SAILING_SIMULATOR

This repository Aland sailing robot's simulator. The simulator will simulate a sailing ASV and provides a basic simulation of other marine traffic. The GPS tracks of the ASV and the simulated track are outputted in .track files, which the first one being the ASV.

There is also the possibility of testing the system more like actualy sailing the software for real by using Hardware in the loop.

Usage

Running on desktop

./simulation_main.py [config] [AIS traffic]

Arguements:

• [config] - Optional: This is the path to the simulation config file, if no path is included, the simulator will default to Simu_config_0.json
• [AIS traffic] - Optional : 0 = simulating without traffic, 1 = with traffic (default)

HW in the loop

Run the HW in the loop arduino script on a Arduino with a CAN-bus card connected. Conect to raspberry pi with a CAN-bus card that is running a normal sailingrobots binery.

#####Running the simulation ./hw_simulation_main.py [config] [rpiIpAddr] [ardSerPort] [useGrafics]

Arguments

• [config] - Optional: This is the path to the simulation config file, if no path is included, the simulator will default to Simu_config_0.json
• [rpiIpAddr] - Optional: IP address of the RPi. Default to 10.112.147.10 (IP of aspire1.vpn)
• [ardSerPort] - Optional: Path to arduino serial device that is connected to the RPi. Default to /dev/ttyUSB0
• [useGrafics] - Optional: If 1 -> start simulator graphical interface.

#####Run Arduino code Flash a Arduino with a CAN-bus card with the Arduino code in HardwareInTheLopp/HWInTheLoopArduino

Requires the Canbus librery from: https://github.com/AlandSailingRobots/ArduinoSketches/

Conect the CAN-bus and i2c buses of the Arduino and RPi

Spoofing GPSD

The RPi gps deamon need to be started listening to all ip addresses with port 49194

First stop gpsd if it is already running. Some good commands are in general, but it can be tricky to turn off completely

sudo systemctl stop gpsd
sudo killall gpsd
sudo systemctl status gpsd

After this start gpsd with

gpsd [-N [-D8]] upd://0.0.0.0:49194

-N will make gpsd run in terminal and -D8 will print all debug messages

For more information on gpsd and other usefull gps related commands see: http://www.catb.org/gpsd/

Required Packages:

• numpy
• matplotlib
• geopy
• python-tk

Arch Linux

On Arch linux as sudo:

$ pacman -Syy && pacman -S python-pip
$ pip install numpy
$ pip install matplotlib
$ pip install geopy
$ pip install objgraph
$ pacman -S tk 

In some cases the install for matplotlib is corrupted in that case you need to build it:

$ pip uninstall matplotlib
$ git clone https://github.com/matplotlib/matplotlib.git
$ cd matplotlib
$ python setup.py install

Ubuntu

On Ubuntu:

$ apt-get install python-pip
$ pip install numpy
$ pip install matplotlib
$ pip install geopy
$ apt-get python-tk

Using the simulator with the Aland code base

The Aland control system's simulator node creates a TCP server which the simulator connects to, this means the control system (Built in simulation mode) needs to be started first. Then the simulator can be started, it will automatically connect to the control system, at which point the simulation will begin.

$ make [target] USE_SIM=1 (add -j for faster compilation)
$ ./sr

Target is one of the boats:

• target = ASPire/Janet

Here you will use the database in sailingrobot. You may need to clean the build before making the executable:

$ make clean

Then launch the python code sailing_simulator/simulation_main.py:

$ ./simulation_main.py [config] [AIS traffic]

• [config] - Optional: This is the path to the simulation config file, if no path is included, the simulator will default to Simu_config_0.json
• [AIS traffic]: 0 = simulating without traffic, 1 = with traffic

Simulator Configuration

The configuration file set the ASV configuration, the starting position of the ASV, the simulator frequency, as well as the sending frequency of the messages and simulated traffic.

ASV Configuration file

• "boat_config": Path to the boat configuration file.
  The boat configuration file set the type and the physics parameters of the simulated boat.
• "boat_type": 0 = simulating with Janet (Sail), 1 = ASPire (Wingsail)
• ...

ASV State

The ASV's initial state is controlled by 4 configurable variables

• "lat_origin" : A double, controls the starting latitude
• "lon_origin": A double, controls the starting longitude
• "wind_direction": A integer in degrees, controls the wind direction
• "wind_speed": A integer in metres, controls the winds speed

Message Updates

• "boat_update_ms": A integer in milliseconds, controls how often boat state messages are sent out
• "ais_update_ms": A integer in milliseconds, controls how often AIS contact messages are sent out

Simulated Marine traffic

Simulated marine traffic can be defined in the configuration message, with the json array type with the key "traffic". Each entry describes a single simulated marine vehicle.

A single marine vehicle is defined as:

• "mmsi": The id of the vessel, an integer, used to uniquely id simulated traffic. An id below 100000000 will be regarded as a thermal imaging contact and not a AIS contact.
• "heading": An integer, in degress, the heading of the vessel
• "lat_origin": A double, controls the starting latitude of the marine vehicle
• "lon_origin": A double, controls the starting longitude of the marine vehicle
• "speed": 1.5: A double in metres, controls the speed of the marine vehicle

Example configuration

    {
    "boat_config": "Janet_config.json",

    "simulation_step": 0.01,

    "lat_origin": 60.107240,
    "lon_origin": 19.922397,

    "wind_direction": 90,
    "wind_speed": 3,

    "boat_update_ms":100,
    "ais_update_ms":1000,

        "traffic": [
            {
                "mmsi": 100100100,
                "heading": 5,
                "lat_origin": 60.101184,
                "lon_origin": 19.920981,
                "speed": 2.2
            },
            {
                "mmsi": 100100101,
                "heading": 170,
                "lat_origin": 60.094990,
                "lon_origin": 19.921201,
                "speed": 1.5
            },
        ]
    }