OpenPlotter

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general

Aim

  • fit a cheap and open source ECDIS on board of a sailing vessel

analog

nmea0183

SeaTalkng network

  • em-trak B100 ( http://www.allaboutais.com/index.php/en/products/products-on-the-market )
    • PGN 129025 Position
    • PGN 129026 COG and SOG
    • NOT 129029 GNSS Position Data
  • autopilot control unit (Raymarine ACU-200)
  • autopilot sensor (Raymarine EV1)
    • PGN 127245 Rudder
    • PGN 127250 Vessel Heading
    • PGN 127251 Rate of Turn
    • PGN 127357 Attitude
  • autopilot instrument (Raymarine p70s)
    • PGN 127245 Rudder
    • PGN 127258 Magnetic Variation
  • battery monitor (Victron BMV-702, 'VE.Direct to NMEA2000 interface')
  • battery inverter/charger (Victron MultiPlus, 'VE.Bus to NMEA2000 interface')
  • Raymarine iTC-5 converter
    • sumlog (VDO, Model?)
    • depth sounder (Airmar, Model?)
    • optional: Raymarine M81105 rudder angle sensor
      • Red to Green: 5K Ohms (+/- 10%) steady
      • Red to Blue: Variable no less than 1.5K no more than 3.5K as the wheel is spun hardover to hardover
      • Blue to Green: Variable no less than 1.5K no more than 3.5K as the wheel is spun hardover to hardover
      • A 5K pot, probably wire wound, not particularly good precision ($10) packaged in a plastic moulding ($200), but typically very reliable
      • http://raymarine.ning.com/forum/topics/rudder-angle-indicator
  • Raymarine SeaTalk-SeaTalkng converter
    • instrument (ST70)
    • autopilot remote Raymarine A18106
    • wind & close hauled/VMG instrument (Raymarine Wind ST50 Plus)

Parts (boat specific)

  • Seatalkng extensions:
    • Spur-Kabel mit 1 offenen Ende 3m Art.-Nr: A06044 EUR 40,-
    • 5-Wege-Verbinder Art.-Nr: A06064 EUR 35,- (alternativ T-Stück Art.-Nr.: A06028 EUR 25,-)
    • Backbone-Kabel 0,40m - A06033 EUR 30,-

Mini-PC

  • Raspberry Pi 3 Model B EUR 33,50 or Raspberry Pi 3 Model B+ EUR 35,-
  • 16GB MicroSD Card EUR 10,-
  • PiCAN 2 EUR 45,- or PiCAN 2 incl. SMPS EUR 52,-

openPlotter

  • hardware
    • Raspberry Pi 3 Model B
    • PiCAN 2
  • eth0 IP set to static (192.168.1.112)

Setup Pi:

  • see also
  • connect to openplotter-UI (eg. VNC)
    • update openCPN
    • upgrade Raspbian
    • upgrade to openPlotter 0.17.1
    • Preferences > Raspberry Configuration > Interfaces > SSH:enable (Remote-access via WinSCP and Putty defaults pi:raspberry)
  • (sudo apt-get install tightvncserver (make RDP working))
  • sudo apt-get install can-utils
  • sudo apt-get install mc
  • update node
curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
sudo apt install nodejs
  • update signalk to latest
    • kill running signalk-server process
cd /home/pi/.config
rm -rf signalk-server-node_tmp
git clone https://github.com/SignalK/signalk-server-node.git signalk-server-node_tmp
cd signalk-server-node_tmp
npm install && npm run prepublishOnly
npm install mdns
cd /home/pi/.config
rm -rf signalk-server-node
mv signalk-server-node_tmp signalk-server-node
  • restart signalk @ openplotter-UI

Setup Android:

  • RDC from playStore (working)
  • aRDP free from playStore (suits my needs best)

Setup piCAN2:

