframe.id} - ${JSON.stringify(canframe.data)}`);
                this.channel.send(canframe);
            });
        }
        catch (e) {
            debug(`[send] Error sending PGN: ${e.message}`);
            this.emit('error', e);
        }
    }
    sendRawPgn(pgn, data, dest = 255) {
        if (this.open === false ||
            !this.channel ||
            typeof this.channel.send !== 'function') {
            this.emit('error', new Error(`Can't send message before bus is open: ${JSON.stringify({ pgn, data, dest })}`));
        }
        // 60928 = address claim
        if (this.address === -1 && pgn !== 60928) {
            this.emit('error', new Error(`Can't send messages before an address is claimed`));
        }
        const frame = {
            id: this.PGNtoID(pgn, this.address, dest),
            ext: true,
            data
        };
        let frames = [frame];
        // If it's actually a fast-packet
        if (frame.data.length > 8) {
            frames = this.generateCANFrames(frame);
        }
        try {
            debug(`[send] Sending ${frames.length} CAN frames...`);
            frames.forEach((canframe, index) => {
                debug(`[send] (${index + 1} / ${frames.length}) Sending CAN frame with ID ${canframe.id} - ${JSON.stringify(canframe.data)}`);
                this.channel.send(canframe);
            });
        }
        catch (e) {
            debug(`[send] Error sending PGN: ${e.message}`);
            this.emit('error', e);
        }
    }
    isConnected() {
        return this.open;
    }
    // @FIXME prio is always 6 atm
    PGNtoID(pgn, src, dest = 255, prio = 6) {
        let id = src | 0x80000000;
        if ((pgn & 0xff) === 0) {
            // PDU 1
            id += dest << 8;
            id += pgn << 8;
            id += prio << 26;
        }
        else {
            // PDU 2
            id += pgn << 8;
            id += prio << 26;
        }
        return id;
    }
    IDtoPGN(id) {
        let idString = id.toString(2);
        const missingZeroes = 32 - idString.length;
        for (let i = 0; i < missingZeroes; i += 1) {
            idString = `0${idString}`;
        }
        const DP = `0000000${idString[7]}`;
        const PF = idString.slice(8, 16);
        const PS = idString.slice(16, 24);
        const SA = idString.slice(24, 32);
        // debug(`DP: ${parseInt(DP, 2)}, PF: ${parseInt(PF, 2)}, PS: ${parseInt(PS, 2)}, SA: ${parseInt(SA, 2)}`)
        return {
            id,
            pgn: parseInt(PF, 2) < 240
                ? (parseInt(DP, 2) << 16) + (parseInt(PF, 2) << 8)
                : (parseInt(DP, 2) << 16) + (parseInt(PF, 2) << 8) + parseInt(PS, 2),
            dest: parseInt(PF, 2) < 240 ? parseInt(PS, 2) : 0xff,
            src: parseInt(SA, 2)
        };
    }
    CANtoN2Kmessage(message) {
        const PGN = this.IDtoPGN(message.id);
        return {
            data: message.data,
            pgn: PGN.pgn,
            src: PGN.src,
            dest: PGN.dest,
            id: message.id,
            timestamp: message.timestamp || new Date().toISOString(),
            length: message.data.length
        };
    }
    generateCANFrames(frame) {
        const buffer = Buffer.from(frame.data);
        const frames = [];
        let cursor = 0x40;
        const first = Buffer.alloc(8);
        first.writeUInt8(cursor++, 0);
        first.writeUInt8(buffer.length, 1);
        // Copy from source "buffer" byte 0 - byte 6 into target "first", starting at target byte index 2
        buffer.copy(first, 2, 0, 6);
        frames.push(Object.assign(Object.assign({}, frame), { data: Buffer.from(first) }));
        // loop over each byte (starting at 6) in "buffer", increasing the loop index by 7 bytes for each iteration
        for (let i = 6; i < buffer.length; i += 7) {
            const next = Buffer.alloc(8);
            let end = i + 7; // end byte index of the slice to take from "buffer"
            let fill = 0;
            // If the end is beyond "buffer" length, set a variable "fill" with the number of padding bytes to add
            if (end > buffer.length) {
                fill = end - buffer.length;
                end = buffer.length;
            }
            // Write the next cursor at byte 0 in the current frame
            next.writeUInt8(cursor++, 0);
            // Copy from source "buffer" byte i - byte end into target "next", starting at target byte index 1
            buffer.copy(next, 1, i, end);
            // pad the buffer if required
            if (fill > 0) {
                for (let j = end - i; j < 8; j++) {
                    next.writeUInt8(0xff, j);
                }
            }
            frames.push(Object.assign(Object.assign({}, frame), { data: Buffer.from(next) }));
        }
        return frames;
    }
    handlePGN(message) {
        this.emit('message', message);
    }
}
exports.default = CANBus;
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