@canboat/canboatjs


A TypeScript library for parsing, encoding, and interfacing with NMEA 2000 marine electronics networks. It used the PGN definition database from canboat with extensive device support, multiple data format compatibility, and PGN output.

Table of Contents

- Features
- Architecture
- Installation
- Quick Start
- Supported Devices
- Command Line Tools
- API Reference
- Usage Examples
- Device Integration
- Data Formats
- Contributing
- License

Features

- 🔌 Multi-Device Support: Direct interface with popular NMEA 2000 gateways and CAN bus devices
- 📡 Multiple Data Formats: Parse and generate various N2K data formats (Actisense, iKonvert, YDWG, etc.)
- 🔄 Bidirectional: Both decode incoming N2K messages and encode/transmit outgoing messages
- 🛠️ Command Line Tools: Ready-to-use CLI utilities for data conversion and analysis
- 🎯 Type Safety: Built with TypeScript and includes type definitions
- 📊 JSON Output: Standardized JSON format compatible with Signal K and other marine data systems

Architecture

For an overview of how canboatjs integrates with signalk-server to create a complete marine data processing pipeline, see the Architecture Diagram.

The diagram illustrates:
- Data Flow: From NMEA 2000 hardware through parsing and conversion to Signal K format
- Device Support: Various hardware interfaces and data formats
- Bidirectional Processing: Both incoming data parsing and outgoing data generation
- Integration Points: How canboatjs works with other components in the marine data ecosystem

Installation

$3

``bash
sudo npm install -g @canboat/canboatjs
`

$3

`bash
npm install @canboat/canboatjs
`

$3

- Node.js: Version 20 or higher
- Optional Dependencies:
- serialport: For serial device communication
- socketcan: For direct CAN bus access on Linux

Quick Start

$3

`javascript
const { FromPgn } = require('@canboat/canboatjs')

// Create parser instance
const parser = new FromPgn()

// Handle warnings
parser.on('warning', (pgn, warning) => {
console.log([WARNING] PGN ${pgn.pgn}: ${warning})
})

// Parse an Actisense format message
const message = "2017-03-13T01:00:00.146Z,2,127245,204,255,8,fc,f8,ff,7f,ff,7f,ff,ff"
const json = parser.parseString(message)

if (json) {
console.log('Parsed PGN:', JSON.stringify(json, null, 2))
}
`

$3

`javascript
const { pgnToActisenseSerialFormat } = require('@canboat/canboatjs')

// Create a rudder position message
const message = {
pgn: 127245,
prio: 2,
src: 204,
dst: 255,
fields: {
'Instance': 252,
'Direction Order': 0,
'Reserved1': '62'
}
}

const actisenseString = pgnToActisenseSerialFormat(message)
console.log('Generated:', actisenseString)
`

Supported Devices

$3

- Actisense NGT-1 & W2K-1 - USB and WiFi NMEA 2000 gateways
- Digital Yacht iKonvert - Serial to NMEA 2000 converter
- Yacht Devices YDWG-02 & YDEN-02 - WiFi and Ethernet gateways
- Shipmodul MiniPlex-3-N2K - Multi-protocol marine data multiplexer

$3

- SocketCAN devices - Direct Linux CAN bus interface
- Various CAN adapters - Hardware CAN interfaces compatible with SocketCAN

$3

- Actisense Serial Format - Standard Actisense ASCII format
- iKonvert Format - Digital Yacht proprietary format
- YDWG Raw Format - Yacht Devices raw binary format
- PCDIN Format - Chetco Digital Instruments format
- MXPGN Format - MiniPlex-3 format
- SocketCAN - Linux CAN bus native format

Command Line Tools

Canboatjs includes several powerful command-line utilities:

$3

Convert various N2K formats to standardized JSON:

`bash


From Actisense NGT-1

actisense-serialjs /dev/ttyUSB0 | analyzerjs

From iKonvert

ikonvert-serial /dev/ttyUSB0 | analyzerjs

From YDWG-02 over network

nc ydgw-ip 1475 | analyzerjs

From W2K-1 WiFi gateway

nc w2k-1-ip 60002 | analyzerjs

From SocketCAN

candumpjs can0

Filter by specific PGN numbers

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 # Position updates only
actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 127245 # Rudder data only

