diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml index 0032e3f..fbc6016 100644 --- a/.github/workflows/ci.yml +++ b/.github/workflows/ci.yml @@ -39,6 +39,8 @@ jobs: # only; the doctest needing them is excluded). - run: cargo test -p kinavis-wmm --no-default-features --features "libm wmm2025" - run: cargo test -p kinavis-wmm --no-default-features --features std --lib --tests + # The demonstrations run to the end on their recorded data. + - run: for example in receivers gnss_jump traffic course_to_steer; do cargo run -p kinavis-examples --example "$example"; done properties: name: Property tests diff --git a/Cargo.lock b/Cargo.lock index 2f19870..e6cfcf8 100644 --- a/Cargo.lock +++ b/Cargo.lock @@ -81,6 +81,16 @@ dependencies = [ "serde_json", ] +[[package]] +name = "kinavis-examples" +version = "0.0.0" +dependencies = [ + "kinavis", + "kinavis-ais", + "kinavis-nmea0183", + "kinavis-traffic", +] + [[package]] name = "kinavis-ins" version = "0.1.0" diff --git a/Cargo.toml b/Cargo.toml index eaa6b64..ac01c5c 100644 --- a/Cargo.toml +++ b/Cargo.toml @@ -1,7 +1,7 @@ # Workspace: shared lints, version policy and MSRV for every crate. [workspace] resolver = "2" -members = ["crates/*", "xtask"] +members = ["crates/*", "examples", "xtask"] # Fuzz crates are separate workspaces built by cargo-fuzz with its own # profile and flags. exclude = [ diff --git a/README.md b/README.md index 5e96b24..7e53bcb 100644 --- a/README.md +++ b/README.md @@ -9,10 +9,12 @@ ![no_std](https://img.shields.io/badge/no__std-no%20allocator-blue.svg) [![License: MIT OR Apache-2.0](https://img.shields.io/badge/license-MIT%20OR%20Apache--2.0-blue.svg)](#license) -Marine navigation in Rust, from the bytes a sensor sends to the numbers the -officer of the watch acts on: NMEA 0183, NMEA 2000, AIS and an IMU in; a -position, a course to steer, a collision assessment and a bridge alert out — -on a microcontroller or a workstation alike. +**Marine navigation for Rust** — NMEA 0183, NMEA 2000, AIS, GNSS, INS and the +COLREGs, from a `no_std` microcontroller to a workstation. + +From the bytes a sensor sends to the numbers the officer of the watch acts on: +NMEA 0183, NMEA 2000, AIS and an IMU in; a position, a course to steer, a +collision assessment and a bridge alert out. ## Why KINAVIS @@ -23,16 +25,47 @@ on a microcontroller or a workstation alike. - **No `unsafe`**, and no third-party dependencies in the default build. - **Types that carry meaning.** A compass course cannot be passed where a true one belongs, a time in GPS cannot be mixed with UTC, knots cannot be - mistaken for metres per second — the compiler refuses. + mistaken for metres per second — the compiler refuses: + + ```text + let course = TrueCourse::new(90.0)?; + magnetic_to_true(course, variation); + ^^^^^^ expected `Direction`, found `Direction` + ``` + - **Reproducible.** A passage planned ashore and recomputed on the bridge is the same plan: the `std` and the pure-Rust `libm` maths are held to agree within 1e-13, and the estimator is a pure function that replays a voyage step by step. -- **Verified.** The parsers are fuzzed; the algorithms are checked against +- **Verified.** The parsers are fuzzed and tested on real receivers' output + from the gpsd and Signal K logs; the algorithms are checked against published reference values — NOAA's WMM test points, Vincenty's test lines, PROJ's datum shifts; and the filters pass Monte Carlo consistency tests. +## See it run + +Four demonstrations in [`examples/`](examples/), each on data recorded from +real equipment — gpsd's receiver logs and a Signal K AIS recording: + +| Demonstration | What it shows | +|---|---| +| `receivers` | seven receivers' NMEA, including an RTK receiver past 82 bytes and a line that lost bytes in transit, read or refused | +| `gnss_jump` | a yacht's track with one fix moved forty miles: `REFUSED implausible jump: 144094 kn implied` | +| `traffic` | 1459 AIS messages off Harlingen decoded; CPA and TCPA of every ship against one of them | +| `course_to_steer` | the same yacht against a passage plan: cross-track error and the cross-track alarm | + +```sh +cargo run -p kinavis-examples --example traffic +``` + +```text +ship bearing range CPA TCPA risk +245513000 075.0°T 35.61 M 0.12 M 76:02 developing +218784000 147.9°T 1.34 M 1.33 M 0:55 DANGEROUS +246754000 062.7°T 25.80 M 2.03 M 45:33 passing clear +``` + ## Crates ```mermaid @@ -135,6 +168,17 @@ through the rest — the sailings, fixing, deviation tables and the inverse problem, the current triangle, errors, `serde`, and what each aggregate weighs in memory — with examples that are compiled and run as tests. +## Help wanted: