actisense

package
v1.6.0 Latest Latest
Warning

This package is not in the latest version of its module.

 Go to latest Published: Sep 11, 2026 License: MIT Imports: 12 Imported by: 0

Documentation

Overview

Package actisense implements the bounded BDTP, BST, BEM, and EBL wire protocols used by Actisense-format gateways. Transport adapters live in internal/gateway; this package owns protocol framing and session state.

Index

Constants

View Source 
const (
	DLE = 0x10
	STX = 0x02
	ETX = 0x03

	// MaxDatagramLength bounds an unframed BST datagram excluding its checksum.
	// It covers a 1785-byte NMEA 2000 transport payload plus the 13-byte BST-D0
	// header, while remaining within the EBL tag capacity used by field captures.
	MaxDatagramLength = 1800
)
View Source 
const (
	BEMReinitialize      = 0x00
	BEMCommitEEPROM      = 0x01
	BEMCommitFlash       = 0x02
	BEMOperatingMode     = 0x11
	BEMPortPCode         = 0x13
	BEMTotalTime         = 0x15
	BEMPortBaudrate      = 0x17
	BEMEcho              = 0x18
	BEMPortInventory     = 0x1B
	BEMSupportedPGNList  = 0x40
	BEMProductInfo       = 0x41
	BEMCANConfig         = 0x42
	BEMCANInfoField1     = 0x43
	BEMCANInfoField2     = 0x44
	BEMCANInfoField3     = 0x45
	BEMRxPGNEnable       = 0x46
	BEMTxPGNEnable       = 0x47
	BEMDeletePGNLists    = 0x4A
	BEMActivatePGNLists  = 0x4B
	BEMDefaultPGNLists   = 0x4C
	BEMPGNListParameters = 0x4D
	BEMRxPGNEnableListF2 = 0x4E
	BEMTxPGNEnableListF2 = 0x4F
	BEMStartupStatus     = 0xF0
	BEMErrorReport       = 0xF1
	BEMSystemStatus      = 0xF2
	BEMNegativeAck       = 0xF4
)
View Source 
const (
	BaudRateNoChange       uint32 = 0xFFFFFFFF
	BaudRateDefault        uint32 = 0xFFFFFFFE
	BaudRateAdoptAlternate uint32 = 0xFFFFFFFC
)
View Source 
const (
	BEMPortDuplicateDelete = 0x14
	BEMRxPGNEnableListF1   = 0x48
	BEMTxPGNEnableListF1   = 0x49
)
View Source 
const (
	ProprietaryDP0Base = uint32(0x0000FF00)
	ProprietaryDP1Base = uint32(0x0001FF00)
)
View Source 
const (
	RxPGNMaskPGN       = uint32(0x03FFFF00)
	RxPGNMaskPDUFormat = uint32(0x03FF0000)
	RxPGNMaskPDUNibble = uint32(0x03F00000)
	RxPGNMaskDataPage  = uint32(0x03000000)
	RxPGNMaskDefault   = uint32(0xFFFFFFFE)
	RxPGNMaskNoChange  = uint32(0xFFFFFFFF)
	TxPGNRateNoChange  = uint32(0xFFFF)
	TxPGNRateEvent     = uint32(0)
	// Deprecated: this value means no change, not accept all. Use RxPGNMaskNoChange.
	RxPGNMaskAcceptAll = RxPGNMaskNoChange
	// Deprecated: this value leaves the rate unchanged. Use TxPGNRateNoChange.
	TxPGNRateDefault = uint32(0xFFFFFFFF)
)
View Source 
const (
	BSTN2KReceive  = 0x93
	BSTN2KTransmit = 0x94
	BSTCANFrame    = 0x95
	BSTBEMResponse = 0xA0
	BSTBEMCommand  = 0xA1
	BSTN2KMessage  = 0xD0

	MaxNMEA2000Payload = 1785
)

Variables

View Source 
var (
	ErrSessionClosed   = errors.New("actisense: session closed")
	ErrRequestInFlight = errors.New("actisense: request already in flight")
)
View Source 
var LocalBEMOrigin = BEMOrigin{Path: BEMPathLocal, Source: 255}

Functions

func CANConfigSet added in v1.2.0 

func CANConfigSet(config CANConfig) []byte

func DecodeCANInfoField added in v1.2.0 

func DecodeCANInfoField(response BEMResponse, field CANInfoField) (string, error)

func DecodeEcho added in v1.2.0 

func DecodeEcho(response BEMResponse) ([]byte, error)

func DecodeTotalTime added in v1.2.0 

func DecodeTotalTime(response BEMResponse) (uint32, error)

func EncodeBEMRequest 

func EncodeBEMRequest(command byte, data []byte) ([]byte, error)

EncodeBEMRequest renders a local BEM command using BST-A1.

func EncodeCANFrame 

func EncodeCANFrame(frame can.Frame, direction Direction, timestamp time.Duration, resolution uint8) ([]byte, error)

EncodeCANFrame renders a source-authoritative raw CAN frame as BST-95.

func EncodeCANInfoField added in v1.2.0 

func EncodeCANInfoField(text string) ([]byte, error)

func EncodeDatagram 

func EncodeDatagram(id byte, payload []byte) ([]byte, error)

