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emulate.js
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emulate.js
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const debug = require('debug')('emulate')
var myArgs = process.argv.slice(2);
const emulate = myArgs[0] || 'AC12'
const emulate_init = './device/' + emulate + '.js'
// Load device specific init info
debug('Loading %s', emulate_init)
require(emulate_init)
const defaultTransmitPGNs = require(emulate_init).defaultTransmitPGNs
module.exports.defaultTransmitPGNs = defaultTransmitPGNs
const deviceAddress = myArgs[1];
// const deviceAddress = require(emulate_init).deviceAddress;
module.exports.deviceAddress = deviceAddress;
debug('deviceAddress: %j', deviceAddress)
require('./canboatjs')
require('./canboatjs/lib/canbus')
const canDevice = require('./canboatjs/lib/canbus').canDevice
// const device = require('./canboatjs/lib/candevice').device
const canbus = new (require('./canboatjs').canbus)({})
const util = require('util')
var pilot_state = 'standby';
var ac12mode = 'headinghold';
var lastac12mode = '';
var ac12state = 'standby';
var part = 0
var wind_apparent_deg
var wind_target_deg
var cts_rad
function hex2bin(hex){
return ("00000000" + (parseInt(hex, 16)).toString(2)).substr(-8);
}
switch (emulate) {
case 'AC12':
if (process.stdin.isTTY) {
debug('DEBUG enabled. Using keyboard input for state changes.')
const readline = require('readline');
readline.emitKeypressEvents(process.stdin);
process.stdin.setRawMode(true);
process.stdin.on('keypress', (str, key) => {
if (key.ctrl && key.name === 'c') {
process.exit();
} else if (key.name === 'n') {
state_button = 'navigation'
} else if (key.name === 'f') {
ac12mode = 'followup'
} else if (key.name === 'h') {
state_button = 'headinghold'
} else if (key.name === 'u') {
// ac12mode = 'nonfollowup'
} else if (key.name === 'w') {
// ac12mode = 'wind'
state_button = 'wind'
} else if (key.name === 'd') {
state_button= 'nodrift'
} else if (key.name === 'u') {
key_button = '-10'
} else if (key.name === 'i') {
key_button = '-1'
} else if (key.name === 'o') {
key_button = '+1'
} else if (key.name === 'p') {
key_button = '+10'
} else if (key.name === 'e') {
// ac12state = 'engaged'
state_button = 'engage'
} else if (key.name === 's') {
// ac12state = 'standby'
state_button = 'standby'
} else if (key.name === 'return') {
console.log('')
} else if (key.name === '1') {
part = part + 3
} else {
debug('Key %s not mapped.\n', key.name)
}
});
}
break;
case 'OP10keypad':
console.log('OP10 keypad emulator\nButtons: a=auto s=standby m=mode u=-10 i=-1 o=+1 p=+10')
const readline = require('readline');
readline.emitKeypressEvents(process.stdin);
process.stdin.setRawMode(true);
process.stdin.on('keypress', (str, key) => {
if (key.ctrl && key.name === 'c') {
process.exit();
} else if (key.name === 'a') {
button='auto'
} else if (key.name === 's') {
button='standby'
} else if (key.name === 'm') {
button='mode'
} else if (key.name === 'u') {
button='-1'
} else if (key.name === 'i') {
button='+1'
} else if (key.name === 'o') {
button='-10'
} else if (key.name === 'p') {
button='+10'
} else {
debug('Key not mapped: %s', key.name);
}
if (typeof button != 'undefined') {
msg = util.format(op10msg, (new Date()).toISOString(), canbus.candevice.address, hexByte(canbus.candevice.address), op10_key_code[button]);
// debug('Sending pgn: %s', msg);
canbus.sendPGN(msg)
}
delete button
});
break;
}
var commission_reply = {
'ffffff180a0000ffffffff': 'ff,ff,ff,18,0a,00,02,00,ff,ff,ff', // <- Boat type: (00=Sail, 01=Outboard, 02=Displacement, 03=Planing)
'ff64ff042d0000ffffffff': 'ff,64,ff,04,2d,00,02,a3,0d,ff,ff',
'ffffff042d0000ffffffff': 'ff,ff,ff,04,2d,00,02,a3,0d,ff,ff',
'ffffff3a000000ffffffff': 'ff,ff,ff,3a,00,00,02,00,00,ff,ff', // <- added
'ffffff06000000ffffffff': 'ff,ff,ff,06,00,00,02,00,00,ff,ff', // <- added