  • (in case you want to play with virtual-can-interfaces) add to /etc/modules
vcan
  • add to /boot/config.txt
dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25
dtoverlay=spi-bcm2835-overlay
source /etc/network/interfaces.d/*
  • add to /etc/network/interfaces/interfaces.d/can0
#physical can interfaces
allow-hotplug can0
iface can0 can static
bitrate 250000
down /sbin/ip link set $IFACE down
up /sbin/ifconfig $IFACE txqueuelen 10000
  • (in case you want to play with virtual-can-interfaces) add to /etc/network/interfaces/interfaces.d/vcan0
#virtual can interfaces
auto vcan0
iface vcan0 inet manual
pre-up /sbin/ip link add dev $IFACE type vcan
up /sbin/ifconfig $IFACE up
  • restart interfaces
service networking restart
  • check interfaces (can0 and vcan0)
ifconfig
  • install canboat
mkdir ~/canboat
cd ~/canboat
sudo apt-get install xsltproc
git clone git://github.com/canboat/canboat
cd canboat
sudo make
sudo make install
  • working admin-ui generated canboat sample
    {
      "id": "canboat",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": false
    }
  • not working admin-ui generated canboatjs sample
    {
      "id": "canboatjs",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus-canboatjs",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": true
    }
  • working canboatjs sample
    {                                                                           
      "id": "canbus-canboatjs",                                          
      "enabled": true,                                                          
      "pipeElements": [                                                         
        {                                                                       
          "type": "providers/canbus",                                           
          "options": {
            "canDevice": "vcan0"
          }                                                                     
        },                                                                      
        {                                                                       
          "type": "providers/canboatjs"                                         
        },                                                                      
        {                                                                       
          "type": "providers/n2k-signalk"                                       
        }                                                                       
      ]                                                                         
    }


  • old working canboat sample
{
  "id": "n2k-vcan0",
  "pipeElements": [
    {
      "type": "providers/execute",
      "options": {
        "command": "candump vcan0 | candump2analyzer "
      }
    },
    {
      "type": "providers/liner",
      "options": {
        "rawlogging": true,
        "logdir": "logs",
        "discriminator": "2"
      }
    },
    {
      "type": "providers/n2kAnalyzer"
    },
    {
      "type": "providers/n2k-signalk"
    }
  ]
}

configure kplex and signalk

  • 'Signal K Server Plugin Configuration' > activate 'Convert Signal K to NMEA0183'
    • select sentences you are interested in
  • NMEA0183 (this is kplex) > Advanced >
    • add input channel tcp:localhost:10110
    • remove filter at opencpn out channel
[tcp]
name=signalk_in
direction=in
address=localhost
port=10110

[tcp]
name=opencpn
direction=out
mode=server
port=10109

experimental

    {"pipeElements": [
      {"type": "providers/execute", "options": {"command": "candump can0 | candump2analyzer | analyzer -json -si -nv"}},
      {"type": "providers/liner"},
      {"type": "providers/from_json"},
      {"type": "signalk-socketcan-device", "options": {"n2kAddress": 110, "canDevice": "can0"}},
      {"type": "providers/n2k-signalk"}
      ],"id": "n2k-can0"
    }

blackBox

  • hardware
    • Raspberry Pi 3 Model B+
    • PiCAN 2 incl. SMPS
  • eth0 IP set to static (here 192.168.3.111)

setup Raspbian Stretch Lite

  • download Raspbian Stretch Lite and copy image to SD-card (Etcher or win32diskimager)
  • log in (hdmi) as pi:raspberry (us-keboard-layout!)
  • start sudo raspi-config
    • enable ssh
    • resize SD-card
    • set wifi locale
    • ...
    • reboot
  • connect via ssh or scp
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install mc
  • enable root login over SSH
    • add to /etc/ssh/sshd_config
      PermitRootLogin yes
    • restart service
      sudo /etc/init.d/ssh restart
    • set root password
      sudo passwd root
  • set up static IP at /etc/dhcpcd.conf
interface eth0
static ip_address=192.168.3.111/24
static routers=192.168.3.1
static domain_name_servers=192.168.1.1

setup piCAN2 (as root)

  • install can-utils
apt-get update
apt-get install can-utils
  • add to /boot/config.txt
dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25
dtoverlay=spi-bcm2835-overlay
  • add to /etc/modules
vcan
  • add to /etc/network/interfaces
source /etc/network/interfaces.d/*
  • add to /etc/network/interfaces/interfaces.d/can0
#physical can interfaces
allow-hotplug can0
iface can0 can static
bitrate 250000
down /sbin/ip link set $IFACE down
up /sbin/ifconfig $IFACE txqueuelen 10000
  • add to /etc/network/interfaces/interfaces.d/vcan0
#virtual can interfaces
auto vcan0
iface vcan0 inet manual
pre-up /sbin/ip link add dev $IFACE type vcan
up /sbin/ifconfig $IFACE up
  • install canboat
apt-get install xsltproc
apt-get install git
mkdir ~/canboat
cd ~/canboat
git clone git://github.com/canboat/canboat
cd canboat
make
make install

