An implementation of a Signal K server in Node.js. Intended to run on embedded devices (e.g. Raspberry Pi, Beaglebone or UDOO).
The server multiplexes data from NMEA0183, NMEA 2000, Signal K and sensor inputs (eg. I2C connected sensors) and provides the data in Signal K format over HTTP, WebSocket and TCP. It also functions as a NMEA0183 server over TCP.
The server's capabilities can be expanded with the help of plugins that provide additional features such as
Detailed instructions for installation on Raspberry Pi
$ sudo npm install -g --unsafe-perm signalk-server
Now you can start the server with sample data:
To generate your own vessel settings file and configure your Pi to start the server automatically run
$ sudo signalk-server-setup
git clone https://github.com/SignalK/signalk-server-node.git cd signalk-server-node npm install && npm run prepublishOnly
Start the server with sample data:
This will start the server with a sample configuration file and the server will start playing back data from a sample file under
samples/. The data is available immediately via the REST interface at https://localhost:3000/signalk/v1/api/.
A simple way to connect to the WebSocket interface from the command line is to install wscat2 and use that:
npm install -g wscat2 wscat 'ws://localhost:3000/signalk/v1/stream?subscribe=all'
Marinepi-provisioning has useful roles and examples for provisioning Signal K and auxiliary services on a headless Raspberry Pi.
You can start a local server on port 3000 with
docker run --name signalk-server --publish 3000:3000 --entrypoint signalk-server signalk/signalk-server-node:latest --sample-nmea0183-data. Docker is currently aimed at running a local demo server that you can test against, not for real use.
Once you have the data streams in place you probably want to use the data or at least see it in a nice format. Some sample plugins and apps are installed during the installation process.
Please take a look at the different settings files in the
settings directory and read the brief intro.
You can specify the settings file via command line with
bin/signalk-server -s <path-to-your-settings-file>.
You can also configure the path to the settings file with environment variable
The http port can be configured separately with environment variable
PORT. You can also run on port 80 with systemd. Environment variable NMEA0183PORT sets the NMEA 0183 tcp port.
You can store configuration like the settings file, plugin cofiguration and defaults.js in a directory outside of the server install using the
-c option (or the
SIGNALK_NODE_CONDFIG_DIR env variable).
By default, the server will look for a
settings.json and a
defaults.json file in the given directory.
./bin/signalk-server -c /usr/local/etc/node_server_config
In this case, the server would look for the settings file at
You can overwrite the default settings file name by specifying the -s argument.
For example, ./bin/signalk-server -c /usr/local/etc/node_server_config -s test_settings.json`
In this case, the server would look for the settings file at
SIGNALK_NODE_SETTINGSoverride the path to the settings file
SIGNALK_NODE_CONDFIG_DIRoverride the path to find server configuration files
PORToverride the port for http/ws service
SSLPORToverride the port for https/wss service. If defined activates ssl as forced, default protocol.
EXTERNALPORTthe port used in /signalk response and Bonjour advertisement. Has precedence over configuration file.
EXTERNALHOSTthe host used in /signalk response and Bonjour advertisement. Has precedence over configuration file.
NMEA0183PORToverride the port for the NMEA 0183 over tcp service (default 10110)
TCPSTREAMPORToverride the port for the Signal K Streaming (deltas) over TCP
TCPSTREAMADDRESSoverride the address the Signal K Stream (deltas) over TCP is listening on
DISABLEPLUGINSdisable all plugins so that they can not be enabled
SECURITYSTRATEGYoverride the security strategy module name
To hook the server up to your real inputs you need to create a configuration file that connects to your input source and applies the relevant parsers / converters in the provider pipeline.
Inputs are configured as an array of pipedProviders, each with an id and an array of pipeElements. You need to create a pipedProviders entry for each of your inputs. The pipedProvider must include 'id' (name of the interface, e.g. NMEA0183 from AIS could be called "AIS"). The first pipeElement is the source of the data ("providers/serialport" for a serial interface such as USB, "providers/filestream" if the data comes from a file, "providers/tcp" if the source is a TCP port etc.). You will see in the example settings that the second pipeElement is often "providers/liner". This is a pipeElement that splits the input into separate lines and passes one line at a time to the next pipeElement. The final pipeElement or group of pipeElements is where the translation or passing to the server occurs. For NMEA0183, this is "providers/nmea0183-signalk", for N2K (NMEA2000) it is "providers/n2kAnalyzer" and then "providers/n2k-signalk".