'ffffff100000ffffffffff': 'ff,ff,ff,10,00,02,ad,ac,7f,00,ff', // <- added
'ffffff09010000ffffffff': 'ff,ff,ff,09,01,00,02,55,1b,ff,ff',
'ffffff09020000ffffffff': 'ff,ff,ff,09,02,00,02,ab,e4,ff,ff',
'ffffff1a0d0000ffffffff': 'ff,ff,ff,1a,0d,00,02,69,00,ff,ff',
'ffffff190d0000ffffffff': 'ff,ff,ff,19,0d,00,02,45,00,ff,ff',
'ffffff1a0f0000ffffffff': 'ff,ff,ff,1a,0f,00,02,6f,00,ff,ff',
'ffffff190f0000ffffffff': 'ff,ff,ff,19,0f,00,02,49,00,ff,ff',
'ffffff1a0e0000ffffffff': 'ff,ff,ff,1a,0e,00,02,90,01,ff,ff',
'ffffff190e0000ffffffff': 'ff,ff,ff,19,0e,00,02,90,01,ff,ff',
'ffffff1a100000ffffffff': 'ff,ff,ff,1a,10,00,02,af,12,33,00',
'ffffff19100000ffffffff': 'ff,ff,ff,19,10,00,02,ad,cc,7f,00',
'ffffff18020000ffffffff': 'ff,ff,ff,18,02,00,02,00,00,ff,ff',
'ffffff1a110000ffffffff': 'ff,ff,ff,1a,11,00,02,08,ff,ff,ff',
'ffffff19110000ffffffff': 'ff,ff,ff,19,11,00,02,04,ff,ff,ff',
'ffffff1c110000ffffffff': 'ff,ff,ff,1c,11,00,02,04,ff,ff,ff',
'ffffff18060000ffffffff': 'ff,ff,ff,18,06,00,02,00,ff,ff,ff',
'ffffff09020000ffffffff': 'ff,ff,ff,09,02,00,02,ab,e4,ff,ff', // only in Aurora
// 'ffffff180a0000ffffffff': 'ff,ff,ff,18,0a,00,02,01,ff,ff,ff',
'ffffff190d0000ffffffff': 'ff,ff,ff,19,0d,00,02,45,00,ff,ff', // AutoSteer Low Rudder
'ffffff190f0000ffffffff': 'ff,ff,ff,19,0f,00,02,49,00,ff,ff', // AutoSteer Low Counter rudder
'ffffff190e0000ffffffff': 'ff,ff,ff,19,0e,00,02,90,01,ff,ff', // AutoSteer Low Auto trim
'ffffff19100000ffffffff': 'ff,ff,ff,19,10,00,02,ad,cc,7f,00', // AutoSteer Low Rate limit
'ffffff1a0d0000ffffffff': 'ff,ff,ff,1a,0d,00,02,69,00,ff,ff', // AutoSteer High Rudder
'ffffff1a0f0000ffffffff': 'ff,ff,ff,1a,0f,00,02,6f,00,ff,ff', // AutoSteer High Counter rudder
'ffffff1a0e0000ffffffff': 'ff,ff,ff,1a,0e,00,02,90,01,ff,ff', // AutoSteer High Auto trim
'ffffff1a100000ffffffff': 'ff,ff,ff,1a,10,00,02,af,12,33,00', // AutoSteer High Rate limit
'ffffff18020000ffffffff': 'ff,ff,ff,18,02,00,02,00,00,ff,ff',
'ffffff19110000ffffffff': 'ff,ff,ff,19,11,00,02,04,ff,ff,ff', // Mode High -> Low
'ffffff1a110000ffffffff': 'ff,ff,ff,1a,11,00,02,08,ff,ff,ff', // Mode High -> High
'ffffff1c110000ffffffff': 'ff,ff,ff,1c,11,00,02,04,ff,ff,ff', // Mode High -> Wind
'ffffff18060000ffffffff': 'ff,ff,ff,18,06,00,02,01,ff,ff,ff', // Sea state filter (00 = off, 01 = auto, 02 manual)
'ffffff180c0000ffffffff': 'ff,ff,ff,18,0c,00,02,01,01,ff,ff', // Transition speed automatic steering 18,0c,00,01,01,01
'ffffff14000000ffffffff': 'ff,ff,ff,14,00,00,02,00,00,ff,ff', // Rudder drive -> High Voltage
'ffffff14060000ffffffff': 'ff,ff,ff,14,06,00,02,00,00,ff,ff',
'ffffff14010000ffffffff': 'ff,ff,ff,14,01,00,02,27,ff,ff,ff', // Rudder drive ->
'ffffff141d0000ffffffff': 'ff,ff,ff,14,1d,00,02,b0,04,ff,ff', // Rudder drive -> Voltage (12=60,09 24=b0,04)
'ffffff1c010000ffffffff': 'ff,ff,ff,1c,01,00,02,74,14,ff,ff',
'ffffff1c020000ffffffff': 'ff,ff,ff,1c,02,00,02,74,14,ff,ff',
'ffffff1c080000ffffffff': 'ff,ff,ff,1c,08,00,02,78,00,ff,ff', // Sailing -> Tack time
'ffffff180b0000ffffffff': 'ff,ff,ff,18,0b,00,02,1c,47,ff,ff', // Sailing -> Tack angle
'ffffff1c090000ffffffff': 'ff,ff,ff,1c,09,00,02,11,00,ff,ff', // Sailing -> Wind function LAYLINE,VGM,AUTO,TRUE,APPARENT
'ffffff1b0c0000ffffffff': 'ff,ff,ff,1b,0c,00,02,d1,06,ff,ff',
'ffffff180c0000ffffffff': 'ff,ff,ff,18,0c,00,02,01,01,ff,ff',
'ffffff14090000ffffffff': 'ff,ff,ff,14,09,00,02,c1,0a,ff,ff',
'ffffff18090000ffffffff': 'ff,ff,ff,18,09,00,02,07,00,ff,ff',
'ffffff21090000ffffffff': 'ff,ff,ff,21,09,00,02,aa,c7,ff,ff',
'ffffff1f1b0000ffffffff': 'ff,ff,ff,1f,1b,00,02,d0,07,ff,ff',
'ffffff1f1a0000ffffffff': 'ff,ff,ff,1f,1a,00,02,d0,07,ff,ff',
'ffffff21190000ffffffff': 'ff,ff,ff,21,19,00,02,aa,c7,0c,ff',
'ffffff220b0000ffffffff': 'ff,ff,ff,22,b0,00,02,17,13,ff,ff',
'ffffff221a0000ffffffff': 'ff,ff,ff,22,1a,00,02,88,13,ff,ff',
'ffffff230d0000ffffffff': 'ff,ff,ff,23,0d,00,02,05,ff,ff,ff', // <- single setting?
