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autopilot API alignment
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@panaaj
panaaj committed Dec 18, 2023
1 parent e4f014b commit 9f9a138
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Showing 3 changed files with 191 additions and 157 deletions.
231 changes: 106 additions & 125 deletions helper/pypilot.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -15,20 +15,21 @@ export interface PYPILOT_CONFIG {
// eslint-disable-next-line @typescript-eslint/no-explicit-any
const apData: any = {
options: {
state: ['enabled', 'disabled'],
mode: []
states: ['enabled', 'disabled'],
modes: []
},
state: null,
mode: null,
target: null,
active: false
engaged: false
};

let server: FreeboardHelperApp;
let pluginId: string;
let socket: Socket;

const AUTOPILOT_API_PATH = '/signalk/v2/api/vessels/self/steering/autopilot';
const DEAFULT_AP = `${AUTOPILOT_API_PATH}/default`;

// initialise connection to autopilot, register socket listeners and SK AP path PUT handlers
export const initPyPilot = (
Expand All @@ -50,6 +51,7 @@ export const initPyPilot = (

// API endpoints
initApiRoutes();
emitAPDelta('defaultPilot' as Path, pluginId);

initPyPilotListeners();
};
Expand All @@ -63,20 +65,34 @@ export const closePyPilot = () => {
const initApiRoutes = () => {
server.debug(`** Registering API endpoint(s): ${AUTOPILOT_API_PATH} **`);

server.get(`${AUTOPILOT_API_PATH}`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}`);
server.get(`${DEAFULT_AP}`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}`);
res.status(200);
res.json(apData);
});

server.get(`${AUTOPILOT_API_PATH}/state`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/state`);
res.status(200);
res.json(apData.state);
server.get(`${AUTOPILOT_API_PATH}`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}`);
res.status(200).json({
'freeboard-sk': { provider: 'freeboard-sk', isDefault: true }
});
});

server.get(
`${AUTOPILOT_API_PATH}/defaultPilot`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/defaultPilot`);
res.status(200).json({ id: pluginId });
}
);

server.get(`${DEAFULT_AP}/state`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/state`);
res.status(200).json({ value: apData.state });
});

server.put(`${AUTOPILOT_API_PATH}/state`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/state`);
server.put(`${DEAFULT_AP}/state`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/state`);

if (typeof req.body.value === 'undefined') {
res.status(400).json({
Expand All @@ -87,7 +103,7 @@ const initApiRoutes = () => {
return;
}

if (!apData.options.state.includes(req.body.value)) {
if (!apData.options.states.includes(req.body.value)) {
res.status(400).json({
state: 'FAILED',
statusCode: 400,
Expand All @@ -100,14 +116,13 @@ const initApiRoutes = () => {
res.status(r.statusCode).json(r);
});

server.get(`${AUTOPILOT_API_PATH}/mode`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/mode`);
res.status(200);
res.json(apData.mode);
server.get(`${DEAFULT_AP}/mode`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/mode`);
res.status(200).json({ value: apData.mode });
});

server.put(`${AUTOPILOT_API_PATH}/mode`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/mode`);
server.put(`${DEAFULT_AP}/mode`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/mode`);

if (typeof req.body.value === 'undefined') {
res.status(400).json({
Expand All @@ -118,7 +133,7 @@ const initApiRoutes = () => {
return;
}

if (!apData.options.mode.includes(req.body.value)) {
if (!apData.options.modes.includes(req.body.value)) {
res.status(400).json({
state: 'FAILED',
statusCode: 400,
Expand All @@ -131,8 +146,8 @@ const initApiRoutes = () => {
res.status(r.statusCode).json(r);
});

server.put(`${AUTOPILOT_API_PATH}/target`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/target`);
server.put(`${DEAFULT_AP}/target`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/target`);

if (typeof req.body.value !== 'number') {
res.status(400).json({
Expand All @@ -154,95 +169,77 @@ const initApiRoutes = () => {
res.status(r.statusCode).json(r);
});

server.put(
`${AUTOPILOT_API_PATH}/target/adjust`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/target/adjust`);

if (typeof req.body.value !== 'number') {
res.status(400).json({
state: 'FAILED',
statusCode: 400,
message: `Error: Invalid value supplied!`
});
return;
}

const v = req.body.value * (180 / Math.PI);
let deg = apData.target + v;
if (deg > 360) {
deg = 360;
} else if (deg < -180) {
deg = -180;
}

const r = sendToPyPilot('target', deg);
res.status(r.statusCode).json(r);
server.put(`${DEAFULT_AP}/target/adjust`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/target/adjust`);

if (typeof req.body.value !== 'number') {
res.status(400).json({
state: 'FAILED',
statusCode: 400,
message: `Error: Invalid value supplied!`
});
return;
}
);

server.post(`${AUTOPILOT_API_PATH}/engage`, (req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/engage`);
const v = req.body.value * (180 / Math.PI);
let deg = apData.target + v;
if (deg > 360) {
deg = 360;
} else if (deg < -180) {
deg = -180;
}

const r = sendToPyPilot('target', deg);
res.status(r.statusCode).json(r);
});

server.post(`${DEAFULT_AP}/engage`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/engage`);

const r = sendToPyPilot('state', 'enabled');
res.status(r.statusCode).json(r);
});

server.post(
`${AUTOPILOT_API_PATH}/disengage`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/disengage`);
server.post(`${DEAFULT_AP}/disengage`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/disengage`);

