signalk-polar-performance-plugin 0.0.1

package/LICENSE

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package/README.md

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+# Polar performance plugin
+Generate performance information based on a polar diagram.
+
+## Data correctness
+It's assumed data is already corrected when it's read by this plugin. This can be sometimes be done by the sensor, sometimes upon entry into SignalK using the (calibration plugin)[https://www.npmjs.com/package/@signalk/calibration].
+
+## Data sources
+The following paths are read
+ - navigation.speedThroughWater
+ - environment.wind.speedTrue
+ - environment.wind.angleTrueWater
+
+## Polar diagram
+For starters, use the plugin config to set one polar diagram.
+Simple interpolation will be used to get the corresponding values from the polar diagram info.
+For polar diagrams you can check (ORC sailboat data)[https://jieter.github.io/orc-data/site/].
+
+## Calculated performance data
+The following data is calculated
+ - Upwind / beat angle (performance.beatAngle) 
+ - Downwind / run / gybe angle (performance.gybeAngle) 
+ - Upwind / beat VMG (performance.beatAngleVelocityMadeGood) 
+ - Downwind / run / gybe VMG (performance.gybeAngleVelocityMadeGood) 
+ - Target TWA (performance.targetAngle)
+ - Optimal Wind Angle (diff between TWA and environment.wind.directionTrue)
+ - Polar Boat Speed (performance.polarSpeed)
+ - Polar Speed Ratio (performance.polarSpeedRatio)
+
+## To-do list
+ - Fill up the ends of the polar diagram
+ - A switch to use SOG as boat speed
+ - Wind angle for maximum speed at this wind speed
+ - Improved interpolation
+ - Make moment to do calculation smarter/configurable
+ - Create polar from live data
+ -- Save polar info to file
+ -- Save new record speed for angle in polar
+ -- Determine if we're on a steady course to avoid fake records
+ -- Dampening algoritms
+ -- Configure the resolution of the polar diagram
+ - Capture heel in polar diagram
+ - Visualisation of the polar diagram

package/package.json

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+{
+  "name": "signalk-polar-performance-plugin",
+  "version": "0.0.1",
+  "description": "A plugin that calculates performance information based on a (CSV) polar diagram.",
+  "main": "plugin/index.js",
+  "scripts": {
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/htool/signalk-polar-performance-plugin.git"
+  },
+  "author": "hans@defect.org",
+  "license": "ISC",
+  "bugs": {
+    "url": "https://github.com/htool/signalk-polar-performance-plugin/issues"
+  },
+  "homepage": "https://github.com/htool/signalk-polar-performance-plugin#readme",
+  "keywords": [
+    "signalk-node-server-plugin",
+    "signalk-category-instruments",
+    "signalk-category-chart-plotters"
+  ]
+}

