From 2e995b0db5843b30edca712cf556041067b0cad2 Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Fri, 1 Dec 2023 16:15:17 +1030
Subject: [PATCH 1/7] Added initial support for Autopilot API

---
 index.js | 112 +++++++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 112 insertions(+)

diff --git a/index.js b/index.js
index 45b2187..5ae5329 100644
--- a/index.js
+++ b/index.js
@@ -74,6 +74,8 @@ module.exports = function(app) {
     app.registerPutHandler('vessels.self',
                            advance,
                            autopilot.putAdvanceWaypoint)
+
+    registerProvider(props.type)
   }
 
   plugin.stop = function() {
@@ -119,5 +121,115 @@ module.exports = function(app) {
     return config
   }
 
+  // register with Autopilot API
+  const registerProvider = (apType)=> {
+    app.debug('**** registerProvider *****')
+    try {
+      app.registerAutopilotProvider(
+        {
+          getData: async (deviceId) => {
+            const apState = app.getSelfPath(state_path)
+            return {
+              options: {
+                states: [
+                  {name: 'auto', engaged: true},
+                  {name: 'wind', engaged: true},
+                  {name: 'route', engaged: true},
+                  {name: 'standby', engaged: false}
+                ],
+                modes: []
+              },
+              mode: null,
+              state: apState ?? null,
+              engaged: ['auto','wind','route'].includes(apState) ? true : false
+            }
+          },
+          getState: async (deviceId) => {
+            return app.getSelfPath(state_path) ?? null
+          },
+          setState: async (
+            state,
+            deviceId
+          ) => {
+            const r = autopilot.putState(undefined, undefined, state, undefined)
+            if (r.state === 'FAILURE') {
+              throw new Error(r.message)
+            }
+            else {
+              return state === 'standby' ? false : true
+            }
+          },
+          getMode: async (deviceId) => {
+            throw new Error('Not implemented!')
+          },
+          setMode: async (mode, deviceId) => {
+            throw new Error('Not implemented!')
+          },
+          getTarget: async (deviceId) => {
+            throw new Error('Not implemented!')
+          },
+          setTarget: async (value, deviceId) => {
+            const apState = app.getSelfPath(state_path)
+            const deg = value * (180 / Math.PI)
+            if ( apState === 'auto' ) {
+              const r = autopilot.putTargetHeading(undefined, undefined, deg, undefined)
+              if (r.state === 'FAILURE') {
+                throw new Error(r.message)
+              }
+            } else if ( apState === 'wind' ) {
+              const r = autopilot.putTargetWind(undefined, undefined, deg, undefined)
+              if (r.state === 'FAILURE') {
+                throw new Error(r.message)
+              }
+            }
+            return
+          },
+          adjustTarget: async (
+            value,
+            deviceId
+          ) => {
+            const deg = value * (180 / Math.PI)
+            const r = autopilot.putAdjustHeading(undefined, undefined, deg, undefined)
+            if (r.state === 'FAILURE') {
+              throw new Error(r.message)
+            }
+            return
+          },
+          engage: async (deviceId) => {
+            const r = autopilot.putState(undefined, undefined, 'auto', undefined)
+            if (r.state === 'FAILURE') {
+              throw new Error(r.message) 
+            }
+            return
+          },
+          disengage: async (deviceId) => {
+            const r = autopilot.putState(undefined, undefined, 'standby', undefined)
+            if (r.state === 'FAILURE') {
+              throw new Error(r.message)
+            }
+            return
+          },
+          tack: async (
+            direction,
+            deviceId
+          ) => {
+            const r = autopilot.putTack(undefined, undefined, 'direction', undefined)
+            if (r.state === 'FAILURE') { throw new Error(r.message) }
+            return
+          },
+          gybe: async (
+            direction,
+            deviceId
+          ) => {
+            throw new Error('Not implemented!')
+          }
+        },
+        [apType]
+      )
+    } catch (error) {
+      app.debug(error)
+    }
+  }
+
   return plugin;
 }