EncodeDatagram wraps a BST ID and payload in BDTP framing with the applicable Type 1 or Type 2 length field and zero-sum checksum.

func EncodeEcho added in v1.2.0 

func EncodeEcho(payload []byte) ([]byte, error)

func EncodeMessage94 

func EncodeMessage94(message Message) ([]byte, error)

EncodeMessage94 renders one legacy gateway-owned assembled message.

func EncodeMessageD0 

func EncodeMessageD0(message Message) ([]byte, error)

EncodeMessageD0 renders an assembled NMEA 2000 message using BST Type 2.

func EncodePortPCodes added in v1.2.0 

func EncodePortPCodes(codes []PortPCode) ([]byte, error)

func IsType2 

func IsType2(id byte) bool

IsType2 reports whether id uses the BST Type 2 16-bit total-length field.

func OperatingModeRequest 

func OperatingModeRequest() []byte

func OperatingModeSet 

func OperatingModeSet(mode OperatingMode) []byte

func PortBaudrateGet added in v1.2.0 

func PortBaudrateGet(port uint8) []byte

func PortBaudrateSet added in v1.2.0 

func PortBaudrateSet(port uint8, sessionBaud, storeBaud uint32) []byte

func RxPGNEnableGet added in v1.2.0 

func RxPGNEnableGet(pgn uint32) []byte

func RxPGNEnableSet added in v1.2.0 

func RxPGNEnableSet(pgn uint32, flag PGNEnableFlag, mask *uint32) []byte

func TotalTimeSet added in v1.2.0 

func TotalTimeSet(seconds, passkey uint32) []byte

func TxPGNEnableGet 

func TxPGNEnableGet(pgn uint32) []byte

func TxPGNEnableSet 

func TxPGNEnableSet(pgn uint32, enabled bool) []byte

func TxPGNEnableSetFull added in v1.2.0 

func TxPGNEnableSetFull(pgn uint32, flag PGNEnableFlag, rate *uint32) []byte

Types

type BEMOrigin added in v1.2.0 

type BEMOrigin struct {
	Path   BEMPath
	Source uint8
}

BEMOrigin distinguishes the locally attached gateway from a remote Actisense device reached through PGN 126720. Source is 255 for local responses and the responding NMEA 2000 source address for remote responses.

type BEMPath added in v1.2.0 

type BEMPath uint8

BEMPath identifies how a BEM response reached the library. 

const (
	BEMPathLocal BEMPath = iota
	BEMPathRemote
)

type BEMResponse 

type BEMResponse struct {
	BSTID        byte
	BEMID        byte
	Origin       BEMOrigin
	Sequence     uint8
	ModelID      uint16
	SerialNumber uint32
	ErrorCode    int32
	Data         []byte
}

BEMResponse is the common local gateway response envelope. Data is owned.

func DecodeBEMResponse 

func DecodeBEMResponse(d Datagram) (response BEMResponse, ok bool, err error)

DecodeBEMResponse decodes the 12-byte response header carried by local BEM response BST IDs. ok is false when d is not a BEM response datagram.

type CANConfig added in v1.2.0 

type CANConfig struct {
	NAME uint64
	// SourceAddress is the stored preferred/previous address, not the live
	// ISO-claimed address. Arbitration can assign a different bus address.
	SourceAddress uint8
}

func DecodeCANConfig added in v1.2.0 

func DecodeCANConfig(response BEMResponse) (CANConfig, error)

type CANFrame 

type CANFrame struct {
	Frame        can.Frame
	Timestamp    time.Duration
	HasTimestamp bool
	Direction    Direction
	Resolution   uint8
}

CANFrame is one raw CAN Frame plus BST-95 transport metadata.

func DecodeCANFrame 

func DecodeCANFrame(d Datagram) (decoded CANFrame, ok bool, err error)

DecodeCANFrame decodes BST-95. ok is false for other BST IDs.

type CANInfoField added in v1.2.0 

type CANInfoField uint8
const (
	CANInfoInstallationDescription1 CANInfoField = 1
	CANInfoInstallationDescription2 CANInfoField = 2
	CANInfoManufacturerInformation  CANInfoField = 3
)

type CANStatus 

type CANStatus struct {
	ReceiveErrors  uint8
	TransmitErrors uint8
	Flags          uint8
}

type CommandSet added in v1.2.0 

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

CommandSet is the typed, envelope-independent Actisense BEM Interface. Persistent and rebooting verbs are methods but are never called implicitly.

func NewCommandSet added in v1.2.0 

func NewCommandSet(requester Requester, config CommandSetConfig) *CommandSet

func (*CommandSet) ActivatePGNLists added in v1.2.0 

func (c *CommandSet) ActivatePGNLists(ctx context.Context) error

func (*CommandSet) CommitEEPROM added in v1.2.0 

func (c *CommandSet) CommitEEPROM(ctx context.Context) error

CommitEEPROM explicitly persists staged session settings to EEPROM. It is never invoked automatically.

func (*CommandSet) CommitFlash added in v1.2.0 

func (c *CommandSet) CommitFlash(ctx context.Context) error

CommitFlash explicitly persists staged session settings to flash. It is never invoked automatically.

