gpstool 0.1.0

data/README.rdoc

@@ -0,0 +1,17 @@
+= GPSTool
+
+Author::    Samuel Williams (http://www.oriontransfer.co.nz)
+Copyright:: Copyright (c) 2011 Samuel Williams
+License::   MIT
+
+GPSTool provides infrastructure to read data from physical GPS devices or files, filter and output data in a variety of different formats. As part of this it also provides a variety of classes for dealing with GPS data
+
+== Device Support
+
+* RBT-2300
+
+== File Format Support
+
+* CSV
+* GPX
+* KML

data/bin/gps-import-rbt-2300

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+#!/usr/bin/env ruby
+
+require 'time'
+
+require 'gpstool'
+require 'gpstool/devices/rbt-2300'
+
+RBT = GPSTool::Devices::RBT2300
+
+$stdout.sync = true
+
+def progress(s, f, p)
+	return unless OPTIONS[:ShowProgress]
+	f = 1.0 if f > 1.0
+	puts "#{(s.to_f + (f.to_f * p.to_f)).to_i}%"
+end
+
+R2D = 180.0 / Math::PI
+
+require 'optparse'
+
+OPTIONS = {
+	:DevicePath => nil,
+	:OneLog => false,
+	:DestinationPath => "./",
+	:Erase => false,
+	:ShowProgress => false
+}
+
+ARGV.options do |o|
+	script_name = File.basename($0)
+
+	o.set_summary_indent('  ')
+	o.banner = "Usage: #{script_name} [options]"
+	o.define_head "This script is used to download data from RBT-2300 via Bluetooth."
+
+	o.on("-d /dev/path", "Set the device path.") { |path| OPTIONS[:DevicePath] = path }
+	o.on("-o /path/", "Set the output directory.") { |path| OPTIONS[:DestinationPath] = path }
+	o.on("-c", "Combine all output into one log.") { OPTIONS[:OneLog] = true }
+
+	o.on("--progress", "Show percentage progress to stdout.") { OPTIONS[:ShowProgress] = true }
+
+	o.on("-e", "Erase device. Don't do anything else.") { OPTIONS[:Erase] = true }
+
+	o
+end.parse!
+
+puts "Opening device..."
+progress(5, 0, 0)
+
+if OPTIONS[:DevicePath] == nil or !File.exists?(OPTIONS[:DevicePath])
+	puts "Cannot open file device: #{OPTIONS[:DevicePath] || 'unspecified'}"
+	exit 1
+end
+
+begin
+	$dev = GPSTool::Device.open(OPTIONS[:DevicePath], :message_class => RBT::Message)
+rescue
+	STDERR.puts "Error! Could not open device: #{$!}"
+	exit 5
+end
+
+STTY = "/bin/stty"
+#system(STTY, "-f", OPTIONS[:DevicePath], "230400"); 
+system(STTY, "-f", OPTIONS[:DevicePath], "57600")
+#system(STTY, "-a", "-f", OPTIONS[:DevicePath])
+
+if (OPTIONS[:Erase])
+	$dev.send_message("PROY109,-1")
+	sleep 5
+	exit 0
+end
+
+$dev.send_message("PROY103,1,0")
+$dev.send_message("PROY108")
+
+$files = 0
+
+$dev.read_message do |msg|
+	if msg.name == "LOG108"
+		$files = msg[:files].to_i
+		puts "#{msg[:files]} log files available..."
+		false
+	else
+		true
+	end
+end
+
+$logs = []
+
+(0...$files).each do |a|
+	progress(5, a.to_f / $files.to_f, 5)
+
+	$dev.send_message("PROY101,#{a}")
+
+	$dev.read_message do |msg|
+		if msg.name == "LOG101"
+			$logs << [a, msg]
+			false
+		else
+			true
+		end
+	end
+end
+
+$total = 0
+$count = 0
+
+$logs.each do |idx,log|
+	date = RBT::parse_date(log)
+	puts "#{idx}: (#{date.to_s}) #{log[:frames]} frames logged in memory (@#{log[:pointer]})"
+	$total += log[:frames].to_i
+end
+
+$retrieved = []
+
+start_time = Time.now
+max = 20
+
+$logs.each do |idx,log|
+	#log_file = "rbt-#{log[:date]}-#{idx}.csv"
+
+	#if File.exists? log_file
+	#  puts "File #{log_file} already exists - skipping data download"