From 3284817bc7842cdd8af2c1afd451d54c3c3bac39 Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Mon, 11 Dec 2023 14:33:18 +1030
Subject: [PATCH 2/7] Inital support for sending updates to API
 (N2KAnalyzerOut)

---
 index.js | 119 +++++++++++++++++++++++++++++++++++++++++++++++++++++--
 1 file changed, 116 insertions(+), 3 deletions(-)

diff --git a/index.js b/index.js
index 5ae5329..fb0b9e1 100644
--- a/index.js
+++ b/index.js
@@ -34,6 +34,8 @@ module.exports = function(app) {
   var autopilot
   var pilots = {}
 
+  let apType = '' // autopilot type
+
   _.keys(types).forEach( type => {
     const module = types[type]
     //console.log(`${type}: ${module}`)
@@ -47,7 +49,7 @@ module.exports = function(app) {
   })
 
   plugin.start = function(props) {
-
+    apType= props.type
     autopilot = pilots[props.type]
     autopilot.start(props)
 
@@ -75,7 +77,7 @@ module.exports = function(app) {
                            advance,
                            autopilot.putAdvanceWaypoint)
 
-    registerProvider(props.type)
+    registerProvider()
   }
 
   plugin.stop = function() {
@@ -122,7 +124,10 @@ module.exports = function(app) {
   }
 
   // register with Autopilot API
-  const registerProvider = (apType)=> {
+  const registerProvider = ()=> {
+    app.debug('**** intialise n2k listener *****')
+    app.on('N2KAnalyzerOut', onStreamEvent)
+
     app.debug('**** registerProvider *****')
     try {
       app.registerAutopilotProvider(
@@ -231,5 +236,113 @@ module.exports = function(app) {
     }
   }
 
+  // parse NMEA2000 stream input
+  const onStreamEvent = (evt) => {
+    // in-scope PGNs
+    const pgns = [
+      65345, 65360, 65379, 
+      65288,
+      127237
+    ]
+    
+    // out-of-scope PGNs
+    if (!pgns.includes(evt.pgn)) {
+      return
+    }
+   
+    // 127237 `Heading / Track control (Rudder, etc.)`
+    if (evt.pgn === 127237) { 
+      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+    }
+
+    // 65288 = notifications.autopilot.<alarmName>
+    if (evt.pgn === 65288) { 
+      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+      if (evt.fields['Manufacturer Code'] !== 'Raymarine'
+        || typeof evt.fields['Alarm Group'] === 'Autopilot'
+        || typeof evt.fields['Alarm Status'] === 'undefined') {
+        return
+      }
+ 
+      const method = [ 'visual' ]
+      let state = evt.fields['Alarm Status']
+      if ( state === 'Alarm condition met and not silenced' ) {
+        method.push('sound')
+      }
+      if ( state === 'Alarm condition not met' ) {
+        state = 'normal'
+      } else {
+        state = 'alarm'
+      }
+
+      let alarmName = evt.fields['Alarm ID']
+      if ( typeof alarmName !== 'string' ) {
+        alarmName = `Unknown Seatalk Alarm ${alarmName}`
+      } else if ( state === 'alarm' && (
+                    alarmName === 'WP Arrival'
+                    || alarmName ===  'Pilot Way Point Advance'
+                    || alarmName === 'Pilot Route Complete'
+                  )   
+                ) {
+        state = 'alert'
+      }
+      
+      const path = evt.fields['Alarm Group'].toLowerCase().replace(/ /g, '')  + '.' + alarmName.replace(/ /g, '')
+      
+      app.debug('notifications.' + path)
+      app.debug({
+        message: alarmName,
+        method: method,
+        state: state
+      })
+    }
+
+    // 65345 = 'steering.autopilot.target.windAngleApparent'
+    if (evt.pgn === 65345) { 
+      app.debug('n2k pgn=', evt.pgn, evt.description)
+      let angle = evt.fields['Wind Datum'] ? Number(evt.fields['Wind Datum']) : null
+      angle = ( typeof angle === 'number' && angle > Math.PI ) ? angle-(Math.PI*2) : angle
+      app.autopilotUpdate(apType, 'target', angle)
+    }
+
+    // 65360 = 'steering.autopilot.target.headingTrue'
+    if (evt.pgn === 65360) { 
+      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+      const targetTrue = evt.fields['Target Heading True'] ? Number(evt.fields['Target Heading True']) : null
+      const targetMagnetic = evt.fields['Target Heading Magnetic'] ? Number(evt.fields['Target Heading Magnetic']) : null
+      const target = typeof targetTrue === 'number' ? targetTrue :
+        typeof targetMagnetic === 'number' ? targetMagnetic: null
+      app.autopilotUpdate(apType, 'target', target)
+    }
+    
+    // 65379 = 'steering.autopilot.state'
+    if (evt.pgn === 65379) { 
+      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+      const mode = evt.fields['Pilot Mode'] ? Number(evt.fields['Pilot Mode']) : null
+      const subMode = evt.fields['Sub Mode'] ? Number(evt.fields['Sub Mode']) : null
+      if ( mode === 0 && subMode === 0 ) {
+        app.autopilotUpdate(apType, 'state', 'standby')
+        app.autopilotUpdate(apType, 'engaged', false)
+      }
+      else if ( mode == 0 && subMode == 1 ) {
+        app.autopilotUpdate(apType, 'state', 'wind')
+        app.autopilotUpdate(apType, 'engaged', true)
+      }
+      else if ( (mode == 128 || mode == 129) && subMode == 1 ) {
+        app.autopilotUpdate(apType, 'state', 'route')
+        app.autopilotUpdate(apType, 'engaged', true)
+      }
+      else if ( mode == 64 && subMode == 0 ) {
+        app.autopilotUpdate(apType, 'state', 'auto')
+        app.autopilotUpdate(apType, 'engaged', true)
+      }
+      else {
+        app.autopilotUpdate(apType, 'state', 'standby')
+        app.autopilotUpdate(apType, 'engaged', false)
+      }
+    }
+
+  }
+
   return plugin;
 }