real hardware + +Everything here is tested against recorded data, reference values and +simulation. What cannot be tested that way is how it behaves on a real bridge: +a GNSS receiver losing the sky, an NMEA 2000 backbone under load, an AIS +receiver in a crowded anchorage, an IMU strapped to a hull in a seaway, a +microcontroller with a real stack budget. If you have such equipment and would +run KINAVIS against it — or can share a recording of what it sends — please +[open an issue](https://github.com/KINAVIS/kinavis/issues). Logs from the sea +are worth more than any number of tests on land. + ## Stability `kinavis` and `kinavis-kernel` are at 1.x: within the major version nothing @@ -148,17 +192,6 @@ and version on their own. The minimum supported Rust version is 1.85; raising it - [`ARCHITECTURE.md`](ARCHITECTURE.md) — the layers, the dependency rule and the context map. - [`SECURITY.md`](SECURITY.md) — the threat model and how to report a vulnerability. -## Help wanted: real hardware - -Everything here is tested against recorded data, reference values and -simulation. What cannot be tested that way is how it behaves on a real bridge: -a GNSS receiver losing the sky, an NMEA 2000 backbone under load, an AIS -receiver in a crowded anchorage, an IMU strapped to a hull in a seaway, a -microcontroller with a real stack budget. If you have such equipment and would -run KINAVIS against it — or can share a recording of what it sends — please -[open an issue](https://github.com/KINAVIS/kinavis/issues). Logs from the sea -are worth more than any number of tests on land. - ## License Licensed under either of [Apache License, Version 2.0](LICENSE-APACHE) or [MIT license](LICENSE-MIT) at your option. diff --git a/ci/allowed-deps.toml b/ci/allowed-deps.toml index b2bb05b..d926da5 100644 --- a/ci/allowed-deps.toml +++ b/ci/allowed-deps.toml @@ -62,3 +62,8 @@ allow = ["kinavis-kernel", "serde"] # the kernel's types and matrices; the six-state estimator consumes it, # never the other way round. allow = ["kinavis-kernel", "serde"] + +[kinavis-examples] +# Unpublished demonstrations. Every KINAVIS crate they use is a +# dev-dependency, so the shipped graph of this package is empty. +allow = [] diff --git a/examples/Cargo.toml b/examples/Cargo.toml new file mode 100644 index 0000000..82553df --- /dev/null +++ b/examples/Cargo.toml @@ -0,0 +1,23 @@ +[package] +name = "kinavis-examples" +description = "Runnable demonstrations of the KINAVIS crates. Not published." +publish = false +version = "0.0.0" +authors.workspace = true +edition.workspace = true +rust-version.workspace = true +license.workspace = true + +[lib] +path = "lib.rs" + +# The demonstrations are examples, so every KINAVIS crate they use is a +# dev-dependency: nothing here is part of the shipped graph. +[dev-dependencies] +kinavis = { workspace = true, features = ["std"] } +kinavis-nmea0183 = { workspace = true, features = ["std"] } +kinavis-traffic = { version = "0.1.0", path = "../crates/kinavis-traffic" } +kinavis-ais = { version = "0.1.1", path = "../crates/kinavis-ais" } + +[lints] +workspace = true diff --git a/examples/README.md b/examples/README.md new file mode 100644 index 0000000..4a488da --- /dev/null +++ b/examples/README.md @@ -0,0 +1,77 @@ +# KINAVIS demonstrations + +Four short programs, each run on data recorded from real equipment. Nothing +here is simulated except where it says so. + +```sh +cargo run -p kinavis-examples --example receivers +cargo run -p kinavis-examples --example gnss_jump +cargo run -p kinavis-examples --example traffic +cargo run -p kinavis-examples --example course_to_steer +``` + +## `receivers` — what real receivers send + +One sentence from each of seven receivers: a chartplotter, an RTK receiver +writing past the standard's 82 bytes, an AIS transponder that drops a field, a +receiver that writes 999.9 for an unknown variation, a cold start, a receiver +without a fix, and a line that lost bytes in transit. + +```text +u-blox ZED-F9P, high-precision NMEA, 89 bytes (ublox-f9p-hpnmea.log) + $GNGGA,014500.00,4404.1306024,N,12118.8446777,W,2,12,0.49,1129.913,M,-21.350,M,,0278*4C + -> position 44°04.1306024'N 121°18.8446777'W (Differential, HDOP 0.49) + +Caterpillar MS352, variation 999.9 for "unknown" (cat-ms352.log) + $GPRMC,113938.50,A,3842.86006889,N,11705.43645510,W,0.011,46.405,231122,999.9000,E,D*2E + -> fix 38°42.8601'N 117°05.4365'W at 2022-11-23T11:39:38 UTC, 0.0 kn over the ground on 046.4°T + +GPS-320FW after a GPS week rollover, bytes lost mid-sentence (gp-320fw-2019-04-07-coldboot.log) + $GPRMC,000429.00,V,0000.0000,N,00000.000VTG,,T,,M,,N,,K,N*2C + -> refused: checksum 2C claimed, body