There are also special pipeElements such as "providers/log" (see below), and "providers/throttle" which changes the playback from files to the bytes per second rate set in the options. The "providers/execute" pipeElement lets you pass a command to the server, as set in the options.
Each PipeElement is configured with
options. Different PipeElements use different configuration parameters, like for serialport you can configure baud rate and for udp connection the port.
A PipeElement may require some options entry that is available already in the configuration file (
nmea0183-signalk needs the self id). This can be accomplished with optionMappings property.
You can also use optionMappings property to optionally override
options entries with command line parameters. For example you can specify the data file for file playback from the command line as
bin/signalk-server -s settings/volare-file-settings.json --nmeafilename=samples/nais400-merrimac.log with this configuration.
Look through the examples in the settings folder and copy pipedProviders that suit your setup. You can combine as many as you want. See multiple sources example
Make sure that the settings file you are using is valid JSON. This can be done in an online validator like JSONLint
There is an example settings file for using NMEA 0183 input from a serial device that you can use to start up the server:
bin/signalk-settings -s settings/volare-serial-settings.json. You can change the
baudrate in the settings file.
There is an example settings file for N2K from N2K/CANBus. Make sure to change the command option to match the NGT-1 port like in this example
A provider that handles Signal K deltas can be set up with the following elements:
Furthermore you can use data from a Signal K server with the
providers/mdns-ws source. Without any configuration it will use the Signal K discovery process to discover any Signal K servers in the local network, such as iKommunicate, and connect to it. No other pipeElements are needed. See the example configuration file. You can also configure
port, which will disable the discovery process and make it connect directly to the specified server.
An input from a serial port uses the
providers/serialport pipeElement. It takes the options
baudrate and optionally "toStdout"(see example).
serialport has an internal line splitter, so a pipedProvider with serialport as the source does not need
liner and will not work with one.
providers/tcp is a TCP client that can connect to a server and receive input from a TCP socket. It takes the options
port (see example).
settings/volare-udp-settings provides an example of NMEA0183 input over UDP port 7777. If you have trouble getting this to work try setting up DEBUG environment variable with
export DEBUG=signalk-server:udp-provider and sending manually input with netcat
echo '$IIDBT,034.25,f,010.44,M,005.64,F*27' | nc -4u -w1 localhost 7777. This should result in the server logging the NMEA sentence it receives. UDP source takes
Please see example settings files.
Bonjour support will be enabled by default if your system supports it and has the required software installed. See also https://github.com/agnat/node_mdns#installation for more information.
When Bonjour is enabled the server advertises itself via Bonjour. This means that Bonjour-aware software running in the same network can discover the Signal K server and access it. For example the server shows up in Safari at Bookmarks => Bonjour => Webpages.
You can disable Bonjour/mDNS by adding the entry
"mdns": false to the config file. See
settings/volare-gpsd-settings.json for example.
The server can also automatically discover other Signal K devices and connect to them. See
settings/signalk-ws-settings.json for an example. If the incoming data should be treated as data about
self the identity in the settings file and in the incoming data need to match or the incoming data should not include context, as the default is
Https is enabled by default unless you disable it with
"ssl":true in the settings file. If no
ssl-cert.pem files are found under settings they will be created. If you need to configure a certificate chain add it in
ssl-chain.pem under settings.
By default the server listens to both http and https in the same port.
You can log all the input data in pre-Signal K format by adding the
log element to your pipeElement pipeline. It creates hourly files with the data from all the configured providers, interleaved/multiplexed with one message per line. The multiplexed log files can be played back with
multiplexedlog pipeElement element. Please beware the standard discriminators in multiplexedlog. For extensive use of logging, please see Cassiopeia
Signal K chart support is provided by the @signalk/charts-plugin plugin.
Copyright  [Fabian Tollenaar, Teppo Kurki and Signal K committers]
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.