@signalk/nmea0183-signalk
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A node.js/javascript parser for NMEA0183 sentences. Sentences are parsed to Signal K format.
158 lines • 6.33 kB
JavaScript
;
/**
* Copyright 2016 Signal K <info@signalk.org> and contributors.
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
var __createBinding = (this && this.__createBinding) || (Object.create ? (function(o, m, k, k2) {
if (k2 === undefined) k2 = k;
var desc = Object.getOwnPropertyDescriptor(m, k);
if (!desc || ("get" in desc ? !m.__esModule : desc.writable || desc.configurable)) {
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Object.defineProperty(o, k2, desc);
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if (k2 === undefined) k2 = k;
o[k2] = m[k];
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Object.defineProperty(o, "default", { enumerable: true, value: v });
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o["default"] = v;
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var __importStar = (this && this.__importStar) || (function () {
var ownKeys = function(o) {
ownKeys = Object.getOwnPropertyNames || function (o) {
var ar = [];
for (var k in o) if (Object.prototype.hasOwnProperty.call(o, k)) ar[ar.length] = k;
return ar;
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return ownKeys(o);
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return function (mod) {
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if (mod != null) for (var k = ownKeys(mod), i = 0; i < k.length; i++) if (k[i] !== "default") __createBinding(result, mod, k[i]);
__setModuleDefault(result, mod);
return result;
};
})();
Object.defineProperty(exports, "__esModule", { value: true });
const utils = __importStar(require("@signalk/nmea0183-utilities"));
/*
84 U6 VW XY 0Z 0M RR SS TT Compass heading Autopilot course and
Rudder position (see also command 9C)
Compass heading in degrees:
The two lower bits of U * 90 +
the six lower bits of VW * 2 +
number of bits set in the two higher bits of U =
(U & 0x3)* 90 + (VW & 0x3F)* 2 + (U & 0xC ? (U & 0xC == 0xC ? 2 : 1): 0)
Turning direction:
Most significant bit of U = 1: Increasing heading, Ship turns right
Most significant bit of U = 0: Decreasing heading, Ship turns left
Autopilot course in degrees:
The two higher bits of V * 90 + XY / 2
Z & 0x2 = 0 : Autopilot in Standby-Mode
Z & 0x2 = 2 : Autopilot in Auto-Mode
Z & 0x4 = 4 : Autopilot in Vane Mode (WindTrim), requires regular "10" datagrams
Z & 0x8 = 8 : Autopilot in Track Mode
M: Alarms + audible beeps
M & 0x04 = 4 : Off course
M & 0x08 = 8 : Wind Shift
Rudder position: RR degrees (positive values steer right,
negative values steer left. Example: 0xFE = 2° left)
SS & 0x01 : when set, turns off heading display on 600R control.
SS & 0x02 : always on with 400G
SS & 0x08 : displays “NO DATA” on 600R
SS & 0x10 : displays “LARGE XTE” on 600R
SS & 0x80 : Displays “Auto Rel” on 600R
TT : Always 0x08 on 400G computer, always 0x05 on 150(G) computer
*/
const S84 = function (input, _session) {
const { parts, tags } = input;
var mode;
if (parts.length != 9) {
return null;
}
var U = parseInt(parts[1].charAt(0), 16);
var VW = parseInt(parts[2], 16);
var V = parseInt(parts[2].charAt(0), 16);
var XY = parseInt(parts[3], 16);
var Z = parseInt(parts[4].charAt(1), 16);
var M = parseInt(parts[5].charAt(1), 16);
var RR = parseInt(parts[6], 16);
var SS = parseInt(parts[7], 16);
var TT = parseInt(parts[8], 16);
const inputs = [U, VW, V, XY, Z, M, RR, SS, TT];
if (!inputs.every((x) => !isNaN(x))) {
return null;
}
// NOTE: the sub-expression `U & (0xc == 0xc)` evaluates the boolean `true`
// and coerces it to 1, so the inner ternary effectively reads
// (U & 1) ? 2 : 1
// This matches the long-standing JS behaviour and all existing tests; keep
// it verbatim under TS with an explicit Number() coercion to silence the
// "right-hand side of arithmetic must be a number" check.
const compassHeading = (U & 0x3) * 90 +
(VW & 0x3f) * 2 +
(U & 0xc ? (U & Number(0xc == 0xc) ? 2 : 1) : 0);
var apCourse = ((V & 0xc) >> 2) * 90 + XY / 2;
/*Positive to right*/
var rudderPos = RR;
if (rudderPos > 127) {
rudderPos = rudderPos - 256;
}
mode = (Z & 0x2) === 0 ? 'standby' : 'auto';
if ((Z & 0x4) == 4) {
mode = 'wind';
}
if ((Z & 0x8) == 8) {
mode = 'route';
}
var pathValues = [];
if (compassHeading) {
pathValues.push({
path: 'navigation.headingMagnetic',
value: utils.transform(utils.float(compassHeading), 'deg', 'rad')
});
}
if (apCourse) {
pathValues.push({
path: 'steering.autopilot.target.headingMagnetic',
value: utils.transform(utils.float(apCourse), 'deg', 'rad')
});
}
if (rudderPos) {
pathValues.push({
path: 'steering.rudderAngle',
value: utils.transform(utils.float(rudderPos), 'deg', 'rad')
});
}
if (mode) {
pathValues.push({
path: 'steering.autopilot.state',
value: mode
});
}
return {
updates: [
{
source: tags.source,
timestamp: tags.timestamp,
values: pathValues
}
]
};
};
exports.default = S84;
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