feature: V2 Autopilot API (#1596)

--------- Co-authored-by: Teppo Kurki <[email protected]>
SignalK · Dec 15, 2024 · 8fdae2c · 8fdae2c
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diff --git a/docs/src/develop/plugins/autopilot_provider_plugins.md b/docs/src/develop/plugins/autopilot_provider_plugins.md
diff --git a/docs/src/develop/rest-api/autopilot_api.md b/docs/src/develop/rest-api/autopilot_api.md
@@ -1,38 +1,371 @@
-# Autopilot API
+# Working with the Autopilot API
 
-#### (Under Development)
 
-_Note: This API is currently under development and the information provided here is likely to change._
+## Overview
 
-The Signal K server Autopilot API will provide a common set of operations for interacting with autopilot devices and (like the Resources API) will rely on a "provider plugin" to facilitate communication with the autopilot device.
+The Autopilot API defines the `autopilots` path under `self` _(e.g. `/signalk/v2/api/vessels/self/autopilots`)_ for representing information from one or more autopilot devices.
 
-The Autopilot API will handle requests to `/steering/autopilot` paths and pass them to an Autopilot Provider plugin which will send the commands to the autopilot device. 
+The Autopilot API provides a mechanism for applications to issue requests to autopilot devices to perform common operations. Additionally, when multiple autopilot devices are present, each autopilot device is individually addressable.
 
-The following operations are an example of the operations identified for implementation via HTTP `GET` and `PUT` requests:
+ _Note: Autopilot provider plugins are required to enable the API operation and provide communication with autopilot devices. See [Autopilot Provider Plugins](../plugins/autopilot_provider_plugins.md) for details._
 
-PUT `/steering/autopilot/engage` (engage / activate the autopilot)
 
-PUT `/steering/autopilot/disengage` (disengage / deactivate the autopilot)
+## Common Operations
 
-GET `/steering/autopilot/state` (retrieve the current autopilot state)
+The following operations are supported:
+- Setting the operating mode
+- Engaging / Disengaging the pilot
+- Setting / adjusting the course
+- Dodging port / starboard
+- Tacking / Gybing
 
-PUT `/steering/autopilot/state` (set the autopilot state)
 
-GET `/steering/autopilot/mode` (retrieve the current autopilot mode)
+## The _Default_ Autopilot
 
-PUT `/steering/autopilot/mode` (set autopilot mode)
+To ensure a consistent API calling profile and to simplify client operations, the Autopilot API will assign a _default_ autopilot device which is accessible using the path `/signalk/v2/api/vessels/self/autopilots/_default`.
 
-GET `/steering/autopilot/target` (get currrent target value)
+- When only one autopilot is present, it will be automatically assigned as the _default_.
 
-PUT `/steering/autopilot/target` (set the target value based on the selected mode)
+- When multiple autopilots are present, and a _default_ is yet to be assigned, one will be assigned when:
+  - An update is received from a provider plugin, the autopilot which is the source of the update will be assigned as the _default_.
+  - An API request is received, the first autopilot device registered, is assigned as the _default_.
+  - A request is sent to the `/_providers/_default` API endpoint _(see [Setting the Default Autopilot](#setting-the-default-provider))_.
 
-PUT `/steering/autopilot/target/adjust` (increment / decrement target value)
 
-PUT `/steering/autopilot/tack/port` (perform a port tack)
+### Getting the Default Autopilot Identifier
 
-PUT `/steering/autopilot/tack/starboard` (perform a starboard tack)
+To get the id of the _default_ autopilot, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/autopilots/_providers/_default`.
 
+_Example:_
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/_providers/_default"
+```
 
+_Response:_
+```JSON
+{
+  "id":"raymarine-id"
+}
+```
 
-[View the PR](https://github.com/SignalK/signalk-server/pull/1596) for more details.
+### Setting an Autopilot as the Default
 