install signalK (as root)

apt-get update
apt-get install -y curl git build-essential dialog
curl -sL https://deb.nodesource.com/setup_8.x | bash -
apt-get install nodejs
apt-get install libnss-mdns avahi-utils libavahi-compat-libdnssd-dev
npm install -g --unsafe-perm signalk-server

setup signalK (as pi)

sudo signalk-server-setup
reboot
  • in your browser, start signalk-web-interface (eg. http://192.168.3.111:3000)
  • add admin-user via admin-ui and log-in (here admin:A****M**)
  • add canboat Data-Provider via Admin-UI (stored in home/pi/.signalk/settings.json )
    {
      "id": "canboat",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": true
    }
  • alternative add canboatjs Data-Provider via Admin-UI (stored in home/pi/.signalk/settings.json )
    {
      "id": "canboatjs",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus-canboatjs",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": true
    }

connect to signalk

signalk sandbox

signalk-server --sample-nmea0183-data

sudo systemctl stop signalk.service
sudo systemctl stop signalk.socket

sudo systemctl start signalk.service
sudo systemctl start signalk.socket

sudo systemctl disable signalk.service
sudo systemctl disable signalk.socket

sudo systemctl status signalk*

export DEBUG=signalk-server:udp-provider
export DEBUG=signalk-parser-nmea0183
./signalk-server

aisdispatcher

    {
      "id": "AIS-udp",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA0183",
            "subOptions": {
              "type": "udp",
              "port": "77777"
            }
          }
        }
      ],
      "enabled": true
    }

raymarine autopilot

samba

wifi client and access-point

  • wlan0 build-in wifi adapter (as access point)
    • b8:27:eb:3c:8c:ef
    • 192.168.2.1/24 (static)
    • metric 300
    • see etc/dhcpd.conf
  • wlan1 usb wifi adapter (as client)
    • 00:0f:c9:0a:df:87
    • 192.168.1.x (dhcp)
    • metric 100
    • see etc/dhcpd.conf and etc/wpa_supplicant/wpa_supplicant.conf
    • DNS problems? see etc/resolv.conf.head
  • eth0 (wired to 3G router)
    • b8:27:eb:69:d9:ba
    • 192.168.3.111/24 (static)
    • metric 200
    • see etc/dhcpd.conf
  • setup:

wifi client and access-point (experimental)

tile server /w cache+proxy

draft

  • at home:
    • fetch an overview tile set of intended sailing area zoomlevels ~1-14 (/w mobac, preconfigured downloads, etc.) and preload cache
  • on board while connected to internet:
    • grab detailed tiles zoom 15-18 of intended approaches/anchorages via web app through proxy and cache
  • under way /wo internet connection:
    • sail using cached tiles
  • aim:
    • keep stress on tile servers low (do NOT download all possible tiles of zoom levels 15-18 at home)
  • drawback:
    • a 'raw' tile store /w deep /{z}/{x}/{y} directory structure might cause trouble on (sd-card driven) rasPIs ...

global install tilethief

  • $ sudo npm install -g tilethief
  • cd /usr/lib/node_modules/tilethief
  • edit tilethief.js
    • change line 302 and 319 mime.getType (instead of mime.lookup)
    • you might want to add some helper output:
      • ln 300 if (commander.verbose) logger.info("serving %s from cache", _tile_file);
      • ln 306 if (commander.verbose) logger.info("attempting to fetch %s", _tile_url);
      • ln 312 if (commander.verbose) logger.info("fetched %s", _tile_url);
  • mkdir data and chmod 777 data
  • edit config.js
module.exports = {

	/* express settings */
	"app": {
		"workers": 2,			// number of worker processes
		"proxied": true,		// trust x-forwarded-for header
		"env": "production",
		"socket": false,		// socket overrides hostname and port

		"port": 46000
	},

	/* lru tile cache */
	"cache": {
		"dir": "./data",
		"files": 200000,
		"size": "2 GB",
		"age": "52 Weeks",
		"check": "1 Hour"
	},
	
	/* send heartbeats with nsa */
	// "heartbeat": "udp4://127.0.0.1:65432",

	/* load backends from url */
	"backend-url": false, // point this to a json with the contents of config.backends