package/plugin/index.js

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+var sourceAddress
+
+module.exports = function (app) {
+  var plugin = {}
+  var unsubscribes = []
+  var timers = []
+
+  plugin.id = 'signalk-polar-performance-plugin'
+  plugin.name = 'Polar performance plugin'
+  plugin.description = 'A plugin that calculates performance information based on a (CSV) polar diagram.'
+
+  plugin.uiSchema = {
+    csvTable: { "ui:widget": "textarea" }
+  }
+
+  var schema = {
+    // The plugin schema
+    properties: {
+      beatAngle: {
+        type: 'boolean',
+        title: 'Enable calculation of beat/upwind and run/gybe/downwind angle'
+      },
+      beatVMG: {
+        type: 'boolean',
+        title: 'Enable calculation of beat/upwind and run/gybe/downwind VMG'
+      },
+      optimalWindAngle: {
+        type: 'boolean',
+        title: 'Enable calculation of Optimal Wind Angle (difference between TWA and beat/run angle (depends on beat/run angle)'
+      },
+      csvTable: {
+        type: "string",
+        title: "Enter csv with polar in http://jieter.github.io/orc-data/site/ style."
+      }
+    }
+  }
+
+  plugin.schema = function() {
+    // updateSchema()
+    return schema
+  }
+
+
+  plugin.start = function (options, restartPlugin) {
+    // Here we put our plugin logic
+    app.debug('Plugin started');
+    var unsubscribes = [];
+    app.debug('Options: %s', JSON.stringify(options))
+
+    // Load polar table
+    var polar = csvToPolarObject(options.csvTable)
+    app.debug('polar: %s', JSON.stringify(polar))
+   
+    // Global variables
+    var BSP, STW, TWA, TWS, port // Angles in rad, speed in m/s
+    var Pi = Math.PI
+    var halfPi = Pi / 2
+
+    // Subscribe to paths
+    let localSubscription = {
+      context: '*',
+      subscribe: [
+        {
+          path: 'navigation.speedThroughWater',
+          policy: 'instant'
+        },
+        {
+          path: 'environment.wind.speedTrue',
+          policy: 'instant'
+        },
+        {
+          path: 'environment.wind.angleTrueWater',
+          policy: 'instant'
+        }
+      ]
+    }
+
+    app.subscriptionmanager.subscribe(
+      localSubscription,
+      unsubscribes,
+      subscriptionError => {
+        app.error('Error:' + subscriptionError);
+      },
+      delta => {
+        delta.updates.forEach(u => {
+          // app.debug(u.values)
+          handleDelta(u.values)
+        })
+      }
+    )
+
+    // Handle delta
+    function handleDelta (deltas) {
+      deltas.forEach(delta => {
+	      // app.debug('handleData: %s', JSON.stringify(delta))
+	      if (delta.path == 'navigation.speedThroughWater') {
+	        STW = delta.value
+          BSP = STW
+	        // app.debug('speedThroughWater (STW): %d', STW)
+	      } else if (delta.path == 'environment.wind.speedTrue') {
+	        TWS = delta.value
+	        // app.debug('environment.wind.speedTrue (TWS): %d', TWS)
+	        app.debug('TWS: %d TWA: %d BSP: %d', TWS, TWA, BSP)
+          sendUpdates(getPerformanceData(TWS, TWA, BSP))
+	      } else if (delta.path == 'environment.wind.angleTrueWater') {
+          if (delta.value < 0) {
+            port = -1
+          } else {
+            port = 1
+          }
+	        TWA = Math.abs(delta.value)
+	        // app.debug('environment.wind.angleTrueWater (TWA): %d', TWA)
+	      }
+      })
+    }
+
+    function sendUpdates (perfObj) {
+      let values = []
+      let metas = []
+      if (typeof perfObj.beatAngle != 'undefined') {
+        values.push({path: 'performance.beatAngle', value: roundDec(perfObj.beatAngle)})
+        values.push({path: 'performance.targetAngle', value: roundDec(perfObj.beatAngle)})
+      }
+      if (typeof perfObj.beatVMG != 'undefined') {
+        values.push({path: 'performance.beatAngleVelocityMadeGood', value: roundDec(perfObj.beatVMG)})
+      }
+      if (typeof perfObj.runAngle != 'undefined') {
+        values.push({path: 'performance.gybeAngle', value: roundDec(perfObj.runAngle)})
+        values.push({path: 'performance.targetAngle', value: roundDec(perfObj.runAngle)})
+      }
+      if (typeof perfObj.runVMG != 'undefined') {
+        values.push({path: 'performance.gybeAngleVelocityMadeGood', value: roundDec(perfObj.runVMG)})
+      }
+      if (typeof perfObj.optimalWindAngle != 'undefined') {
+        values.push({path: 'performance.optimalWindAngle', value: roundDec(perfObj.optimalWindAngle)})
