Mayflower Autonomous Ship

Monitor operations aboard the Mayflower Autonomous Ship, an AI-powered marine research vessel gathering critical ocean data with a nice, rich real-time MQTT dataset and a most gracious compendium of publically-consumable information by Mr. James Sutton of IBM, available here: https://jpwsutton.github.io/mayflower_autonomous_ship_data/
Designed on Pi4 @ 4GB to run 24/7 in a kiosk, it demands 40%-60% CPU and ~1GB of RAM as map tracks fill up. The data logging feature is write-intensive and will soon wear out an SD card, so I have an externally-powered SSD and minimize data storage by suspending the log if MQTT disconnects.
This project began with American bus lines and British ferry boats found on a public MQTT server, a curiously-detailed telemetry set which I developed a dashboard for to investigate why this vessel made its landing only in Turnchapel Wharf after repetitive cruises.
I slip in and revise the code from time to time as I discover errors and attempt improvements; I'm a hack at Javascript, so if there's something humorous about these method(s), enjoy some levity!
Note: some third-party nodes may appear with blank styling, and not as they appear in the Node-RED Editor.
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The icon track indicates course, where orientation indicates heading.","x":440,"y":60,"wires":[]},{"id":"81385f5602613f28","type":"comment","z":"723a850f03705f70","g":"b5598464a148aa0e","name":"Meteorology Group","info":"'Meteorological' is just how this group definition feels to me to be.\n\n## Weather / Weather Phrase  \nHumanesque phrasings of local atmospheric and sky conditions.\n\n## Wind Temp / Speed / Direction  \nBasic localized atmospheric measurements.","x":1280,"y":610,"wires":[]},{"id":"76f5e7df9d8d7f79","type":"comment","z":"723a850f03705f70","g":"a1fbbb2c794ac7c2","name":"Condition Group","info":"These nodes seem to form a core telemetry of local conditions and general ship status.\n\n### MQTT Connectivity\n\n**Connectivity Indicator**  \nAt-a-glance indication of data stream availability. \n\nIf the broker is up, then a \"connected\" or \"disconnected\" payload restarts the timer for another\n70s \n120s \nperiod.  \n\n\nIf the broker is down, a \n90s \n180s\nfree-running heartbeat provides for a \"total loss trigger\", a timer countdown to help maintain code stability:\n - Green = Connected to MQTT broker.\n - Yellow = Disconnected from MQTT broker.\n - Red = MQTT broker failure.\n\n**Expectation Timer**  \nI rotate MQTT logs by a manual renaming (easy when disconnected), but problematic while connected and the flow decides to write a new record! \n\nData _typically_ occurs every ~60s, so I made a visual countdown which resets only when new data arrives, showing me the \"grace period\" when I might safely rename my log file.\n\nDuring normal operation this timer will expire but not immediately refresh since public MQTT broker delivery is not precise\n\nIf connectivity fails, this timer will expire and not refresh until connectivity is restored.\n\n**Message Rates**  \nI see subscription refreshes from 10s to 70s so I have separate topic rate indicators, calibrated to messages per hour.\n\n### UTC  \nThe MQTT data time stamp.\n\n### Log\nThe current size of the local MQTT data log file.\n\n### Operational Status  \nAn at-a-glance indicator of the current MAS400 operational mode: Autonomous, Standby, Active, Startup or Remote.\n\n### Solar Power / Voltage / Charge\nBasic electrical status information telemetry.","x":930,"y":60,"wires":[]},{"id":"c3dd222cdd304a9f","type":"comment","z":"723a850f03705f70","g":"f0f6caf54c075a94","name":"Navigation Group","info":"More universal situational telemetry (with some imperial unit conversions).\n\n## Speed / Throttle\nFreedom of movement and propulsive power.  \n\n## Pitch / Yaw / Roll\nA triad of related indicators for the three dimensions of MAS400 positional situation. \n\n## Depth\nA twin-gauge system comparing depth data from /status and /science/depth topics.\n\n## Voyage\nIndicated percentage of current mission completed.","x":720,"y":610,"wires":[]},{"id":"1e1707984d1c29ea","type":"ui_worldmap","z":"723a850f03705f70","g":"03810b4592173062","group":"1ae86b42.0ff1c5","order":6,"width":0,"height":0,"name":"","lat":"","lon":"","zoom":"6","layer":"EsriO","cluster":"","maxage":"","usermenu":"show","layers":"show","panit":"true","panlock":"false","zoomlock":"false","hiderightclick":"false","coords":"deg","showgrid":"true","allowFileDrop":"false","path":"/worldmap","overlist":"DR,CO,DN,SN,TL,HM","maplist":"OSMG,OSMC,EsriC,EsriS,EsriT,EsriO,EsriDG,UKOS","mapname":"","mapurl":"","mapopt":"","mapwms":false,"x":745,"y":290,"wires":[],"l":false},{"id":"a6ce94df2ac9f2ad","type":"ui_artlessgauge","z":"723a850f03705f70","g":"a1fbbb2c794ac7c2","group":"bbf266696379cab5","order":2,"width":3,"height":2,"name":"MQTT Expectation","icon":"","label":"MQTT","unit":"Secs","layout":"radial","decimals":0,"differential":false,"minmax":false,"colorTrack":"#555555","style":"2,2","colorFromTheme":true,"property":"payload","secondary":"secondary","inline":true,"animate":false,"sectors":[{"val":0,"col":"#ff9900","t":"min","dot":0},{"val":60,"col":"#ff9900","t":"max","dot":0}],"lineWidth":"7","bgcolorFromTheme":true,"diffCenter":"","x":1240,"y":100,"wires":[]},{"id":"e902b33c8764bc9a","type":"countdown","z":"723a850f03705f70","g":"a1fbbb2c794ac7c2","name":"","topic":"","payloadTimerStart":"true","payloadTimerStartType":"bool","payloadTimerStop":"false","payloadTimerStopType":"bool","timer":"70","resetWhileRunning":true,"setTimeToNewWhileRunning":false,"startCountdownOnControlMessage":false,"minuteCounter":false,"x":1060,"y":100,"wires":[[],["a6ce94df2ac9f2ad"]]},{"id":"00d6b8da321e8ab6","type":"link in","z":"723a850f03705f70","g":"a1fbbb2c794ac7c2","name":"MQTT Countdown 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also a most gracious technical compendium of publically-consumable information by Mr. James Sutton of IBM, available here: https://jpwsutton.github.io/mayflower_autonomous_ship_data/\n\nAll comment node contents are otherwise my own; distillations of various projects and other online documents. \n\nThe Mayflower Autonomous Ship is an AI powered marine research vessel built to gather critical ocean data. \n\nRadar detects to 2.5 nautical miles. Onboard cameras provide visual input to an IBM vision system for Automatic Identification System. GPS for current location, heading, speed and course. A nautical chart server for geospatial information. Weather data by The Weather Company. Attitude Sensors assess the local sea state (pitch and roll). Fathometer for depth measurements. Vehicle Management System for battery charge level, power consumption, communications, science payloads etc.\n\nUnless highly specific, I resist placing documentation in node descriptions; in a flurry of inspiration I went \"on a tear\" and deleted existing nodes invariably losing good notes I meant to keep. Thus, comment nodes are now my preferred flow documentation method.\n\nAll built according to my operating paradigm: \"I don't know what I'm doing, I'm just doing!\"","x":80,"y":30,"wires":[]},{"id":"40541555820381eb","type":"comment","z":"723a850f03705f70","g":"693f162dbf677324","name":"HIS Group","info":"### Colophon\nMerely my own construct, a hack cobbled together from ancillary data, so **not complete, necessarily correct nor sanctioned!**\n\n### Annotation\nAn uncertain implementation of code included as a bookmark for an image database depicting object id's; in the eventual I want to display the images behind annotations created as new objects are identified.