func (*CommandSet) DefaultPGNLists added in v1.2.0 

func (c *CommandSet) DefaultPGNLists(ctx context.Context, selector PGNListSelector) error

func (*CommandSet) DeletePGNLists added in v1.2.0 

func (c *CommandSet) DeletePGNLists(ctx context.Context, selector PGNListSelector) error

func (*CommandSet) DeviceCapabilities added in v1.2.0 

func (c *CommandSet) DeviceCapabilities() DeviceCapabilities

DeviceCapabilities returns the last model identity observed on this handle. It is Unknown until at least one response has arrived.

func (*CommandSet) DeviceSerialNumber added in v1.2.0 

func (c *CommandSet) DeviceSerialNumber() uint32

func (*CommandSet) Echo added in v1.2.0 

func (c *CommandSet) Echo(ctx context.Context, payload []byte) ([]byte, error)

func (*CommandSet) GetCANConfig added in v1.2.0 

func (c *CommandSet) GetCANConfig(ctx context.Context) (CANConfig, error)

func (*CommandSet) GetCANInfoField added in v1.2.0 

func (c *CommandSet) GetCANInfoField(ctx context.Context, field CANInfoField) (string, error)

func (*CommandSet) GetOperatingMode added in v1.2.0 

func (c *CommandSet) GetOperatingMode(ctx context.Context) (OperatingMode, error)

func (*CommandSet) GetPGNListParameters added in v1.2.0 

func (c *CommandSet) GetPGNListParameters(ctx context.Context) (PGNListParameters, error)

func (*CommandSet) GetPortBaudrate added in v1.2.0 

func (c *CommandSet) GetPortBaudrate(ctx context.Context, port uint8) (PortBaudrate, error)

func (*CommandSet) GetPortDuplicateDelete added in v1.4.0 

func (c *CommandSet) GetPortDuplicateDelete(ctx context.Context) ([]PortDuplicateDelete, error)

GetPortDuplicateDelete reads the documented BEM-14 port filter settings. Support depends on device firmware; unsupported devices return a BEM error.

func (*CommandSet) GetPortInventory added in v1.2.0 

func (c *CommandSet) GetPortInventory(ctx context.Context) (PortInventory, error)

func (*CommandSet) GetPortPCodes added in v1.2.0 

func (c *CommandSet) GetPortPCodes(ctx context.Context) ([]PortPCode, error)

func (*CommandSet) GetProductInfo added in v1.2.0 

func (c *CommandSet) GetProductInfo(ctx context.Context) (ProductInfo, error)

func (*CommandSet) GetRxPGN added in v1.2.0 

func (c *CommandSet) GetRxPGN(ctx context.Context, pgn uint32) (RxPGNState, error)

func (*CommandSet) GetRxPGNEnableList added in v1.2.0 

func (c *CommandSet) GetRxPGNEnableList(ctx context.Context) (RxPGNEnableList, error)

func (*CommandSet) GetRxPGNEnableListF1 added in v1.4.0 

func (c *CommandSet) GetRxPGNEnableListF1(ctx context.Context) (RxPGNEnableListF1, error)

GetRxPGNEnableListF1 reads the two ordered legacy response parts. F1 was discontinued at firmware 2.500 and is not implemented by NGX/W2K products. Prefer GetRxPGNEnableList. No automatic fallback or list mutation occurs.

func (*CommandSet) GetSupportedPGNs added in v1.2.0 

func (c *CommandSet) GetSupportedPGNs(ctx context.Context) (SupportedPGNList, error)

GetSupportedPGNs performs the command's caller-driven chunk walk. Each sub-list is a distinct request and all transfer invariants are checked.

func (*CommandSet) GetTotalTime added in v1.2.0 

func (c *CommandSet) GetTotalTime(ctx context.Context) (uint32, error)

func (*CommandSet) GetTxPGN added in v1.2.0 

func (c *CommandSet) GetTxPGN(ctx context.Context, pgn uint32) (TxPGNState, error)

func (*CommandSet) GetTxPGNEnableList added in v1.2.0 

func (c *CommandSet) GetTxPGNEnableList(ctx context.Context) (TxPGNEnableList, error)

func (*CommandSet) GetTxPGNEnableListF1 added in v1.4.0 

func (c *CommandSet) GetTxPGNEnableListF1(ctx context.Context) (TxPGNEnableListF1, error)

GetTxPGNEnableListF1 reads PGNs, rates, timeouts, and priorities in order. Prefer GetTxPGNEnableList on current firmware. Partial results retain the completed parts when a response train fails or times out.

func (*CommandSet) RawRequest added in v1.2.0 

func (c *CommandSet) RawRequest(ctx context.Context, command byte, data []byte) (BEMResponse, error)

RawRequest sends one BEM command through this handle's local or remote envelope. Prefer typed methods when a command is known.

func (*CommandSet) RawRequestMulti added in v1.4.0 

func (c *CommandSet) RawRequestMulti(ctx context.Context, command byte, data []byte, complete func(BEMResponse) (bool, error)) ([]BEMResponse, error)

RawRequestMulti collects a bounded response train for a caller-defined BEM command. complete receives each response in arrival order; returning true ends the train. On failure, all received responses are returned with the error.