+        metas.push({path: 'performance.optimalWindAngle', value: {"units": "rad"}})
+      }
+      if (typeof perfObj.targetSpeed != 'undefined') {
+        values.push({path: 'performance.targetSpeed', value: roundDec(perfObj.targetSpeed)})
+      }
+      if (typeof perfObj.polarSpeed != 'undefined') {
+        values.push({path: 'performance.polarSpeed', value: roundDec(perfObj.polarSpeed)})
+        values.push({path: 'performance.polarSpeedRatio', value: roundDec(perfObj.polarSpeedRatio)})
+      }
+
+      app.debug('sendUpdates: %s', JSON.stringify(values))
+      app.handleMessage(plugin.id, {
+        updates: [
+          {
+            values: values,
+            meta: metas
+          }
+        ]
+      })
+    }
+
+    function getPerformanceData (TWS, TWA, BSP) {
+      var performance = {}
+      // Use windspeed to find nearest speeds
+      for (let indexTWS = 0 ; indexTWS < polar.length-1; indexTWS++) {
+        let lower = polar[indexTWS].tws
+        let upper = polar[indexTWS+1].tws
+        if (TWS >= lower && TWS <= upper) {
+          //app.debug('TWS between %d and %d', lower, upper)
+          // Calculate gap ratio
+          let gap = upper - lower
+          let twsGapRatio = (1 / gap) * (TWS - lower)
+          //app.debug('twsGapRatio: %d', twsGapRatio)
+	          // Calculate beat/run angle
+	        if (TWA < halfPi) {
+            // app.debug('Upwind')
+            if (options.beatAngle == true) {
+	            // Calculate beat angle
+	            let beatLower = polar[indexTWS]['Beat angle']
+	            let beatUpper = polar[indexTWS+1]['Beat angle']
+	            performance.beatAngle = beatLower + ((beatUpper - beatLower) * twsGapRatio)
+            }
+	          // Calculate optimal wind angle
+	          if (options.optimalWindAngle == true) {
+	            performance.optimalWindAngle = performance.beatAngle - TWA * port
+	          }
+	          // Calculate beat VMG
+	          if (options.beatVMG == true) {
+	            let VMGLower = polar[indexTWS]['Beat VMG']
+	            let VMGUpper = polar[indexTWS+1]['Beat VMG']
+	            performance.beatVMG = VMGLower + ((VMGUpper - VMGLower) * twsGapRatio)
+            }
+	        } else {
+            // app.debug('Downwind')
+            if (options.beatAngle == true) {
+	            // Calculate run angle
+	            let runLower = polar[indexTWS]['Run angle']
+	            let runUpper = polar[indexTWS+1]['Run angle']
+	            //app.debug('runLower: %s runUpper: %s', runLower, runUpper)
+	            performance.runAngle = runLower + ((runUpper - runLower) * twsGapRatio)
+            }
+	          if (options.optimalWindAngle == true) {
+	            // Calculate optimal wind angle
+	            performance.optimalWindAngle = performance.runAngle - TWA * port
+	          }
+	          if (options.beatVMG == true) {
+	            // Calculate run VMG
+	            let VMGLower = polar[indexTWS]['Run VMG']
+	            let VMGUpper = polar[indexTWS+1]['Run VMG']
+	            //app.debug('VMGLower: %s VMGUpper: %s', VMGLower, VMGUpper)
+	            performance.runVMG = VMGLower + ((VMGUpper - VMGLower) * twsGapRatio)
+            }
+          }
+          // Calculate polar target boat speed
+
+          // Define the 4 near data points
+          let lowerTWA = polar[indexTWS].twa
+          let upperTWA = polar[indexTWS+1].twa
+          // app.debug('TWAlower: %s', JSON.stringify(TWAlower))
+          for (let indexTWA = 0 ; indexTWA < lowerTWA.length-1; indexTWA++) {
+            let lowerTWAlower = lowerTWA[indexTWA]
+            let lowerTWAupper = lowerTWA[indexTWA+1]
+            let upperTWAlower = upperTWA[indexTWA]
+            let upperTWAupper = upperTWA[indexTWA+1]
+
+	          // app.debug('lowerTWAlower: %s lowerTWAupper: %s', lowerTWAlower, lowerTWAupper)
+            if (TWA >= lowerTWAlower.twa && TWA <= lowerTWAupper.twa) {
+	            // app.debug('lowerTWAlower: %d TWA: %d lowerTWAupper: %d', lowerTWAlower.twa, TWA, lowerTWAupper.twa)
+              // Calculate gap ratio
+              let gap = lowerTWAupper.twa - lowerTWAlower.twa
+              let twaGapRatio = (1 / gap) * (TWA - lowerTWAlower.twa)
+	            // app.debug('twaGapRatio: %d', twaGapRatio)
+              // Calculate lower tws boat speed
+	            let lowerTBS = lowerTWAlower.tbs + ((lowerTWAupper.tbs - lowerTWAlower.tbs) * twaGapRatio)
+              // Calculate upper tws boat speed