From 06a66413d71d93437a9235cc2b025e03f842ac52 Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Tue, 12 Dec 2023 17:02:02 +1030
Subject: [PATCH 3/7] Only process N2K messages from the target device Id.

---
 index.js        | 28 ++++++++++++----------------
 raymarinen2k.js |  6 +++++-
 raystngconv.js  |  6 +++++-
 3 files changed, 22 insertions(+), 18 deletions(-)

diff --git a/index.js b/index.js
index fb0b9e1..1206f81 100644
--- a/index.js
+++ b/index.js
@@ -52,6 +52,7 @@ module.exports = function(app) {
     apType= props.type
     autopilot = pilots[props.type]
     autopilot.start(props)
+    app.debug('autopilot.id:', autopilot.id, apType)
 
     app.registerPutHandler('vessels.self',
                            state_path,
@@ -123,7 +124,7 @@ module.exports = function(app) {
     return config
   }
 
-  // register with Autopilot API
+  // Autopilot API - register with Autopilot API
   const registerProvider = ()=> {
     app.debug('**** intialise n2k listener *****')
     app.on('N2KAnalyzerOut', onStreamEvent)
@@ -236,7 +237,7 @@ module.exports = function(app) {
     }
   }
 
-  // parse NMEA2000 stream input
+  // Autopilot API - parse NMEA2000 stream input
   const onStreamEvent = (evt) => {
     // in-scope PGNs
     const pgns = [
@@ -244,9 +245,8 @@ module.exports = function(app) {
       65288,
       127237
     ]
-    
-    // out-of-scope PGNs
-    if (!pgns.includes(evt.pgn)) {
+   
+    if (!pgns.includes(evt.pgn) || evt.src !== autopilot.id) {
       return
     }
    
