signalk-target-fusion 0.1.0

package/LICENSE

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package/README.md

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+# Signal K Target Fusion
+
+AIS, radar and cameras often see the same boat. This plugin works out which radar and camera targets are a boat AIS already reports, or are the same boat seen by two sensors, and says so in the data model. Collision alarms and chart plotters that follow these links show and alarm each boat once.
+
+## How it works
+
+Radar and camera plugins publish what they track as `targets.<type>:<id>` contexts (see the server's _Sensor targets_ plugin documentation). Every two seconds (configurable) this plugin compares them with the AIS vessels and sets `sameAs` on each target that is the same object as another context:
+
+```
+targets.radar:nav1034A-17  sameAs  "vessels.urn:mrn:imo:mmsi:244060000"
+```
+
+A target is linked to an AIS vessel when:
+
+- the sensor identified the vessel by its MMSI, or
+- the AIS position, moved forward to the time of the radar or camera observation, is within 200 m of the target (configurable) (more at long range, where radar bearings are less precise), and the two agree on course and speed.
+
+Targets without AIS are linked to each other the same way, so a radar track and a camera detection of one boat without AIS are one object. One sensor never contributes two targets to one boat. A link, once made, holds a little beyond the distance it took to make it, so a boat near the limit doesn't flicker between one symbol and two. A target keeps its AIS vessel while radar still tracks it after the vessel's AIS falls silent.
+
+Run one fusion plugin at a time; two would publish conflicting links. Stopping this plugin withdraws the links it made.
+
+## Settings
+
+- **Match targets within (m)**, default 200: how far apart a target and an AIS position may be near own ship and still be linked. Raise it for a radar or camera with a larger position error, lower it in crowded harbours.
+- **Link targets every (s)**, default 2.
+
+## License
+
+Apache-2.0

package/package.json

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+{
+  "name": "signalk-target-fusion",
+  "version": "0.1.0",
+  "description": "Links radar and camera targets to the AIS vessels they see, so Signal K clients show and alarm each boat once",
+  "main": "plugin/index.js",
+  "type": "module",
+  "scripts": {
+    "format": "prettier --write . && eslint --fix .",
+    "ci-lint": "eslint . && prettier --check .",
+    "build": "vite build",
+    "typecheck": "tsc --noEmit -p tsconfig.eslint.json",
+    "test": "vitest run",
+    "build:all": "npm run ci-lint && npm run typecheck && npm run build && npm run test",
+    "prepublishOnly": "npm run build"
+  },
+  "keywords": [
+    "signalk-node-server-plugin",
+    "signalk-category-ais",
+    "radar",
+    "arpa",
+    "ais",
+    "sensor-fusion"
+  ],
+  "signalk": {
+    "displayName": "Target Fusion"
+  },
+  "files": [
+    "plugin/**/*"
+  ],
+  "engines": {
+    "node": ">=22.15.0",
+    "signalk": ">=2.31.0"
+  },
+  "devDependencies": {
+    "@eslint/js": "^10.0.1",
+    "@signalk/server-api": "^2.33.0",
+    "@types/node": "^22.0.0",
+    "eslint": "^10.12.0",
+    "eslint-config-prettier": "^10.1.8",
+    "eslint-plugin-prettier": "^5.5.6",
+    "jiti": "^2.7.0",
+    "prettier": "^3.0.0",
+    "typescript": "^6.0.3",
+    "typescript-eslint": "^8.71.0",
+    "vite": "^8.3.2",
+    "vite-plugin-checker": "^0.14.5",
+    "vitest": "^5.0.0"
+  },
+  "repository": {
+    "type": "git",
+    "url": "git+https://github.com/dirkwa/signalk-target-fusion.git"
+  },
+  "license": "Apache-2.0",
+  "dependencies": {
+    "typebox": "^1.3.35"
+  }
+}

package/plugin/index.js

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+import { Type } from "typebox";
+var ConfigSchema = Type.Object({
+	gateDistance: Type.Number({
+		title: "Match targets within (m)",
+		description: "How far apart a radar or camera target and an AIS position may be and still be linked near own ship. The distance grows by 5% of the range further out, because radar bearing error grows with range.",
+		minimum: 10,
+		default: 200
+	}),
+	interval: Type.Number({
+		title: "Link targets every (s)",
+		minimum: 1,
+		default: 2
+	})
+});
+var DEFAULTS = {
+	gateDistance: 200,
+	interval: 2
+};
+//#endregion
+//#region src/association.ts
+/**
+* Radar bearing error grows with range (1° is 17 m per km), so the gate widens
+* with the target's distance from own ship.
+*/
+var GATE_RANGE_FRACTION = .05;
+/** An existing link survives until the gap exceeds this multiple of the gate. */
+var KEEP_GATE_FACTOR = 1.5;
+/** Below this speed a course is noise and is not compared. */
+var COURSE_MIN_SPEED = 1;
+var MAX_COURSE_DIFF = Math.PI / 4;
+var MIN_SPEED_TOLERANCE = 1.5;
+var SPEED_TOLERANCE_FRACTION = .5;
+var EARTH_RADIUS_M = 6371e3;
+/**
+* The context each target belongs to, by target context. A target that names
+* its own group maps to its own context.
