actisense

Documentation

Index

• Constants
• type BinaryFormatDevice
  • func NewBinaryDevice(reader io.ReadWriter) *BinaryFormatDevice
  • func NewBinaryDeviceWithConfig(reader io.ReadWriter, config Config) *BinaryFormatDevice
  • func (d *BinaryFormatDevice) Close() error
  • func (d *BinaryFormatDevice) Initialize() error
  • func (d *BinaryFormatDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)
  • func (d *BinaryFormatDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error
• type Config
• type EBLFormatDevice
  • func NewEBLFormatDevice(reader io.ReadWriter) *EBLFormatDevice
  • func NewEBLFormatDeviceWithConfig(reader io.ReadWriter, config Config) *EBLFormatDevice
  • func (d *EBLFormatDevice) Close() error
  • func (d *EBLFormatDevice) Initialize() error
  • func (d *EBLFormatDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)
  • func (d *EBLFormatDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error
• type N2kASCIIDevice
  • func NewN2kASCIIDevice(reader io.ReadWriter, config Config) *N2kASCIIDevice
  • func (d *N2kASCIIDevice) Close() error
  • func (d *N2kASCIIDevice) Initialize() error
  • func (d *N2kASCIIDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)
  • func (d *N2kASCIIDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error
• type RawASCIIDevice
  • func NewRawASCIIDevice(reader io.ReadWriter, config Config) *RawASCIIDevice
  • func (d *RawASCIIDevice) Close() error
  • func (d *RawASCIIDevice) Initialize() error
  • func (d *RawASCIIDevice) ReadRawFrame(ctx context.Context) (nmea.RawFrame, error)
  • func (d *RawASCIIDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)
  • func (d *RawASCIIDevice) WriteRawFrame(ctx context.Context, frame nmea.RawFrame) error
  • func (d *RawASCIIDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error

Constants

const (
	// STX start packet byte for Actisense parsed NMEA2000 packet
	STX = 0x02
	// ETX end packet byte for Actisense parsed NMEA2000 packet
	ETX = 0x03
	// DLE marker byte before start/end packet byte. Is sent before STX or ETX byte is sent (DLE+STX or DLE+ETX). Is escaped by sending double DLE+DLE characters.
	DLE = 0x10

	// CanBoatFakePGNOffset is offset for PGNs that Actisense devices create for their own information. We add it to
	// parsed PGN and after that we can find match from Canboat PGN database with that
	CanBoatFakePGNOffset uint32 = 0x40000
)

const (
	// SOH is start of data frame byte for Actisense BST-95 (EBL file created by Actisense W2K-1 device)
	SOH = 0x01
	// NL is end of data frame byte
	NL = 0x0A
	// ESC is marker byte before start/end data frame byte. Is sent before SOH or NL byte is sent (ESC+SOH or ESC+NL). Is escaped by sending double ESC+ESC characters.
	ESC = 0x1b
)

EBL log file format used by Actisense W2K-1. Probably called "CAN-Raw (BST-95) message format" NGT1 ebl files are probably in different format.

Example data frame from one EBL file: 1b 01 07 95 0e 28 9a 00 01 f8 09 3d 0d b3 22 48 32 59 0d 1b 0a

1b 01 <-- start of data frame (ESC+SOH)

07 95 <-- "95" is maybe frame type. Actisense EBL Reader v2.027 says "now has added support for the new CAN-Raw (BST-95) message format that is used for all data logging on Actisense W2K-1"
     0e <-- lengths 14 bytes till end
       28 9a <-- timestamp 39464 (hex 9A28) (little endian)
            00 01 f8 09  <--- 0x09f80100 = src:0, dst:255, pgn:129025 (1f801), prio:2 (little endian)
                       3d 0d b3 22 48 32 59 0d <-- CAN payload (N2K endian rules), lat(32bit) 22b30d3d = 582159677, lon(32bit) 0d593248 = 223949384
                                               1b 0a <-- end of data frame (ESC+LF)

Timestamp is offset from time found in first data frame in file Example: first frame in file: 1B 01 03 00 10 E7 A7 84 83 D9 01 1B 0A

03 <--- "03" maybe frame type
   00 10 E7 A7 84 83 D9 01 <-- 8 byte little endian unsigned number,

Types

type BinaryFormatDevice

type BinaryFormatDevice struct {
	// contains filtered or unexported fields
}

BinaryFormatDevice is implementing Actisense device using binary formats (NGT1 and N2K binary)

func NewBinaryDevice

func NewBinaryDevice(reader io.ReadWriter) *BinaryFormatDevice

NewBinaryDevice creates new instance of Actisense device using binary formats (NGT1 and N2K binary)

func NewBinaryDeviceWithConfig

func NewBinaryDeviceWithConfig(reader io.ReadWriter, config Config) *BinaryFormatDevice

NewBinaryDeviceWithConfig creates new instance of Actisense device using binary formats (NGT1 and N2K binary) with given config

func (*BinaryFormatDevice) Close

func (d *BinaryFormatDevice) Close() error

func (*BinaryFormatDevice) Initialize

func (d *BinaryFormatDevice) Initialize() error

Initialize initializes connection to device. Otherwise BinaryFormatDevice will not send data.

Canboat notes: The following startup command reverse engineered from Actisense NMEAreader. It instructs the BinaryFormatDevice to clear its PGN message TX list, thus it starts sending all PGNs.

