@essense/iso-claim
Version:
Library & background program that implements the ISO address claim procedure for CANbus (i.e. for NMEA2000 devices)
400 lines • 34.5 kB
JavaScript
;
var __importDefault = (this && this.__importDefault) || function (mod) {
return (mod && mod.__esModule) ? mod : { "default": mod };
};
Object.defineProperty(exports, "__esModule", { value: true });
const events_1 = require("events");
const canboatjs_1 = require("@canboat/canboatjs");
const int64_buffer_1 = require("int64-buffer");
const path_1 = require("path");
const fs_1 = __importDefault(require("fs"));
const express_1 = __importDefault(require("express"));
const debug_1 = __importDefault(require("debug"));
const can_bus_1 = __importDefault(require("./can-bus"));
let pkg = { version: '0.0.0' };
try {
pkg = JSON.parse(fs_1.default.readFileSync(path_1.join(__dirname, '../../../package.json'), 'utf-8'));
}
catch (e) {
pkg = { version: '-1.-1.-1' };
}
const HOME = process.env.HOME;
const version = pkg.version;
const debug = debug_1.default('CANNode');
var ISOPGNs;
(function (ISOPGNs) {
ISOPGNs[ISOPGNs["REQUEST"] = 59904] = "REQUEST";
ISOPGNs[ISOPGNs["CLAIM"] = 60928] = "CLAIM";
ISOPGNs[ISOPGNs["NAK"] = 59392] = "NAK";
ISOPGNs[ISOPGNs["LIST"] = 126464] = "LIST";
ISOPGNs[ISOPGNs["INFO"] = 126996] = "INFO";
ISOPGNs[ISOPGNs["GROUP"] = 126208] = "GROUP";
})(ISOPGNs || (ISOPGNs = {}));
class CANNode extends events_1.EventEmitter {
constructor(bus, opts) {
super();
this.READY = 2;
this.ADDRESS_REQUESTED = 1;
this.IDLE = 0;
this.addressClaimTimeout = null;
this.http = null;
this.reconnect = true;
this.options = Object.assign({ preferAddress: 0x5f }, opts);
if (typeof this.options.uniqueNumber !== 'number' ||
this.options.uniqueNumber <= 0) {
this.options.uniqueNumber = Math.floor(Math.random() * Math.floor(2097151));
}
try {
fs_1.default.unlinkSync(path_1.join(HOME, `.n2kaddress-${bus}.json`));
}
catch (e) {
debug(`Couldn't destory .n2kaddress.json: ${e.message}`);
}
this.reconnect = !!this.options.reconnect;
this.state = this.IDLE;
this.address = this.options.preferAddress;
this.bus = new can_bus_1.default(bus);
this.busname = bus;
this.http = express_1.default();
this.bus.on('message', this.incomingMessage.bind(this));
this.bus.on('N2KMessage', (msg) => this.emit('N2KMessage', msg));
this.bus.on('error', (err) => this.emit('error', err));
this.bus.on('connected', () => this.emit('connected'));
this.bus.on('disconnected', () => {
this.emit('disconnected');
if (this.reconnect === true) {
debug(`Reconnecting...`);
this.emit('reconnecting');
this.bus.reconnect();
}
});
this.http.get('/devices.html', this.showDevicesTable.bind(this));
this.http.get('/devices.json', this.showDevicesJSON.bind(this));
this.http.listen(this.options.port || 8001, () => console.log(`HTTP server listening on port ${this.options.port || 8001}`));
setTimeout(() => this.init(), 1000);
}
init() {
if (this.bus.isConnected() === false) {
const err = new Error('Not connected to bus');
this.emit('error', err);
this.state = this.IDLE;
return debug(err.message);
}
// Claim preferred address
this.claimAddress();
}
requestISO(PGN, dest = 255) {
debug(`[requestISO] (${this.address} => ${dest}) requesting ISO response for PGN ${PGN}`);
this.bus.send({
pgn: ISOPGNs.REQUEST,
src: this.address,
dest,
data: {
PGN
}
});
}
showDevicesJSON(req, res) {
debug('[showDevicesJSON] ' + req.path);
const devices = this.bus.getDevices();
res.json(devices);
}
showDevicesTable(req, res) {
debug('[showDevicesTable] ' + req.path);
let html = '<table cellpadding="5" cellspacing="0" borders="0" width="100%" style="font-family: monospace">';
const devices = this.bus.getDevices();
html += '<thead>';
html += '<tr style="text-align: left font-family: monospace">';
html +=
'<th style="border-right: 1px solid grey border-bottom: 1px solid grey">SA</th>';
html +=
'<th style="border-right: 1px solid grey border-bottom: 1px solid grey">Manufacturer Code</th>';
html +=
'<th style="border-right: 1px solid grey border-bottom: 1px solid grey">Model ID</th>';
html +=
'<th style="border-right: 1px solid grey border-bottom: 1px solid grey">Serial #</th>';