+*/
+function associate(input) {
+	const groups = input.aisVessels.map((ais) => ({
+		context: ais.context,
+		ais,
+		reference: ais.observation,
+		members: [],
+		sensors: /* @__PURE__ */ new Set()
+	}));
+	const unassigned = assignGreedily(input.targets, groups, input);
+	const taken = new Set(groups.map((g) => g.context));
+	const remaining = [...unassigned].sort((a, b) => Number(isSeed(b, input)) - Number(isSeed(a, input)));
+	const darkGroups = [];
+	for (const target of remaining) if (assignGreedily([target], darkGroups, input).length > 0) {
+		const context = seedContext(target, input, taken);
+		taken.add(context);
+		darkGroups.push({
+			context,
+			reference: target.observation,
+			members: [target],
+			sensors: /* @__PURE__ */ new Set([target.sensor])
+		});
+	}
+	const links = /* @__PURE__ */ new Map();
+	for (const group of [...groups, ...darkGroups]) for (const member of group.members) links.set(member.context, group.context);
+	return links;
+}
+/** Whether a target named its group last time, itself or as the vessel it kept. */
+function isSeed(target, input) {
+	const previous = input.previous.get(target.context);
+	return previous === target.context || previous !== void 0 && input.vessels.has(previous);
+}
+/**
+* The context a group seeded by this target is named by: the vessel it was
+* linked to while that vessel is still in the data model, otherwise its own.
+*/
+function seedContext(target, input, taken) {
+	const previous = input.previous.get(target.context);
+	return previous !== void 0 && input.vessels.has(previous) && !taken.has(previous) ? previous : target.context;
+}
+/**
+* Assigns targets to groups cheapest pair first, at most one target per sensor
+* in each group: one sensor does not see the same boat twice. Returns the
+* targets left over.
+*/
+function assignGreedily(targets, groups, input) {
+	const candidates = [];
+	for (const target of targets) for (const group of groups) {
+		const cost = matchCost(target, group, input);
+		if (cost !== void 0) candidates.push({
+			target,
+			group,
+			cost
+		});
+	}
+	candidates.sort((a, b) => a.cost - b.cost);
+	const assigned = /* @__PURE__ */ new Set();
+	for (const { target, group } of candidates) {
+		if (assigned.has(target) || group.sensors.has(target.sensor)) continue;
+		group.members.push(target);
+		group.sensors.add(target.sensor);
+		assigned.add(target);
+	}
+	return targets.filter((t) => !assigned.has(t));
+}
+/**
+* How well a target fits a group, lower is better, or `undefined` when it
+* cannot belong to it. A matching MMSI beats any geometric match.
+*/
+function matchCost(target, group, input) {
+	if (target.mmsi !== void 0) {
+		if (group.ais) return target.mmsi === group.ais.mmsi ? -1 : void 0;
+		const groupMmsi = group.members.find((m) => m.mmsi !== void 0)?.mmsi;
+		if (groupMmsi !== void 0) return target.mmsi === groupMmsi ? -1 : void 0;
+	}
+	const { observation } = target;
+	const wasLinked = input.previous.get(target.context) === group.context;
+	const gate = gateRadius(observation.position, input.minGateM, input.ownPosition) * (wasLinked ? KEEP_GATE_FACTOR : 1);
+	const gap = distance(extrapolate(group.reference, observation.timeMs), observation.position);
+	if (gap > gate || !motionAgrees(group.reference, observation, wasLinked)) return;
+	return gap / gate - (wasLinked ? 1 : 0);
+}
+function gateRadius(position, minGateM, ownPosition) {
+	if (!ownPosition) return minGateM;
+	return Math.max(minGateM, distance(position, ownPosition) * GATE_RANGE_FRACTION);
+}
+function motionAgrees(a, b, lenient) {
+	const factor = lenient ? KEEP_GATE_FACTOR : 1;
+	if (a.speedOverGround !== void 0 && b.speedOverGround !== void 0) {
+		const tolerance = Math.max(MIN_SPEED_TOLERANCE, SPEED_TOLERANCE_FRACTION * Math.max(a.speedOverGround, b.speedOverGround));
+		if (Math.abs(a.speedOverGround - b.speedOverGround) > tolerance * factor) return false;
+		if (a.courseOverGroundTrue !== void 0 && b.courseOverGroundTrue !== void 0 && a.speedOverGround >= COURSE_MIN_SPEED && b.speedOverGround >= COURSE_MIN_SPEED && angleBetween(a.courseOverGroundTrue, b.courseOverGroundTrue) > MAX_COURSE_DIFF * factor) return false;
+	}
+	return true;
+}
+/** Dead-reckons an observation to `timeMs` along its course and speed. */
+function extrapolate(o, timeMs) {
+	if (o.speedOverGround === void 0 || o.courseOverGroundTrue === void 0) return o.position;
+	const run = o.speedOverGround * (timeMs - o.timeMs) / 1e3;
+	const dLat = run * Math.cos(o.courseOverGroundTrue) / EARTH_RADIUS_M;
+	const dLon = run * Math.sin(o.courseOverGroundTrue) / (EARTH_RADIUS_M * Math.cos(toRad(o.position.latitude)));
+	return {
+		latitude: o.position.latitude + toDeg(dLat),
+		longitude: normaliseLongitude(o.position.longitude + toDeg(dLon))
+	};
+}
+/** Great-circle distance in metres (haversine). */
+function distance(a, b) {
+	const dLat = toRad(b.latitude - a.latitude);
+	const dLon = toRad(b.longitude - a.longitude);
+	const h = Math.sin(dLat / 2) ** 2 + Math.cos(toRad(a.latitude)) * Math.cos(toRad(b.latitude)) * Math.sin(dLon / 2) ** 2;
+	return 2 * EARTH_RADIUS_M * Math.asin(Math.min(1, Math.sqrt(h)));
+}
+function angleBetween(a, b) {
+	const d = Math.abs(a - b) % (2 * Math.PI);
+	return d > Math.PI ? 2 * Math.PI - d : d;
+}
+function normaliseLongitude(lon) {
+	return ((lon + 180) % 360 + 360) % 360 - 180;
+}
+var toRad = (deg) => deg * Math.PI / 180;
+var toDeg = (rad) => rad * 180 / Math.PI;
+//#endregion
+//#region src/model.ts
+/**
+* AIS vessels whose last position is older than this are not linked to. Class A
+* ships at anchor report every three minutes, so this allows a few misses.