sums to 65 +``` + +## `gnss_jump` — a forty-mile jump is refused + +A yacht's real track, one fix a second, with one fix moved forty miles north. + +```text +2018-08-20T09:48:50 UTC accepted 52°50.940'N 005°18.662'E +2018-08-20T09:48:51 UTC REFUSED 53°30.939'N 005°18.660'E implausible jump: 144094 kn implied; injected +2018-08-20T09:48:52 UTC accepted 52°50.938'N 005°18.657'E + +145 fixes accepted, 1 refused. +``` + +## `traffic` — AIS in, CPA and TCPA out + +1459 AIS messages from a receiver off Harlingen, reassembled and decoded; one +ship taken as own ship, every other ship assessed against it. + +```text +ship bearing range CPA TCPA risk +245513000 075.0°T 35.61 M 0.12 M 76:02 developing +218784000 147.9°T 1.34 M 1.33 M 0:55 DANGEROUS +246754000 062.7°T 25.80 M 2.03 M 45:33 passing clear +``` + +## `course_to_steer` — guidance along a real track + +The same yacht against a passage plan drawn for the example: desired track, +course to steer, cross-track error, distance to go, and the cross-track alarm. + +```text +UTC position COG track steer off track to go alarm +09:47:37 52°51.009'N 005°18.817'E 230.5°T 235.7°T 235.7°T 0.19 M Port 8.82 M off track: 0.19 M > 0.10 M +``` + +## Data + +| File | Source | Licence | +|---|---|---| +| `data/receivers.nmea` | [gpsd](https://gitlab.com/gpsd/gpsd) regression logs, `test/daemon/`, one line from each of seven | BSD-2-Clause, [`data/LICENSE-gpsd`](data/LICENSE-gpsd) | +| `data/bundg_zeus_9.nmea` | gpsd `test/daemon/bundg_zeus_9.log`, unmodified | BSD-2-Clause, [`data/LICENSE-gpsd`](data/LICENSE-gpsd) | +| `data/gofree-merrimac-ais.nmea` | [Signal K server](https://github.com/SignalK/signalk-server) `samples/gofree-merrimac.log`, the `!AIVDM` lines only | Apache-2.0, [`data/LICENSE-signalk`](data/LICENSE-signalk) | + +Recorded data from other equipment is welcome: see *Help wanted* in the +[main README](../README.md). diff --git a/examples/data/LICENSE-gpsd b/examples/data/LICENSE-gpsd new file mode 100644 index 0000000..ba3be1e --- /dev/null +++ b/examples/data/LICENSE-gpsd @@ -0,0 +1,35 @@ + COPYRIGHTS + +Compilation copyright is held by the GPSD project. 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However, in accepting such obligations, You may act only + on Your own behalf and on Your sole responsibility, not on behalf + of any other Contributor, and only if You agree to indemnify, + defend, and hold each Contributor harmless for any liability + incurred by, or claims asserted against, such Contributor by reason + of your accepting any such warranty or additional liability. + + END OF TERMS AND CONDITIONS \ No newline at end of file diff --git a/examples/data/bundg_zeus_9.nmea b/examples/data/bundg_zeus_9.nmea new file mode 100644 index 0000000..89ded53 --- /dev/null +++ b/examples/data/bundg_zeus_9.nmea @@ -0,0 +1,5009 @@ +# Name: B&G Zeus² 9 +# Description: B&G Chartplotter (https://ww2.bandg.com/product/zeus2_9/) +# Submitter: Oleg Roitburd +# Date: 2018-08-20 +# Location: IJsselmeer,NL 52,51N/005,18E +# +# Note SDDBT and SDDPT depths disagree +# This file is Copyright 2010 by the GPSD project +# BSD terms apply: see the file COPYING in the distribution root for details. +# 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+$GPXTE,,,,,N,N*5E +$SDHDG,234.5,,,1.3,E*37 +$SDDBT,20.2,f,6.1,M,3.3,F*31 +$SDDPT,6.1,0.4,*78 +$SDMTW,,C*1A +$SDHDG,234.5,,,1.3,E*37 +$SDVLW,,N,545.9,N,1109.7,N,393.9,N*47 +$SDVHW,235.9,T,234.5,M,6.3,N,11.8,K*72 +$WIMWD,334.7,T,333.3,M,10.5,N,5.4,M*6C +$WIMWV,65.6,R,10.1,N,A*26 +$WIMWV,98.4,T,10.5,N,A*24 +$SDHDG,234.5,,,1.3,E*37 +$IIXDR,C,,C,AIRTEMP,A,1.6,D,HEEL,A,3.1,D,TRIM,P,,B,BARO,A,-3.7,D,RUDDER*05 +$SDHDG,234.6,,,1.3,E*34 +$SDHDG,234.6,,,1.3,E*34 +$SDHDG,234.6,,,1.3,E*34 +$SDHDG,234.6,,,1.3,E*34 +$SDHDG,234.6,,,1.3,E*34 +$SDHDG,234.6,,,1.3,E*34 +$GPGLC,9960,,,,,,,,,,,,*75 +$GPGLL,5250.8736,N,00518.5095,E,095003,A,A*45 +$GPGSA,A,3,07,08,10,16,20,21,26,27,29,76,75,70,1.10,0.60,0.90*0B +$GPGSV,3,1,12,07,11,333,35,08,13,279,27,10,17,158,38,16,74,243,35*7E +$GPGSV,3,2,12,20,37,137,33,21,65,076,41,26,56,178,36,27,46,282,39*75 +$GPGSV,3,3,12,29,10,092,46,76,47,225,24,75,13,188,30,70,28,082,33*7D +$GPRMC,095003,A,5250.8736,N,00518.5095,E,5.3,233.1,200818,1.4,E,A*1A +$SDHDG,234.5,,,1.3,E*37 +$GPVTG,233.1,T,231.7,M,5.3,N,9.8,K,A*20 +$GPZDA,095003,20,08,2018,-01,00*6A +$GPZDA,095003,20,08,2018,-01,00*6A +$GPAAM,,,,N,*38 +$GPAPB,,,,,,,,,,,,,,,N*26 +$GPBOD,,T,,M,,*47 +$GPRMB,,,,,,,,,,,,,,N*04 +$GPXTE,,,,,N,N*5E +$SDHDG,234.4,,,1.3,E*36 +$SDDBT,20.0,f,6.1,M,3.3,F*33 +$SDDPT,6.0,0.4,*79 +$SDMTW,,C*1A +$SDHDG,234.3,,,1.3,E*31 +$SDVLW,,N,545.9,N,1109.7,N,393.9,N*47 +$SDVHW,235.6,T,234.2,M,6.2,N,11.6,K*75 +$WIMWD,335.1,T,333.7,M,10.4,N,5.3,M*69 +$WIMWV,70.5,R,11.1,N,A*20 +$WIMWV,99.6,T,10.4,N,A*26 +$SDHDG,234.2,,,1.3,E*30 +$IIXDR,C,,C,AIRTEMP,A,-1.2,D,HEEL,A,5.3,D,TRIM,P,,B,BARO,A,-3.7,D,RUDDER*28 +$SDHDG,234.0,,,1.3,E*32 +$SDHDG,233.9,,,1.3,E*3C +$SDHDG,233.7,,,1.3,E*32 +$SDHDG,233.6,,,1.3,E*33 +$SDHDG,233.5,,,1.3,E*30 +$SDHDG,233.4,,,1.3,E*31 +$GPGLL,5250.8729,N,00518.5074,E,095004,A,A*43 +$GPGSA,A,3,07,08,10,16,20,21,26,27,29,76,75,70,1.10,0.60,0.90*0B +$GPGSV,3,1,12,07,11,333,34,08,13,279,27,10,17,158,38,16,74,243,35*7F diff --git a/examples/data/gofree-merrimac-ais.nmea b/examples/data/gofree-merrimac-ais.nmea new file mode 100644 index 0000000..c393047 --- /dev/null +++ b/examples/data/gofree-merrimac-ais.nmea @@ -0,0 +1,1511 @@ +# AIS sentences from the Signal K server sample gofree-merrimac.log +# (github.com/SignalK/signalk-server, samples/, commit 756b555), recorded +# off Harlingen, NL, on 2014-04-16. +# Apache-2.0: see LICENSE-signalk. Modified: the !AIVDM lines only. +!AIVDM,1,1,1,,13aI8e?P00PGpU:NR6s00?vT2000,0,0*1C +!AIVDM,1,1,2,,13`kFLmP0LPHKsVNUD?RegvV2000,0,0*6F +!AIVDM,1,1,3,,13aFh>?0000IvntNSnm8k9BV0000,0,0*41 +!AIVDM,1,1,4,,13cDbl00200J@D6NfEDal7o20000,0,0*60 +!AIVDM,1,1,5,,13aIi0gP00PHkIdNKQM9ggvV2000,0,0*56 +!AIVDM,1,1,6,,13aFfRPP00PIuAjNF3aP0?vV2000,0,0*3C +!AIVDM,1,1,7,,13aGD7pP0?0Ho>0NKnSR4OvN0000,0,0*04 +!AIVDM,1,1,8,,13`t=0001BPHHnLNQ>Qbb8VV2000,0,0*13 +!AIVDM,1,1,9,,13bgv`0000,0,0*51 +!AIVDM,1,1,5,,33`qM>8P0aPGARhNSJQ2?j0`2000,0,0*4A +!AIVDM,1,1,6,,13aL?>HP00PHj5FNKAH00?v`2000,0,0*5D +!AIVDM,1,1,7,,13:krn000o0HNehNH7>a>WHT0000,0,0*7C +!AIVDM,1,1,8,,13b?AJ7P0Q0J12lNV6c59wvV0000,0,0*12 +!AIVDM,1,1,9,,13`uO27P0KPHJrJNL4r3sCDb2000,0,0*3D +!AIVDM,1,1,0,,E>jN6<0W6@1WPab3bPa2@LtP0000:uoH?9Ur@00000000?,4,4*76 +!AIVDM,1,1,1,,E>jN6<0W6@1WPab3bPa2@LtP0000:uoH?9Ur@00000000?,4,4*77 +!AIVDM,1,1,2,,13aGuu@P00PHq0:NKutP0?v`2000,0,0*51 +!AIVDM,1,1,3,,13aKWv?P000HjUBNK?u:p?vb0000,0,0*05 +!AIVDM,1,1,4,,13aDo:@P00PJ2h8NEeI7=gv`2000,0,0*0B +!AIVDM,1,1,5,,13aDA0PP00PHn3`NKRFP0?v`2000,0,0*67 +!AIVDM,1,1,6,,13bE@>7P0O0JQUDN``K3=?wp0000,0,0*07 +!AIVDM,1,1,7,,13aBMu@P00PJK4TNEh400?vb2000,0,0*0A +!AIVDM,1,1,8,,13aKVPHP00PHj5fNK8G00?vb2000,0,0*07 +!AIVDM,1,1,9,,13aJH>OP000GpVhNR0::;wvd0000,0,0*49 +!AIVDM,1,1,0,,13aGFgSP00PGp32NQtWbvgvd2000,0,0*74 +!AIVDM,1,1,1,,13bQtf?P000Hf3RNFs?akgvd0000,0,0*42 +!AIVDM,1,1,2,,33aGFRwP000HnkdNKlB3qwvd0000,0,0*49 +!AIVDM,1,1,3,,13aMBcT8Fd0000,0,0*20 +!AIVDM,1,1,6,,15Q:RP002g0FSrtN`ucacojb0000,0,0*0B +!AIVDM,1,1,7,,13btD>00000GqJ:NR>BPSFbb0000,0,0*71 +!AIVDM,1,1,8,,13aGuE@P000JKgvNTiicROvf0000,0,0*13 +!AIVDM,1,1,9,,13aGFROP000Ho8P0bPGATHNSJURK22f2000,0,0*20 +!AIVDM,1,1,5,,13c0aT00000HJJ4NGeMa5Jhf0000,0,0*57 +!AIVDM,1,1,6,,13aFgphP1EPHENDNC5h77gvf2000,0,0*41 +!AIVDM,1,1,7,,33aIggEP00PKoN@NLHaP0?vd2000,0,0*6F +!AIVDM,1,1,8,,13brCD00000HtKVNKFc3@CFf0000,0,0*77 +!AIVDM,1,1,9,,13IOOb002<0HKlHNcWp9pWnb0000,0,0*6A +!AIVDM,1,1,0,,16LWib003@PEom4NSeRROj0d2000,0,0*07 +!AIVDM,1,1,1,,13PV0000PHifPNK;;bmr:h2000,0,0*7F +!AIVDM,1,1,3,,13aGCN8P00PHj88NKBA;7tf2000,0,0*41 +!AIVDM,1,1,7,,13aph000000GrCpNGNS0M5Nh0000,0,0*4B +!AIVDM,1,1,8,,13P;h8h12ePGa=tNc8`9rGrb2000,0,0*20 +!AIVDM,1,1,9,,13aIi<0P00PJKOtNTjWP0?vh2000,0,0*53 +!AIVDM,1,1,0,,13aL>vwP00PIMt0dPHf0000,0,0*35 +!AIVDM,1,1,2,,13b`Bv5P1GPHU8pNH`S17gvh2000,0,0*23 +!AIVDM,1,1,3,,33aN2dU0000HnO0NKeK=`Qff0000,0,0*1A +!AIVDM,1,1,4,,33bb0F?00C0GiS>NTGDbGH:j0000,0,0*12 +!AIVDM,1,1,5,,13b=DJ0P00PGp@8NQuoar?vj2000,0,0*55 +!AIVDM,1,1,6,,13aI;8gP00PHf16NFt500?vh2000,0,0*40 +!AIVDM,1,1,7,,13aI9j8P00PHit@NKG:00?vh2000,0,0*43 +!AIVDM,1,1,8,,33`uO27P0KPHJtFNL4oT4CHj2000,0,0*0D +!AIVDM,1,1,9,,13aGtCgP00PHi0@NK@eP0?vh2000,0,0*04 +!AIVDM,1,1,0,,13`rcF?P000HRkTN@b3P0?vf0000,0,0*14 +!AIVDM,1,1,1,,13aB:Hh000PHjE0NKJi69irh2000,0,0*1E +!AIVDM,1,1,2,,E02E340W6@1WPab3bPa200000000:uoH?9Ur@00000000?,4,4*0C +!AIVDM,1,1,3,,13aL8P0cPGAUPNSJa2LR8l2000,0,0*09 +!AIVDM,1,1,5,,B3`g`a@0086:A7WUfrp03wP00000,0,0*49 +!AIVDM,1,1,6,,33aGua?P00PHfELNFrr00?vj2000,0,0*4E +!AIVDM,1,1,7,,13aDr68P00PHj4:NKAI00?vj2000,0,0*17 +!AIVDM,1,1,8,,E02E340W6@1WPab3bPa200000000:uoH?9Ur@00000000?,4,4*06 +!AIVDM,1,1,9,,14h?6j003B0G;48NVlu2M1tl0000,0,0*2A +!AIVDM,1,1,0,,13aFfb0P00PJgPtNFp500?vl2000,0,0*39 +!AIVDM,1,1,1,,13a?OH?00OPH>WbNM2:5>lDn2000,0,0*36 +!AIVDM,1,1,2,,13aN1EgP0LPHBkVNI5P=Ugvn2000,0,0*4B +!AIVDM,1,1,3,,15C78000000GohFNQum:NU>n0000,0,0*70 +!AIVDM,1,1,4,,13a5jB0P000GoWpNQuqP0?vd0000,0,0*38 +!AIVDM,1,1,5,,13a6ld00000Hpm@NL1`P09dn0000,0,0*36 +!AIVDM,1,1,6,,13aGvAh0000I11@NQQs9`5vn0000,0,0*76 +!AIVDM,2,1,7,,53aL=FP000010=5J220PE8=DhE>2Q0ThuA>V220j1`6223?ns4j0DS2CQiC`88,0,2*75 +!AIVDM,2,2,7,,888888883,2,2*7F +!AIVDM,1,1,8,,13aI;8wP00PHJAjNGgK00?vn2000,0,0*34 +!AIVDM,1,1,9,,33`uO27P0KPHJu8NL4n483Jp2000,0,0*76 +!AIVDM,1,1,0,,33aBLqhP000JbdnNLCs00?vl0000,0,0*68 +!AIVDM,1,1,1,,13aetV7P0JPHGBdNL41SM?vn2000,0,0*36 +!AIVDM,1,1,2,,13c1LF0P0n0HlLtNR@j1:Ovn0000,0,0*6B +!AIVDM,1,1,3,,13b<2H7000PHkHLNKT1WihTn2000,0,0*10 +!AIVDM,1,1,4,,13aC2`wP0oPHJMtNGgwW3gvp2000,0,0*30 +!AIVDM,1,1,5,,13`vB;pP00PHMLlNGI7?0000IvnjNSnk`j9Br0000,0,0*24 +!AIVDM,1,1,4,,13aGFvwP00PHi3BNKCN00?vp2000,0,0*4F +!AIVDM,1,1,5,,13aJJNOP000JKIFNTj700?vr0000,0,0*3E +!AIVDM,1,1,6,,15EHP00PHj52NKAEP0?vr2000,0,0*59 +!AIVDM,1,1,0,,13cDbl001w0J@0FNfDlamGoH0000,0,0*06 +!AIVDM,1,1,1,,13aENfwP00PHi9tNK?LP0?vr2000,0,0*70 +!AIVDM,1,1,2,,33aI:b5P00PHp?8NKR900?vr2000,0,0*64 +!AIVDM,1,1,3,,13aGD7pP0?0Ho@2NKnWR4Ovj0000,0,0*5C +!AIVDM,1,1,4,,33bC3V51000Hkh2NKUt`3:rp0000,0,0*09 +!AIVDM,1,1,5,,13aIi0gP00PHkIdNKQLaUwvt2000,0,0*0F +!AIVDM,1,1,6,,13aGti@00UPJVitNKaq:8Wrt2000,0,0*74 +!AIVDM,1,1,7,,13`uO27P0KPHJvBNL4l4=3Nv2000,0,0*06 +!AIVDM,1,1,8,,13bQtf?P000Hf3fNFs>ak?vv0000,0,0*34 +!AIVDM,1,1,9,,E>jN6<0W6@1WPab3bPa2@LtP0000:uoH?9Ur@00000000?,4,4*7F +!AIVDM,1,1,0,,13:krn000n0HNW8NH6n9=7Hr0000,0,0*54 +!AIVDM,1,1,1,,13aGDjkP0OPJUMtNScocwgvt2000,0,0*10 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+!AIVDM,2,2,0,,000000003,2,2*78 +!AIVDM,1,1,1,,13aGFvwP00PHi2rNKCIP0?w>2000,0,0*53 +!AIVDM,1,1,2,,15Q:RP002g0FNinN`lK9fWk<0000,0,0*18 +!AIVDM,1,1,3,,13aL?>HP00PHj5:NKAH00?w>2000,0,0*7B +!AIVDM,1,1,4,,13bHGL?P0KPHNMpNUAwRigw@2000,0,0*57 +!AIVDM,1,1,5,,13:krn000n0HMCFNH2I987K<0000,0,0*53 +!AIVDM,1,1,6,,13aGD7pP0?0Ho@2NKnOR4Ow80000,0,0*12 +!AIVDM,1,1,7,,13bh6v70000HjCVNKOB`FDoB0000,0,0*43 +!AIVDM,1,1,8,,13aGF=8P00PGpa@NR8`P0?w@2000,0,0*1C +!AIVDM,1,1,9,,13aIi0gP00PHkHTNKQJ8rwwB2000,0,0*7D +!AIVDM,1,1,0,,13aKWv?P000HjS8NK?pbLOwB0000,0,0*4A +!AIVDM,1,1,1,,13aGFgSP07PGp5VNQtRTPOwB2000,0,0*0A +!AIVDM,1,1,2,,33aMBjN6<0W6@1WPab3bPa2@LtP0000:uoH?9Ur@00000000?,4,4*73 +!AIVDM,1,1,6,,33bn5j5P000HiE@NK>59JOw>0000,0,0*14 +!AIVDM,1,1,7,,13aKVPHP00PHj5VNK8H00?wB2000,0,0*16 +!AIVDM,1,1,8,,13aBJp700N0Ga94NShFRkj;B0000,0,0*23 +!AIVDM,1,1,9,,13bQtf?P000Hf4JNFs>9WOwB0000,0,0*3F diff --git a/examples/data/receivers.nmea b/examples/data/receivers.nmea new file mode 100644 index 0000000..441474e --- /dev/null +++ b/examples/data/receivers.nmea @@ -0,0 +1,17 @@ +# One sentence from each of several receivers, taken from the gpsd regression +# logs (test/daemon, gpsd commit 43362cd). Copyright the GPSD project, +# BSD-2-Clause: see LICENSE-gpsd. `## ` names the receiver of the next line. +## B&G Zeus² 9 chartplotter (bundg_zeus_9.log) +$GPRMC,094737,A,5251.0093,N,00518.8170,E,5.6,230.5,200818,1.4,E,A*1F +## u-blox ZED-F9P, high-precision NMEA, 89 bytes (ublox-f9p-hpnmea.log) +$GNGGA,014500.00,4404.1306024,N,12118.8446777,W,2,12,0.49,1129.913,M,-21.350,M,,0278*4C +## Saab R4 AIS transponder, variation direction field missing (saab-r4.log) +$GPRMC,130711.00,A,5012.790800,N,00806.879600,W,0.5,3.0,010611,,A*6A +## Caterpillar MS352, variation 999.9 for "unknown" (cat-ms352.log) +$GPRMC,113938.50,A,3842.86006889,N,11705.43645510,W,0.011,46.405,231122,999.9000,E,D*2E +## SkyTraq S2525F8-BD-RTK after a cold start (skytraq.log) +$GPGGA,212406.000,0000.0000000,N,00000.0000000,E,0,00,0.0,0.000,M,0.000,M,,0000*6E +## i.Trek M3 without a fix (iTrek.log) +$GPRMC,151605.053,V,,,,,,,260705,,*29 +## GPS-320FW after a GPS week rollover, bytes lost mid-sentence (gp-320fw-2019-04-07-coldboot.log) +$GPRMC,000429.00,V,0000.0000,N,00000.000VTG,,T,,M,,N,,K,N*2C diff --git a/examples/examples/course_to_steer.rs b/examples/examples/course_to_steer.rs new file mode 100644 index 0000000..e78782a --- /dev/null +++ b/examples/examples/course_to_steer.rs @@ -0,0 +1,85 @@ +//! Course to steer and cross-track error along a real track. +//! +//! The fixes are a B&G Zeus² 9 chartplotter on a yacht off Stavoren, NL, +//! 20 August 2018 (gpsd regression log `bundg_zeus_9.log`). The passage plan +//! is drawn for this example: one leg towards Medemblik. Every thirty seconds +//! the guidance gives the desired track, the course to steer to make it good +//! (the track corrected for current and leeway, neither known here), the +//! cross-track error and the distance to go, and raises an alarm while the +//! yacht is past the cross-track limit of one cable. +//! +//! ```text +//! cargo run -p kinavis-examples --example course_to_steer +//! ``` + +use core::time::Duration; + +use kinavis::gnss_intake::{GnssIntake, IntakeConfig}; +use kinavis::guidance::{guide, GuidanceConfig}; +use kinavis::route::{LegKind, Route}; +use kinavis::{ + Distance, EnvironmentSample, GeodeticPoint, GnssFix, GuidanceEvent, Height, NavigationError, + Position, Speed, +}; +use kinavis_nmea0183::{parse, Sentence}; + +const LOG: &str = include_str!