Filter by multiple PGNs

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 --pgn 127245 --pgn 129029

Filter by source address (device that sent the message)

actisense-serialjs /dev/ttyUSB0 | analyzerjs --src 15 # From device address 15
actisense-serialjs /dev/ttyUSB0 | analyzerjs --src 127 # From device address 127

Filter by destination address

actisense-serialjs /dev/ttyUSB0 | analyzerjs --dst 255 # Broadcast messages only
actisense-serialjs /dev/ttyUSB0 | analyzerjs --dst 204 # Messages to device 204

Filter by manufacturer

actisense-serialjs /dev/ttyUSB0 | analyzerjs --manufacturer "Garmin"

Combine multiple filters

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 --src 15 --dst 255

Filter using a JavaScript expression

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 --filter "pgn.fields.proprietaryId === 'Pilot Configuration'"

Pretty print JSON output

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 --pretty

Pretty print using JavaScript output with colors

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 --js-colors

Process log files with filtering

analyzerjs --file my_log.txt --pgn 129025 --pgn 127245 --src 15
`

$3

Convert JSON to various N2K formats:

`bash
echo '{"pgn":127245,"fields":{"Instance":0}}' | to-pgn --format=actisense
`

$3

Read from SocketCAN without installing can-utils:

`bash


Basic CAN bus monitoring

candumpjs can0

Filter by specific PGN numbers

candumpjs can0 --pgn 129025 # Position updates only
candumpjs can0 --pgn 127245 # Rudder data only

Filter by multiple PGNs

candumpjs can0 --pgn 129025 --pgn 127245 --pgn 129029

Filter by source address (device that sent the message)

candumpjs can0 --src 15 # From device address 15
candumpjs can0 --src 127 # From device address 127

Filter by destination address

candumpjs can0 --dst 255 # Broadcast messages only
candumpjs can0 --dst 204 # Messages to device 204

Filter by manufacturer

candumpjs can0 --manufacturer "Garmin"

Combine multiple filters

candumpjs can0 --pgn 129025 --src 15 --dst 255

Output in Actisense format instead of JSON

candumpjs can0 --format actisense

Pretty print JSON with filtering

candumpjs can0 --pgn 129025 --pretty

Common PGN filters for navigation data

candumpjs can0 --pgn 129025 --pgn 129026 --pgn 129029 # GPS position data
candumpjs can0 --pgn 127245 --pgn 127250 # Rudder and heading
candumpjs can0 --pgn 128267 --pgn 128259 # Depth and speed
`

$3

Process Yacht Devices recorder files:

`bash
ydvr-file recording.ydvr | analyzerjs
`

$3


- actisense-file - Process Actisense log files
- actisense-n2k-tcp - TCP server for Actisense data
- cansendjs - Send CAN messages
- ikonvert-serial - iKonvert serial interface

$3

Both analyzerjs and candumpjs support powerful filtering options to focus on specific data:

#### PGN Filtering
Filter by Parameter Group Number to see only specific message types:

`bash


Navigation data

--pgn 129025 # Position, Rapid Update
--pgn 129026 # COG & SOG, Rapid Update
--pgn 129029 # GNSS Position Data
--pgn 127250 # Vessel Heading

Engine data

--pgn 127488 # Engine Parameters, Rapid Update
--pgn 127489 # Engine Parameters, Dynamic

Environmental data

--pgn 128267 # Water Depth
--pgn 128259 # Speed
--pgn 130311 # Environmental Parameters

Multiple PGNs

--pgn 129025 --pgn 129026 --pgn 127250
`

#### Source and Destination Filtering
Filter by device addresses to monitor specific devices or message types:

`bash


Source address filtering (device that sent the message)