+*/
+var AIS_MAX_AGE_MS = 6e5;
+/**
+* Observations stamped further ahead of the clock than this are left out: a
+* future time would keep them fresh until it passed.
+*/
+var MAX_CLOCK_SKEW_MS = 6e4;
+/** Motion reported further than this from its position is left out. */
+var MOTION_MAX_LAG_MS = 6e4;
+var MMSI_URN = /^urn:mrn:imo:mmsi:(\d+)$/;
+/**
+* Vessels other than self that AIS reports: plugins also publish vessels AIS
+* never saw (buddy boats over the internet, for one), and every AIS station
+* has an MMSI.
+*/
+function aisVessels(vessels, selfId, nowMs) {
+	const result = [];
+	for (const [vesselId, vessel] of Object.entries(vessels)) {
+		if (vesselId === selfId || vesselId === "self" || !vessel) continue;
+		const mmsi = typeof vessel.mmsi === "string" ? vessel.mmsi : MMSI_URN.exec(vesselId)?.[1];
+		const observation = observationOf(vessel, nowMs, AIS_MAX_AGE_MS);
+		if (mmsi && observation) result.push({
+			context: `vessels.${vesselId}`,
+			mmsi,
+			observation
+		});
+	}
+	return result;
+}
+/** Targets under `targets.*` with a fresh position. */
+function sensorTargets(targets, nowMs) {
+	const result = [];
+	for (const [id, target] of Object.entries(targets)) {
+		const observation = target && observationOf(target, nowMs, 6e4);
+		if (!observation) continue;
+		result.push({
+			context: `targets.${id}`,
+			sensor: target.navigation?.position?.$source ?? id.split(":")[0] ?? id,
+			...typeof target.mmsi === "string" && { mmsi: target.mmsi },
+			observation
+		});
+	}
+	return result;
+}
+/** The `sameAs` each target currently has in the data model, by context. */
+function currentLinks(targets) {
+	const links = /* @__PURE__ */ new Map();
+	for (const [id, target] of Object.entries(targets)) {
+		const value = target?.sameAs?.value;
+		links.set(`targets.${id}`, typeof value === "string" ? value : null);
+	}
+	return links;
+}
+/**
+* Whether the target's sensor reported its track lost, with a null position.
+* Such a track never resumes, so its id may later name a different object.
+*/
+function isLost(node) {
+	return node?.navigation?.position?.value === null;
+}
+function positionOf(node) {
+	const value = node?.navigation?.position?.value;
+	return isPosition(value) ? value : void 0;
+}
+function observationOf(node, nowMs, maxAgeMs) {
+	const nav = node.navigation;
+	const position = positionOf(node);
+	const timeMs = Date.parse(nav?.position?.timestamp ?? "");
+	if (!position || !(nowMs - timeMs <= maxAgeMs) || timeMs - nowMs > MAX_CLOCK_SKEW_MS) return;
+	const observation = {
+		position: {
+			latitude: position.latitude,
+			longitude: position.longitude
+		},
+		timeMs
+	};
+	const course = motionAt(nav?.courseOverGroundTrue, timeMs);
+	const speed = motionAt(nav?.speedOverGround, timeMs);
+	if (course !== void 0) observation.courseOverGroundTrue = course;
+	if (speed !== void 0) observation.speedOverGround = speed;
+	return observation;
+}
+/**
+* A motion value, unless it was reported well apart from the position: the
+* position is dead-reckoned with it, so a course from another time would
+* mislead the gate.
