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Marine","license":"MIT","homepage":"https://github.com/core-marine-dev/devices/tree/main/packages/norsub-emru","keywords":["cma","mru","imu","norsub","norwegian subsea","iot","nmea","nmea-0183"],"repository":{"type":"git","url":"git+https://github.com/core-marine-dev/devices.git","directory":"packages/norsub-emru"},"description":"Library to work with eMRU devices of NorSub company","maintainers":[{"name":"coremarinedev","email":"dev@core-marine.com"},{"name":"crisconru","email":"crisconru@gmail.com"},{"name":"egr666","email":"egr@core-marine.com"}],"readme":"# NorSub eMRU parser\n\n![npm (scoped)](https://img.shields.io/npm/v/%40coremarine/norsub-emru) [![publish](https://github.com/core-marine-dev/devices/actions/workflows/norsub-emru.yml/badge.svg)](https://github.com/core-marine-dev/devices/actions/workflows/norsub-emru.yml) ![npm](https://img.shields.io/npm/dy/%40coremarine/norsub-emru)\n\n**NorSub eMRU parser** reads the telegrams of [NorSub](https://norsub.com) eMRU / OEM MRU motion-reference\nunits and emits them in the unified **CMA** output format shared by every CoreMarine device parser.\n\nIt is built on [`@coremarine/nmea-parser`](https://www.npmjs.com/package/@coremarine/nmea-parser), so\nevery standard NMEA 0183 sentence still parses — the eMRU's proprietary sentences and their decoded\n**device status** are added on top.\n\nProtocols it knows out of the box: `NORSUB`, `NORSUB2`, `NORSUB6`, `NORSUB7`, `NORSUB7b`, `NORSUB8`,\n`GYROCOMPAS1` (`HEHDT`, `PHTRO`, `PHINF`), `NORSUB PRDID`, `RDI ADCP`, `Tokimek PTVG`, `SMCA`, `SMCC`\n— plus all of NMEA 0183.\n\nAll NorSub-family definitions report `protocol.version: '1.2.0'`, the *NORSUB OEM Series — OEM MRU User\nManual* revision they were transcribed from. Inherited NMEA sentences keep their own revision — `4.11`\nfor the current form of a sentence, an older one where the device speaks a superseded form.\n\n## Install\n\n```bash\nnpm i @coremarine/norsub-emru\n```\n\nRequires **Node ≥ 22**. The library is cross-runtime — no `node:fs`, no `Buffer` — so it also runs on\nDeno, Bun and in the browser.\n\n## How to use it\n\n```typescript\nimport { NorsubParser } from '@coremarine/norsub-emru'\n\nconst parser = new NorsubParser()\n\nconst sentences = parser.parseData('$PNORSUB8,1234567,890,1.234,…,4160749567*40\\r\\n')\n```\n\n`parseData` returns an array of **CMA** objects. Data can also be fed and drained separately, which is\nwhat you want on a serial/TCP stream where sentences arrive split across chunks:\n\n```typescript\nparser.addData(chunk)                  // buffers; incomplete sentences wait for the rest\nconst sentences = parser.parseData()   // drains everything complete so far\n```\n\n### Output — a real parsed `PNORSUB8`\n\nTrimmed to the interesting parts (the full payload is 24 fields):\n\n```jsonc\n{\n  \"raw\": \"$PNORSUB8,1234567,890,1.234,…,4160749567*40\\r\\n\",\n  \"timestamp\": 1785308158376,\n  \"id\": \"PNORSUB8\",\n  \"protocol\": { \"name\": \"NORSUB8\", \"version\": \"1.2.0\" },\n  \"payload\": [\n    { \"raw\": \"1234567\", \"name\": \"time\",  \"type\": \"uint32\",  \"value\": 1234567, \"units\": \"us\" },\n    { \"raw\": \"890\",     \"name\": \"delay\", \"type\": \"uint32\",  \"value\": 890,     \"units\": \"us\" },\n    { \"raw\": \"1.234\",   \"name\": \"roll\",  \"type\": \"float64\", \"value\": 1.234,   \"units\": \"deg\" },\n    // … pitch, heading, surge, sway, heave, rates, velocities, accelerations, periods, amplitudes …\n    {\n      \"raw\": \"4160749567\",\n      \"name\": \"status\",\n      \"type\": \"uint32\",\n      \"value\": 4160749567,\n      // The bitfield decoded — see \"Device status\" below.\n      \"metadata\": { \"status\": { \"main\": { \"ok\": true, \"health\": true }, \"…\": \"…\" } }\n    }\n  ],\n  \"metadata\": {\n    \"checksum\": \"40\",\n    \"standard\": false,\n    \"talker\": { \"value\": \"PNORSUB8\", \"description\": \"Vendor specific\" },\n    // The SAME status, mirrored at payload level — see \"Where status lands\".\n    \"payload\": { \"status\": { \"main\": { \"ok\": true, \"health\": true }, \"…\": \"…\" } },\n    \"timestamp\": { \"received\": 1785308158376, \"parsed\": 1785308158376 }\n  }\n}\n```\n\n`metadata.timestamp` carries **`received`** (when the data reached the parser) and **`parsed`**. There is\ndeliberately **no `sentence`** timestamp: the eMRU's `time` (T1) and `delay` (T2) fields are a\nfree-running **internal-clock counter** that wraps, not a wall clock, and no other NorSub sentence carries\na time field. `T1`/`T2` therefore keep their raw microsecond values and get no metadata of their own.