\n\n### Optics\nThere are 6 cameras numbered from early available specifications as shown below:\n1. Hard Port\n2. Hard Starboard\n3. Port Astern\n4. Starboard Astern\n5. Starboard Bow\n6. Port Bow\n\nBreaking down the full URL of an evaluated HIS image with information about visual target type, the preamble of each address MUST BE:\n\n`https://mas-science-data-publicimages-mission1-jun21.s3.eu-gb.cloud-object-storage.appdomain.cloud/`\n\nThat address yields an XML history from which other images are accessed. The specific drill-down JSON topic is:\n\n`payload.ListBucketResult.Contents[arraynumber].Key[0]:`\n\nwhich yields a filename akin to:\n\n`hds-run_y2021m06d15_h12m07s20_cam_2_frame_05852.png`\n\nThus a random example of a complete image URL is:\n\nhttps://mas-science-data-publicimages-mission1-jun21.s3.eu-gb.cloud-object-storage.appdomain.cloud/hds-run_y2021m06d15_h12m07s20_cam_2_frame_05852.png","x":620,"y":1710,"wires":[]},{"id":"848965f4ac8e4f6f","type":"comment","z":"723a850f03705f70","g":"df021e7f9c11434c","name":"Raspberry Pi Group","info":"Likely congruent across all 4 units, without task information it is unknown whether they run discretely, or as a cluster.\n\n**CPU Load**  \nTotal average CPU load; a value of 4 is 4 cores operating at (or near) 100% of capability.\n\n**CPU Clock**  \nThe operating speed of the Pi CPU.\n\n**CPU Temp**  \nCurrent temperature of the Pi CPU.\n\n**CPU V**  \nCurrent core voltage of the Pi CPU.\n\n**Free Mem**  \nRemaining CPU memory currently unused by any processes.\n\n**Disk Root**  \nUnknown, but possibly a value reflecting the % of the root boot drive space in use.\n\n**Currently Throttled**  \nIndicates whether the CPU is being speed-restricted.\n\n**Frequency Throttle**  \nIndicates the CPU was speed-restricted from a higher setting.\n\n**SoftTempLimit Throttle**  \nIndicates the CPU was speed-restricted from an overheating episode.\n\n**Undervoltage Throttle**  \nIndicates the CPU was speed-restricted from a lower-than-required voltage condition.","x":150,"y":790,"wires":[]},{"id":"32af042069614b76","type":"comment","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"Log Playback","info":"A node group designed to be exported / copied / pasted into other Node-RED installations on other  computers to observe and analyze MQTT log files.\n\n### File I/O\nAll file nodes address local Pi storage, since I run an SSD HDD rather than an SD card.\n\n### JSON EOF Error killer\nThis is a workaround node to circumvent a peculiar End Of File error in the form of an extra empty line encountered at the end of a file playback.\n\n### Worldmap2\nThis provides up to a full-screen playback display for the log file data.","x":640,"y":2230,"wires":[]},{"id":"c16f132fef75cf7e","type":"msg-speed","z":"723a850f03705f70","g":"a1fbbb2c794ac7c2","name":"","frequency":"hour","interval":1,"estimation":false,"ignore":false,"pauseAtStartup":false,"topicDependent":false,"x":915,"y":460,"wires":[["910987f3b400ed74"],[]],"l":false},{"id":"db074d5ae07fe758","type":"file","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"","filename":"/home/pi/MAS400/log_2022.json","appendNewline":true,"createDir":false,"overwriteFile":"false","encoding":"none","x":920,"y":2110,"wires":[[]]},{"id":"f30dd169e7f2c4f5","type":"watch","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"","files":"/home/pi/MAS400/log_2022.json","recursive":"","x":690,"y":2180,"wires":[["367fc2cb2bc8f851"]]},{"id":"ad9b7901f88a37b9","type":"ui_text","z":"723a850f03705f70","g":"98311f6f4a71c253","group":"bbf266696379cab5","order":6,"width":3,"height":1,"name":"","label":"Log=","format":"{{msg.payload}} kB","layout":"row-left","className":"","x":940,"y":2180,"wires":[]},{"id":"14d5cffdedc533ac","type":"traffic","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"","property_allow":"payload","filter_allow":"Connected","ignore_case_allow":false,"negate_allow":false,"send_allow":false,"property_stop":"payload","filter_stop":"Disconnected","ignore_case_stop":false,"negate_stop":false,"send_stop":false,"default_start":false,"differ":false,"x":690,"y":2110,"wires":[["db074d5ae07fe758","6e110d1007c4155e"]]},{"id":"3b94aaf22f2b42a9","type":"link