("../data/bundg_zeus_9.nmea"); + +fn main() -> Result<(), NavigationError> { + let start: Position = "52°51.40'N 005°19.20'E".parse()?; + let medemblik: Position = "52°46.20'N 005°06.60'E".parse()?; + let route = Route::new(&[start, medemblik], LegKind::RhumbLine)?; + // Cross-track limit one cable, arrival radius two cables. + let config = GuidanceConfig::new(Distance::from_cables(1.0)?, Distance::from_cables(2.0)?)?; + let mut intake = GnssIntake::new(IntakeConfig { + max_age: Duration::from_secs(10), + max_speed: Speed::from_knots(40.0)?, + }); + + println!("Leg from {start:.2} to {medemblik:.2}\n"); + println!( + "{:<9} {:<25} {:>8} {:>8} {:>8} {:>16} {:>7} alarm", + "UTC", "position", "COG", "track", "steer", "off track", "to go" + ); + let fixes = LOG.lines().filter_map(|line| match parse(line.as_bytes()) { + Ok(Sentence::Rmc(rmc)) => GnssFix::try_from(rmc).ok(), + _ => None, + }); + for (index, fix) in fixes.enumerate() { + let _ = intake.accept(fix); + if index % 30 != 0 { + continue; + } + let now = fix.taken_at(); + let here = GeodeticPoint::new(fix.position(), Height::above_ellipsoid(Distance::ZERO)); + let sea = EnvironmentSample::at(here, now); + let snapshot = intake.snapshot_at(now); + let (view, events) = guide(&snapshot, &route, route.first_leg(), &sea, &config)?; + + let error = view.cross_track_error(); + let clock = format!("{now:.0}"); + let cog = fix + .course_over_ground() + .map_or_else(|| "-".to_owned(), |cog| cog.to_string()); + let alarm = events + .iter() + .filter_map(|event| match event { + GuidanceEvent::CrossTrackExceeded { error, limit, .. } => { + Some(format!("off track: {error:.2} > {limit:.2}")) + } + _ => None, + }) + .collect::>() + .join("; "); + println!( + "{:<9} {:<25} {cog:>8} {:>8} {:>8} {:>16} {:>7} {alarm}", + clock.get(11..19).unwrap_or(&clock), + format!("{:.3}", fix.position()), + view.desired_track().to_string(), + view.course_to_steer().to_string(), + format!("{:.2} {:?}", error.distance, error.side), + format!("{:.2}", view.distance_to_waypoint()), + ); + } + Ok(()) +} diff --git a/examples/examples/gnss_jump.rs b/examples/examples/gnss_jump.rs new file mode 100644 index 0000000..86f8579 --- /dev/null +++ b/examples/examples/gnss_jump.rs @@ -0,0 +1,103 @@ +//! A position that jumps forty miles in a second is refused. +//! +//! The fixes are a real track: a B&G Zeus² 9 chartplotter on a yacht off +//! Stavoren, NL, 20 August 2018, one fix a second (gpsd regression log +//! `bundg_zeus_9.log`). One fix halfway through is moved forty miles north, +//! as a receiver fault or a spoofed signal would. The intake accepts the real +//! track and refuses the jump; the position the system holds never jumps. +//! +//! ```text +//! cargo run -p kinavis-examples --example gnss_jump +//! ``` + +use core::time::Duration; + +use kinavis::gnss_intake::{GnssIntake, IntakeConfig}; +use kinavis::{GnssFix, NavigationError, NavigationEvent, Position, RejectionReason, Speed}; +use kinavis_nmea0183::{parse, Sentence}; + +const LOG: &str = include_str!("../data/bundg_zeus_9.nmea"); + +/// Distance the injected fix is moved north, degrees of latitude. +const JUMP_DEGREES: f64 = 40.0 / 60.0; + +fn main() -> Result<(), NavigationError> { + let mut fixes: Vec = LOG + .lines() + .filter_map(|line| match parse(line.as_bytes()) { + Ok(Sentence::Rmc(rmc)) => GnssFix::try_from(rmc).ok(), + _ => None, + }) + .collect(); + let injected = fixes.len() / 2; + if let Some(fix) = fixes.get_mut(injected) { + let here = fix.position(); + let there = Position::from_degrees( + here.latitude().degrees() + JUMP_DEGREES, + here.longitude().degrees(), + )?; + *fix = GnssFix::builder(fix.taken_at(), there).build(); + } + + // A sailing yacht: nothing faster than 40 kn, nothing older than 10 s. + let mut intake = GnssIntake::new(IntakeConfig { + max_age: Duration::from_secs(10), + max_speed: Speed::from_knots(40.0)?, + }); + + let (mut accepted, mut refused) = (0_u32, 0_u32); + let last = fixes.len().saturating_sub(1); + let mut skipped = false; + for (index, fix) in fixes.iter().enumerate() { + let outcome = intake.accept(*fix); + if outcome.accepted() { + accepted += 1; + } else { + refused += 1; + } + let shown = index < 3 || index.abs_diff(injected) <= 2 || index == last; + if !shown { + skipped = true; + continue; + } + if skipped { + println!(" ..."); + skipped = false; + } + let verdict = if outcome.accepted() { + "accepted" + } else { + "REFUSED " + }; + let mut notes: Vec = outcome.events().iter().map(describe).collect(); + if index == injected { + notes.push("injected".to_owned()); + } + let line = format!