+*/
+function motionAt(leaf, positionMs) {
+	const timeMs = Date.parse(leaf?.timestamp ?? "");
+	const value = leaf?.value;
+	return Math.abs(positionMs - timeMs) <= MOTION_MAX_LAG_MS && typeof value === "number" && Number.isFinite(value) ? value : void 0;
+}
+function isPosition(value) {
+	const p = value;
+	return typeof p?.latitude === "number" && typeof p.longitude === "number" && Math.abs(p.latitude) <= 90 && Math.abs(p.longitude) <= 180;
+}
+//#endregion
+//#region src/fusion.ts
+/**
+* Links `targets.*` contexts to the context that names the same object, and
+* says which `sameAs` values have to change in the data model.
+*/
+var Fusion = class {
+	minGateM;
+	/** The context each target belonged to last time, for link hysteresis. */
+	previous = /* @__PURE__ */ new Map();
+	/** The link this plugin published per target, so stop() withdraws only those. */
+	linked = /* @__PURE__ */ new Map();
+	/** @param minGateM gate radius near own ship (m) */
+	constructor(minGateM) {
+		this.minGateM = minGateM;
+	}
+	update({ vessels, targets, selfId, nowMs }) {
+		const groups = associate({
+			ownPosition: positionOf(vessels[selfId]),
+			aisVessels: aisVessels(vessels, selfId, nowMs),
+			targets: sensorTargets(targets, nowMs),
+			previous: this.previous,
+			vessels: new Set(Object.keys(vessels).map((id) => `vessels.${id}`)),
+			minGateM: this.minGateM
+		});
+		this.previous = groups;
+		const changes = /* @__PURE__ */ new Map();
+		for (const [context, current] of currentLinks(targets)) {
+			const group = groups.get(context);
+			if (group === void 0 && !isLost(targets[context.slice(8)])) continue;
+			const wanted = group === void 0 || group === context ? null : group;
+			if (wanted !== current) {
+				changes.set(context, wanted);
+				if (wanted !== null) this.linked.set(context, wanted);
+			}
+			if (wanted === null) this.linked.delete(context);
+		}
+		return changes;
+	}
+	/** Withdraws the links this plugin made that nobody has replaced since. */
+	stop(targets) {
+		const current = currentLinks(targets);
+		const changes = /* @__PURE__ */ new Map();
+		for (const [context, published] of this.linked) if (current.get(context) === published) changes.set(context, null);
+		this.linked.clear();
+		this.previous = /* @__PURE__ */ new Map();
+		return changes;
+	}
+};
+//#endregion
+//#region src/index.ts
+var PLUGIN_ID = "signalk-target-fusion";
+function src_default(app) {
+	let timer;
+	let fusion;
+	function publish(changes) {
+		for (const [context, value] of changes) app.handleMessage(PLUGIN_ID, {
+			context,
+			updates: [{ values: [{
+				path: "sameAs",
+				value
+			}] }]
+		});
+	}
+	return {
+		id: PLUGIN_ID,
+		name: "Target Fusion",
+		description: "Links radar and camera targets to the AIS vessels they see",
+		schema: () => ConfigSchema,
+		start(partial) {
+			const config = {
+				...DEFAULTS,
+				...partial
+			};
+			const active = new Fusion(config.gateDistance);
+			fusion = active;
+			timer = setInterval(() => {
+				try {
+					publish(active.update({
+						vessels: app.getPath("vessels") ?? {},
+						targets: app.getPath("targets") ?? {},
+						selfId: app.selfId,
+						nowMs: Date.now()
+					}));
+				} catch (err) {
+					app.error(`Target fusion failed: ${String(err)}`);
+				}
+			}, Math.max(config.interval, 1) * 1e3);
+			app.setPluginStatus("Linking targets to AIS vessels");
+		},
+		stop() {
+			clearInterval(timer);
+			timer = void 0;
+			if (fusion) publish(fusion.stop(app.getPath("targets") ?? {}));
+			fusion = void 0;
+		}
+	};
+}
+//#endregion
+export { src_default as default };
+
+//# sourceMappingURL=index.js.map

package/plugin/index.js.map

@@ -0,0 +1 @@
+{"version":3,"file":"index.js","names":[],"sources":["../src/config.ts","../src/association.ts","../src/model.ts","../src/fusion.ts","../src/index.ts"],"sourcesContent":["import { Type, type Static } from 'typebox'\n\n/** Linking faster than this would load the server for no gain. */\nexport const MIN_INTERVAL_S = 1\n\nexport const ConfigSchema = Type.Object({\n  gateDistance: Type.Number({\n    title: 'Match targets within (m)',\n    description:\n      'How far apart a radar or camera target and an AIS position may be and still be linked near own ship. The distance grows by 5% of the range further out, because radar bearing error grows with range.',\n    minimum: 10,\n    default: 200\n  }),\n  interval: Type.Number({ title: 'Link targets every (s)', minimum: MIN_INTERVAL_S, default: 2 })\n})\n\nexport type Config = Static<typeof ConfigSchema>\n\n// The server only uses schema defaults to seed the admin form; start()\n// receives `{}` for a plugin that has never been configured.\nexport const DEFAULTS: Config = {\n  gateDistance: 200,\n  interval: 2\n}\n","/**\n * Decides which targets are the same object.