func (*CommandSet) Reinitialize added in v1.2.0 

func (c *CommandSet) Reinitialize(ctx context.Context) error

Reinitialize explicitly asks the device to reboot. It is never invoked by connection setup, restore, or Close.

func (*CommandSet) SetCANConfig added in v1.2.0 

func (c *CommandSet) SetCANConfig(ctx context.Context, config CANConfig) (CANConfig, error)

SetCANConfig changes the device's NMEA 2000 NAME and preferred address. Some firmware persists this operation itself; the library never calls it automatically.

func (*CommandSet) SetCANInfoField added in v1.2.0 

func (c *CommandSet) SetCANInfoField(ctx context.Context, field CANInfoField, text string) (string, error)

SetCANInfoField writes installation description 1 or 2. Manufacturer information is read-only. Firmware may persist these fields immediately.

func (*CommandSet) SetOperatingMode added in v1.2.0 

func (c *CommandSet) SetOperatingMode(ctx context.Context, mode OperatingMode) error

func (*CommandSet) SetPortBaudrate added in v1.2.0 

func (c *CommandSet) SetPortBaudrate(ctx context.Context, port uint8, sessionBaud, storeBaud uint32) (PortBaudrate, error)

SetPortBaudrate changes the session and stored rates explicitly. Passing a sentinel such as BaudRateNoChange preserves the corresponding value. The stored value may be written to non-volatile memory by device firmware.

func (*CommandSet) SetPortDuplicateDelete added in v1.4.0 

func (c *CommandSet) SetPortDuplicateDelete(ctx context.Context, settings []PortDuplicateDelete) ([]PortDuplicateDelete, error)

SetPortDuplicateDelete supplies every port, using NoChange for unchanged entries. Firmware applies and persists this operation immediately.

func (*CommandSet) SetPortPCodes added in v1.2.0 

func (c *CommandSet) SetPortPCodes(ctx context.Context, codes []PortPCode) ([]PortPCode, error)

func (*CommandSet) SetRxPGN added in v1.2.0 

func (c *CommandSet) SetRxPGN(ctx context.Context, pgn uint32, flag PGNEnableFlag, mask *uint32) (RxPGNState, error)

SetRxPGN accepts one of the four documented PGN masks or a default/no-change sentinel. A nil mask selects the device default. Source filtering is not supported.

func (*CommandSet) SetTotalTime added in v1.2.0 

func (c *CommandSet) SetTotalTime(ctx context.Context, seconds, passkey uint32) (uint32, error)

func (*CommandSet) SetTxPGN added in v1.2.0 

func (c *CommandSet) SetTxPGN(ctx context.Context, pgn uint32, flag PGNEnableFlag, rate *uint32) (TxPGNState, error)

SetTxPGN uses milliseconds for rates 1-65534 and zero for event-driven data. A nil rate or any value >= 65535 leaves the current rate unchanged. This command has no restore-default rate sentinel.

type CommandSetConfig added in v1.2.0 

type CommandSetConfig struct {
	Timeout         time.Duration
	MultiInactivity time.Duration
	Remote          bool
}

type Datagram 

type Datagram struct {
	ID      byte
	Payload []byte
	Raw     []byte
}

Datagram is an owned, checksum-validated BST record. Raw contains the BST ID, length field, and payload without BDTP markers or the checksum byte.

func DecodeRaw 

func DecodeRaw(raw []byte) (Datagram, error)

DecodeRaw decodes one unframed BST datagram without a checksum. This is the representation stored in EBL BSTRawFrame records.

func (Datagram) Clone 

func (d Datagram) Clone() Datagram

type DecodeError 

type DecodeError struct {
	Kind DecodeErrorKind
	ID   byte
	Err  error
}

DecodeError describes one discarded datagram. A Parser remains usable after reporting it and continues hunting for the next DLE/STX marker.

func (DecodeError) Error 

func (e DecodeError) Error() string

func (DecodeError) Unwrap 

func (e DecodeError) Unwrap() error

type DecodeErrorKind 

type DecodeErrorKind string

DecodeErrorKind identifies a recoverable BDTP/BST stream defect. 

const (
	DecodeFraming  DecodeErrorKind = "framing"
	DecodeChecksum DecodeErrorKind = "checksum"
	DecodeLength   DecodeErrorKind = "length"
	DecodeOversize DecodeErrorKind = "oversize"
)

type DeviceCapabilities added in v1.2.0 

type DeviceCapabilities struct {
	ModelID                       ModelID
	ModelName                     string
	ProprietaryPGNEnableListF2    bool
	ReceiveAllOmitsISOControlPGNs bool
	RewritesHostTransmitSID       bool
}

DeviceCapabilities records behavior that varies by known Actisense model. Unknown future models are deliberately conservative until verified.

func CapabilitiesForModel added in v1.2.0 

func CapabilitiesForModel(model ModelID) DeviceCapabilities

type DeviceError 

type DeviceError struct {
	Command byte
	Code    int32
}

DeviceError reports a command that reached the gateway but was rejected.