in","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"Traffic Light In","links":["162c1b65c4067a39","63ed867f740aca8d","d95eb1cd34ece5a4","5763a9d258715bf9"],"x":575,"y":2110,"wires":[["14d5cffdedc533ac"]]},{"id":"367fc2cb2bc8f851","type":"calculator","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"Convert b to kb","inputMsgField":"size","outputMsgField":"payload","operation":"div","constant":"1024","round":true,"decimals":"0","x":855,"y":2180,"wires":[["ad9b7901f88a37b9"]],"l":false},{"id":"6e110d1007c4155e","type":"link out","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"Traffic Light Out","mode":"link","links":["00d6b8da321e8ab6"],"x":805,"y":2140,"wires":[]},{"id":"5307c263876dc53d","type":"comment","z":"723a850f03705f70","g":"98311f6f4a71c253","name":"Status Log Recording","info":"Archiving of pertinent MQTT /status topic data for later playback and research.  \n\n### Traffic Light\nSince unrestrained data capture is costly on storage space, this logic inhibits data logging when MQTT connectivity is down.\n\n### File I/O\nSince my Pi runs on a SSD rather than an SD card, \nall file nodes address local Pi storage. 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17:25:35\",\"speedKts\":23.3,\"courseDeg\":255,\"distanceKm\":100.6,\"bearingDeg\":355}`\n\n`{\"vesselName\":\"ENDEAVOR\",\"mmsi\":\"303471000\",\"positionDate\":\"2022-06-04 12:34:08\",\"speedKts\":10.7,\"courseDeg\":261,\"distanceKm\":38.4,\"bearingDeg\":232}`\n\n`{\"vesselName\":\"ATLANTIC SAIL\",\"mmsi\":\"215809000\",\"positionDate\":\"2022-06-04 12:35:06\",\"speedKts\":17,\"courseDeg\":71,\"distanceKm\":98.3,\"bearingDeg\":3}`\n\n`{\"vesselName\":\"GLASGOW EXPRESS\",\"mmsi\":\"310826000\",\"positionDate\":\"2022-06-04 12:35:01\",\"speedKts\":13.1,\"courseDeg\":273,\"distanceKm\":92.8,\"bearingDeg\":40}`\n\n`{\"vesselName\":\"SKAL\",\"mmsi\":\"368228210\",\"positionDate\":\"2022-06-04 08:52:01\",\"speedKts\":2.6,\"courseDeg\":334,\"distanceKm\":94,\"bearingDeg\":23}`\n\nAs JSON Object with Array:\n`{\"topic\":\"AISradar\",\"payload\":[{\"vesselName\":\"ENDEAVOR\",\"mmsi\":\"303471000\",\"positionDate\":\"2022-06-04 12:34:08\",\"speedKts\":10.7,\"courseDeg\":261,\"distanceKm\":38.4,\"bearingDeg\":232},{\"vesselName\":\"ATLANTIC SAIL\",\"mmsi\":\"215809000\",\"positionDate\":\"2022-06-04 12:35:06\",\"speedKts\":17,\"courseDeg\":71,\"distanceKm\":98.3,\"bearingDeg\":3},{\"vesselName\":\"GLASGOW EXPRESS\",\"mmsi\":\"310826000\",\"positionDate\":\"2022-06-04 12:35:01\",\"speedKts\":13.1,\"courseDeg\":273,\"distanceKm\":92.8,\"bearingDeg\":40},{\"vesselName\":\"SKAL\",\"mmsi\":\"368228210\",\"positionDate\":\"2022-06-04 08:52:01\",\"speedKts\":2.6,\"courseDeg\":334,\"distanceKm\":94,\"bearingDeg\":23}],\"qos\":0,\"retain\":true,\"_msgid\":\"c80f35fdab2badae\",\"_event\":\"node:162c1b65c4067a39\"}`  \n\n**Circles and Ellipses**  \nIf the msg.payload contains a **radius:**, as well as **name:**, **lat:** and **lon:**, then it will instead draw a circle. The **radius:** is in meters.  \n`msg.payload = {name\":\"A3090\", \"lat\":51.05, \"lon\":-1.35, \"radius\":3000}`  \n\nLike Areas and Lines you may also specify color, fillColor, and layer (see Options below).\n`msg.payload = {\"name\": \"circle\", \"lat\": 51.515, \"lon\": -0.1235, \"radius\": 1000, \"layer\": \"drawing\", \"iconColor\": '#464646', \"stroke\": false, \"fillOpacity\": 0.8, \"clickable\": true};`  \n\nIf **radius:** is an [array of two numbers], they specify minor and major radii of an ellipse in meters. A **tilt:** can be applied to rotate it in °.  \n`msg.payload = { \"name\":\"Bristol Channel\", \"lat\":51.5, \"lon\":-2.9, \"radius\":[30000,70000], \"tilt\":45 };`  \n\n**Arcs, Range Rings**  \nYou can add supplemental arc(s) to a marker by adding an **arc:** as below. You can also specify a line using **bearing:** and **length:**.  \n\n`msg.payload = { name:\"Camera01\", icon:\"fa-camera\", lat:51.05, lon:-1.35,\n    bearing: 235,\n    length: 2200,\n    arc: {\n        ranges: [500,1000,2000],\n        pan: 228,\n        fov: 40,\n        color: '#aaaa00',\n        weight: 1\n    }\n}`  \nRanges can be a single number or an array of arc distances from the marker. The pan is the bearing of the centre of the arc, and the fov (Field of view) specifies the angle of the arc. Defaults are shown above.  \n\n**Options**  \nAreas, Rectangles, Lines, Circles and Ellipses can also specify:  \n- layer : declares which layer you put it on.\n- color : can set the colour of the polygon or line.\n- opacity : the opacity of the line or outline.\n- fillColor : can set the fill colour of the polygon.\n- fillOpacity : can set the opacity of the polygon fill colour.\n- dashArray : optional dash array for polyline.\n- clickable : boolean - set to true to allow click to show popup.\n- popup : html string to display in popup (as well as name).\n- editable : boolean - set to true to allow simple edit/delete right click contextmenu.\n- contextmenu : html string to display a more complex right click contextmenu.\n- weight : the width of the line or outline.\n \nhttps://www.igismap.com/formula-to-find-bearing-or-heading-angle-between-two-points-latitude-longitude/#:~:text=Here%20is%20the%20formula%20to%20find%20the%20second,cos%20Ad%20%E2%80%93%20sin%20la1%20%2A%20sin%20la2%29  \n\nFormula to find second lat lon point when bearing, distance and first lat lon is given:  \n\nFind out the where a ship is, if you have range, bearing and the starting point (lat,lon)?\n\nFirst point latitude la1.  \nFirst point longitude as lo1.  \nd be distance.  \nR as radius of Earth.  \nAd as angular distance (i.e d/R) and  \nθ be the bearing.  \n\nHere is the formula to find the second point, when first point, bearing and distance is known:\n\nlatitude of second point =  \nla2 =   \nasin(sin la1 * cos Ad + cos la1 * sin Ad * cos θ), and  \nlongitude of second point =  \nlo2 = lo1 + atan2(sin θ * sin Ad * cos la1, cos Ad – sin la1 * sin la2)","x":120,"y":600,"wires":[]},{"id":"732c05fe05638238","type":"switch","z":"723a850f03705f70","g":"5ce273ee75ad31e7","name":"","property":"topic","propertyType":"msg","rules":[{"t":"eq","v":"vesselName","vt":"str"},{"t":"eq","v":"bearingDeg","vt":"str"}],"checkall":"true","repair":false,"outputs":2,"x":235,"y":640,"wires":[["6e3abd28838fa15b"],["9b9a0dc0764f0718"]],"l":false},{"id":"928fba2f05e06085","type":"array-splitter","z":"723a850f03705f70","g":"5ce273ee75ad31e7","name":"","topic":"","index":0,"x":135,"y":640,"wires":[["6f2772d8b2d171e4"]],"l":false},{"id":"031f44ea4d33b28f","type":"mqtt in","z":"723a850f03705f70","g":"13cba7e2abe41be3","name":"AIS Radar","topic":"AISradar","qos":"2","datatype":"json","broker":"f12e74aa.501eb8","nl":false,"rap":false,"inputs":0,"x":110,"y":240,"wires":[["162c1b65c4067a39"]]},{"id":"162c1b65c4067a39","type":"link out","z":"723a850f03705f70","g":"13cba7e2abe41be3","name":"Radar 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Flow Info

Created 3 years, 4 months ago
Updated 3 years ago
Rating: 3.6666666666666665 3
view on github
Owner

JerryCern
Actions

share flow
Node Types

Core

change (x30)
comment (x16)
debug (x2)
delay (x1)
exec (x1)
file (x1)
file in (x1)
inject (x6)
join (x10)
json (x1)
link in (x14)
link out (x12)
mqtt in (x12)
mqtt out (x1)
mqtt-broker (x2)
split (x20)
switch (x21)
trigger (x1)
watch (x1)
Other

array-splitter (x1)
calculator (x16)
countdown (x1)
group (x14)
moment (x1)
msg-speed (x2)
tab (x1)
traffic (x1)
ui_artlessgauge (x4)
ui_chart (x16)
ui_gauge (x8)
ui_group (x17)
ui_led (x21)
ui_level (x29)
ui_lineargauge (x1)
ui_multistate_switch (x2)
ui_spacer (x15)
ui_tab (x7)
ui_table (x7)
ui_template (x8)
ui_text (x8)
ui_valuetrail (x2)
ui_worldmap (x1)
unit-converter (x6)
worldmap (x1)
worldmap-tracks (x3)