\n *\n * AIS vessels anchor the picture because they carry identity. A radar or\n * camera target joins an AIS vessel when it says so through its MMSI, or when\n * the AIS position, extrapolated to the target's time, lies within a distance\n * gate and the two agree on course and speed. Targets no AIS vessel claims are\n * grouped with each other the same way, so a radar track and a camera\n * detection of one dark boat are still one object.\n *\n * A link, once made, is kept with a wider gate than it took to make it, so a\n * target near the threshold does not split and merge on every evaluation.\n */\n\nexport interface Position {\n  latitude: number\n  longitude: number\n}\n\nexport interface Observation {\n  position: Position\n  courseOverGroundTrue?: number\n  speedOverGround?: number\n  timeMs: number\n}\n\nexport interface AisVessel {\n  /** Vessel context, e.g. `vessels.urn:mrn:imo:mmsi:244060000`. */\n  context: string\n  mmsi: string\n  observation: Observation\n}\n\nexport interface SensorTarget {\n  /** Target context, e.g. `targets.radar:nav1034A-17`. */\n  context: string\n  /** What reported it, so one sensor never contributes two targets to one object. */\n  sensor: string\n  /** MMSI when the sensor itself identified the vessel. */\n  mmsi?: string\n  observation: Observation\n}\n\nexport interface AssociationInput {\n  ownPosition?: Position\n  aisVessels: AisVessel[]\n  targets: SensorTarget[]\n  /** The context each target belonged to last time, by target context. */\n  previous: ReadonlyMap<string, string>\n  /**\n   * Vessel contexts still in the data model, so a target keeps the vessel it\n   * was linked to after that vessel's AIS falls silent.\n   */\n  vessels: ReadonlySet<string>\n  /** Gate radius near own ship (m), covering GPS, antenna offset and timing errors. */\n  minGateM: number\n}\n\n/**\n * Radar bearing error grows with range (1° is 17 m per km), so the gate widens\n * with the target's distance from own ship.\n */\nconst GATE_RANGE_FRACTION = 0.05\n/** An existing link survives until the gap exceeds this multiple of the gate. */\nconst KEEP_GATE_FACTOR = 1.5\n/** Below this speed a course is noise and is not compared. */\nconst COURSE_MIN_SPEED = 1\nconst MAX_COURSE_DIFF = Math.PI / 4\nconst MIN_SPEED_TOLERANCE = 1.5\nconst SPEED_TOLERANCE_FRACTION = 0.5\n\nconst EARTH_RADIUS_M = 6371000\n\ninterface Group {\n  /** The context that names the object: the AIS vessel, or one of its targets. */\n  context: string\n  ais?: AisVessel\n  /** The observation new members are gated against. */\n  reference: Observation\n  members: SensorTarget[]\n  sensors: Set<string>\n}\n\ninterface Candidate {\n  target: SensorTarget\n  group: Group\n  cost: number\n}\n\n/**\n * The context each target belongs to, by target context. A target that names\n * its own group maps to its own context.\n */\nexport function associate(input: AssociationInput): Map<string, string> {\n  const groups: Group[] = input.aisVessels.map((ais) => ({\n    context: ais.context,\n    ais,\n    reference: ais.observation,\n    members: [],\n    sensors: new Set()\n  }))\n\n  const unassigned = assignGreedily(input.targets, groups, input)\n\n  // Targets that named their group last time seed first, so an object keeps\n  // its context while the target that named it is still tracked.\n  const taken = new Set(groups.map((g) => g.context))\n  const remaining = [...unassigned].sort(\n    (a, b) => Number(isSeed(b, input)) - Number(isSeed(a, input))\n  )\n  const darkGroups: Group[] = []\n  for (const target of remaining) {\n    if (assignGreedily([target], darkGroups, input).length > 0) {\n      const context = seedContext(target, input, taken)\n      taken.add(context)\n      darkGroups.push({\n        context,\n        reference: target.observation,\n        members: [target],\n        sensors: new Set([target.sensor])\n      })\n    }\n  }\n\n  const links = new Map<string, string>()\n  for (const group of [...groups, ...darkGroups]) {\n    for (const member of group.members) {\n      links.set(member.context, group.context)\n    }\n  }\n  return links\n}\n\n/** Whether a target named its group last time, itself or as the vessel it kept. */\nfunction isSeed(target: SensorTarget, input: AssociationInput): boolean {\n  const previous = input.previous.get(target.context)\n  return previous === target.context || (previous !== undefined && input.vessels.has(previous))\n}\n\n/**\n * The context a group seeded by this target is named by: the vessel it was\n * linked to while that vessel is still in the data model, otherwise its own.\n */\nfunction seedContext(target: SensorTarget, input: AssociationInput, taken: Set<string>): string {\n  const previous = input.previous.get(target.context)\n  return previous !