func (*DeviceError) Error 

func (e *DeviceError) Error() string

type Diagnostic 

type Diagnostic struct {
	Kind        DiagnosticKind
	Response    BEMResponse
	Startup     *StartupStatus
	ErrorReport *ErrorReport
	System      *SystemStatus
	NegativeAck *NegativeAck
}

Diagnostic retains the common response origin alongside one typed payload.

func DecodeDiagnostic 

func DecodeDiagnostic(response BEMResponse) (diagnostic Diagnostic, ok bool, err error)

DecodeDiagnostic decodes F0/F1/F2/F4. ok is false for ordinary solicited responses.

type DiagnosticKind 

type DiagnosticKind string

DiagnosticKind identifies an unsolicited local BEM event. 

const (
	DiagnosticStartup     DiagnosticKind = "startup_status"
	DiagnosticError       DiagnosticKind = "error_report"
	DiagnosticSystem      DiagnosticKind = "system_status"
	DiagnosticNegativeAck DiagnosticKind = "negative_ack"
)

type Direction 

type Direction uint8

Direction is the direction encoded by BST-95 and BST-D0. 

const (
	DirectionReceived Direction = iota
	DirectionTransmitted
)

type ErrorReport 

type ErrorReport struct {
	Variant     uint32
	ErrorCode   uint32
	Timestamp   *uint32
	ContextData []byte
}

type HardwareProtocol added in v1.2.0 

type HardwareProtocol uint8

HardwareProtocol identifies the protocol carried over a gateway port. 

const (
	HardwareSerialNMEA0183   HardwareProtocol = 0
	HardwareSerialBST        HardwareProtocol = 1
	HardwareCANNMEA2000      HardwareProtocol = 32
	HardwareCANJ1939         HardwareProtocol = 33
	HardwareEthernetBST      HardwareProtocol = 64
	HardwareEthernetNMEA0183 HardwareProtocol = 65
	HardwareEthernetOneNet   HardwareProtocol = 66
)

type IndividualBufferStatus 

type IndividualBufferStatus struct {
	ReceiveBandwidth  uint8
	ReceiveLoading    uint8
	ReceiveFiltered   uint8
	ReceiveDropped    uint8
	TransmitBandwidth uint8
	TransmitLoading   uint8
}

type Message 

type Message struct {
	Priority       uint8
	PGN            uint32
	Destination    uint8
	Source         uint8
	HasSource      bool
	Data           []byte
	Timestamp      time.Duration
	HasTimestamp   bool
	Direction      Direction
	Type           MessageType
	InternalSource bool
	FastSequence   uint8
}

Message is one assembled NMEA 2000 payload carried in BST-93, BST-94, or BST-D0. Data is always owned.

func DecodeMessage 

func DecodeMessage(d Datagram) (message Message, ok bool, err error)

DecodeMessage decodes an NMEA 2000 BST datagram. ok is false when the BST ID carries another protocol record.

type MessageType 

type MessageType uint8

MessageType identifies the NMEA 2000 transfer form reported by BST-D0. 

const (
	MessageSingle MessageType = iota
	MessageFast
	MessageTransport
	MessageUnknown
)

type ModelID added in v1.2.0 

type ModelID uint16

ModelID is the Actisense hardware model identifier carried in every BEM response header. 

const (
	ModelUnknown ModelID = 0x0000
	ModelNGT1    ModelID = 0x000E
	ModelNGT1USB ModelID = 0x000F
	ModelNGW1    ModelID = 0x0010
	ModelEMU1    ModelID = 0x0011
	ModelPRONDC1 ModelID = 0x0020
	ModelWGX1    ModelID = 0x0030
	ModelNGX1    ModelID = 0x003B
)

type NegativeAck 

type NegativeAck struct {
	UniqueCommandID uint32
	ErrorCode       int32
}

type NegativeAckError 

type NegativeAckError struct {
	Command         byte
	UniqueCommandID uint32
	DeviceCode      int32
}

NegativeAckError reports an asynchronous F4 rejection correlated to an in-flight command.

func (*NegativeAckError) Error 

func (e *NegativeAckError) Error() string

type OperatingMode 

type OperatingMode uint16

OperatingMode is an Actisense gateway operating-mode wire value. 

const (
	ModeUndefined          OperatingMode = 0
	ModeTransferNormal     OperatingMode = 1
	ModeTransferReceiveAll OperatingMode = 2
	ModeTransferLegacyRaw  OperatingMode = 3
	ModeConvertNormal      OperatingMode = 4
	ModeCANPacket          OperatingMode = 5
	ModeCANPacketASCII     OperatingMode = 6
	ModeBuffer1            OperatingMode = 16
	ModeBuffer2            OperatingMode = 17
	ModeBuffer3            OperatingMode = 18
	ModeAutoswitchDirect   OperatingMode = 19
	ModeAutoswitchSmart    OperatingMode = 20
	ModeCombineSlow        OperatingMode = 21
	ModeCombineFast        OperatingMode = 22
	ModeTest1              OperatingMode = 23
	ModeNSI1               OperatingMode = 24
	ModeLastStandard       OperatingMode = 253
	ModeNormal             OperatingMode = 512
	ModePredefined1        OperatingMode = 40000
	ModePredefined2        OperatingMode = 40001
	ModePredefinedEnd      OperatingMode = 40255
	ModeUserStart          OperatingMode = 50000
	ModeUser1              OperatingMode = ModeUserStart
	ModeUser2              OperatingMode = 50001
	ModeUser3              OperatingMode = 50002
	ModeUser4              OperatingMode = 50003
	ModeUser5              OperatingMode = 50004
	ModeUserEnd            OperatingMode = 59999
	ModeNull               OperatingMode = 65535
)

