Convert autopilot route information to N2K

conversions/autopilot.js

@@ -0,0 +1,131 @@
+// const { DateTime } = require('luxon')
+const debug = require('debug')('signalk-to-nmea2000/conversions/autopilot')
+
+
+/**
+ * APB: 127237 (Heading/Track control) X, 129283 (Cross Track Error) X, 129284 (Navigation Data) X
+ * RMC: 127258 (Magnetic Variation) X
+ *
+ * One also should enable conversions for (if not present on network):
+ * - systemTime
+ * - cogSOG
+ * - heading
+ * - gps
+ */
+
+module.exports = (app, plugin) => {
+  return {
+    pgns: [ 127237, 129283, 129284, 127258 ],
+    title: 'Autopilot Routing Data',
+    optionKey: 'AUTOPILOTv2',
+    keys: [
+      'navigation.headingMagnetic',
+      'navigation.headingTrue',
+      'navigation.magneticVariation',
+      'navigation.magneticVariationAgeOfService',
+      'navigation.courseRhumbline.crossTrackError',
+      'navigation.courseRhumbline.bearingTrackTrue',
+      'navigation.courseRhumbline.bearingTrackMagnetic',
+      'navigation.courseRhumbline.nextPoint.ID',
+      'navigation.courseRhumbline.nextPoint.position',
+      'navigation.courseRhumbline.nextPoint.bearingTrue',
+      'navigation.courseRhumbline.nextPoint.bearingMagnetic',
+      'navigation.courseRhumbline.nextPoint.distance',
+      'navigation.courseRhumbline.previousPoint.ID',
+      'steering.autopilot.target.headingTrue',
+      'notifications.arrivalCircleEntered',
+      'notifications.perpendicularPassed'
+    ],
+    callback: (
+      headingMagnetic,
+      headingTrue,
+      magneticVariation,
+      magneticVariationAgeOfService,
+      XTE,
+      bearingTrackTrue,
+      bearingTrackMagnetic,
+      nextPointID,
+      nextPointPosition,
+      nextPointBearingTrue,
+      nextPointBearingMagnetic,
+      distance,
+      previousPointID,
+      apHeadingTrue,
+      arrivalCircleEntered,
+      perpendicularPassed
+    ) => {
+      const validNextPointPosition = (nextPointPosition && typeof nextPointPosition === 'object' && nextPointPosition.hasOwnProperty('latitude') && nextPointPosition.hasOwnProperty('longitude'))
+      const SID = 87
+      const bearingTrack = bearingTrackTrue === null ? bearingTrackMagnetic : bearingTrackTrue
+      let bearingRef = 0
+
+      if (bearingTrackTrue === null && bearingTrackMagnetic !== null) {
+        bearingRef = 1
+      }
+
+      const navigationDataPGN = {
+        pgn: 129284,
+        SID,
+        'Distance to Waypoint': distance || 0,
+        'Course/Bearing reference': bearingRef,
+        'Perpendicular Crossed': perpendicularPassed === null ? 0 : 1, // 0 = No, 1 = Yes
+        'Arrival Circle Entered': arrivalCircleEntered === null ? 0 : 1, // 0 = No, 1 = Yes
+        'Calculation Type': 1 // rhumbline
+        // 'ETA Time': -1, // Seconds since midnight
+        // 'ETA Date': -1, // Days since January 1, 1970
+        // 'Waypoint Closing Velocity': -1
+      }
+
+      if (nextPointBearingTrue !== null || nextPointBearingMagnetic !== null) {
+        navigationDataPGN['Bearing, Position to Destination Waypoint'] = nextPointBearingTrue === null ? nextPointBearingMagnetic : nextPointBearingTrue
+      }
+
+      if (bearingTrack !== null) {
+        navigationDataPGN['Bearing, Origin to Destination Waypoint'] = bearingTrack
+      }
+
+      if (previousPointID !== null) {
+        navigationDataPGN['Origin Waypoint Number'] = previousPointID
+      }
+
+      if (nextPointID !== null) {
+        navigationDataPGN['Destination Waypoint Number'] = nextPointID
+      }
+
+      if (validNextPointPosition === true) {
+        navigationDataPGN['Destination Latitude'] = nextPointPosition.latitude
+        navigationDataPGN['Destination Longitude'] = nextPointPosition.longitude
+      }
+
+      const headingToSteerPGN = {
+        pgn: 127237,
+        'Heading-To-Steer (Course)': apHeadingTrue
+      }
+
+      if (headingTrue !== null || headingMagnetic !== null) {
+        headingToSteerPGN['Vessel Heading'] = headingTrue === null ? headingMagnetic : headingTrue
+      }
+
+      return [
+        navigationDataPGN,
+        (!apHeadingTrue) ? null : headingToSteerPGN,
+        !XTE ? null : {
+          pgn: 129283, // XTE
+          'XTE mode': 0, // Autonomous
+          SID,
+          XTE
+        },
+        (!magneticVariation) ? null : {
+          pgn: 127258, // Magnetic variation
+          SID,
+          Source: 1, // Automatic Chart
+          Variation: magneticVariation, // Variation with resolution 0.0001 in rad,
+          'Age of service': Math.floor((magneticVariationAgeOfService !== null ? magneticVariationAgeOfService : 0) / 86400000) // Days since epoch
+        }
+      ].filter(pgn => (pgn !== null)).map(pgn => {
+        debug(`Sending PGN ${pgn.pgn}: ${JSON.stringify(pgn, null, 2)}`)
+        return pgn
+      })
+    }
+  }
+}

conversions/systemTime.js

@@ -1,23 +1,33 @@
+const { DateTime } = require('luxon')
 
 module.exports = (app, plugin) => {
   return {
-    title: 'System Time (126992)',
+    title: 'System Time (126992 & 129033)',
     sourceType: 'timer',
     interval: 1000,
     optionKey: 'SYSTEM_TIMEv2',
     callback: (app) => {
-      var dateObj = new Date();
-      var date = Math.trunc(dateObj.getTime() / 86400 / 1000);
-      var time =
-          dateObj.getUTCHours() * (60 * 60) +
-          dateObj.getUTCMinutes() * 60 +
-          dateObj.getUTCSeconds();
+      const now = DateTime.local()
+      const startOfDay = now.startOf('day')
+
+      // For 126992
+      const date = Math.trunc(now.toMillis() / 86400 / 1000)
+      const time =
+          now.toUTC().hour * (60 * 60) +
+          now.toUTC().minute * 60 +
+          now.toUTC().second
 
       return [
         {
           pgn: 126992,
           Date: date,
           Time: time
+        },
+        {
+          pgn: 129033,
+          Date: Math.floor(now.toMillis() / 86400000), // Days since January 1, 1970
+          Time: Math.floor(now.diff(startOfDay).as('seconds')), // Seconds since midnight
+          'Local Offset': now.offset // Minutes (difference between UTC & local time?)
         }
       ]
     }