== undefined && input.vessels.has(previous) && !taken.has(previous)\n    ? previous\n    : target.context\n}\n\n/**\n * Assigns targets to groups cheapest pair first, at most one target per sensor\n * in each group: one sensor does not see the same boat twice. Returns the\n * targets left over.\n */\nfunction assignGreedily(\n  targets: SensorTarget[],\n  groups: Group[],\n  input: AssociationInput\n): SensorTarget[] {\n  const candidates: Candidate[] = []\n  for (const target of targets) {\n    for (const group of groups) {\n      const cost = matchCost(target, group, input)\n      if (cost !== undefined) {\n        candidates.push({ target, group, cost })\n      }\n    }\n  }\n  candidates.sort((a, b) => a.cost - b.cost)\n\n  const assigned = new Set<SensorTarget>()\n  for (const { target, group } of candidates) {\n    if (assigned.has(target) || group.sensors.has(target.sensor)) {\n      continue\n    }\n    group.members.push(target)\n    group.sensors.add(target.sensor)\n    assigned.add(target)\n  }\n  return targets.filter((t) => !assigned.has(t))\n}\n\n/**\n * How well a target fits a group, lower is better, or `undefined` when it\n * cannot belong to it. A matching MMSI beats any geometric match.\n */\nfunction matchCost(\n  target: SensorTarget,\n  group: Group,\n  input: AssociationInput\n): number | undefined {\n  // A target the sensor has identified only joins the AIS vessel with that\n  // MMSI, never one that merely happens to be nearby, and never a group\n  // another sensor identified as a different vessel.\n  if (target.mmsi !== undefined) {\n    if (group.ais) {\n      return target.mmsi === group.ais.mmsi ? -1 : undefined\n    }\n    const groupMmsi = group.members.find((m) => m.mmsi !== undefined)?.mmsi\n    if (groupMmsi !== undefined) {\n      return target.mmsi === groupMmsi ? -1 : undefined\n    }\n  }\n  const { observation } = target\n  const wasLinked = input.previous.get(target.context) === group.context\n  const gate =\n    gateRadius(observation.position, input.minGateM, input.ownPosition) *\n    (wasLinked ? KEEP_GATE_FACTOR : 1)\n  const expected = extrapolate(group.reference, observation.timeMs)\n  const gap = distance(expected, observation.position)\n  if (gap > gate || !motionAgrees(group.reference, observation, wasLinked)) {\n    return undefined\n  }\n  return gap / gate - (wasLinked ? 1 : 0)\n}\n\nfunction gateRadius(position: Position, minGateM: number, ownPosition?: Position): number {\n  if (!ownPosition) {\n    return minGateM\n  }\n  return Math.max(minGateM, distance(position, ownPosition) * GATE_RANGE_FRACTION)\n}\n\nfunction motionAgrees(a: Observation, b: Observation, lenient: boolean): boolean {\n  const factor = lenient ? KEEP_GATE_FACTOR : 1\n  if (a.speedOverGround !== undefined && b.speedOverGround !== undefined) {\n    const tolerance = Math.max(\n      MIN_SPEED_TOLERANCE,\n      SPEED_TOLERANCE_FRACTION * Math.max(a.speedOverGround, b.speedOverGround)\n    )\n    if (Math.abs(a.speedOverGround - b.speedOverGround) > tolerance * factor) {\n      return false\n    }\n    if (\n      a.courseOverGroundTrue !== undefined &&\n      b.courseOverGroundTrue !== undefined &&\n      a.speedOverGround >= COURSE_MIN_SPEED &&\n      b.speedOverGround >= COURSE_MIN_SPEED &&\n      angleBetween(a.courseOverGroundTrue, b.courseOverGroundTrue) > MAX_COURSE_DIFF * factor\n    ) {\n      return false\n    }\n  }\n  return true\n}\n\n/** Dead-reckons an observation to `timeMs` along its course and speed. */\nexport function extrapolate(o: Observation, timeMs: number): Position {\n  if (o.speedOverGround === undefined || o.courseOverGroundTrue === undefined) {\n    return o.position\n  }\n  const run = (o.speedOverGround * (timeMs - o.timeMs)) / 1000\n  const dLat = (run * Math.cos(o.courseOverGroundTrue)) / EARTH_RADIUS_M\n  const dLon =\n    (run * Math.sin(o.courseOverGroundTrue)) /\n    (EARTH_RADIUS_M * Math.cos(toRad(o.position.latitude)))\n  return {\n    latitude: o.position.latitude + toDeg(dLat),\n    longitude: normaliseLongitude(o.position.longitude + toDeg(dLon))\n  }\n}\n\n/** Great-circle distance in metres (haversine). */\nexport function distance(a: Position, b: Position): number {\n  const dLat = toRad(b.latitude - a.latitude)\n  const dLon = toRad(b.longitude - a.longitude)\n  const h =\n    Math.sin(dLat / 2) ** 2 +\n    Math.cos(toRad(a.latitude)) * Math.cos(toRad(b.latitude)) * Math.sin(dLon / 2) ** 2\n  return 2 * EARTH_RADIUS_M * Math.asin(Math.min(1, Math.sqrt(h)))\n}\n\nfunction angleBetween(a: number, b: number): number {\n  const d = Math.abs(a - b) % (2 * Math.PI)\n  return d > Math.PI ? 2 * Math.PI - d : d\n}\n\nfunction normaliseLongitude(lon: number): number {\n  return ((((lon + 180) % 360) + 360) % 360) - 180\n}\n\nconst toRad = (deg: number) => (deg * Math.PI) / 180\nconst toDeg = (rad: number) => (rad * 180) / Math.PI\n","import type { AisVessel, Observation, Position, SensorTarget } from './association.js'\n\n/**\n * AIS vessels whose last position is older than this are not linked to. Class A\n * ships at anchor report every three minutes, so this allows a few misses.