'ffffff1e1a0000ffffffff': 'ff,ff,ff,1e,1a,00,02,88,13,ff,ff',
'fffffff200b000ffffffff': 'ff,ff,ff,20,0b,00,02,88,13,ff,ff',
'fffffff201b000ffffffff': 'ff,ff,ff,20,1b,00,02,d0,07,ff,ff',
'fffffff230d000ffffffff': 'ff,ff,ff,23,0d,00,02,05,ff,ff,ff',
'fffffff230b000ffffffff': 'ff,ff,ff,23,0b,00,02,00,00,ff,ff',
'fffffff040d000ffffffff': 'ff,ff,ff,04,0d,00,02,00,00,ff,ff',
'fffffff0901000ffffffff': 'ff,ff,ff,09,01,00,02,55,1d,ff,ff',
'fffffff0902000ffffffff': 'ff,ff,ff,09,02,00,02,ab,e4,ff,ff'
}
var heading;
var heading_rad = 'ff,ff';
var locked_heading;
var locked_heading_rad = 'ff,ff';
var mag_variation;
// Variables for multipacket pgns
var pgn130850 = [];
var pilotmode126720 = [];
var pgn129284 = [];
var pgn130845 = [];
var rudder_pgn_data = 'ff,f8,ff,ff,00,00,ff,ff';
const op10msg = '%s,2,130850,%s,255,0c,41,9f,%s,ff,ff,%s,00,00,00,ff';
const op10_key_code = {
"+1": "02,ff,ff,02,0d,00,04",
"+10": "02,ff,ff,02,0d,00,05",
"-1": "02,ff,ff,02,0d,00,ff",
"-10": "02,ff,ff,0a,06,00,00",
"auto": "02,ff,ff,0a,09,00,00",
"mode": "02,ff,ff,0a,0f,00,00",
"standby": "02,ff,ff,0a,1c,00,00",
"-1-10": "",
"+1+10": ""
}
// Raymarine setup
const raymarine_state_command = "%s,3,126720,%s,%s,16,3b,9f,f0,81,86,21,%s,00,00,00,00,ff,ff,ff,ff,ff";
const raymarine_state_code = {
"standby": "02,fd,00,00,00",
"headinghold": "01,fe,00,00,00", // Heading Hold
"wind": "23,dc,00,00,00", // Windvane mode
"navigation": "03,fc,3c,42,00" // Track mode
}
const raymarine_key_command = "%s,3,126720,%s,%s,19,3b,9f,f0,81,86,21,%s,07,01,02,00,00,00,00,00,00,00,00,00,00,00,ff,ff,ff";
const raymarine_key_code = {
"+1": "07,f8",
"+10": "08,f7",
"-1": "05,fa",
"-10": "06,f9",
"-1-10": "21,de",
"+1+10": "22,dd"
}
key_command = "%s,7,126720,%s,%s,16,3b,9f,f0,81,86,21,%s,07,01,02,00,00,00,00,00,00,00,00,00,00,00,ff,ff,ff,ff,ff" // ok
heading_command = "%s,3,126208,%s,%s,14,01,50,ff,00,f8,03,01,3b,07,03,04,06,%s,%s"
wind_command = "%s,3,126720,%s,%s,16,3b,9f,f0,81,86,21,23,dc,00,00,00,00,00,00,ff,ff,ff,ff,ff",
route_command = "%s,3,126720,%s,%s,16,3b,9f,f0,81,86,21,03,fc,3c,42,00,00,00,00,ff,ff,ff,ff,ff",
autopilot_dst = '115' // default converter device id
function changeHeading(app, deviceid, command_json)
{
var ammount = command_json["value"]
var state = pilot_state;
var new_value
var command_format
var n2k_msgs
debug("changeHeading: " + state + " " + ammount)
if ( state == "auto" )
{
var current = heading_rad;
new_value = radsToDeg(current) + ammount
if ( new_value < 0 ) {
new_value = 360 + new_value
} else if ( new_value > 360 ) {
new_value = new_value - 360
}
debug(`current heading: ${radsToDeg(current)} new value: ${new_value}`)
command_format = heading_command
}
else if ( state == "wind" )
{
var current = app.getSelfPath(target_wind_path)
new_value = radsToDeg(current) + ammount
if ( new_value < 0 )
new_value = 360 + new_value
else if ( new_value > 360 )
new_value = new_value - 360
debug(`current wind angle: ${radsToDeg(current)} new value: ${new_value}`)
command_format = wind_command
}
else
{
//error
}
if ( new_value )
{
new_value = Math.trunc(degsToRad(new_value) * 10000)
n2k_msgs = [util.format(command_format, (new Date()).toISOString(), default_src,
autopilot_dst, padd((new_value & 0xff).toString(16), 2), padd(((new_value >> 8) & 0xff).toString(16), 2))]
}
return n2k_msgs
}
debug('Using device id: %i', canbus.candevice.address)
// Generic functions
function buf2hex(buffer) { // buffer is an ArrayBuffer
return Array.prototype.map.call(new Uint8Array(buffer), x => ('00' + x.toString(16)).slice(-2));
}
function radsToDeg(radians) {
return radians * 180 / Math.PI
}
function degsToRad(degrees) {
return degrees * (Math.PI/180.0);
}
function padd(n, p, c)
{
var pad_char = typeof c !== 'undefined' ? c : '0';
var pad = new Array(1 + p).join(pad_char);
return (pad + n).slice(-pad.length);
}
// Sleep
const sleep = (milliseconds) => {
return new Promise(resolve => setTimeout(resolve, milliseconds))
}
// Heartbeat PGN 126993
const hexByte = require('./canboatjs/lib/utilities').hexByte
const heartbeat_msg = "%s,7,126993,%s,255,8,60,ea,%s,ff,ff,ff,ff,ff"
var heartbeatSequencenumber = 0
function heartbeat () {
heartbeatSequencenumber++
if (heartbeatSequencenumber > 600) {
heartbeatSequencenumber = 1
}
msg = util.format(heartbeat_msg, (new Date()).toISOString(), canbus.candevice.address, hexByte(heartbeatSequencenumber))
canbus.sendPGN(msg)
}
async function PGN130822 () {
const messages = [
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0e,00,00,fc,13,25,00,00,74,be",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0f,00,00,fc,13,60,04,00,a3,5c",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,09,00,00,fc,12,1c,00,00,dd,d1",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0a,00,00,fc,13,b6,00,00,94,3a",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0b,00,00,fc,13,b9,00,00,16,67",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0c,00,00,fc,13,6f,00,00,03,bb",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0d,00,00,fc,13,25,00,00,74,be",