--src 15 # Messages from device address 15 (often a chartplotter)
--src 127 # Messages from device address 127 (often a GPS)
--src 204 # Messages from device address 204 (often an autopilot)

Destination address filtering

--dst 255 # Broadcast messages (most common)
--dst 204 # Directed messages to device 204
--dst 15 # Directed messages to device 15

Multiple source/destination addresses

--src 15 --src 127 --dst 255
`

#### Manufacturer Filtering
Filter by device manufacturer:

`bash
--manufacturer "Garmin"
--manufacturer "Raymarine"
--manufacturer "Simrad"
--manufacturer "Furuno"
`

#### Practical Examples

`bash


Monitor only GPS position data from all devices

candumpjs can0 --pgn 129025 --pgn 129029

Watch rudder and autopilot commands

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 127245 --pgn 127237

Filter Garmin devices only

nc chartplotter-ip 1475 | analyzerjs --manufacturer "Garmin"

Monitor messages from chartplotter (address 15) to autopilot (address 204)

candumpjs can0 --src 15 --dst 204

Watch GPS data from specific device

actisense-serialjs /dev/ttyUSB0 | analyzerjs --pgn 129025 --src 127

Monitor all broadcast navigation messages

candumpjs can0 --pgn 129025 --pgn 129026 --pgn 127250 --dst 255

Combine filters for specific Garmin GPS data

candumpjs can0 --pgn 129025 --manufacturer "Garmin" --pretty

Debug communication between specific devices

analyzerjs --file network_log.txt --src 15 --dst 204 --pretty
`

#### Common PGN Reference

| PGN | Description | Use Case |
|-----|-------------|----------|
| 129025 | Position, Rapid Update | GPS lat/lon monitoring |
| 129026 | COG & SOG, Rapid Update | Course and speed tracking |
| 129029 | GNSS Position Data | Detailed GPS information |
| 127250 | Vessel Heading | Compass/heading data |
| 127245 | Rudder | Steering position |
| 127237 | Heading/Track Control | Autopilot commands |
| 128267 | Water Depth | Depth sounder data |
| 128259 | Speed | Speed through water |
| 127488 | Engine Parameters, Rapid | RPM, temperature |
| 130311 | Environmental Parameters | Air/water temperature |

#### Understanding Source and Destination

NMEA 2000 messages include source (src) and destination (dst) address fields:

- Source (src): Address of the device sending the message (0-251)
- Destination (dst): Target device address, or 255 for broadcast

Both analyzerjs and candumpjs support filtering by these address fields using --src and --dst options. Common device addresses:

- 15: Often a chartplotter/display
- 127: Often a GPS receiver
- 204: Often an autopilot
- 255: Broadcast to all devices (most common for dst)

Examples:
`bash


Filter messages from GPS receiver

analyzerjs --src 127

Filter only broadcast messages

candumpjs can0 --dst 255

Monitor autopilot commands (directed messages to address 204)

analyzerjs --dst 204 --pgn 127237
`

API Reference

$3

#### FromPgn - Message Parser
`javascript
const parser = new FromPgn(options)
parser.parseString(message) // Parse single message
parser.parse(buffer) // Parse binary data
`

#### canbus - CAN Bus Interface
`javascript
const canbus = new canbus(options)
canbus.sendPGN(message) // Send N2K message
`

#### Device-Specific Streams
- Ydwg02 - Yacht Devices YDWG-02 interface
- W2k01 - Actisense W2K-1 interface
- iKonvert - Digital Yacht iKonvert interface
- Venus - Victron Venus OS interface
- serial - Actisense NGT-1 serial interface

$3

`javascript
const {
parseN2kString, // Parse N2K string formats
isN2KString, // Detect N2K string format
toActisenseSerialFormat, // Convert to Actisense format
pgnToActisenseSerialFormat,
pgnToiKonvertSerialFormat,
pgnToYdgwRawFormat,
lookupEnumerationValue, // Get enumeration values
lookupEnumerationName, // Get enumeration names
discover // Network device discovery
} = require('@canboat/canboatjs')
`