+	            let upperTBS = upperTWAlower.tbs + ((upperTWAupper.tbs - upperTWAlower.tbs) * twaGapRatio)
+
+              // Calculate target boat speed
+              performance.polarSpeed = lowerTBS + ((upperTBS - lowerTBS) * twsGapRatio)
+	            // app.debug('lowerTBS: %d TBS: %d upperTBS: %d', lowerTBS, performance.polarSpeed, upperTBS)
+
+              // Calculate polar performance
+              performance.polarSpeedRatio = (1 / performance.polarSpeed) * BSP
+
+            } 
+          }
+
+          // Calculate polar performance ratio
+        } else {
+          // app.debug('%d not >= %d && <= %d', TWS, lower, upper)
+        }
+      }
+      return performance
+    }
+
+		function csvToPolarObject (csv) {
+      var csvArray = []
+      var polar = {}
+      var beat = false
+
+      // Create array of arrays from csv
+      csv.split('\n').forEach(row => {
+        csvArray.push(row.split(';'))
+      })
+      // app.debug('csvArray: %s', JSON.stringify(csvArray))
+
+      // Populate the polar object from CSV rows
+      csvArray.forEach(row => {
+        if (row[0] == 'twa/tws') {
+          // The row with TWS columns
+          // Create empty TWS objects in polar object
+          polar = []
+          for (let index = 1; index < row.length; index++) {
+            
+            let twsObj = {'tws': ktsToMs(row[index])} // CSV kts to internal m/s
+            polar.push(twsObj)
+          }
+          app.debug('polar: %s', JSON.stringify(polar))
+        } else if (row[0] == '0') {
+          app.debug('beat and run angles are included')
+        } else if (row.includes('0')) {
+          // Beat / Run angle
+          let angle = Number(row[0])
+          let angleName
+          let VMGName
+          if (angle < 90) {
+            angleName = 'Beat angle'
+            VMGName = 'Beat VMG'
+          } else {
+            angleName = 'Run angle'
+            VMGName = 'Run VMG'
+          }
+          for (let index = 1; index < row.length; index++) {
+            if (row[index] != 0) {
+              polar[index-1][angleName] = degToRad(angle)
+              polar[index-1][VMGName] = roundDec(Number((row[index]) * Math.abs(Math.cos(angle))))
+              app.debug('polar[index-1]: %s', polar[index-1])
+              if (typeof polar[index-1]['twa'] == 'undefined') {
+                polar[index-1]['twa'] = []
+              }
+              app.debug('polar[index-1]: %s', polar[index-1])
+              app.debug('Adding TargetBoatSpeed')
+              let Obj = {"twa": degToRad(angle), "tbs": ktsToMs(Number(row[index]))}
+              app.debug('Obj: %s', JSON.stringify(Obj))
+              polar[index-1]['twa'] = polar[index-1]['twa'].concat(Obj)
+              app.debug('polar[index-1]["twa"]: %s', polar[index-1]['twa'])
+              app.debug('polar: %s', JSON.stringify(polar))
+            }
+          }
+        } else {
+          // Normal line
+          let angle = degToRad(Number(row[0]))  // CSV deg to internal rad
+          for (let index = 1; index < row.length; index++) {
+            if (typeof polar[index-1].twa == 'undefined') {
+              polar[index-1].twa = []
+            }
+            let Obj = {"twa": angle, "tbs": ktsToMs(Number(row[index]))}
+            polar[index-1]['twa'] = polar[index-1]['twa'].concat(Obj)
+            app.debug('polar: %s', JSON.stringify(polar))
+          }
+        }
+      })
+
+      // Sort the twa arrays by angle
+      polar.forEach(tws => {
+        let twaArray = tws.twa
+        twaArray = twaArray.sort((a, b) => a.twa - b.twa)
+        // app.debug('twaArray sorted: %s', JSON.stringify(twaArray))
+        tws.twa = twaArray
+      })
+
+      // app.debug(JSON.stringify(polar))
+		  return (polar)
+		}
+
+
+  }
+
+
+  plugin.stop = function () {
+    // Here we put logic we need when the plugin stops
+    app.debug('Plugin stopped');
+    plugin.stop = function () {
+      unsubscribes.forEach(f => f());
+      unsubscribes = [];
+      timers.forEach(timer => {
+        clearInterval(timer)
+      }) 
+    };
+
+  };
+
+  return plugin;
+};
+
+
+function radToDeg(radians) {
+  return radians * 180 / Math.PI
+}
+
+function degToRad(degrees) {
+  return degrees * (Math.PI/180.0)
+}
+
+function ktsToMs(knots) {
+  return knots / 1.94384
+}
+
+function MsToKts(ms) {
+  return ms * 1.94384
+}
+
+function roundDec (value) {
+  value = Number(value.toFixed(3))
+  return value
+}