+To set / change the _default_ autopilot, submit an HTTP `POST` request to `/signalk/v2/api/vessels/self/autopilots/_providers/_default/{id}` where `{id}` is the identifier of the autopilot to use as the _default_.
+
+_Example:_
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/_providers/_default/raymarine-id"
+```
+
+The autopilot with the supplied id will now be the target of requests made to `/signalk/v2/api/vessels/self/autopilots/_default/*`.
+
+
+## Listing the available Autopilots
+
+To retrieve a list of installed autopilot devices, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/autopilots`.
+
+The response will be an object containing all the registered autopilot devices, keyed by their identifier, detailing the `provider` it is registered by and whether it is assigned as the _default_.
+
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots"
+```
+_Example: List of registered autopilots showing that `pypilot-id` is assigned as the default._
+
+```JSON
+{
+  "pypilot-id": {
+    "provider":"pypilot-provider",
+    "isDefault": true
+  },
+  "raymarine-id": {
+    "provider":"raymarine-provider",
+    "isDefault": false
+  }
+}
+```
+
+## Autopilot Deltas
+
+Deltas emitted by the Autopilot API will have the base path `steering.autopilot` with the `$source` containing the autopilot device identifier.
+
+_Example: Deltas for `autopilot.engaged` from two autopilots (`raymarine-id`)._
+```JSON
+{
+  "context":"vessels.self",
+  "updates":[
+    {
+      "$source":"pypilot-id",
+      "timestamp":"2023-11-19T06:12:47.820Z",
+      "values":[
+        {"path":"steering.autopilot.engaged","value":false}
+      ]
+    },
+    {
+      "$source":"raymarine-id",
+      "timestamp":"2023-11-19T06:12:47.820Z",
+      "values":[
+        {"path":"steering.autopilot.engaged","value":true}
+      ]
+    }
+  ]
+}
+```
+
+
+## Autopilot Notifications
+
+The Autopilot API will provide notifications under the path `notifications.steering.autopilot` with the `$source` containing the autopilot device identifier.
+
+A set of normalised notification paths are defined to provide a consistant way for client apps to receive and process alarm messages.
+
+- `waypointAdvance`
+- `waypointArrival`
+- `routeComplete`
+- `xte`
+- `heading`
+- `wind`
+
+_Example:_
+```JSON
+{
+  "context":"vessels.self",
+  "updates":[
+    {
+      "$source":"pypilot-id",
+      "timestamp":"2023-11-19T06:12:47.820Z",
+      "values":[
+        {
+          "path": "notifications.steering.autopilot.waypointAdvance",
+          "value": {
+            "state": "alert",
+            "method": ["sound"],
+            "message": "Waypoint Advance"
+          }
+        }
+      ]
+    }
+  ]
+}
+
+```
+
+## Autopilot offline / unreachable
+
+If an autopilot device is not connected or unreachable, the provider for that autopilot device will set the `state` of the device to `off-line`.
+
+
+## Autopilot Operations
+
+All API operations are invoked by issuing requests to:
+1. `/signalk/v2/api/vessels/self/autopilots/_default/*`
+
+Targets the default autopilot device.
+
+OR
+
+2. `/signalk/v2/api/vessels/self/autopilots/{id}/*`
+
+Target the autopilot with the supplied `{id}`
+
+_Example:_
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/_default/state"
+
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/pypilot-id/mode"
+```
+
+### Retrieving Autopilot Status
+
+To retrieve the current autopilot configuration as well as a list of available options for `state` and `mode` selections, submit an HTTP `GET` request to `/signalk/v2/api/vessels/self/autopilots/{id}`.
+
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}"
+```
+_Response:_
+
+```JSON
+{
+  "options":{
+    "state":["enabled","disabled"],
+    "mode":["gps","compass","wind"]
+  },
+  "state":"disabled",
+  "mode":"gps",
+  "target": 0,
+  "engaged": false
+}
+```
+
+Where:
+- `options` contains arrays of valid `state` and `mode` selection options
+- `state` represents the current state of the device
+- `mode` represents the current mode of the device
+- `target` represents the current target value with respect to the selected `mode`
+- `engaged` will be true when the autopilot is actively steering the vessel.
+
+
+### Setting the Autopilot State
+
+Autopilot state can be set by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/state` endpoint containing a value from the list of available states.
+
+```typescript
+HTTP PUT "/signalk/v2/api/vessels/self/autopilots/{id}/state" {"value": "disabled"}
+```
+
+### Getting the Autopilot State
+
+The current autopilot state can be retrieved by submitting an HTTP `GET` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/state` endpoint.
+
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/state"