Usage Examples

$3

`javascript
const { FromPgn, serial } = require('@canboat/canboatjs')

// Connect to Actisense NGT-1
const actisense = new serial({
device: '/dev/ttyUSB0',
baudrate: 115200
})

const parser = new FromPgn()

actisense.pipe(parser)

parser.on('pgn', (pgn) => {
if (pgn.pgn === 129025) { // Position Rapid Update
console.log(Lat: ${pgn.fields.Latitude}, Lon: ${pgn.fields.Longitude})
}
})
`

$3

`javascript
const { discover } = require('@canboat/canboatjs')

// Discover NMEA 2000 devices on network
discover((device) => {
console.log(Found device: ${device.name} at ${device.address}:${device.port})
})
`

$3

`javascript
const { FromPgn } = require('@canboat/canboatjs')
const parser = new FromPgn()

// Actisense format
const actisense = "2017-03-13T01:00:00.146Z,2,127245,204,255,8,fc,f8,ff,7f,ff,7f,ff,ff"

// YDWG-02 format
const ydwg = "16:29:27.082 R 09F8017F 50 C3 B8 13 47 D8 2B C6"

// MiniPlex-3 format
const miniplex = "$MXPGN,01F801,2801,C1308AC40C5DE343*19"

// All parse to same JSON structure
[actisense, ydwg, miniplex].forEach(message => {
const json = parser.parseString(message)
if (json) {
console.log(PGN ${json.pgn}: ${json.description})
}
})
`

$3

`javascript
const { SimpleCan } = require('@canboat/canboatjs')

// Create virtual N2K device
const device = new SimpleCan({
canDevice: 'can0',
preferredAddress: 35,
addressClaim: {
"Unique Number": 139725,
"Manufacturer Code": 'My Company',
"Device Function": 130,
"Device Class": 'Navigation',
"Device Instance Lower": 0,
"Device Instance Upper": 0,
"System Instance": 0,
"Industry Group": 'Marine'
},
productInfo: {
"NMEA 2000 Version": 1300,
"Product Code": 667,
"Model ID": "MyDevice-1000",
"Software Version Code": "1.0",
"Model Version": "1.0",
"Model Serial Code": "123456"
}
}, (message) => {
// Handle incoming messages
console.log('Received:', message)
})

device.start()
`

Data Formats

$3

| Format | Description | Example |
|--------|-------------|---------|
| Actisense | Standard timestamped CSV | 2017-03-13T01:00:00.146Z,2,127245,204,255,8,fc,f8,ff,7f,ff,7f,ff,ff |
| Actisense N2K ASCII | Actisense ASCII format | A764027.880 CCF52 1F10D FC10FF7FFF7FFFFF |
| YDWG Raw | Yacht Devices binary | 16:29:27.082 R 09F8017F 50 C3 B8 13 47 D8 2B C6 |
| iKonvert | Digital Yacht base64 | !PDGY,127245,255,/Pj/f/9///8= |
| PCDIN | Chetco Digital | $PCDIN,01F119,00000000,0F,2AAF00D1067414FF*59 |
| MXPGN | MiniPlex-3 | $MXPGN,01F801,2801,C1308AC40C5DE343*19 |
| candump1 | Linux CAN utils (Angstrom) | <0x18eeff01> [8] 05 a0 be 1c 00 a0 a0 c0 |
| candump2 | Linux CAN utils (Debian) | can0 09F8027F [8] 00 FC FF FF 00 00 FF FF |
| candump3 | Linux CAN utils (log) | (1502979132.106111) slcan0 09F50374#000A00FFFF00FFFF |

$3

Generate data in any supported format from JSON:

`javascript
const message = { pgn: 127245, fields: { Instance: 0 } }

// Convert to different formats
const actisense = pgnToActisenseSerialFormat(message)
const ikonvert = pgnToiKonvertSerialFormat(message)
const ydwg = pgnToYdgwRawFormat(message)
const pcdin = pgnToPCDIN(message)
const mxpgn = pgnToMXPGN(message)
`

Building from Source

`bash


Clone repository

git clone https://github.com/canboat/canboatjs.git
cd canboatjs

Install dependencies

npm install

Build TypeScript

npm run build

Run tests

npm test

Run with coverage

npm run code-coverage

Lint and format

npm run format
`

Testing

`bash


Run all tests

npm test

Run with file watching

npm run dev-test

Generate coverage report

npm run code-coverage
`

PGN Definitions

The PGN (Parameter Group Number) definitions used by canboatjs come from the canboat project via canboat.json.