@@ -256,8 +256,7 @@ module.exports = function(app) {
     }
 
     // 65288 = notifications.autopilot.<alarmName>
-    if (evt.pgn === 65288) { 
-      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+    if (evt.pgn === 65288) {
       if (evt.fields['Manufacturer Code'] !== 'Raymarine'
         || typeof evt.fields['Alarm Group'] === 'Autopilot'
         || typeof evt.fields['Alarm Status'] === 'undefined') {
@@ -297,17 +296,15 @@ module.exports = function(app) {
       })
     }
 
-    // 65345 = 'steering.autopilot.target.windAngleApparent'
-    if (evt.pgn === 65345) { 
-      app.debug('n2k pgn=', evt.pgn, evt.description)
+    // 65345 = 'steering.autopilot.target (windAngleApparent)'
+    if (evt.pgn === 65345) {
       let angle = evt.fields['Wind Datum'] ? Number(evt.fields['Wind Datum']) : null
       angle = ( typeof angle === 'number' && angle > Math.PI ) ? angle-(Math.PI*2) : angle
       app.autopilotUpdate(apType, 'target', angle)
     }
 
-    // 65360 = 'steering.autopilot.target.headingTrue'
-    if (evt.pgn === 65360) { 
-      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+    // 65360 = 'steering.autopilot.target (true/magnetic)'
+    if (evt.pgn === 65360) {
       const targetTrue = evt.fields['Target Heading True'] ? Number(evt.fields['Target Heading True']) : null
       const targetMagnetic = evt.fields['Target Heading Magnetic'] ? Number(evt.fields['Target Heading Magnetic']) : null
       const target = typeof targetTrue === 'number' ? targetTrue :
@@ -315,9 +312,8 @@ module.exports = function(app) {
       app.autopilotUpdate(apType, 'target', target)
     }
     
-    // 65379 = 'steering.autopilot.state'
-    if (evt.pgn === 65379) { 
-      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+    // 65379 = 'steering.autopilot.state', 'steering.autopilot.engaged'
+    if (evt.pgn === 65379) {
       const mode = evt.fields['Pilot Mode'] ? Number(evt.fields['Pilot Mode']) : null
       const subMode = evt.fields['Sub Mode'] ? Number(evt.fields['Sub Mode']) : null
       if ( mode === 0 && subMode === 0 ) {
diff --git a/raymarinen2k.js b/raymarinen2k.js
index 1944e9e..99822c5 100644
--- a/raymarinen2k.js
+++ b/raymarinen2k.js
@@ -53,12 +53,14 @@ const everyone_dst = '255'
 
 module.exports = function(app) {
   var deviceid
-  var pilot = {}
+  var pilot = {id: null}
   var timers = []
   var discovered
 
   pilot.start = (props) => {
     deviceid = props.deviceid
+    pilot.id = Number(deviceid)
+    app.debug('props.deviceid:', deviceid)
 
     if ( props.controlHead ) {
       timers.push(setInterval(() => {
@@ -212,6 +214,8 @@ module.exports = function(app) {
       description = `Discovered an EV-1 with id ${discovered}`
       app.debug(description)
     }
+
+    defaultId = pilot.id ?? defaultId
       
     return {
       deviceid: {
diff --git a/raystngconv.js b/raystngconv.js
index ef1a1bb..f4aca73 100644
--- a/raystngconv.js
+++ b/raystngconv.js
@@ -56,11 +56,13 @@ const everyone_dst = '255'
 
 module.exports = function(app) {
   var deviceid
-  var pilot = {}
+  var pilot = {id: null}
   var discovered
 
   pilot.start = (props) => {
     deviceid = props.converterDeviceId
+    pilot.id = Number(deviceid)
+    app.debug('props.converterDeviceId:', deviceid)
   }
 
   pilot.stop = () => {
@@ -195,6 +197,8 @@ module.exports = function(app) {
       app.debug(description)
     }
 
+    defaultConverterId = pilot.id ?? defaultConverterId
+
     return {
       converterDeviceId: {
         type: "string",

From 5aa2c734d29d438ef3eacb34c0195e5576372d3c Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Wed, 20 Dec 2023 16:27:19 +1030
Subject: [PATCH 4/7] Use stored deviceid as default if device not discovered.