Actisense own documentation: Page 14: ACommsCommand_SetOperatingMode https://www.actisense.com/wp-content/uploads/2020/01/ActisenseComms-SDK-User-Manual-Issue-1.07-1.pdf

func (*BinaryFormatDevice) ReadRawMessage

func (d *BinaryFormatDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)

ReadRawMessage reads raw data and parses it to nmea.RawMessage. This method block until full RawMessage is read or an error occurs (including context related errors).

func (*BinaryFormatDevice) WriteRawMessage

func (d *BinaryFormatDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error

type Config

type Config struct {
	// ReceiveDataTimeout is maximum duration reads from device can produce no data until we error out (idle).
	//
	// It is to limit amount of time reads can result no data. to timeout the connection when there is no
	// interaction in bus. This is different from for example serial device readTimeout which limits how much time Read
	// call blocks. We want to `Read` calls block small amount of time to be able to check if context was cancelled
	// during read but at the same time we want to be able to detect when there are no coming from bus for excessive
	// amount of time.
	ReceiveDataTimeout time.Duration

	// DebugLogRawMessageBytes instructs device to log all sent/received raw messages
	DebugLogRawMessageBytes bool
	// OutputActisenseMessages instructs device to output Actisense own messages
	OutputActisenseMessages bool

	// LogFunc callback to output/print debug/log statements
	LogFunc func(format string, a ...any)

	// IsN2KWriter instructs device to write/send messages to NMEA200 bus as N2K binary format (used by Actisense W2K-1)
	IsN2KWriter bool

	// FastPacketAssembler assembles fast-packet PGN frames to complete messages.
	// Optional: if set is used by devices/format that do not do packet assembly inside hardware (i.e. W2K-1 Raw ASCII format)
	FastPacketAssembler nmea.Assembler
}

Config is configuration for Actisense NGT-1 device

type EBLFormatDevice

type EBLFormatDevice struct {
	// contains filtered or unexported fields
}

EBLFormatDevice is implementing Actisense EBL file format

func NewEBLFormatDevice

func NewEBLFormatDevice(reader io.ReadWriter) *EBLFormatDevice

NewEBLFormatDevice creates new instance of Actisense device using binary formats (NGT1 and N2K binary)

func NewEBLFormatDeviceWithConfig

func NewEBLFormatDeviceWithConfig(reader io.ReadWriter, config Config) *EBLFormatDevice

NewEBLFormatDeviceWithConfig creates new instance of Actisense device using binary formats (NGT1 and N2K binary) with given config

func (*EBLFormatDevice) Close

func (d *EBLFormatDevice) Close() error

func (*EBLFormatDevice) Initialize

func (d *EBLFormatDevice) Initialize() error

Initialize initializes connection to device. Otherwise BinaryFormatDevice will not send data.

func (*EBLFormatDevice) ReadRawMessage

func (d *EBLFormatDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)

ReadRawMessage reads raw data and parses it to nmea.RawMessage. This method block until full RawMessage is read or an error occurs (including context related errors).

func (*EBLFormatDevice) WriteRawMessage

func (d *EBLFormatDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error

type N2kASCIIDevice

type N2kASCIIDevice struct {
	// contains filtered or unexported fields
}

N2kASCIIDevice is implementing Actisense W2K-1 device capable of decoding NMEA 2000 Ascii format including fast-packet and multi-packet (ISO TP) messages

Note: is not go-routine safe

func NewN2kASCIIDevice

func NewN2kASCIIDevice(reader io.ReadWriter, config Config) *N2kASCIIDevice

NewN2kASCIIDevice creates new instance of Actisense W2K-1 device capable of decoding NMEA 2000 Ascii format

func (*N2kASCIIDevice) Close

func (d *N2kASCIIDevice) Close() error

func (*N2kASCIIDevice) Initialize

func (d *N2kASCIIDevice) Initialize() error

func (*N2kASCIIDevice) ReadRawMessage

func (d *N2kASCIIDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)

func (*N2kASCIIDevice) WriteRawMessage

func (d *N2kASCIIDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error

type RawASCIIDevice

type RawASCIIDevice struct {
	// contains filtered or unexported fields
}

RawASCIIDevice is implementing Actisense W2K-1 device capable of decoding RAW Ascii format

func NewRawASCIIDevice

func NewRawASCIIDevice(reader io.ReadWriter, config Config) *RawASCIIDevice

NewRawASCIIDevice creates new instance of Actisense W2K-1 device capable of decoding RAW Ascii format. RAW ASCII format is ordinary Canbus frame with 8 bytes of data so fast-packet and multi-packet (ISO TP) assembly must be done separately.

func (*RawASCIIDevice) Close

func (d *RawASCIIDevice) Close() error

func (*RawASCIIDevice) Initialize

func (d *RawASCIIDevice) Initialize() error

func (*RawASCIIDevice) ReadRawFrame

func (d *RawASCIIDevice) ReadRawFrame(ctx context.Context) (nmea.RawFrame, error)

func (*RawASCIIDevice) ReadRawMessage

func (d *RawASCIIDevice) ReadRawMessage(ctx context.Context) (nmea.RawMessage, error)

func (*RawASCIIDevice) WriteRawFrame

func (d *RawASCIIDevice) WriteRawFrame(ctx context.Context, frame nmea.RawFrame) error

func (*RawASCIIDevice) WriteRawMessage

func (d *RawASCIIDevice) WriteRawMessage(ctx context.Context, msg nmea.RawMessage) error