"%s,3,130822,%s,255,0f,13,99,ff,01,00,0e,00,00,fc,13,25,00,00,74,be" ]
for (var nr in messages) {
msg = util.format(messages[nr], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
await sleep(1000)
}
}
function AC12_PGN130860 () {
const message = "%s,7,130860,%s,255,21,13,99,ff,ff,ff,ff,7f,ff,ff,ff,7f,ff,ff,ff,ff,ff,ff,ff,7f,ff,ff,ff,7f"
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
}
function AC12_PGN130850 () {
const message = "%s,2,130850,%s,255,0c,41,9f,ff,ff,64,00,2b,00,ff,ff,ff,ff,ff"
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
}
function AC12_PGN127250 () {
// 2020-04-19-18:45:46.934,3,127250,7,255,8,0,3b,8f,ff,7f,0e,01,fd
// 2020-04-19-18:46:19.480 2 115 255 127250 Vessel Heading: SID = 0; Heading = 210.1 deg; Deviation = Unknown; Variation = Unknown; Reference = Magnetic
const message = "%s,3,127250,%s,255,8,00,%s,ff,7f,ff,7f,fd" // fc = true, fd = magnetic
// true_heading = Math.trunc(degsToRad(heading + mag_variation) * 10000)
magnetic_heading = Math.trunc(degsToRad(heading) * 10000)
// debug ("heading_true_rad: %s variation: %s", true_heading, mag_variation);
heading_hex = padd((magnetic_heading & 0xff).toString(16), 2) + "," + padd(((magnetic_heading >> 8) & 0xff).toString(16), 2)
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address, heading_hex)
canbus.sendPGN(msg)
}
function AC12_PGN65341 () {
if (ac12mode == 'wind') {
if (ac12state == 'standby') {
wind_target_deg = wind_apparent_deg
}
wind_target_rad = Math.trunc(degsToRad(wind_target_deg) * 10000)
wind_target_hex = padd((wind_target_rad & 0xff).toString(16), 2) + "," + padd(((wind_target_rad >> 8) & 0xff).toString(16), 2)
// debug ("wind_target_hex: %s wind_deg: %s", wind_target_hex, wind_target_deg);
// B&G Wind target PGN
const message = "%s,6,65341,%s,255,8,41,9f,ff,ff,03,ff,%s"
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address, wind_target_hex)
canbus.sendPGN(msg)
}
}
function AC12_PGN127245 () {
const message = "%s,2,127245,%s,255,8,%s"
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address, rudder_pgn_data)
canbus.sendPGN(msg)
}
function AC12_PGN128275 (log_pgn_data) {
const message = "%s,2,128275,%s,255,8,%s"
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address, log_pgn_data)
canbus.sendPGN(msg)
}
function AC12_PGN127237 () {
const heading_track_pgn = {
"navigation" : "%s,2,127237,%s,%s,15,ff,3f,ff,ff,7f,%s,00,00,ff,ff,ff,ff,ff,7f,ff,ff,ff,ff,%s",
"headinghold": "%s,2,127237,%s,%s,15,ff,7f,ff,ff,7f,%s,00,00,ff,ff,ff,ff,ff,7f,ff,ff,ff,ff,%s",
"wind": "%s,2,127237,%s,%s,15,ff,7f,ff,ff,7f,ff,ff,00,00,ff,ff,ff,ff,ff,7f,ff,ff,ff,ff,%s",
"standby": "%s,2,127237,%s,%s,15,ff,7f,ff,ff,7f,ff,ff,00,00,ff,ff,ff,ff,ff,7f,ff,ff,ff,ff,%s" // Magnetic
// "standby": "%s,2,127237,%s,%s,15,ff,3f,ff,ff,7f,ff,ff,00,00,ff,ff,ff,ff,ff,7f,ff,ff,ff,ff,%s" // True
}
if (ac12state == 'engaged') {
switch (ac12mode) {
case 'navigation':
var msg = util.format(heading_track_pgn[ac12mode], (new Date()).toISOString(), canbus.candevice.address,255, cts_rad, heading_rad)
canbus.sendPGN(msg);
break;
case 'headinghold':
var msg = util.format(heading_track_pgn[ac12mode], (new Date()).toISOString(), canbus.candevice.address,255, locked_heading_rad, heading_rad)
canbus.sendPGN(msg);
break;
case 'wind':
case 'windnavigation':
var msg = util.format(heading_track_pgn[ac12mode], (new Date()).toISOString(), canbus.candevice.address,255, locked_heading_rad, heading_rad)
canbus.sendPGN(msg);
break;
}
} else {
var msg = util.format(heading_track_pgn['standby'], (new Date()).toISOString(), canbus.candevice.address, 255, heading_rad)
canbus.sendPGN(msg);
}
}
async function OP10_PGN65305 () {
const messages = [
"%s,7,65305,%s,255,8,41,9f,01,0b,00,00,00,00",
"%s,7,65305,%s,255,8,41,9f,01,03,04,00,00,00" ]
for (var nr in messages) {
msg = util.format(messages[nr], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
await sleep(25)
}
}
async function AP44_PGN65305 () {
const messages = [
"%s,7,65305,%s,255,8,41,9f,01,03,00,00,00,00",
"%s,7,65305,%s,255,8,41,9f,01,0b,00,00,00,00" ]
for (var nr in messages) {
msg = util.format(messages[nr], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
await sleep(500)
}
}
async function AC12_PGN65340 () {
// Valid options:
// Standby
// 3,65340,2,255,8,41,9f,00,00,fe,f8,00,80
// 7,65302,2,255,8,41,9f,0a,6b,00,00,00,ff
// headinghold
// 3,65340,2,255,8,41,9f,10,01,fe,fa,00,80
// 7,65302,2,255,8,41,9f,0a,69,00,00,28,ff
// 3,65340,2,255,8,41,9f,10,03,fe,fa,00,80
// 7,65302,2,255,8,41,9f,0a,69,00,00,30,ff