\n */\nconst AIS_MAX_AGE_MS = 10 * 60_000\n/** A target its sensor stops updating is left out after this long. */\nexport const TARGET_MAX_AGE_MS = 60_000\n/**\n * Observations stamped further ahead of the clock than this are left out: a\n * future time would keep them fresh until it passed.\n */\nconst MAX_CLOCK_SKEW_MS = 60_000\n/** Motion reported further than this from its position is left out. */\nconst MOTION_MAX_LAG_MS = 60_000\n\nconst MMSI_URN = /^urn:mrn:imo:mmsi:(\\d+)$/\n\ninterface Leaf {\n  value?: unknown\n  timestamp?: string\n  $source?: string\n}\n\n/** The slice of a vessel or target context in the full data model read here. */\nexport interface ContextNode {\n  mmsi?: unknown\n  sameAs?: Leaf\n  navigation?: {\n    position?: Leaf\n    courseOverGroundTrue?: Leaf\n    speedOverGround?: Leaf\n  }\n}\n\nexport type Contexts = Record<string, ContextNode | undefined>\n\n/**\n * Vessels other than self that AIS reports: plugins also publish vessels AIS\n * never saw (buddy boats over the internet, for one), and every AIS station\n * has an MMSI.\n */\nexport function aisVessels(vessels: Contexts, selfId: string, nowMs: number): AisVessel[] {\n  const result: AisVessel[] = []\n  for (const [vesselId, vessel] of Object.entries(vessels)) {\n    if (vesselId === selfId || vesselId === 'self' || !vessel) {\n      continue\n    }\n    const mmsi = typeof vessel.mmsi === 'string' ? vessel.mmsi : MMSI_URN.exec(vesselId)?.[1]\n    const observation = observationOf(vessel, nowMs, AIS_MAX_AGE_MS)\n    if (mmsi && observation) {\n      result.push({ context: `vessels.${vesselId}`, mmsi, observation })\n    }\n  }\n  return result\n}\n\n/** Targets under `targets.*` with a fresh position. */\nexport function sensorTargets(targets: Contexts, nowMs: number): SensorTarget[] {\n  const result: SensorTarget[] = []\n  for (const [id, target] of Object.entries(targets)) {\n    const observation = target && observationOf(target, nowMs, TARGET_MAX_AGE_MS)\n    if (!observation) {\n      continue\n    }\n    result.push({\n      context: `targets.${id}`,\n      sensor: target.navigation?.position?.$source ?? id.split(':')[0] ?? id,\n      ...(typeof target.mmsi === 'string' && { mmsi: target.mmsi }),\n      observation\n    })\n  }\n  return result\n}\n\n/** The `sameAs` each target currently has in the data model, by context. */\nexport function currentLinks(targets: Contexts): Map<string, string | null> {\n  const links = new Map<string, string | null>()\n  for (const [id, target] of Object.entries(targets)) {\n    const value = target?.sameAs?.value\n    links.set(`targets.${id}`, typeof value === 'string' ? value : null)\n  }\n  return links\n}\n\n/**\n * Whether the target's sensor reported its track lost, with a null position.\n * Such a track never resumes, so its id may later name a different object.\n */\nexport function isLost(node: ContextNode | undefined): boolean {\n  return node?.navigation?.position?.value === null\n}\n\nexport function positionOf(node: ContextNode | undefined): Position | undefined {\n  const value = node?.navigation?.position?.value\n  return isPosition(value) ? value : undefined\n}\n\nfunction observationOf(node: ContextNode, nowMs: number, maxAgeMs: number) {\n  const nav = node.navigation\n  const position = positionOf(node)\n  const timeMs = Date.parse(nav?.position?.timestamp ?? '')\n  if (!position || !(nowMs - timeMs <= maxAgeMs) || timeMs - nowMs > MAX_CLOCK_SKEW_MS) {\n    return undefined\n  }\n  const observation: Observation = {\n    position: { latitude: position.latitude, longitude: position.longitude },\n    timeMs\n  }\n  const course = motionAt(nav?.courseOverGroundTrue, timeMs)\n  const speed = motionAt(nav?.speedOverGround, timeMs)\n  if (course !== undefined) {\n    observation.courseOverGroundTrue = course\n  }\n  if (speed !== undefined) {\n    observation.speedOverGround = speed\n  }\n  return observation\n}\n\n/**\n * A motion value, unless it was reported well apart from the position: the\n * position is dead-reckoned with it, so a course from another time would\n * mislead the gate.\n */\nfunction motionAt(leaf: Leaf | undefined, positionMs: number): number | undefined {\n  const timeMs = Date.parse(leaf?.timestamp ?? '')\n  const value = leaf?.value\n  return Math.abs(positionMs - timeMs) <= MOTION_MAX_LAG_MS &&\n    typeof value === 'number' &&\n    Number.isFinite(value)\n    ? value\n    : undefined\n}\n\nfunction isPosition(value: unknown): value is Position {\n  const p = value as Partial<Position> | null | undefined\n  return (\n    typeof p?.latitude === 'number' &&\n    typeof p.longitude === 'number' &&\n    Math.abs(p.latitude) <= 90 &&\n    Math.abs(p.longitude) <= 180\n  )\n}\n","import { associate } from './association.js'\nimport {\n  aisVessels,\n  currentLinks,\n  isLost,\n  positionOf,\n  sensorTargets,\n  type Contexts\n} from './model.js'\n\nexport interface FusionInput {\n  vessels: Contexts\n  targets: Contexts\n  selfId: string\n  nowMs: number\n}\n\n/** `sameAs` changes to publish, by target context; `null` withdraws a link. */\nexport type LinkChanges = Map<string, string | null>\n\n/**\n * Links `targets.