( + "{:.0} {verdict} {:.3} {}", + fix.taken_at(), + fix.position(), + notes.join("; ") + ); + println!("{}", line.trim_end()); + } + + println!("\n{accepted} fixes accepted, {refused} refused."); + if let Some(position) = intake.last_fix().map(GnssFix::position) { + println!("Position held: {position:.3}"); + } + Ok(()) +} + +fn describe(event: &NavigationEvent) -> String { + match event { + NavigationEvent::FixAcquired { .. } => "fix acquired".to_owned(), + NavigationEvent::FixLost { .. } => "fix lost".to_owned(), + NavigationEvent::ObservationRejected { + reason: RejectionReason::ImplausibleJump { implied_speed }, + .. + } => format!("implausible jump: {implied_speed:.0} implied"), + NavigationEvent::ObservationRejected { reason, .. } => format!("{reason:?}"), + other => format!("{other:?}"), + } +} diff --git a/examples/examples/receivers.rs b/examples/examples/receivers.rs new file mode 100644 index 0000000..77a4f54 --- /dev/null +++ b/examples/examples/receivers.rs @@ -0,0 +1,66 @@ +//! What real receivers send, and what KINAVIS makes of it. +//! +//! One sentence from each of seven receivers, from the gpsd regression logs: +//! a chartplotter, an RTK receiver writing past the standard's 82 bytes, an +//! AIS transponder that drops a field, a receiver that writes 999.9 for an +//! unknown variation, a cold start, a receiver without a fix and a line that +//! lost bytes in transit. +//! +//! ```text +//! cargo run -p kinavis-examples --example receivers +//! ``` + +use kinavis::GnssFix; +use kinavis_nmea0183::{parse, Sentence}; + +const LOG: &str = include_str!("../data/receivers.nmea"); + +fn main() { + let mut receiver = ""; + for line in LOG.lines() { + if let Some(name) = line.strip_prefix("## ") { + receiver = name; + continue; + } + if line.starts_with('#') || line.is_empty() { + continue; + } + println!("{receiver}"); + println!(" {line}"); + println!(" -> {}\n", read(line)); + } +} + +/// One line, as the navigation system would see it. +fn read(line: &str) -> String { + match parse(line.as_bytes()) { + Err(error) => format!("refused: {error}"), + Ok(Sentence::Rmc(rmc)) => match GnssFix::try_from(rmc) { + Ok(fix) => { + let motion = match (fix.speed_over_ground(), fix.course_over_ground()) { + (Some(speed), Some(course)) => format!(", {speed} over the ground on {course}"), + _ => String::new(), + }; + format!("fix {:.4} at {:.0}{motion}", fix.position(), fix.taken_at()) + } + Err(error) => format!("no fix: {error}"), + }, + // GGA has no date, so it gives a position and its quality, not a fix. + Ok(Sentence::Gga(gga)) => match gga.position { + Some(position) if gga.fix_type.is_position_fix() => { + let hdop = gga + .hdop + .map_or_else(String::new, |hdop| format!(", HDOP {}", hdop.value())); + format!("position {position:.7} ({:?}{hdop})", gga.fix_type) + } + _ => { + let hdop = gga.hdop.map_or_else( + || "not available".to_owned(), + |hdop| hdop.value().to_string(), + ); + format!("no fix yet: fix type {:?}, HDOP {hdop}", gga.fix_type) + } + }, + Ok(other) => format!("{other:?}"), + } +} diff --git a/examples/examples/traffic.rs b/examples/examples/traffic.rs new file mode 100644 index 0000000..d1acf98 --- /dev/null +++ b/examples/examples/traffic.rs @@ -0,0 +1,190 @@ +//! AIS traffic off Harlingen, and the closest point of approach of each ship. +//! +//! The sentences are real: an AIS receiver off Harlingen in the Netherlands, +//! 16 April 2014 (Signal K server sample `gofree-merrimac.log`). They are +//! reassembled and decoded; the last report of each ship gives its position, +//! course and speed. One of them, a ship making 21 knots to the north-east, is +//! taken as own ship, and every other ship is assessed against it: CPA, TCPA +//! and the risk against a 2-mile, 30-minute policy. +//! +//! The recording lasts under four minutes and carries no timestamps, so the +//! last reports are taken as simultaneous. +//! +//! ```text +//! cargo run -p kinavis-examples --example traffic +//! ``` + +use std::collections::BTreeMap; + +use core::time::Duration; + +use kinavis::sailings::rhumb_line; +use kinavis::{Contact, Distance, Instant, Position, Speed, TrueCourse, Utc, Vessel}; +use kinavis_ais::{Assembler, Message, StaticDataPart}; +use kinavis_nmea0183::{parse, Sentence}; +use kinavis_traffic::{assess, CollisionAssessment, CollisionRisk, CpaPolicy}; + +const LOG: &str = include_str!