html += '<th style="border-bottom: 1px solid grey">Product Code</th>';
html += '</tr>';
html += '</thead>';
html += '<tbody>';
html +=
'<tr style="text-align: left border-bottom: 1px solid grey font-family: monospace">';
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${this.bus.getAddress()}</td>`;
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${this
.options.manufacturerCode || 'Decipher Industries'}</td>`;
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${this
.options.modelId || 'AP Controller'}</td>`;
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${this
.options.modelSerialCode || String(version)}</td>`;
html += `<td style="border-bottom: 1px solid grey">${this.options
.productCode || 1337}</td>`;
html += '</tr>';
Object.keys(devices).forEach((src) => {
const device = devices[src];
if (!device || typeof device !== 'object') {
return;
}
let { claim, info } = device;
if (!claim || typeof claim !== 'object') {
claim = {};
}
if (!info || typeof info !== 'object') {
info = {};
}
html +=
'<tr style="text-align: left border-bottom: 1px solid grey font-family: monospace">';
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${claim.src}</td>`;
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${claim['Manufacturer Code']}</td>`;
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${info['Model ID']}</td>`;
html += `<td style="border-right: 1px solid grey border-bottom: 1px solid grey">${info['Model Serial Code']}</td>`;
html += `<td style="border-bottom: 1px solid grey">${info['Product Code']}</td>`;
html += '</tr>';
});
html += '</tbody>';
html += '</table>';
// html += `<pre>${JSON.stringify(devices, null, 2)}</pre>`
res.set('Content-Type', 'text/html');
res.send(html);
}
incomingMessage(message) {
const src = message.src;
const pgn = message.pgn;
const dest = message.dest;
// We need to let through ISO address claim PGNs with the same source
// so we can increase our address as needed
if (pgn !== ISOPGNs.CLAIM && pgn !== ISOPGNs.LIST && src === this.address) {
return debug(`[PGN ${pgn}] (${src} => ${dest}) came from us, ignoring.`);
}
debug(`${pgn} [${src} => ${dest}] ${message.data
.toString()
.replace(/(.{2})/g, '$1 ')
.toUpperCase()}`);
if (dest !== 255 && dest !== this.address) {
return debug(`[PGN ${pgn}] (${src} => ${dest}) is not for us, ignoring.`);
}
switch (pgn) {
case ISOPGNs.REQUEST:
return this.handleISORequest(message);
case ISOPGNs.GROUP:
return this.handleGroupFunction(message);
case ISOPGNs.CLAIM:
return this.handleISOAddressClaim(message);
case ISOPGNs.INFO:
return this.handleProductInfo(message);
case ISOPGNs.LIST:
return this.handleSupportedPGNList(message);
default:
this.emit('message', message);
break;
}
}
addressClaimFields() {
return {
'Device Class': this.options.deviceClass || 25,
'Device Function': this.options.deviceFunction || 130,
'Device Instance Lower': this.options.instanceLower || 0,
'Device Instance Upper': this.options.instanceUpper || 0,
'Industry Group': this.options.industryGroup || 4,
'Manufacturer Code': this.options.manufacturerCode || 999,
Reserved1: 0,
Reserved2: 1,
'System Instance': this.options.systemInstance || 0,
'Unique Number': this.options.uniqueNumber
};
}
claimAddress() {
if (this.addressClaimTimeout !== null) {
clearTimeout(this.addressClaimTimeout);
this.addressClaimTimeout = null;
}
debug(`[claimAddress] (${this.address} => 255) claiming address ${this.address}`);
this.bus.send({
pgn: ISOPGNs.CLAIM,
dest: 255,
src: this.address,
data: this.addressClaimFields()
});
if (this.state !== this.READY) {
// Wait the required 250 ms, then indicate ready if not already ready.
// If we had a conflict, this should have been resolved by now.
this.state = this.ADDRESS_REQUESTED;
setTimeout(() => this.setReady(), 250);
}
}
setReady() {
this.state = this.READY;
this.bus.setAddress(this.address);
// Request claimAddress from everyone else, to fill the device map.
debug(`[setReady] Node ${this.address} is ready. Requesting addresses from everyone else.`);
try {
// Write our address to a file...