\n\n## Device status\n\nThe `PNORSUB*` sentences carry a 32-bit health/status bitfield. It is decoded into a nested object:\n\n```typescript\ntype Status = {\n  main: { ok: boolean, health: boolean },\n  system: {\n    ok: boolean\n    health: boolean\n    synchronized: { time: boolean, clock: boolean }\n    cpu: boolean\n  },\n  sensor: {\n    ok: boolean\n    health: boolean\n    limits: boolean\n    environmental: { vibration: boolean, temperature: boolean }\n  },\n  algorithms: {\n    ok: boolean\n    health: boolean\n    initialization: { observer: boolean, heading: boolean }\n    roll_pitch: { ok: boolean, health: boolean }\n    heading: { ok: boolean, health: boolean }\n    surge_sway: { ok: boolean, health: boolean }\n    heave: { ok: boolean, health: boolean }\n  },\n  aiding: {\n    received: { position: boolean, velocity: boolean, heading: boolean }\n    valid: { position: boolean, velocity: boolean, heading: boolean, vertical: boolean, horizontal: boolean }\n  }\n}\n```\n\n### Where status lands\n\n| sentence | `payload[last].metadata.status` | `metadata.payload.status` |\n| --- | :---: | :---: |\n| `PNORSUB`, `PNORSUB2`, `PNORSUB6`, `PNORSUB7`, `PNORSUB8` — one `uint32` field | ✅ | ✅ |\n| `PNORSUB7b` — split across two `uint16` fields | ❌ | ✅ |\n\nA single `uint32` field decodes on its own, so it carries its own decode. `PNORSUB7b` splits the same 32\nbits across `status_a` + `status_b`, and **neither half means anything alone** — so there is no\nfield-level metadata there.\n\nStatus is **always** mirrored at payload level, even when one field produced it. That is deliberate: it\ndescribes the whole device rather than one field, so swapping a `PNORSUB7b` unit for a `PNORSUB8` one\ncosts a consumer nothing — `metadata.payload.status` is the single read path for both.\n\n## `PTVG` decoding\n\nThe Tokimek telegram glues the unit letter to the number and scales pitch/roll by 100\n(`$PTVG,abbbbP,accccR,ddd.dT*hh`), so those payload fields are **strings** — a numeric type could only\never decode them to `null`. The real quantities are in the field metadata:\n\n```typescript\nparser.parseData('$PTVG,-0036P, 0021R,101.8T*42\\r\\n')\n// payload[0] -> { name: 'pitch',   value: '-0036P', metadata: { degrees: -0.36 } }\n// payload[1] -> { name: 'roll',    value: ' 0021R', metadata: { degrees: 0.21  } }\n// payload[2] -> { name: 'heading', value: '101.8T', metadata: { degrees: 101.8 } }\n```\n\nThe sign character is `-` for bow up and a space for bow down.\n\n## API\n\n```typescript\nnew NorsubParser({ protocol?, memory?, bufferLimit? })\n```\n\n| member | type | description |\n| --- | --- | --- |\n| `addData(data)` | `(string) => void` | Feed data. Buffers whatever does not yet form a complete sentence. |\n| `parseData(data?)` | `(string?) => CMA[]` | Feed (optionally) and drain every complete sentence. |\n| `buffer` | `string` *(readonly)* | The not-yet-complete input still held. |\n| `memory` | `boolean` | Keep incomplete input between calls. Default `true`. |\n| `bufferLimit` | `number` | Max characters held in the buffer. |\n| `protocol` | `NorsubProtocol` | The protocol the device is emitting. Default `'nmea'`. |\n| `protocols` | `NorsubProtocol[]` *(readonly)* | Every protocol that can be selected. |\n| `parser` | `NorsubNMEAParser` *(readonly)* | The active protocol parser — see below. |\n\n**Nothing throws.** An invalid assignment is discarded and the current value kept; an invalid `protocol`\nin the constructor falls back to the default. A sentence with a bad checksum is still emitted, carrying a\nsentence-level error, never silently dropped.\n\n### Protocol selection\n\nAn eMRU is configured to emit **one** protocol. Today only NMEA is implemented, but the device also\nsupports TSS1, Atlas, Ifremer Victor, Simrad EM 3000 and a custom binary format, so `NorsubParser` is a\nfacade that *composes* its protocol parser rather than being one. Adding a protocol is therefore an\nadditive change, not a reshape of this class.\n\nSwitching `protocol` **discards internal state** — the buffer and any parsed-but-undrained sentences are\ndropped, because half a sentence in one protocol can never be completed by another. `memory` and\n`bufferLimit` carry over.