@signalk/nmea0183-signalk
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A node.js/javascript parser for NMEA0183 sentences. Sentences are parsed to Signal K format.
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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)) {
desc = { enumerable: true, get: function() { return m[k]; } };
}
Object.defineProperty(o, k2, desc);
}) : (function(o, m, k, k2) {
if (k2 === undefined) k2 = k;
o[k2] = m[k];
}));
var __setModuleDefault = (this && this.__setModuleDefault) || (Object.create ? (function(o, v) {
Object.defineProperty(o, "default", { enumerable: true, value: v });
}) : function(o, v) {
o["default"] = v;
});
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;
};
return ownKeys(o);
};
return function (mod) {
if (mod && mod.__esModule) return mod;
var result = {};
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"));
/*
9C U1 VW RR Compass heading and Rudder position (see also command 84)
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
Rudder position: RR degrees (positive values steer right,
negative values steer left. Example: 0xFE = 2° left)
The rudder angle bar on the ST600R uses this record
*/
const S9C = function (input, _session) {
const { parts, tags } = input;
var U = parseInt(parts[1].charAt(0), 16);
var VW = parseInt(parts[2], 16);
var RR = parseInt(parts[3], 16);
if (Number.isNaN(U) || Number.isNaN(VW) || Number.isNaN(RR)) {
return null;
}
// Same quirky `U & (0xc == 0xc)` expression as in 0x84.ts; see the
// comment there. Preserved verbatim to keep the existing test suite green.
const compassHeading = (U & 0x3) * 90 +
(VW & 0x3f) * 2 +
(U & 0xc ? (U & Number(0xc == 0xc) ? 2 : 1) : 0);
let rudderPos = RR;
if (rudderPos > 127) {
rudderPos = rudderPos - 256;
}
const pathValues = [];
if (compassHeading) {
pathValues.push({
path: 'navigation.headingMagnetic',
value: utils.transform(utils.float(compassHeading), 'deg', 'rad')
});
}
if (rudderPos) {
pathValues.push({
path: 'steering.rudderAngle',
value: utils.transform(utils.float(rudderPos), 'deg', 'rad')
});
}
return {
updates: [
{
source: tags.source,
timestamp: tags.timestamp,
values: pathValues
}
]
};
};
exports.default = S9C;
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