fs_1.default.writeFileSync(path_1.join(HOME, `.n2kaddress-${this.busname}.json`), JSON.stringify({
timestamp: new Date().toISOString(),
address: this.address,
device: this.addressClaimFields()
}, null, 2), 'utf-8');
}
catch (e) {
console.error(`Error writing .n2kaddress.json: ${e.message}`);
process.exit(1);
}
this.requestISO(ISOPGNs.CLAIM);
this.requestISO(ISOPGNs.INFO);
this.requestISO(ISOPGNs.LIST);
}
NAKacknowledgement(PGN) {
debug(`[NAKacknowledgement] (${this.address} => ${this.address}) PGN = ${PGN}`);
this.bus.send({
pgn: ISOPGNs.NAK,
dest: this.address,
src: this.address,
data: {
Control: 1,
'Group Function': 255,
PGN
}
});
}
broadcastSupportedPGNs() {
const data = {
'Function Code': 0,
list: this.options.supportedPGNs || []
};
debug(`[broadcastSupportedPGNs] (${this.address} => 255) ${JSON.stringify(data, null, 2)}`);
this.bus.send({
pgn: ISOPGNs.LIST,
dest: 255,
src: this.address,
data
});
}
broadcastProductInfo() {
const data = {
'Certification Level': this.options.certificationLevel || 0,
'Load Equivalency': this.options.loadEquivalency || 1,
'Model ID': this.options.modelId || 'EsSense Device',
'Model Serial Code': this.options.modelSerialCode || String(version),
'Model Version': this.options.modelVersion || 'CANbus ISO address arbitration library',
'NMEA 2000 Version': 2000,
'Product Code': this.options.productCode || 1337,
'Software Version Code': String(version)
};
debug(`[broadcastProductInfo] (${this.address} => 255) ${JSON.stringify(data, null, 2)}`);
this.bus.send({
pgn: ISOPGNs.INFO,
dest: 255,
src: this.address,
data
});
}
handleISORequest(message) {
const { src, dest, pgn, fields } = message;
debug(`[handleISORequest] (${pgn}) ${src} => ${dest} { PGN: ${fields.PGN} }`);
switch (fields.PGN) {
case ISOPGNs.INFO:
// Product info
return this.broadcastProductInfo();
case ISOPGNs.CLAIM:
// Address Claim
return this.claimAddress();
case ISOPGNs.LIST:
// Supported PGNs
return this.broadcastSupportedPGNs();
default:
// Anything else is unsupported. Send NAK
return this.NAKacknowledgement(fields.PGN);
}
}
handleGroupFunction(message) {
const { src, dest, pgn, fields } = message;
// Not supported. Send a response that indicates that we don't support this.
switch (fields['Function Code']) {
case 'Request':
case 'Command':
this.bus.send({
pgn: ISOPGNs.GROUP,
dest: src,
src: this.address,
data: {
'# of Parameters': 0,
'Function Code': 1,
PGN: fields.PGN,
'PGN error code': 4,
'Transmission interval/Priority error code': 0
}
});
return;
default:
return debug(`[handleGroupFunction] (${pgn}) ${src} => ${dest}: unknown function code (${fields['Function Code']})`);
}
}
handleProductInfo(message) {
const { src, dest, pgn, fields } = message;
debug(`[handleProductInfo] (${pgn}) ${src} => ${dest}: ${JSON.stringify(fields, null, 2)}`);
// Add or modify device on network
this.bus.addDevice(src, {
info: Object.assign({}, message)
});
}
handleSupportedPGNList(message) {
const { src, dest, pgn, fields } = message;
debug(`[handleSupportedPGNList] (${pgn}) ${src} => ${dest}: ${JSON.stringify(fields, null, 2)}`);
// Add or modify device on network
this.bus.addDevice(src, {
supportedPGNs: Object.assign({}, message)
});
}
handleISOAddressClaim(message) {
const { src, dest, pgn, fields } = message;
debug(`[handleISOAddressClaim] (${pgn}) ${src} => ${dest}: ${JSON.stringify(fields, null, 2)}`);
// Cache current network
const network = this.bus.getDevices();
if (src !== this.address) {
if (!network.hasOwnProperty(src)) {
debug(`[handleISOAddressClaim] Adding node ${src} to network map`);
this.bus.addDevice(src, {
claim: Object.assign({}, message)
});
}
return;
}
const ours = addressClaimAsUint64({
pgn: ISOPGNs.CLAIM,
dst: 255,
src: this.address,
data: this.addressClaimFields()
});
const theirs = addressClaimAsUint64({
pgn,
dest,
src,
data: fields
});
debug(`[handleISOAddressClaim] Got competing address claim from ${src}, evaluating ours v. theirs: ${ours} v. ${theirs}`);
if (ours < theirs) {
debug(`[handleISOAddressClaim] Our int64 claim is less than theirs. Asserting superiority.`);
return this.claimAddress();
}
debug(`[handleISOAddressClaim] Their int64 claim is greater than or equal to ours. Increasing address.`);
this.increaseAddress();
this.claimAddress();
}
increaseAddress(incr = 1) {
const attempt = (this.address + incr) % 253;
const network = this.bus.getDevices();
if (attempt === this.address || typeof network[attempt] !== 'undefined') {
debug(`[increaseAddress] attempt ${attempt} already taken, tring again`);
this.increaseAddress(incr + 1);
}
else {
debug(`[increaseAddress] setting address to: ${attempt}`);
this.address = attempt;
}
}
}
// Utility copied from @canboat/canboatjs
function addressClaimAsUint64(pgn) {
return new int64_buffer_1.Uint64LE(canboatjs_1.toPgn(Object.assign(Object.assign({}, pgn), pgn.data)));
}
exports.default = CANNode;
//# 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