//
/*
3,65340,2,255,8,41,9f,00,00,fe,f8,00,80
3,65340,2,255,8,41,9f,00,00,fe,f9,00,80
3,65340,2,255,8,41,9f,10,01,fe,fa,00,80
3,65340,2,255,8,41,9f,10,03,fe,fa,00,80
*/
const pgn65340 = {
"standby": "%s,3,65340,%s,255,8,41,9f,00,00,fe,f8,00,80",
"headinghold": "%s,3,65340,%s,255,8,41,9f,10,01,fe,fa,00,80", // Heading Hold
"followup": "%s,3,65340,%s,255,8,41,9f,10,03,fe,fa,00,80", // Follow up
"wind": "%s,3,65340,%s,255,8,41,9f,10,03,fe,fa,00,80",
"navigation": "%s,3,65340,%s,255,8,41,9f,10,06,fe,f8,00,80"
}
const pgn65302 = {
"standby": "%s,7,65302,%s,255,8,41,9f,0a,6b,00,00,00,ff",
"headinghold":"%s,7,65302,%s,255,8,41,9f,0a,69,00,00,28,ff", // Heading Hold
"followup": "%s,7,65302,%s,255,8,41,9f,0a,69,00,00,30,ff", // Follow up
"wind": "%s,7,65302,%s,255,8,41,9f,0a,69,00,00,30,ff",
"navigation": "%s,7,65302,%s,255,8,41,9f,0a,6b,00,00,28,ff" // guessing
}
const messages = [
pgn65340[ac12mode],
pgn65302[ac12mode] ]
for (var nr in messages) {
msg = util.format(messages[nr], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
await sleep(25)
}
}
function AC12_PGN65341_1s () {
const message = "%s,6,65341,%s,255,8,41,9f,ff,ff,0d,ff,ff,7f";
msg = util.format(message, (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
}
async function AC12_PGN65341_5s () {
const messages = [
"%s,6,65341,%s,255,8,41,9f,ff,ff,0b,ff,00,00",
"%s,6,65341,%s,255,8,41,9f,ff,ff,0c,ff,ff,ff",
"%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,ff,ff" ]
for (var nr in messages) {
msg = util.format(messages[nr], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
await sleep(25)
}
}
function AC12_PGN65341_02 () {
const pgn65341_02 = {
"auto": "%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,15,9a",
"headinghold":"%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,00,00",
"wind": "%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,00,00",
"navigation": "%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,12,00", // guess
"followup": "%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,14,9a", // guess
"standby": "%s,6,65341,%s,255,8,41,9f,ff,ff,02,ff,ff,ff"
}
msg = util.format(pgn65341_02[ac12mode], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
}
async function AC12_PGN65305 () {
/*
Determines what's shown as mode on B&G plotter.
41,9f,00,1d determines mode
41,9f,00,0[0a] determines state (standby/engaged)
*/
// debug('AC12 mode: %s state: %s', ac12mode, ac12state);
if (ac12state == 'standby') {
switch (ac12mode) {
case 'headinghold':
messages = [
"%s,7,65305,%s,255,8,41,9f,00,02,02,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,0a,00,00,00" ]
break;
case 'wind':
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,02,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,1e,00,00,00" ]
break;
case 'followup': // unknown
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,02,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,0e,00,80,00" ]
break;
case 'navigation': // unknown
messages = [
"%s,7,65305,%s,255,8,41,9f,00,02,10,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,16,00,80,00" ]
break;
case 'nodrift':
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,02,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,0c,00,80,00" ]
break;
case 'nonfollowup': // unknown
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,02,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,14,00,80,00" ]
break;
}
} else if (ac12state == 'engaged') {
switch (ac12mode) {
case 'headinghold':
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,10,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,16,00,00,00" ]
break;
case 'wind':
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,10,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,06,04,00,00" ]
break;
case 'followup':
messages = [
"%s,7,65305,%s,255,8,41,9f,00,02,10,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,1e,00,80,00" ]
break;
case 'nodrift':
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,10,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,16,01,00,00" ]
break;
case 'navigation': // unknown
messages = [
"%s,7,65305,%s,255,8,41,9f,00,02,02,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,f0,00,80,00" ]
break;
case 'nonfollowup': // unknown
messages = [
// "%s,7,65305,%s,255,8,41,9f,00,02,10,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,0a,14,00,80,00" ]
break;
}
}
if (ac12mode != lastac12mode) {
debug('ac12mode change detect. Last: %s Now: %s', lastac12mode, ac12mode);
messages = [
"%s,7,65305,%s,255,8,41,9f,00,1d,81,00,00,00",
"%s,7,65305,%s,255,8,41,9f,00,1d,80,00,00,00"].concat[messages]
lastac12mode = ac12mode
}
for (var message in messages) {
msg = util.format(messages[message], (new Date()).toISOString(), canbus.candevice.address)