func DecodeOperatingMode 

func DecodeOperatingMode(response BEMResponse) (OperatingMode, error)

type PGNEnableFlag added in v1.2.0 

type PGNEnableFlag uint8
const (
	PGNDisabled    PGNEnableFlag = 0
	PGNEnabled     PGNEnableFlag = 1
	PGNRespondMode PGNEnableFlag = 2
)

type PGNListParameters added in v1.2.0 

type PGNListParameters struct {
	RxMaximum uint16
	RxSession uint16
	RxActive  uint16
	TxMaximum uint16
	TxSession uint16
	TxActive  uint16
	RxSync    uint8
	TxSync    uint8
}

func DecodePGNListParameters added in v1.2.0 

func DecodePGNListParameters(response BEMResponse) (PGNListParameters, error)

func (PGNListParameters) RxSynchronized added in v1.2.0 

func (p PGNListParameters) RxSynchronized() bool

func (PGNListParameters) Synchronized added in v1.2.0 

func (p PGNListParameters) Synchronized() bool

func (PGNListParameters) TxSynchronized added in v1.2.0 

func (p PGNListParameters) TxSynchronized() bool

type PGNListSelector added in v1.2.0 

type PGNListSelector uint8

PGNListSelector chooses the Rx list, Tx list, or both lists for delete and default operations. 

const (
	PGNListRx   PGNListSelector = 0
	PGNListTx   PGNListSelector = 1
	PGNListBoth PGNListSelector = 2
)

type Parser 

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

Parser incrementally decodes a BDTP byte stream. Its retained state is bounded by MaxDatagramLength plus one checksum byte.

func NewParser 

func NewParser() *Parser

NewParser returns a parser ready for one connection epoch.

func (*Parser) BufferedBytes 

func (p *Parser) BufferedBytes() int

BufferedBytes reports retained partial-frame bytes for diagnostics and bounded-state tests.

func (*Parser) End 

func (p *Parser) End(report func(DecodeError))

End reports and discards an incomplete candidate at an input boundary such as connection close or end-of-file.

func (*Parser) EndWithUnframed added in v1.2.0 

func (p *Parser) EndWithUnframed(report func(DecodeError), unframed func([]byte))

EndWithUnframed is End with exact delivery of a pending unframed DLE.

func (*Parser) Feed 

func (p *Parser) Feed(buf []byte, emit func(Datagram), report func(DecodeError))

Feed consumes arbitrary stream chunks. Complete datagrams and recoverable errors are delivered synchronously in wire order.

func (*Parser) FeedWithUnframed added in v1.2.0 

func (p *Parser) FeedWithUnframed(buf []byte, emit func(Datagram), report func(DecodeError), unframed func([]byte))

FeedWithUnframed additionally delivers exact bytes found outside BDTP frames. This supports boot-banner evidence and mode-6 binary/ASCII demux. The callback must not retain its one-byte slice.

func (*Parser) UnframedBytes added in v1.2.0 

func (p *Parser) UnframedBytes() uint64

UnframedBytes reports how many bytes were discarded while hunting for a DLE/STX marker. It includes a pending DLE flushed by End.

type PortBaudrate added in v1.2.0 

type PortBaudrate struct {
	TotalPorts  uint8
	PortNumber  uint8
	Protocol    HardwareProtocol
	SessionBaud uint32
	StoreBaud   uint32
}

func DecodePortBaudrate added in v1.2.0 

func DecodePortBaudrate(response BEMResponse) (PortBaudrate, error)

type PortDuplicateDelete added in v1.4.0 

type PortDuplicateDelete uint8
const (
	PortDuplicateDeleteOff      PortDuplicateDelete = 0
	PortDuplicateDeleteOn       PortDuplicateDelete = 1
	PortDuplicateDeleteNoChange PortDuplicateDelete = 255
)

type PortInventory added in v1.2.0 

type PortInventory struct {
	TransferID uint8
	Ports      []PortInventoryEntry
}

type PortInventoryEntry added in v1.2.0 

type PortInventoryEntry struct {
	PortIndex          uint8
	SystemStatusIndex  uint8
	BaudratePortNumber uint8
	Media              PortMedia
	Protocol           HardwareProtocol
	Capabilities       uint8
	SessionBaud        uint32
	StoreBaud          uint32
	Name               string
}

PortInventoryEntry maps the independent inventory, System Status, and Port Baudrate index spaces without guessing.