const r = sendToPyPilot('state', 'disabled');
res.status(r.statusCode).json(r);
}
);
const r = sendToPyPilot('state', 'disabled');
res.status(r.statusCode).json(r);
});

server.post(
`${AUTOPILOT_API_PATH}/tack/port`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/tack/port`);
server.post(`${DEAFULT_AP}/tack/port`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/tack/port`);

const r = sendToPyPilot('tack', 'port');
res.status(r.statusCode).json(r);
}
);
const r = sendToPyPilot('tack', 'port');
res.status(r.statusCode).json(r);
});

server.post(
`${AUTOPILOT_API_PATH}/tack/starboard`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/tack/starboard`);
server.post(`${DEAFULT_AP}/tack/starboard`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/tack/starboard`);

const r = sendToPyPilot('tack', 'starboard');
res.status(r.statusCode).json(r);
}
);
const r = sendToPyPilot('tack', 'starboard');
res.status(r.statusCode).json(r);
});

server.post(
`${AUTOPILOT_API_PATH}/gybe/port`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/gybe/port`);
server.post(`${DEAFULT_AP}/gybe/port`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/gybe/port`);

res.status(501).json({
state: 'COMPLETED',
statusCode: 501,
message: 'Not implemented!'
});
}
);
res.status(501).json({
state: 'COMPLETED',
statusCode: 501,
message: 'Not implemented!'
});
});

server.post(
`${AUTOPILOT_API_PATH}/gybe/starboard`,
(req: Request, res: Response) => {
server.debug(`${req.method} ${AUTOPILOT_API_PATH}/gybe/starboard`);
server.post(`${DEAFULT_AP}/gybe/starboard`, (req: Request, res: Response) => {
server.debug(`${req.method} ${DEAFULT_AP}/gybe/starboard`);

res.status(501).json({
state: 'COMPLETED',
statusCode: 501,
message: 'Not implemented!'
});
}
);
res.status(501).json({
state: 'COMPLETED',
statusCode: 501,
message: 'Not implemented!'
});
});
};

// PyPilot socket event listeners
Expand Down Expand Up @@ -327,43 +324,30 @@ const sendToPyPilot = (command: string, value: string | number | boolean) => {
// process received pypilot update messages and send SK delta
// eslint-disable-next-line @typescript-eslint/no-explicit-any
const handlePyPilotUpdateMsg = (data: any) => {
// compare and send delta

/*if (typeof data['ap.heading'] !== 'undefined') {
let heading = data['ap.heading'] === false ? null : data['ap.heading']
if (heading !== apData.heading) {
apData.heading = heading
emitAPDelta('target' as Path, (Math.PI /180) * apData.heading)
}
}*/
//server.debug(`-> pilot data = ${JSON.stringify(data)}`);

if (typeof data['ap.heading_command'] !== 'undefined') {
server.debug(`ap.heading_command -> ${data['ap.heading_command']}`);
const h =
data['ap.heading_command'] === false ? null : data['ap.heading_command'];
if (h !== apData.heading_command) {
apData.target = h;
server.debug(
`in -> deg: ${apData.target}, rad: ${(Math.PI / 180) * apData.target}`
);
emitAPDelta('target' as Path, (Math.PI / 180) * apData.target);
}
apData.target = h;
const h_rad = (Math.PI / 180) * apData.target;
server.debug(`ap.heading_command -> deg: ${apData.target}, rad: ${h_rad}`);
emitAPDelta('target' as Path, h_rad);
}

if (typeof data['ap.mode'] !== 'undefined') {
server.debug(`ap.mode -> data = ${JSON.stringify(data)}`);
if (data['ap.mode'] !== apData.mode) {
apData.mode = data['ap.mode'];
emitAPDelta('mode' as Path, apData.mode);
}
apData.mode = data['ap.mode'];
server.debug(`ap.mode -> ${data['ap.mode']}`);
emitAPDelta('mode' as Path, apData.mode);
}

if (typeof data['ap.enabled'] !== 'undefined') {
if (data['ap.enabled'] !== apData.state) {
apData.state = data['ap.enabled'] ? 'enabled' : 'disabled';
apData.active = apData.state === 'enabled' ? true : false;
emitAPDelta('state' as Path, apData.state);
emitAPDelta('active' as Path, apData.active);
}
apData.state = data['ap.enabled'] ? 'enabled' : 'disabled';
apData.engaged = apData.state === 'enabled' ? true : false;
server.debug(`ap.enabled -> ${data['ap.enabled']}`);
emitAPDelta('state' as Path, apData.state);
emitAPDelta('engaged' as Path, apData.engaged);
}
};

Expand All @@ -372,13 +356,10 @@ const handlePyPilotUpdateMsg = (data: any) => {
const handlePyPilotValuesMsg = (data: any) => {
// available modes
if (typeof data['ap.mode'] !== undefined && data['ap.mode'].choices) {
apData.options.mode = Array.isArray(data['ap.mode'].choices)
apData.options.modes = Array.isArray(data['ap.mode'].choices)
? data['ap.mode'].choices
: [];
//emitAPDelta('availableModes' as Path, apData.availableModes)
}
// available states
//emitAPDelta('availableStates' as Path, ['enabled', 'disabled'])
};

// emit SK delta steering.autopilot.xxx
Expand Down
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