("../data/gofree-merrimac-ais.nmea"); + +/// The ship taken as own ship. +const OWN_SHIP: u32 = 319_014_600; + +/// Last known state of one ship. +#[derive(Default)] +struct Ship { + name: Option, + position: Option, + course: Option, + speed: Option, +} + +fn main() -> Result<(), Box> { + let (ships, messages) = decode(); + let own = ships + .get(&OWN_SHIP) + .ok_or("own ship not in the recording")?; + let (Some(own_position), Some(own_motion)) = (own.position, motion(own)) else { + return Err("own ship has no position or motion".into()); + }; + let policy = CpaPolicy::new( + Distance::from_nautical_miles(2.0)?, + Duration::from_secs(30 * 60), + )?; + + let mut picture = Vec::new(); + for (&mmsi, ship) in &ships { + let (Some(position), Some(target)) = (ship.position, motion(ship)) else { + continue; + }; + if mmsi == OWN_SHIP { + continue; + } + let line = rhumb_line(own_position, position)?; + let contact = Contact { + bearing: line.initial_course, + range: line.distance, + }; + picture.push((mmsi, ship, assess(own_motion, contact, target, &policy)?)); + } + picture.sort_by(|a, b| order(&a.2).total_cmp(&order(&b.2))); + + println!( + "{messages} AIS messages, {} ships; own ship {} ({OWN_SHIP}), {} on {}, at {:.3}\n", + ships.len(), + own.name.as_deref().unwrap_or("unnamed"), + own_motion.speed, + own_motion.course, + own_position + ); + println!( + "{:<22} {:>9} {:>8} {:>8} {:>7} risk", + "ship", "bearing", "range", "CPA", "TCPA" + ); + for (mmsi, ship, assessment) in picture.iter().take(10) { + let name = ship.name.clone().unwrap_or_else(|| mmsi.to_string()); + let (cpa, tcpa) = match (assessment.cpa_distance(), assessment.tcpa()) { + (Some(cpa), Some(tcpa)) => (format!("{cpa:.2}"), minutes(tcpa)), + _ => ("-".to_owned(), "-".to_owned()), + }; + println!( + "{name:<22} {:>9} {:>8} {cpa:>8} {tcpa:>7} {}", + assessment.bearing().to_string(), + format!("{:.2}", assessment.range()), + risk(assessment.risk()) + ); + } + let count = |wanted: CollisionRisk| { + picture + .iter() + .filter(|(_, _, a)| a.risk() == wanted) + .count() + }; + println!( + "\n{} ships assessed: {} dangerous, {} developing, {} passing clear, {} opening.", + picture.len(), + count(CollisionRisk::Dangerous), + count(CollisionRisk::Developing), + count(CollisionRisk::Passing), + count(CollisionRisk::Opening) + ); + Ok(()) +} + +/// Reassembles and decodes the recording: the last state of each ship, and +/// the number of messages decoded. +fn decode() -> (BTreeMap, usize) { + let mut assembler = Assembler::new(); + let now = Instant::::from_unix_seconds(1_397_678_400); + let mut ships: BTreeMap = BTreeMap::new(); + let mut messages = 0; + for line in LOG.lines().filter(|line| !line.starts_with('#')) { + let Ok(Sentence::Vdm(vdm)) = parse(line.as_bytes()) else { + continue; + }; + let Ok(Some(bits)) = assembler.push(&vdm, now) else { + continue; + }; + let Ok(message) = Message::decode(&bits) else { + continue; + }; + messages += 1; + match message { + Message::PositionReport(report) => { + let ship = ships.entry(report.mmsi.number()).or_default(); + ship.position = report.position.or(ship.position); + ship.course = report.course; + ship.speed = report.speed; + if let Some(name) = report.name { + ship.name = Some(name.as_str().trim().to_owned()); + } + } + Message::StaticAndVoyageData(data) => { + if let Some(name) = data.name { + ships.entry(data.mmsi.number()).or_default().name = + Some(name.as_str().trim().to_owned()); + } + } + Message::StaticDataReport(report) => { + if let StaticDataPart::A { name: Some(name) } = report.part { + ships.entry(report.mmsi.number()).or_default().name = + Some(name.as_str().trim().to_owned()); + } + } + _ => {} + } + } + (ships, messages) +} + +/// Course and speed; a ship at rest may report no course. +fn motion(ship: &Ship) -> Option { + let speed = ship.speed?; + let course = match ship.course { + Some(course) => course, + None if speed.knots() == 0.0 => TrueCourse::NORTH, + None => return None, + }; + Some(Vessel { course, speed }) +} + +/// Closest first: CPA of a closing ship, and opening ships last. +fn order(assessment: &CollisionAssessment) -> f64 { + assessment + .cpa_distance() + .map_or(f64::INFINITY, Distance::nautical_miles) +} + +fn minutes(duration: Duration) -> String { + let seconds = duration.as_secs(); + format!("{}:{:02}", seconds / 60, seconds % 60) +} + +fn risk(risk: CollisionRisk) -> &'static str { + match risk { + CollisionRisk::Dangerous => "DANGEROUS", + CollisionRisk::Developing => "developing", + CollisionRisk::Passing => "passing clear", + CollisionRisk::Opening => "opening", + _ => "unknown", + } +} diff --git a/examples/lib.rs b/examples/lib.rs new file mode 100644 index 0000000..a80cadd --- /dev/null +++ b/examples/lib.rs @@ -0,0 +1,6 @@ +//! Runnable demonstrations of the KINAVIS crates, on recorded data. +//! +//! The library is empty; the demonstrations are the examples of this package. +//! See `README.md` beside this file. + +#![no_std]