*` contexts to the context that names the same object, and\n * says which `sameAs` values have to change in the data model.\n */\nexport class Fusion {\n  /** The context each target belonged to last time, for link hysteresis. */\n  private previous = new Map<string, string>()\n  /** The link this plugin published per target, so stop() withdraws only those. */\n  private readonly linked = new Map<string, string>()\n\n  /** @param minGateM gate radius near own ship (m) */\n  constructor(private readonly minGateM: number) {}\n\n  update({ vessels, targets, selfId, nowMs }: FusionInput): LinkChanges {\n    const groups = associate({\n      ownPosition: positionOf(vessels[selfId]),\n      aisVessels: aisVessels(vessels, selfId, nowMs),\n      targets: sensorTargets(targets, nowMs),\n      previous: this.previous,\n      vessels: new Set(Object.keys(vessels).map((id) => `vessels.${id}`)),\n      minGateM: this.minGateM\n    })\n    this.previous = groups\n\n    const changes: LinkChanges = new Map()\n    for (const [context, current] of currentLinks(targets)) {\n      const group = groups.get(context)\n      // A target without a fresh position keeps its link: consumers already\n      // ignore it, and the link is right again if the track resumes. A lost\n      // track does not resume, so its link goes.\n      if (group === undefined && !isLost(targets[context.slice('targets.'.length)])) {\n        continue\n      }\n      const wanted = group === undefined || group === context ? null : group\n      if (wanted !== current) {\n        changes.set(context, wanted)\n        if (wanted !== null) {\n          this.linked.set(context, wanted)\n        }\n      }\n      if (wanted === null) {\n        this.linked.delete(context)\n      }\n    }\n    return changes\n  }\n\n  /** Withdraws the links this plugin made that nobody has replaced since. */\n  stop(targets: Contexts): LinkChanges {\n    const current = currentLinks(targets)\n    const changes: LinkChanges = new Map()\n    for (const [context, published] of this.linked) {\n      if (current.get(context) === published) {\n        changes.set(context, null)\n      }\n    }\n    this.linked.clear()\n    this.previous = new Map()\n    return changes\n  }\n}\n","import type { Context, Path, Plugin, ServerAPI } from '@signalk/server-api'\nimport { ConfigSchema, DEFAULTS, MIN_INTERVAL_S, type Config } from './config.js'\nimport { Fusion, type LinkChanges } from './fusion.js'\nimport type { Contexts } from './model.js'\n\nconst PLUGIN_ID = 'signalk-target-fusion'\n\nexport default function (app: ServerAPI): Plugin {\n  let timer: ReturnType<typeof setInterval> | undefined\n  let fusion: Fusion | undefined\n\n  function publish(changes: LinkChanges): void {\n    for (const [context, value] of changes) {\n      app.handleMessage(PLUGIN_ID, {\n        context: context as Context,\n        updates: [{ values: [{ path: 'sameAs' as Path, value }] }]\n      })\n    }\n  }\n\n  return {\n    id: PLUGIN_ID,\n    name: 'Target Fusion',\n    description: 'Links radar and camera targets to the AIS vessels they see',\n    schema: () => ConfigSchema,\n\n    start(partial: object) {\n      // The server does not apply schema defaults at runtime.\n      const config: Config = { ...DEFAULTS, ...(partial as Partial<Config>) }\n      const active = new Fusion(config.gateDistance)\n      fusion = active\n      timer = setInterval(\n        () => {\n          // One data-model surprise must not stop linking for good.\n          try {\n            publish(\n              active.update({\n                vessels: (app.getPath('vessels') ?? {}) as Contexts,\n                targets: (app.getPath('targets') ?? {}) as Contexts,\n                selfId: app.selfId,\n                nowMs: Date.now()\n              })\n            )\n          } catch (err) {\n            app.error(`Target fusion failed: ${String(err)}`)\n          }\n        },\n        Math.max(config.interval, MIN_INTERVAL_S) * 1000\n      )\n      app.setPluginStatus('Linking targets to AIS vessels')\n    },\n\n    stop() {\n      clearInterval(timer)\n      timer = undefined\n      if (fusion) {\n        publish(fusion.stop((app.getPath('targets') ?? {}) as Contexts))\n      }\n      fusion = undefined\n    }\n  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