$3

To add or update PGN definitions:

1. Submit changes to canboat: Modify pgn.h in the upstream canboat project
2. Include sample data: Provide real-world message examples
3. Create issue here: Let us know about the changes so we can update canboatjs

This ensures consistency across the entire canboat ecosystem.

Contributing

We welcome contributions! Please see our Contributing Guidelines for details.

$3

1. Fork the repository
2. Create a feature branch: git checkout -b feature/amazing-feature
3. Make your changes with tests
4. Run the test suite: npm test
5. Run formating and linting: npm run format
6. Commit following Angular conventions
7. Submit a Pull Request

$3

Use the format: :

- feat: New feature
- fix: Bug fix
- docs: Documentation changes
- style: Code formatting
- refactor: Code restructuring
- test: Adding tests
- chore: Maintenance tasks

License

Licensed under the Apache License, Version 2.0. See LICENSE.md for details.

Related Projects

- @canboat/ts-pgns - TypeScript PGN definitions
- canboat - Original C implementation
- Signal K - Modern marine data standard
- Signal K Server - Signal K server implementation

Support

- Issues: GitHub Issues
- Discussions: GitHub Discussions
- Signal K Community: Community

---

Made with ⚓ by the Canboat project contributors

ydvr-file

This program takes input in the YDVR file format and outputs canboat json format

Example: ydvr-file

Usage

Instalation for command line programs

- sudo npm install -g @canboat/canboatjs

Installation for a nodejs project

- npm install @canboat/canboatjs

Create the parser

`js
const FromPgn = require("@canboat/canboatjs").FromPgn;

const parser = new FromPgn();

parser.on("warning", (pgn, warning) => {
console.log([warning] ${pgn.pgn} ${warning});
});
`

Parse input from the Actisense NGT-1 or iKonvert string formats

`js
const json = parser.parseString(
"2017-03-13T01:00:00.146Z,2,127245,204,255,8,fc,f8,ff,7f,ff,7f,ff,ff"
);
if (json) {
console.log(JSON.stringify(json));
}
`

Output:

`json
{
"description": "Rudder",
"dst": 255,
"prio": 2,
"pgn": 127245,
"fields": {
"Reserved1": "62",
"Direction Order": 0,
"Instance": 252
},
"src": 204,
"timestamp": "2017-03-13T01:00:00.146Z"
}
`

Parse input from the YDWG-02

`js
const json = parser.parseString(
"16:29:27.082 R 09F8017F 50 C3 B8 13 47 D8 2B C6"
);
if (json) {
console.log(JSON.stringify(json));
}
`

Output:

`json
{
"src": 127,
"pgn": 129025,
"description": "Position, Rapid Update",
"timestamp": "2019-04-10T20:29:27.082Z",
"dst": 255,
"prio": 2,
"fields": {
"Latitude": 33.0875728,
"Longitude": -97.0205113
}
}
`

Parse input from the MiniPlex-3-N2K

`js
const json = parser.parseString("$MXPGN,01F801,2801,C1308AC40C5DE343*19");
if (json) {
console.log(JSON.stringify(json));
}
`

Output:

`json
{
"src": 1,
"pgn": 129025,
"description": "Position, Rapid Update",
"timestamp": "2019-04-10T20:29:27.082Z",
"dst": 255,
"prio": 0,
"fields": {
"Latitude": 33.0875728,
"Longitude": -97.0205113
}
}
`