canbus.sendPGN(msg)
msg = msg.replace(/.*255,8,41,9f,00,/, '');
msgbin = "";
msg.split(",").forEach(str => {
msgbin += hex2bin(str) + " "
});
// debug('Sending PGN 65305: %s %s', msg, msgbin);
await sleep(25)
}
}
switch (emulate) {
case 'default':
setTimeout(PGN130822, 5000) // Once at startup
case 'OP10keypad':
debug('Emulate: B&G OP10 Keypad')
setInterval(PGN130822, 300000) // Every 5 minutes
setInterval(OP10_PGN65305, 1000) // unsure
setInterval(heartbeat, 60000) // Heart beat PGN
break;
case 'keypad':
debug('Emulate: B&G Triton2 Keypad')
setInterval(PGN130822, 300000) // Every 5 minutes
setInterval(heartbeat, 60000) // Heart beat PGN
break;
case 'AP44':
debug('Emulate: Simrad AP44 Autopilot controller')
setInterval(PGN130822, 300000) // Every 5 minutes
setInterval(AP44_PGN65305, 1000) // Every 1 minute
setInterval(heartbeat, 60000) // Heart beat PGN
break;
case 'AC12':
debug('Emulate: Simrad AC12 Autopilot')
setInterval(PGN130822, 300000) // Every 5 minutes
setInterval(AC12_PGN65340, 1000) // Every second
setInterval(AC12_PGN65341, 1000) // Wind target angle
setInterval(AC12_PGN65341_02, 5000) // Every 5 second
// setInterval(AC12_PGN65341_1s, 1000) // Every second
setInterval(AC12_PGN65341_5s, 5000) // Every 5 seconds
setInterval(AC12_PGN65305, 1000)
setInterval(AC12_PGN127245, 200); // Every 200ms
setInterval(AC12_PGN130860, 1000) // Every second
setInterval(heartbeat, 60000) // Heart beat PGN
setInterval(AC12_PGN127237, 500) // Heading/track PGN
setInterval(AC12_PGN127250, 500) // True heading
// setInterval(AC12_PGN130850, 5000) // Controlling device
break;
}
function mainLoop () {
while (canbus.readableLength > 0) {
//debug('canbus.readableLength: %i', canbus.readableLength)
msg = canbus.read()
// debug('Received packet msg: %j', msg)
// debug('msg.pgn.src %i != canbus.candevice.address %i?', msg.pgn.src, canbus.candevice.address)
if ( msg.pgn.dst == canbus.candevice.address || msg.pgn.dst == 255) {
msg.pgn.fields = {};
if (msg.pgn.pgn == 59904) {
PGN = msg.data[2] * 256 * 256 + msg.data[1] * 256 + msg.data[0];
debug('ISO request: %j', msg);
debug('ISO request from %d to %d Data PGN: %i', msg.pgn.src, msg.pgn.dst, PGN);
msg.pgn.fields.PGN = PGN;
canbus.candevice.n2kMessage(msg.pgn);
}
switch (emulate) {
case 'op10keypad':
break;
case 'AC12':
if (msg.pgn.pgn == 130850 || typeof key_button !== 'undefined' || typeof state_button !== 'undefined') { // Button or Simnet Event, requires reply
pgn130850 = pgn130850.concat(buf2hex(msg.data).slice(1)); // Skip multipart byte
PGN130850 = pgn130850.join(',');
if (!PGN130850.match(/^..,41,9f,..,ff,ff,/)) {
pgn130850 = [];
}
if (pgn130850.length > 8 || typeof key_button !== 'undefined' || typeof state_button !== 'undefined') { // We have 2 parts now or a button
debug ('Event AP command: %j %s', msg.pgn, PGN130850);
// B&G autopilot button matching
// if (PGN130850.match(/^0c,41,9f,01 <- Autopilot device id
if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,1a,00,02,ae,00/)) { // -1
key_button = "-1";
debug('B&G button press -1');
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,1a,00,03,ae,00/)) { // +1
key_button = "+1";
debug('B&G button press +1');
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,1a,00,02,d1,06/)) { // -10
key_button = "-10";
debug('B&G button press -10');
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,1a,00,03,d1,06/)) { // +10
key_button = "+10";
debug('B&G button press +10');
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,1a,00,02,5b,3d/)) { // Tack Starboard
key_button = "+1+10";
debug('B&G button press tack > starboard');
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,1a,00,03,5b,3d/)) { // Tack Port
key_button = "-1-10";
debug('B&G button press tack < port');
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,06,00,ff,ff,ff/)) { // Standby
state_button = "standby";
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,0a,00,ff,ff,ff/)) {
ac12mode = "navigation";
state_button = "navigation";
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,0f,00,ff,ff,ff/)) {
state_button = "wind";
ac12mode = "wind";
debug('B&G mode now %s', ac12mode);
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,10,00,ff,ff,ff/)) {
ac12mode = "windnavigation";
debug('B&G mode now %s', ac12mode);
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,0c,00,ff,ff,ff/)) {
ac12mode = "nodrift";
debug('B&G mode now %s', ac12mode);
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,09,00,ff,ff,ff/)) { // Heading Hold
ac12mode = "headinghold";
state_button = "headinghold";
debug('B&G mode now %s', ac12mode);
} else if (PGN130850.match(/^0c,41,9f,..,ff,ff,..,09,00,ff,ff,ff/)) { // Engage
state_button = "engage";
debug('B&G engaging mode %s', ac12mode);
// Clear 'No Autopilot' alarm?