---
 index.js        |  4 ++--
 raymarinen2k.js |  9 ++++++---
 raystngconv.js  | 11 +++++++----
 3 files changed, 15 insertions(+), 9 deletions(-)

diff --git a/index.js b/index.js
index 1206f81..fa423f6 100644
--- a/index.js
+++ b/index.js
@@ -52,7 +52,7 @@ module.exports = function(app) {
     apType= props.type
     autopilot = pilots[props.type]
     autopilot.start(props)
-    app.debug('autopilot.id:', autopilot.id, apType)
+    app.debug('autopilot.id:', autopilot.id, 'autopilot.type:', apType)
 
     app.registerPutHandler('vessels.self',
                            state_path,
@@ -246,7 +246,7 @@ module.exports = function(app) {
       127237
     ]
    
-    if (!pgns.includes(evt.pgn) || evt.src !== autopilot.id) {
+    if (!pgns.includes(evt.pgn) || String(evt.src) !== autopilot.id) {
       return
     }
    
diff --git a/raymarinen2k.js b/raymarinen2k.js
index 99822c5..8a24a53 100644
--- a/raymarinen2k.js
+++ b/raymarinen2k.js
@@ -59,7 +59,7 @@ module.exports = function(app) {
 
   pilot.start = (props) => {
     deviceid = props.deviceid
-    pilot.id = Number(deviceid)
+    pilot.id = deviceid
     app.debug('props.deviceid:', deviceid)
 
     if ( props.controlHead ) {
@@ -189,9 +189,11 @@ module.exports = function(app) {
   }
 
   pilot.properties = () => {
-    let defaultId = '205'
+    let defaultId = deviceid ?? '205'
     let description = 'No EV-1 Found'
 
+    app.debug('***pre-discovery -> defaultId', defaultId)
+
     if ( !discovered ) {
       //let full = app.deltaCache.buildFull(undefined, [ 'sources' ])
       //if ( full && full.sources ) {
@@ -215,7 +217,8 @@ module.exports = function(app) {
       app.debug(description)
     }
 
-    defaultId = pilot.id ?? defaultId
+    pilot.id = defaultId
+    app.debug('*** post-discovery -> defaultId', defaultId)
       
     return {
       deviceid: {
diff --git a/raystngconv.js b/raystngconv.js
index f4aca73..99619c3 100644
--- a/raystngconv.js
+++ b/raystngconv.js
@@ -61,7 +61,7 @@ module.exports = function(app) {
 
   pilot.start = (props) => {
     deviceid = props.converterDeviceId
-    pilot.id = Number(deviceid)
+    pilot.id = deviceid
     app.debug('props.converterDeviceId:', deviceid)
   }
 
@@ -173,8 +173,10 @@ module.exports = function(app) {
   }
 
   pilot.properties = () => {
-    let defaultConverterId = '115'
+    let defaultConverterId = deviceid ?? '115'
     let description = 'No SeaTalk-STNG-Converter device found'
+
+    app.debug('***pre-discovery -> defaultConverterId', defaultConverterId)
       
     if ( !discovered ) {
       const sources = app.getPath('/sources')
@@ -192,12 +194,13 @@ module.exports = function(app) {
     }
 
     if ( discovered ) {
-      converterDeviceId = discovered
+      defaultConverterId = discovered
       description = `SeaTalk-STNG-Converter with id ${discovered} discovered`
       app.debug(description)
     }
 
-    defaultConverterId = pilot.id ?? defaultConverterId
+    pilot.id = defaultConverterId
+    app.debug('*** post-discovery -> defaultConverterId', defaultConverterId)
 
     return {
       converterDeviceId: {

From 28cda932a60dbe027c23e9590ee2f392803ec40b Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Thu, 21 Dec 2023 17:11:09 +1030
Subject: [PATCH 5/7] Add support for autopilotAlarm interface method.