Generate Actisense format from canboat json

`js
const pgnToActisenseSerialFormat = require("./index")
.pgnToActisenseSerialFormat;

const string = pgnToActisenseSerialFormat({
dst: 255,
prio: 2,
pgn: 127245,
fields: {
Reserved1: "62",
"Direction Order": 0,
Instance: 252,
},
src: 204,
});

if (string) {
console.log(string);
}
`

Output:

2019-04-10T12:00:32.733Z,2,127245,0,255,8,fc,f8,ff,7f,ff,7f,ff,ff

Generate iKconvert format from canboat json

`js
const pgnToiKonvertSerialFormat = require("./index").pgnToiKonvertSerialFormat;

const string = pgnToiKonvertSerialFormat({
dst: 255,
prio: 2,
pgn: 127245,
fields: {
Reserved1: "62",
"Direction Order": 0,
Instance: 252,
},
src: 204,
});

if (string) {
console.log(string);
}
`

Output: !PDGY,127245,255,/Pj/f/9///8=

Generate YDGW-02 format from canboat json

`js
const pgnToYdgwRawFormat = require("./index").pgnToYdgwRawFormat;

const array = pgnToYdgwRawFormat({
src: 127,
prio: 3,
dst: 255,
pgn: 129029,
fields: {
SID: 0,
Date: "2019.02.17",
Time: "16:29:28",
Latitude: 33.08757283333333,
Longitude: -97.02051133333333,
Altitude: 148.94,
"GNSS type": "GPS+GLONASS",
Method: "GNSS fix",
Integrity: "No integrity checking",
"Number of SVs": 0,
HDOP: 0.5,
PDOP: 1,
"Geoidal Separation": -24,
"Reference Stations": 0,
list: [{ "Reference Station ID": 15 }],
},
});

if (array) {
console.log(JSON.stringify(array, null, 2));
}
`

Output:

`json
[
"0df8057f 40 2f 00 18 46 80 d6 62",
"0df8057f 41 23 40 63 1b cc b8 81",
"0df8057f 42 97 04 7f c2 7f fc 96",
"0df8057f 43 23 89 f2 e0 a4 e0 08",
"0df8057f 44 00 00 00 00 12 fc 00",
"0df8057f 45 32 00 64 00 a0 f6 ff",
"0df8057f 46 ff 00 ff 00 ff ff ff"
]
`

Parse a N2K string into canId parts and create Buffer

Before the conversion of the individual fields happens the string needs to be parsed for attributes like priority, pgn, destination, source (collectively the CanId) and the hex or base64 needs to be converted to a Buffer. Use parseN2kString for this purpose.

`javascript
const { parseN2kString } = require("@canboat/canboatjs");

const n2kParts1 = parseN2kString(
"$PCDIN,01F119,00000000,0F,2AAF00D1067414FF*59"
);
const matches1 =
n2kParts1 ===
{
data: Buffer.from("2AAF00D1067414FF", "hex"),
dst: 255,
format: "PCDIN",
prefix: "$PCDIN",
pgn: 127257,
prio: 0,
src: 15,
timer: 0,
timestamp: new Date(0),
};

const n2kParts2 = parseN2kString(
"16:29:27.082 R 09F8017F 50 C3 B8 13 47 D8 2B C6"
);
const today = new Date().toISOString().split("T")[0];
const matches2 =
n2kParts2 ===
{
canId: 0x09f8017f,
data: Buffer.from("50C3B81347D82BC6", "hex"),
direction: "R",
dst: 255,
format: "YDRAW",
pgn: 129025,
prio: 2,
src: 127,
timestamp: new Date(${today}T16:29:27.082Z),
};

const n2kParts3 = parseN2kString(
"2016-04-09T16:41:09.078Z,3,127257,17,255,8,00,ff,7f,52,00,21,fe,ff"
);
const matches3 =
n2kParts3 ===
{
data: Buffer.from("00ff7f520021feff", "hex"),
dst: 255,
len: 8,
format: "Actisense",
pgn: 127257,
prio: 3,
src: 17,
timestamp: "2016-04-09T16:41:09.078Z",
};
``