	/* the tile backends */
	"backends": {
		"osm": {
			"url": "https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.png",
			"filetypes": ["png"],
			"sub": ["a","b"],
			"zoom": [0,17],
			"boundaries": [-180, -90, 180, 90] // west, south, east, north
		},
		"openSeaMap": {
			"url": "http://t1.openseamap.org/seamark/{z}/{x}/{y}.png",
			"filetypes": ["png"],
			"sub": ["a","b"],
			"zoom": [0,17],
			"boundaries": [-180, -90, 180, 90] // west, south, east, north
		}
	},
	
	/* max number of concurrent connections to backend servers */
	"connections": 23,
	
	/* the default tile */
	"default-image": "assets/default-tile.png",
	
	/* allowed extensions */
	"allowed-extensions": ["png","jpg"],
	
	/* redirect users to this url when they try to access the index page */
	"redirect-url": false
	
};
  • run tilethief -v or DEBUG=tilethief node /usr/lib/node_modules/tilethief/tilethief.js
  • point your web browser to
    • 192.168.2.1:46000/osm/1/1/1.png
    • 192.168.2.1:46000/openSeaMap/14/8448/5366.png
  • conclusion:
    • fetching tiles online is rather slow
    • serving tiles from disk is fast

alternative: global install tileblaster

nginx

  • sudo apt install nginx
  • cd /etc/nginx/sites-available
  • add to default
upstream tileblaster {
	server unix:/tmp/tileblaster.sock;
}

server {
	listen 47000;
	server_name tileblaster;

	gzip off;
	gzip_static on;
	gunzip on;

	location / {
		root /tmp/tileblaster;
		if (!-f $request_filename.gz) {
			proxy_pass http://tileblaster;
		}
	}
}
  • sudo /etc/init.d/nginx restart

tileblaster

  • sudo npm i tileblaster -g --no-optional
  • cd /usr/lib/node_modules/tileblaster
  • edit config.js
module.exports = {

	// path to socket file
	"socket": "/tmp/tileblaster.sock",

	// path to tile directory
	"tiles": "/tmp/tileblaster",

	// nsa heartbeat server, if so desired
	// "heartbeat": "udp4://nsa.example.com:30826",

	// clean up every so often m=minute h=hour d=day w=week
	"cleanup": "15m",

	// maps
	"maps": {
		
		// map id, accessible via //server/mapid/z/x/y.ext
		"osm": {
		
			// backend url: 
			// * {s} subdomains specified in sub
			// * {z}, {x}, {y} tile coordinates
			// * {e} extension
			// * {r} resolution marker
			// "url": "https://{s}.tiles.example.com/tiles/{z}/{x}/{y}{r}.{e}",
			"url": "https://{s}.tile.openstreetmap.org/{z}/{x}/{y}.{e}",

			// possible extensions
			// "ext": ["mvt","json","topojson","png","jpg"],
			"ext": ["png"],

			// valid zoom levels
			"zoom": [0,16],

			// valid subdomains
			"sub": ["a","b"],

			// bounding box, west, south, east, north
			"bbox": [-180,-90,180,90],

			// valid mimetypes from backend server
			"mime": ["application/vnd.mapbox-vector-tile","application/x-protobuf","application/json","image/png"],

			// valid resolution markers
			"res": ["@2x","@4x"],
			
			// optimize tiles
			// * .png with `optipng`
			// * .jpg with `mozjpeg`
			// "optimize": true,
			"optimize": false,

			// minimum time tiles are kept
			"expires": "52w",
			
		},
		
		// more backends here

	},

};

  • run DEBUG=tileblaster node /usr/lib/node_modules/tileblaster/bin/tileblaster.js or /usr/lib/node_modules/tileblaster/bin/tileblaster.js
  • point your webbrowser to 192.168.2.1:47000/osm/13/4215/2689.png
  • conclusion:
    • fetching tiles online is fast
    • serving tiles from disk is fast
    • tileblaster hangs after short time

preload cache /w mobac tilestore

setup signalk's charts plugin

toDo: make tilethief a signalK plugin


autologin to public hotspot

3G router

  • 192.168.3.1
  • admin:; A****M**
  • 3GUSB AldiTalk
    • User Name: eplus
    • Password: Internet
    • Dial Number: *99#
    • Authentication Protocol : CHAP only
    • APN: internet.eplus.de
    • Reconnect Mode: manual
    • MTU: 1492

apps

data sources

applications

devices

wind

mechanical

ultrasonic

gyro + accelerometer + compass

autopilot