} else if (PGN130850.match(/41,9f,ff,ff,ff,1f,51,00,c4,49,29/)) {
pgn130851.replace(',51,', ',52,');
}
debug('AC12 mode: %s state: %s', ac12mode, ac12state);
// Send Seatalk Button
if (typeof key_button != 'undefined' && key_button) {
debug('Setting Seatalk1 pilot mode %s', key_button);
pgn126720 = util.format(raymarine_key_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_key_code[key_button]);
debug('Sending Seatalk key button pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
delete key_button;
}
// Send Seatalk State button
if (typeof state_button != 'undefined' && state_button) {
if (state_button == 'engage') {
debug('B&G button Engage pressed. Engaging mode %s', ac12mode)
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code[ac12mode]);
debug('Sending Seatalk key state pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
} else if (state_button == 'headinghold') {
debug('B&G button Engage pressed. Engaging mode %s', ac12mode)
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code['headinghold']);
debug('Sending Seatalk key state pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
} else if (state_button == 'wind') {
debug('B&G button Standby pressed. Wind in mode %s', ac12mode)
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code['wind']);
debug('Sending Seatalk key state pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
} else if (state_button == 'nodrift') {
debug('B&G button NoDrift pressed.', ac12mode)
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code['headinghold']);
debug('Sending Seatalk key state pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
} else if (state_button == 'navigation') {
debug('B&G button Navigation pressed. Navigation in state %s', ac12state)
if (ac12state == 'standby') {
debug('Going to Heading Hold first')
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code['headinghold']);
canbus.sendPGN(pgn126720);
}
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code['navigation']);
debug('Sending Seatalk key state pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
} else if (state_button == 'standby') {
debug('B&G button Standby pressed. Standby in mode %s', ac12mode)
pgn126720 = util.format(raymarine_state_command, (new Date()).toISOString(), canbus.candevice.address, autopilot_dst, raymarine_state_code['standby']);
debug('Sending Seatalk key state pgn 126720 %j', pgn126720);
canbus.sendPGN(pgn126720);
}
}
delete state_button;
delete key_button;
// Send 130851 reply packet
pgn130851_size = pgn130850[0];
pgn130851_size_int = parseInt(pgn130850[0], 16);
pgn130851 = "%s,7,130851,%s,255," + pgn130851_size + "," + (pgn130850.slice(1,pgn130851_size_int + 1)).join(',');
pgn130851 = util.format(pgn130851, (new Date()).toISOString(), canbus.candevice.address)
// debug('Sending reply 130851 %j', pgn130851);
canbus.sendPGN(pgn130851)
pgn130850 = [];
}
// Seatalk1 pilot mode
} else if (msg.pgn.pgn == 126720) {
// 16,3b,9f,f0,81
pilotmode126720 = pilotmode126720.concat(buf2hex(msg.data).slice(1)); // Skip multipart byte
Seatalkmode = pilotmode126720.join(',');
if (!Seatalkmode.match(/^16,3b,9f,f0,81/)) {
pilotmode126720 = [];
}
if (pilotmode126720.length > 24) { // We have 4 parts now
// debug('Seatalk pilot mode: %s', Seatalkmode)
if (Seatalkmode.match(/16,3b,9f,f0,81,84,..,..,..,42,/)) {
if (pilot_state != 'auto') {
debug('Following Seatalk1 pilot mode heading hold engaged: %s', Seatalkmode);
pilot_state = 'auto';
ac12mode = 'headinghold';
ac12state = 'engaged';
AC12_PGN65341_02();
debug('Raymarine mode: %s AC12 mode: %s state: %s', pilot_state, ac12mode, ac12state);
}
} else if (Seatalkmode.match(/16,3b,9f,f0,81,84,..,..,..,46,/)) {
if (pilot_state != 'wind') {
debug('Following Seatalk1 pilot mode wind: %s', Seatalkmode);
pilot_state = 'wind';
ac12mode = 'wind';
ac12state = 'engaged';
wind_target_deg = wind_apparent_deg
debug('Setting target wind to: %s', wind_target_deg)
AC12_PGN65341_02();
debug('Raymarine mode: %s AC12 mode: %s state: %s', pilot_state, ac12mode, ac12state);
}
} else if (Seatalkmode.match(/16,3b,9f,f0,81,84,..,..,..,4[08],/) || Seatalkmode.match(/16,3b,9f,f0,81,84,..,..,..,44,/) ) {
if (pilot_state != 'standby') {
debug('Following Seatalk1 pilot mode standby: %s', Seatalkmode);
pilot_state = 'standby'
ac12state = 'standby';
AC12_PGN65341_02();
debug('Raymarine mode: %s AC12 mode: %s state: %s', pilot_state, ac12mode, ac12state);
}
} else if (Seatalkmode.match(/16,3b,9f,f0,81,84,..,..,..,4a,/) || Seatalkmode.match(/16,3b,9f,f0,81,84,..,..,..,44,/) ) {
if (pilot_state != 'navigation') {
debug('Following Seatalk1 pilot mode route (navigation): %s', Seatalkmode);
pilot_state = 'navigation'
ac12mode = 'navigation';
ac12state = 'engaged';
AC12_PGN65341_02();