---
 index.js | 51 ++++++++++++++++++++++++++++++++++++---------------
 1 file changed, 36 insertions(+), 15 deletions(-)

diff --git a/index.js b/index.js
index fa423f6..ce9fca2 100644
--- a/index.js
+++ b/index.js
@@ -264,36 +264,43 @@ module.exports = function(app) {
       }
  
       const method = [ 'visual' ]
+
       let state = evt.fields['Alarm Status']
       if ( state === 'Alarm condition met and not silenced' ) {
         method.push('sound')
       }
+
       if ( state === 'Alarm condition not met' ) {
         state = 'normal'
       } else {
         state = 'alarm'
       }
 
-      let alarmName = evt.fields['Alarm ID']
-      if ( typeof alarmName !== 'string' ) {
-        alarmName = `Unknown Seatalk Alarm ${alarmName}`
-      } else if ( state === 'alarm' && (
-                    alarmName === 'WP Arrival'
-                    || alarmName ===  'Pilot Way Point Advance'
-                    || alarmName === 'Pilot Route Complete'
-                  )   
-                ) {
+      let alarmId = evt.fields['Alarm ID']
+
+      if ( typeof alarmId !== 'string' ) {
+        alarmId = `Unknown Seatalk Alarm ${alarmId}`
+      } else if ( 
+        state === 'alarm' &&
+          ['WP Arrival','Pilot Way Point Advance','Pilot Route Complete'].includes(alarmId)
+        ) {
         state = 'alert'
       }
-      
-      const path = evt.fields['Alarm Group'].toLowerCase().replace(/ /g, '')  + '.' + alarmName.replace(/ /g, '')
-      
-      app.debug('notifications.' + path)
-      app.debug({
+
+      // normalise alarm name
+      let alarmName = normaliseAlarmId(alarmId)
+      if (!alarmName) {
+        app.debug(`*** Normalise Alarm Failed: ${alarmId}`)
+        return
+      }
+
+      const msg = {
         message: alarmName,
         method: method,
         state: state
-      })
+      }
+
+      app.autopilotAlarm(apType, alarmName, msg)
     }
 
     // 65345 = 'steering.autopilot.target (windAngleApparent)'
@@ -340,5 +347,19 @@ module.exports = function(app) {
 
   }
 
+  // normalise SK alarm path 
+  const normaliseAlarmId = (id) => {
+    switch (id) {
+      case 'WP Arrival':
+        return 'waypointArrival'
+      case 'Pilot Way Point Advance':
+        return 'waypointAdvance'
+      case 'Pilot Route Complete':
+        return 'routeComplete'
+      default:
+        return ''
+    }
+  }
+
   return plugin;
 }

From a7e376c27e4c754827106108ebc0be77a14a308a Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Mon, 25 Nov 2024 15:36:02 +1030
Subject: [PATCH 6/7] Return data to REST API calls

---
 index.js | 138 ++++++++++++++++++++++++++++++++++++++-----------------
 1 file changed, 95 insertions(+), 43 deletions(-)

diff --git a/index.js b/index.js
index ce9fca2..a83d6c6 100644
--- a/index.js
+++ b/index.js
@@ -28,12 +28,29 @@ const types  = {
   raymarineN2K: require('./raymarinen2k')
 }
 
+const apData = {
+  options: {
+    states: [
+      {name: 'auto', engaged: true},
+      {name: 'wind', engaged: true},
+      {name: 'route', engaged: true},
+      {name: 'standby', engaged: false}
+    ],
+    modes: []
+  },
+  mode: null,
+  state: null,
+  engaged: false,
+  target: null
+}
+
 module.exports = function(app) {
   var plugin = {}
   var onStop = []
   var autopilot
   var pilots = {}
 