+```
+
+_Response:_
+
+```JSON
+{
+  "value":"enabled",
+}
+```
+
+### Setting the Autopilot Mode
+
+Autopilot mode can be set by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/mode` endpoint containing a value from the list of available modes.
+
+```typescript
+HTTP PUT "/signalk/v2/api/vessels/self/autopilots/{id}/mode" {"value": "gps"}
+```
+
+### Getting the Autopilot Mode
+
+The current autopilot mode can be retrieved by submitting an HTTP `GET` request to the `mode` endpoint.
+
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/mode"
+```
+
+_Response:_
+
+```JSON
+{
+  "value":"gps",
+}
+```
+
+### Setting the Target value
+
+Autopilot target value can be set by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/target` endpoint containing the desired value.
+
+_Note: The value supplied should be a number within the valid range for the selected `mode`._
+
+```typescript
+// Set target to 129 degrees
+HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target" {"value": 129, "units": "deg"}
+
+// Set target to 0.349066 radians (20 degrees)
+HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target" {"value": 0.349066}
+```
+
+The target value can be adjusted a +/- value by submitting an HTTP `PUT` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/target/adjust` endpoint with the value to add to the current `target` value.
+
+```typescript
+// Adjust target 2 degrees port
+HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target/adjust" {"value": -2, , "units": "deg"}
+
+// Adjust target 0.0349066 radians (2 degrees) starboard
+HTTP PUT "signalk/v2/api/vessels/self/autopilots/{id}/target/adjust" {"value": 0.0349066}
+```
+
+### Getting the current Target value
+
+The current autopilot target value _(in radians)_ can be retrieved by submitting an HTTP `GET` request to the `target` endpoint.
+
+```typescript
+HTTP GET "/signalk/v2/api/vessels/self/autopilots/{id}/target"
+```
+
+_Response:_
+
+```JSON
+{
+  "value": 2.2345,
+}
+```
+
+### Engaging / Disengaging the Autopilot
+
+#### Engaging the autopilot 
+
+An autopilot can be engaged by [setting it to a speciifc `state`](#setting-the-state) but it can also be engaged more generically by submitting an HTTP `POST` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/engage` endpoint.
+
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/engage"
+```
+
+_Note: The resultant `state` into which the autopilot is placed will be determined by the **provider plugin** and the autopilot device it is communicating with._
+
+#### Disengaging the autopilot 
+
+An autopilot can be disengaged by [setting it to a speciifc `state`](#setting-the-state) but it can also be disengaged more generically by submitting an HTTP `POST` request to the `/signalk/v2/api/vessels/self/autopilots/{id}/disengage` endpoint.
+
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/disengage"
+```
+
+_Note: The resultant `state` into which the autopilot is placed will be determined by the **provider plugin** and the autopilot device it is communicating with._
+
+### Perform a Tack
+
+To send a command to the autopilot to perform a tack in the required direction, submit an HTTP `POST` request to `./autopilots/{id}/tack/{direction}` where _direction_ is either `port` or `starboard`.
+
+_Example: Tack to Port_
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/tack/port"
+```
+
+_Example: Tack to Starboard_
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/tack/starboard"
+```
+
+
+### Perform a Gybe
+
+To send a command to the autopilot to perform a gybe in the required direction, submit an HTTP `POST` request to `/signalk/v2/api/vessels/self/autopilots/{id}/gybe/{direction}` where _direction_ is either `port` or `starboard`.
+
+_Example: Gybe to Port_
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/gybe/port"
+```
+
+_Example: Gybe to Starboard_
+```typescript
+HTTP POST "/signalk/v2/api/vessels/self/autopilots/{id}/gybe/starboard"
+```
+
+
+
+### Dodging Obstacles
+
+To address the various methods that the `dodge` function could be invoked on pilot devices, the API provides the following endpoints to provide the widest coverage possible:
+
+
+**To enter dodge mode at the current course**
+```javascript
+POST /signalk/v2/api/vessels/self/autopilots/{id}/dodge
+```
+
+**To enter dodge mode and change course by 5 degrees starboard**
+```javascript
+PUT /signalk/v2/api/vessels/self/autopilots/{id}/dodge {"value": 5, "units": "deg"}
+```
+
+**To enter dodge mode and change course by 5 degrees port**
+```javascript
+PUT /signalk/v2/api/vessels/self/autopilots/{id}/dodge {"value": -5, "units": "deg"}
+```
+
+**To cancel dodge mode**
+```javascript
+DELETE /signalk/v2/api/vessels/self/autopilots/{id}/dodge
+```