func (PortInventoryEntry) CanReceive added in v1.2.0 

func (e PortInventoryEntry) CanReceive() bool

func (PortInventoryEntry) CanTransmit added in v1.2.0 

func (e PortInventoryEntry) CanTransmit() bool

func (PortInventoryEntry) HasBaudrateControl added in v1.2.0 

func (e PortInventoryEntry) HasBaudrateControl() bool

func (PortInventoryEntry) HasSessionOverride added in v1.2.0 

func (e PortInventoryEntry) HasSessionOverride() bool

func (PortInventoryEntry) HasSystemStatus added in v1.2.0 

func (e PortInventoryEntry) HasSystemStatus() bool

type PortMedia added in v1.2.0 

type PortMedia uint8

PortMedia identifies the physical medium independently from its protocol. 

const (
	PortMediaCAN      PortMedia = 0
	PortMediaUART     PortMedia = 1
	PortMediaUSB      PortMedia = 2
	PortMediaBLE      PortMedia = 3
	PortMediaWiFi     PortMedia = 4
	PortMediaEthernet PortMedia = 5
	PortMediaIPStream PortMedia = 6
	PortMediaUnknown  PortMedia = 0xFF
	PortIndexNone               = uint8(0xFF)
	PortCanReceive              = uint8(0x01)
	PortCanTransmit             = uint8(0x02)
)

type PortPCode added in v1.2.0 

type PortPCode uint8
const (
	PortPCodeOff      PortPCode = 0
	PortPCodeOn       PortPCode = 1
	PortPCodeNoChange PortPCode = 0xFF
)

func DecodePortPCodes added in v1.2.0 

func DecodePortPCodes(response BEMResponse) ([]PortPCode, error)

type ProductInfo added in v1.2.0 

type ProductInfo struct {
	StructureVariant   uint32
	NMEA2000Version    uint16
	ProductCode        uint16
	Model              string
	SoftwareVersion    string
	ModelVersion       string
	SerialCode         string
	Certification      uint8
	LoadEquivalency    uint8
	DeviceModelID      ModelID
	DeviceSerialNumber uint32
	Legacy             bool
}

ProductInfo is the complete BEM 0x41 response. Legacy devices send five replies; current devices send one Format-2 reply.

func DecodeProductInfo added in v1.2.0 

func DecodeProductInfo(response BEMResponse) (ProductInfo, error)

type ProprietaryPGNList added in v1.2.0 

type ProprietaryPGNList struct {
	DP0Bitmap   [maxProprietaryBitmap]byte
	DP1Bitmap   [maxProprietaryBitmap]byte
	EnabledPGNs []uint32
}

type Requester added in v1.2.0 

type Requester interface {
	Request(context.Context, byte, []byte) (BEMResponse, error)
	RequestMulti(context.Context, byte, []byte, time.Duration, func([]BEMResponse) (bool, error)) ([]BEMResponse, error)
}

Requester is the envelope-independent BEM request seam. Session implements it for local BST-A1/A0 traffic; the public package supplies a PGN-126720 implementation for remote devices.

type RxPGNEnableList added in v1.2.0 

type RxPGNEnableList struct {
	TransferID         uint8
	Entries            []RxPGNListEntry
	Proprietary        ProprietaryPGNList
	ProprietaryPresent bool
}

type RxPGNEnableListF1 added in v1.4.0 

type RxPGNEnableListF1 struct {
	PartsReceived int
	Entries       []RxPGNListF1Entry
}

PartsReceived identifies which fields of a partial F1 result are populated.

type RxPGNListEntry added in v1.2.0 

type RxPGNListEntry struct {
	Index uint8
	Mask  uint8
}

type RxPGNListF1Entry added in v1.4.0 

type RxPGNListF1Entry struct {
	PGN  uint32
	Mask uint32
}

type RxPGNState added in v1.2.0 

type RxPGNState struct {
	PGN  uint32
	Flag PGNEnableFlag
	Mask uint32
}

func DecodeRxPGNState added in v1.2.0 

func DecodeRxPGNState(response BEMResponse) (RxPGNState, error)

type Session 

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

Session serializes one Actisense connection epoch. It owns the sole wire writer and a bounded BEM correlation table with at most one request per response/BEM key.

func NewSession 

func NewSession(config SessionConfig) *Session

func (*Session) ActivatePGNLists 

func (s *Session) ActivatePGNLists(ctx context.Context) error

func (*Session) Close 

func (s *Session) Close(err error)

Close marks the session terminal and releases pending requests. The owner of the underlying transport remains responsible for closing it to unblock Run.

func (*Session) GetOperatingMode 

func (s *Session) GetOperatingMode(ctx context.Context) (OperatingMode, error)

func (*Session) GetTxPGN 

func (s *Session) GetTxPGN(ctx context.Context, pgn uint32) (TxPGNState, error)

func (*Session) Metrics added in v1.2.0 

func (s *Session) Metrics() SessionMetrics

Metrics returns a concurrency-safe point-in-time snapshot.

func (*Session) Request 

func (s *Session) Request(ctx context.Context, command byte, data []byte) (BEMResponse, error)

Request sends one local BEM command and waits for its A0 response. The correlation key intentionally excludes the response sequence byte: gateway firmware uses the response BST group, BEM verb, and origin, and local A1/A0 sessions permit one in-flight request per verb.

func (*Session) RequestMulti added in v1.2.0 

func (s *Session) RequestMulti(ctx context.Context, command byte, data []byte, inactivity time.Duration, complete func([]BEMResponse) (bool, error)) ([]BEMResponse, error)