debug('Raymarine mode: %s AC12 mode: %s state: %s', pilot_state, ac12mode, ac12state);
}
}
pilotmode126720=[]
}
} else if (msg.pgn.pgn == 65359) {
// Get heading from Seatalk1 packet
// debug ('Seatalk1 Pilot heading info: %j %j', msg.pgn, msg.data);
var heading_true_rad = buf2hex(msg.data).slice(3,5);
var heading_mag_rad = buf2hex(msg.data).slice(5,7);
// debug ("heading_true_rad: %s heading_mag_rad: %s", heading_true_rad, heading_mag_rad);
if (heading_true_rad[0] != 'ff') {
heading_rad = heading_true_rad
} else {
heading_rad = heading_mag_rad
}
heading = radsToDeg(parseInt('0x' + heading_rad[1] + heading_rad[0]))/10000
// debug('heading: %s', heading)
} else if (msg.pgn.pgn == 65360) {
// Get locked heading from Seatalk1 packet
// debug ('Seatalk1 Pilot locked heading info: %j %j', msg.pgn, msg.data);
var locked_heading_true_rad = buf2hex(msg.data).slice(3,5);
var locked_heading_mag_rad = buf2hex(msg.data).slice(5,7);
// debug ("heading_true_rad: %s heading_mag_rad: %s", heading_true_rad, heading_mag_rad);
if (locked_heading_true_rad[0] != 'ff') {
locked_heading_rad = locked_heading_true_rad
} else {
locked_heading_rad = locked_heading_mag_rad
}
locked_heading = radsToDeg(parseInt('0x' + locked_heading_rad[1] + locked_heading_rad[0]))/10000;
// debug('locked heading: %s', locked_heading)
} else if (msg.pgn.pgn == 130306) {
// Get apparent wind angle
wind_apparent_rad = buf2hex(msg.data).slice(3,5);
wind_apparent_deg = Math.round(radsToDeg(parseInt('0x' + wind_apparent_rad[1] + wind_apparent_rad[0]))/10000);
// debug ('Wind: %s', wind_apparent_deg);
} else if (msg.pgn.pgn == 127245 && msg.pgn.src == 115) {
// Get rudder angle info from Seatalk1 packet
rudder_pgn_data = buf2hex(msg.data);
rudder_pgn_data[1] = 'ff';
rudder_pgn_data[3] = rudder_pgn_data[5];
rudder_pgn_data[4] = rudder_pgn_data[4];
// rudder_pgn_data[5] = '0a';
// 2,127245,2,255,8,ff,ff,ff,7f,ff,7f,ff,ff
// rudder_pgn_data = 'ff,ff,90,f8,90,f8,ff,ff';
} else if (msg.pgn.pgn == 128275 && msg.pgn.src == 115) {
// Get distance log info from Seatalk1 packet
AC12_PGN128275(buf2hex(msg.data));
} else if (msg.pgn.pgn == 127258) {
// Get variation info to turn into true heading
mag_variation = radsToDeg(parseInt('0x' + buf2hex(msg.data)[5] + buf2hex(msg.data)[4]))/10000;
// debug('Got variation from 127258: %s', mag_variation)
} else if (msg.pgn.pgn == 129284) { // Navigation bearing info
// Header?
if (pgn129284.length == 0) {
pgn129284 = pgn129284.concat(buf2hex(msg.data));
} else {
pgn129284 = pgn129284.concat(buf2hex(msg.data).slice(1)); // Skip multipart byte
}
PGN129284 = pgn129284.join(',');
if (!PGN129284.match(/^[02468ace]0,22,/)) {
pgn129284 = [];
}
if (pgn129284.length > 32) { // We have 6 parts now
PGN129284 = PGN129284.substring(3)
cts_rad = PGN129284.substring(45,50)
// debug('PGN129284: %s %s', cts_rad, PGN129284)
pgn129284 = [];
}
} else if (msg.pgn.pgn == 130845) { // Commission Simnet reply
pgn130845 = pgn130845.concat(buf2hex(msg.data).slice(1)); // Skip multipart byte
PGN130845 = pgn130845.join(',');
if (!PGN130845.match(/^0e,41,9f/)) {
debug('PGN130845 not ok: %s', PGN130845);
pgn130845 = [];
}
if (pgn130845.length > 14) { // We have 3 parts now
// debug('PGN130845: %s', PGN130845);
PGN130845_1 = PGN130845.replace(/,/g,'').substring(0,8);
PGN130845_key = PGN130845.replace(/,/g,'').substring(8,30);
PGN130845_reply = PGN130845.substring(0,12);
// Read or write?
if (PGN130845.match(/^0e,41,9f,(00|73),ff,ff,ff,..,..,00,00/)) {
// Read
PGN130845_value = commission_reply[PGN130845_key];
if (PGN130845_value === undefined) {
debug('130845: missing %s', PGN130845_key);
} else {
debug('130845: Request %s Reply %s', PGN130845_key, PGN130845_value);
PGN130845_reply = PGN130845_reply + PGN130845_value
}
} else if (PGN130845.match(/^0e,41,9f,00,ff,ff,ff,..,..,00,0[12]/)) {
// Write
PGN130845_reply = PGN130845.substring(12,44)
PGN130845_key = PGN130845_key.replace(/0001......../, '0000ffffffff');
PGN130845_reply = PGN130845_reply.replace(/(ff,ff,ff,..,..),(..,..)/, '$1,00,02');
debug('130845: Write %s Reply %s', PGN130845_key, PGN130845_reply);
commission_reply[PGN130845_key] = PGN130845_reply
PGN130845_reply = PGN130845;
} else {
// Unclear
debug('PGN130845 unclear type: %s', PGN130845)
PGN130845_reply = PGN130845.substring(14,500)
}
PGN130845_reply = "%s,3,130845,%s,255," + PGN130845_reply;
PGN130845_reply = util.format(PGN130845_reply, (new Date()).toISOString(), canbus.candevice.address)
// debug('PGN130845 reply: %s', PGN130845_reply)
canbus.sendPGN(PGN130845_reply)
pgn130845 = [];
}
}
break;
default:
}
}
}
setTimeout(mainLoop, 50)
}
// Wait for cansend
function waitForSend () {
if (canbus.candevice.cansend) {
mainLoop()
return
}
setTimeout (waitForSend, 500)
}
waitForSend()