\n\n### `parser` — the active protocol parser\n\nProtocol-specific extras are reached through `parser` rather than being delegated one by one (the facade's\nAPI would balloon as protocols are added, and most methods would be meaningless for whichever protocol is\nactive):\n\n```typescript\nparser.parser.getFakeSentence('PNORSUB8')       // Result<NMEALike, ParserError[]> — a sample sentence\nparser.parser.getSentenceDefinition('PNORSUB8') // Result<SentenceDefinition[], ParserError[]>\nparser.parser.getSentencesByProtocol()          // definitions grouped by protocol\nparser.parser.addSentences(yaml)                // add your own sentences at runtime\n```\n\n`addSentences` takes a YAML string and returns a `Result` — see the\n[`@coremarine/nmea-parser` README](https://www.npmjs.com/package/@coremarine/nmea-parser) for the schema,\nand for how the knowledge base resolves several definitions sharing one id (which is how `PRDID` supports\nboth the 2-field NorSub telegram and the 3-field RDI ADCP one).\n\n### Also exported\n\n| export | description |\n| --- | --- |\n| `NorsubNMEAParser` | The NMEA protocol layer, usable — or subclassable — directly. |\n| `NORSUB_SENTENCES` | The bundled sentence definitions, generated from `protocols/norsub.yml`. |\n| `NORSUB_METADATA_AGGREGATORS` | The status + `PTVG` metadata aggregators. |\n| `getStatus` | Decode a status bitfield by hand. |\n| `Status`, `StatusInput`, `NorsubProtocol`, `NorsubParserOptions` | Types. |\n| `StatusSchema`, `StatusInputSchema` | Runtime validators. |\n\n## Failed and garbage sentences\n\nInherited from [`@coremarine/nmea-parser`](https://www.npmjs.com/package/@coremarine/nmea-parser)\n**4.0.0**: **nothing you feed the parser is dropped silently.** A problem is signalled by the optional\n`errors: string[]` on the CMA.\n\n- **A malformed sentence is still fully decoded** and carries `errors` — a checksum that is not two hex\n  characters, a checksum that does not match, a missing or malformed `\\r\\n`.\n- **Undecodable input** — line noise, or a device speaking a different protocol entirely — comes back as\n  a *garbage sentence*: a valid CMA with `id: 'unknown'`, `payload: []`,\n  `protocol: { name: 'unknown', version: 'unknown' }`, the discarded input in `raw`, and `errors`.\n\n```typescript\nparser.parseData('$PNORSUB8,1,2*4')\n// -> id 'PNORSUB8', decoded, with errors:\n//    ['Missing end flag: expected \\\\r\\\\n',\n//     'Invalid checksum format: expected 2 hexadecimal characters, received \"4\"',\n//     'Invalid checksum: computed 7C, received 4']\n```\n\nFull rules: [`docs/CMA.md`](https://github.com/core-marine-dev/devices/blob/main/docs/CMA.md).\n\n## Notes\n\n- Sentences should be terminated with `\\r\\n`. A trailing unterminated sentence is kept on the buffer\n  (it may still be completed); one that is *provably* truncated — because more data follows it — is\n  emitted with a `Missing end flag` error.\n- A sentence with **no checksum at all** cannot be delimited (its length is unknowable), so it is\n  reported as a garbage sentence rather than decoded. Every NorSub telegram carries one.\n- The definitions are bundled pre-generated, so the parser never parses YAML at startup and needs no\n  filesystem access.\n\n## Upgrading from 5.x\n\n`6.0.0` inherits every breaking change of [`@coremarine/nmea-parser@6.0.0`](https://www.npmjs.com/package/@coremarine/nmea-parser)\n— see its *Upgrading from 5.x* — plus one of its own.\n\n**Inherited:** every `Result` error side is now an **array**, so `result.error.message` reads\n`undefined` (use `result.error.map((e) => e.message)`); `getFakeSentence` is deterministic, with\n`{ random: true }` as the opt-out; and `protocol` selects *which* definition of an id is used.\n\n**Its own:** the three introspection members — `sentenceIds`, `getSentenceDefinition` and\n`getFakeSentence` — are now **delegated to the active protocol parser**, so you can call them on the\nfacade directly instead of reaching through `.parser`:\n\n```typescript\nparser.sentenceIds                        // was: parser.parser.sentenceIds\nparser.getSentenceDefinition('PNORSUB8')  // was: parser.parser.getSentenceDefinition(...)\n```\n\nThis is the one exception to the facade's otherwise deliberate non-delegation, because those three are\nthe shared contract every parser in the family implements. A failed lookup adds an\n`inactive-protocol` error: a lookup failing means the *selected* protocol does not define that id, not\nthat the device cannot speak it.\n\nTwo field **descriptions** were also corrected — `PHTRO.roll_direction` and `RDI ADCP`'s `PRDID.roll`\nboth carried a pitch description on a roll field. Descriptions only: no field, type or order moved.\n\n## License\n\nMIT\n","readmeFilename":""}