+
   let apType = '' // autopilot type
 
   _.keys(types).forEach( type => {
@@ -134,24 +151,10 @@ module.exports = function(app) {
       app.registerAutopilotProvider(
         {
           getData: async (deviceId) => {
-            const apState = app.getSelfPath(state_path)
-            return {
-              options: {
-                states: [
-                  {name: 'auto', engaged: true},
-                  {name: 'wind', engaged: true},
-                  {name: 'route', engaged: true},
-                  {name: 'standby', engaged: false}
-                ],
-                modes: []
-              },
-              mode: null,
-              state: apState ?? null,
-              engaged: ['auto','wind','route'].includes(apState) ? true : false
-            }
+            return apData
           },
           getState: async (deviceId) => {
-            return app.getSelfPath(state_path) ?? null
+            return apData.state
           },
           setState: async (
             state,
@@ -161,9 +164,6 @@ module.exports = function(app) {
             if (r.state === 'FAILURE') {
               throw new Error(r.message)
             }
-            else {
-              return state === 'standby' ? false : true
-            }
           },
           getMode: async (deviceId) => {
             throw new Error('Not implemented!')
@@ -172,18 +172,17 @@ module.exports = function(app) {
             throw new Error('Not implemented!')
           },
           getTarget: async (deviceId) => {
-            throw new Error('Not implemented!')
+            return apData.target
           },
           setTarget: async (value, deviceId) => {
-            const apState = app.getSelfPath(state_path)
-            const deg = value * (180 / Math.PI)
+            const apState = apData.state
             if ( apState === 'auto' ) {
-              const r = autopilot.putTargetHeading(undefined, undefined, deg, undefined)
+              const r = autopilot.putTargetHeading(undefined, undefined, value, undefined)
               if (r.state === 'FAILURE') {
                 throw new Error(r.message)
               }
             } else if ( apState === 'wind' ) {
-              const r = autopilot.putTargetWind(undefined, undefined, deg, undefined)
+              const r = autopilot.putTargetWind(undefined, undefined, value, undefined)
               if (r.state === 'FAILURE') {
                 throw new Error(r.message)
               }
@@ -194,8 +193,7 @@ module.exports = function(app) {
             value,
             deviceId
           ) => {
-            const deg = value * (180 / Math.PI)
-            const r = autopilot.putAdjustHeading(undefined, undefined, deg, undefined)
+            const r = autopilot.putAdjustHeading(undefined, undefined, value, undefined)
             if (r.state === 'FAILURE') {
               throw new Error(r.message)
             }
@@ -228,6 +226,12 @@ module.exports = function(app) {
             deviceId
           ) => {
             throw new Error('Not implemented!')
+          },
+          dodge: async (
+            direction,
+            deviceId
+          ) => {
+            throw new Error('Not implemented!')
           }
         },
         [apType]
@@ -243,7 +247,8 @@ module.exports = function(app) {
     const pgns = [
       65345, 65360, 65379, 
       65288,
-      127237
+      127237,
+      126720
     ]
    
     if (!pgns.includes(evt.pgn) || String(evt.src) !== autopilot.id) {
@@ -300,14 +305,20 @@ module.exports = function(app) {
         state: state
       }
 
-      app.autopilotAlarm(apType, alarmName, msg)
+      app.autopilotUpdate(apType, {
+        alarm: {
+          path: alarmName, 
+          value: msg
+        }
+      })
     }
 
     // 65345 = 'steering.autopilot.target (windAngleApparent)'
     if (evt.pgn === 65345) {
       let angle = evt.fields['Wind Datum'] ? Number(evt.fields['Wind Datum']) : null
       angle = ( typeof angle === 'number' && angle > Math.PI ) ? angle-(Math.PI*2) : angle
-      app.autopilotUpdate(apType, 'target', angle)
+      apData.target = radiansToDegrees(angle)
+      app.autopilotUpdate(apType, {target: angle})
     }
 
     // 65360 = 'steering.autopilot.target (true/magnetic)'
@@ -316,32 +327,68 @@ module.exports = function(app) {
       const targetMagnetic = evt.fields['Target Heading Magnetic'] ? Number(evt.fields['Target Heading Magnetic']) : null
       const target = typeof targetTrue === 'number' ? targetTrue :
         typeof targetMagnetic === 'number' ? targetMagnetic: null
-      app.autopilotUpdate(apType, 'target', target)
+      apData.target = radiansToDegrees(target)
+      app.autopilotUpdate(apType, {target: target})
+    }
+
+    // 126720 ``
+    if (evt.pgn === 126720) { 
+      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
     }
     