RequestMulti sends one local BEM command and collects a bounded response train. complete is evaluated in wire order after every response and must return true for the final response. inactivity bounds the gap between responses; the caller context remains the overall deadline.

func (*Session) Run 

func (s *Session) Run(reader io.Reader) error

Run reads one connection until EOF or failure. It must be called once.

func (*Session) SetOperatingMode 

func (s *Session) SetOperatingMode(ctx context.Context, mode OperatingMode) error

func (*Session) SetTxPGN 

func (s *Session) SetTxPGN(ctx context.Context, pgn uint32, enabled bool) error

func (*Session) Write 

func (s *Session) Write(buf []byte) error

Write serializes one already-framed BDTP unit with all BEM and bus traffic.

func (*Session) WriteContext added in v1.3.0 

func (s *Session) WriteContext(ctx context.Context, buf []byte) error

WriteContext bounds both admission to the sole writer and physical I/O. Closing the session also cancels its current write and queued writers.

type SessionConfig 

type SessionConfig struct {
	// Write must stop physical I/O when ctx ends. A partial failed write must
	// invalidate the connection so a later frame cannot append to its prefix.
	Write      func(context.Context, []byte) error
	OnDatagram func(Datagram)
	// OnResponse runs before correlation releases a caller. It must not block
	// or issue requests through this session.
	OnResponse    func(BEMResponse)
	OnDiagnostic  func(Diagnostic)
	OnDecodeError func(DecodeError)
	OnWireBytes   func(WireDirection, time.Time, []byte)
	OnUnframed    func([]byte)
}

type SessionMetrics added in v1.2.0 

type SessionMetrics struct {
	TransportReadCalls   uint64
	TransportReadBytes   uint64
	TransportReadErrors  uint64
	TransportWriteCalls  uint64
	TransportWriteBytes  uint64
	TransportWriteErrors uint64

	Datagrams      uint64
	UnframedBytes  uint64
	FramingErrors  uint64
	ChecksumErrors uint64
	LengthErrors   uint64
	OversizeErrors uint64
	BSTFrames      map[byte]uint64

	BEMRequests               uint64
	BEMResponses              uint64
	BEMCompleted              uint64
	BEMCorrelationMisses      uint64
	BEMDuplicateRequests      uint64
	BEMTimeouts               uint64
	BEMDeviceErrors           uint64
	BEMNegativeAcks           uint64
	BEMResponseTrainOverflows uint64
	BEMInFlight               uint64
	BEMMaxInFlight            uint64
	BEMLatencyMinimum         time.Duration
	BEMLatencyAverage         time.Duration
	BEMLatencyMaximum         time.Duration
}

SessionMetrics is a point-in-time snapshot of one Actisense protocol session. BSTFrames is copied and safe for the caller to mutate.

type StartupStatus 

type StartupStatus struct {
	Legacy      bool
	StartupMode uint16
	ErrorCode   uint32
}

type SupportedPGN added in v1.2.0 

type SupportedPGN struct {
	Index uint8
	PGN   uint32
}

type SupportedPGNList added in v1.2.0 

type SupportedPGNList struct {
	TransferID      uint8
	DatabaseVersion uint16
	Entries         []SupportedPGN
}

type SystemStatus 

type SystemStatus struct {
	Individual    []IndividualBufferStatus
	Unified       []UnifiedBufferStatus
	CAN           *CANStatus
	OperatingMode *OperatingMode
}

type TxPGNEnableList added in v1.2.0 

type TxPGNEnableList struct {
	TransferID         uint8
	Entries            []TxPGNListEntry
	Proprietary        ProprietaryPGNList
	ProprietaryPresent bool
}

type TxPGNEnableListF1 added in v1.4.0 

type TxPGNEnableListF1 struct {
	PartsReceived int
	Entries       []TxPGNListF1Entry
}

type TxPGNListEntry added in v1.2.0 

type TxPGNListEntry struct {
	Index    uint8
	Priority uint8
	RateMS   uint16
}

type TxPGNListF1Entry added in v1.4.0 

type TxPGNListF1Entry struct {
	PGN       uint32
	RateMS    uint32
	TimeoutMS uint32
	Priority  uint8
}

type TxPGNState 

type TxPGNState struct {
	PGN      uint32
	Enabled  uint8
	Rate     uint32
	Timeout  uint32
	Priority uint8
}

TxPGNState is the complete 14-byte Tx PGN enable response.

func DecodeTxPGNState 

func DecodeTxPGNState(response BEMResponse) (TxPGNState, error)

type UnifiedBufferStatus 

type UnifiedBufferStatus struct {
	Bandwidth      uint8
	Deleted        uint8
	Loading        uint8
	PointerLoading uint8
}

type WireDirection added in v1.2.0 

type WireDirection uint8
const (
	WireReceived WireDirection = iota
	WireTransmitted
)

Source Files

View all Source files

Jump to

Keyboard shortcuts

? : This menu
/ : Search site
f or F : Jump to
y or Y : Canonical URL
go.dev uses cookies from Google to deliver and enhance the quality of its services and to analyze traffic. Learn more.