     // 65379 = 'steering.autopilot.state', 'steering.autopilot.engaged'
     if (evt.pgn === 65379) {
-      const mode = evt.fields['Pilot Mode'] ? Number(evt.fields['Pilot Mode']) : null
-      const subMode = evt.fields['Sub Mode'] ? Number(evt.fields['Sub Mode']) : null
+      //app.debug('n2k pgn=', evt.pgn, evt.fields, evt.description)
+      const mode = typeof evt.fields['Pilot Mode Data']  === 'number' ? evt.fields['Pilot Mode Data'] : null
+      const subMode = typeof evt.fields['Sub Mode']  === 'number' ? evt.fields['Sub Mode'] : null
+      //app.debug(`mode: ${mode}, subMode: ${subMode}`)
       if ( mode === 0 && subMode === 0 ) {
-        app.autopilotUpdate(apType, 'state', 'standby')
-        app.autopilotUpdate(apType, 'engaged', false)
+        apData.state = 'standby'
+        apData.engaged = false
+        app.autopilotUpdate(apType, {
+          state: apData.state,
+          engaged: false
+        })
       }
       else if ( mode == 0 && subMode == 1 ) {
-        app.autopilotUpdate(apType, 'state', 'wind')
-        app.autopilotUpdate(apType, 'engaged', true)
+        apData.state = 'wind'
+        apData.engaged = true
+        app.autopilotUpdate(apType, {
+          state: apData.state,
+          engaged: true
+        })
       }
       else if ( (mode == 128 || mode == 129) && subMode == 1 ) {
-        app.autopilotUpdate(apType, 'state', 'route')
-        app.autopilotUpdate(apType, 'engaged', true)
+        apData.state = 'route'
+        apData.engaged = true
+        app.autopilotUpdate(apType, {
+          state: apData.state,
+          engaged: true
+        })
+      }
+      else if ( mode == 2 && subMode == 0 ) {
+        apData.state = 'route'
+        apData.engaged = true
+        app.autopilotUpdate(apType, {
+          state: apData.state,
+          engaged: true
+        })
       }
       else if ( mode == 64 && subMode == 0 ) {
-        app.autopilotUpdate(apType, 'state', 'auto')
-        app.autopilotUpdate(apType, 'engaged', true)
+        apData.state = 'auto'
+        apData.engaged = true
+        app.autopilotUpdate(apType, {
+          state: apData.state,
+          engaged: true
+        })
       }
       else {
-        app.autopilotUpdate(apType, 'state', 'standby')
-        app.autopilotUpdate(apType, 'engaged', false)
+        apData.state = 'standby'
+        apData.engaged = false
+        app.autopilotUpdate(apType, {
+          state: apData.state,
+          engaged: false
+        })
       }
     }
 
@@ -357,9 +404,14 @@ module.exports = function(app) {
       case 'Pilot Route Complete':
         return 'routeComplete'
       default:
-        return ''
+        return 'unknown'
     }
   }
 
+  const radiansToDegrees = (value) => value * 180 / Math.PI
+  
+  const degreesToRadians = (value) => value * (Math.PI/180.0)
+
+
   return plugin;
 }

From 98bf110214bcc5940e4c79c2abed12c69b8b213b Mon Sep 17 00:00:00 2001
From: panaaj <38519157+panaaj@users.noreply.github.com>
Date: Sat, 30 Nov 2024 16:09:35 +1030
Subject: [PATCH 7/7] chore: format

---
 index.js | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/index.js b/index.js
index 78f7034..622155c 100644
--- a/index.js
+++ b/index.js
@@ -95,9 +95,6 @@ module.exports = function(app) {
                            advance,
                            autopilot.putAdvanceWaypoint)
 
-    registerProvider()
-
-
     app.handleMessage(plugin.id, {
       updates: [
           {
@@ -131,6 +128,8 @@ module.exports = function(app) {
           }
       ]
     })
+
+    registerProvider()
   }
   
   plugin.stop = function() {