+	#  next
+	#end
+
+	$dev.send_message("PROY101,#{idx}")
+
+	frame_sz = RBT::frame_size(log[:mode].to_i)
+	frames_pp = RBT::frames_per_packet(log[:mode].to_i)
+
+	data_buckets = RBT::DataBuckets.new(log[:frames].to_i, frame_sz)
+
+	start = log[:pointer].to_i
+
+	# puts "Frame size: #{frame_sz} bytes"
+
+	while true
+		fetch_start = data_buckets.first_missing_bucket
+		break if fetch_start == nil
+
+		fetch_cnt = data_buckets.missing_buckets(fetch_start)
+		fetch_cnt = fetch_cnt > max ? max : fetch_cnt
+
+		mem_offset = start + fetch_start * frame_sz
+
+		puts "Fetching #{fetch_cnt} frames starting from #{fetch_start} (@#{mem_offset})..."
+		
+		# $dev.clear_io
+		
+		$dev.send_message("PROY102,#{mem_offset},#{log[:mode]},#{fetch_cnt}")
+		
+		packets_cnt = RBT::estimate_packet_count(frame_sz, fetch_cnt)
+		packets = []
+		
+		begin
+			$dev.read_message do |msg|
+				if msg.name == "LOG102" && msg[:data] != nil
+					# We got a useful message
+					header, data = RBT::read_log_data(msg[:data])
+
+					if header[2] != nil and data != nil
+						if packets.include? header[0]
+							STDERR.puts "*** WARNING, DATA IS MOST LIKELY CORRUPT, PLEASE DISCARD RESULTS AND RE-RUN!!!"
+							exit 1
+						end
+
+						packets << header[0]
+						puts "Packets = #{packets.inspect}"
+
+						data_offset = fetch_start + (header[0] * frames_pp)
+
+						puts "Received #{frames_pp} frames at offset @#{data_offset}..."
+
+						$count += data_buckets.append_data(data_offset, data)
+						progress(10, $count.to_f / $total.to_f, 90)
+					end
+
+					# puts "Headers: #{packets.inspect} - #{packets.size} / #{packets_cnt}"
+					packets.size < packets_cnt and packets[-1] != (packets_cnt-1)
+				else
+					true
+				end
+			end
+		rescue GPSTool::InvalidChecksumError
+			$stderr.puts $!
+		end
+	end
+
+	puts "Fetched all frames for log #{log[:date]}."
+
+	# puts data_buckets.data.inspect
+	# puts data_buckets.buckets.inspect
+
+	# idx = Dir["dump-*.raw"].size
+	# dump_name = "dump-#{idx.to_s.rjust(3, '0')}.raw"
+	# f = File.open(dump_name, "w")
+	# f.write(data_buckets.data)
+	# f.close
+
+	$retrieved << [log, data_buckets.data]
+end
+
+EXT = ".unicsv"
+def create_unicsv(log_name, ext = EXT)
+	i = 0
+	path = nil
+	begin
+		path = File.join(OPTIONS[:DestinationPath], log_name + (i == 0 ? "" : "-#{i}") + ext)
+		i += 1
+	end while File.exists?(path)
+
+	puts "FILE #{path}"
+
+	output = File.open(path, "w")
+	output.puts ["lat", "lon", "alt", "speed", "date", "time"].join(",")
+
+	return output
+end
+
+$count = 0
+
+if $retrieved.size > 0
+	output = nil
+
+	if OPTIONS[:OneLog] == true
+		start_date = RBT::parse_date($retrieved.first[0])
+		end_date = RBT::parse_date($retrieved.last[0])
+		log_name = "rbt-combined-#{start_date}-#{end_date}"
+		output = create_unicsv(log_name)
+	end
+
+	$retrieved.each do |log, data|
+		date = RBT::parse_date(log)
+
+		log_name = "rbt-#{date}" unless OPTIONS[:OneLog]
+
+		puts "Writing log #{log[:date]} to CSV #{log_name}..."
+
+		parser = RBT::DataParser.new(log[:mode])
+		parser.append_data(data)
+
+		unless OPTIONS[:OneLog]
+			output = create_unicsv(log_name)
+		end
+
+		parser.frames.each do |f|
+			alt = f[1].size >= 3 ? f[1][2] : nil
+			spd = f[1].size >= 4 ? f[1][3] : nil
+
+			if (f[0][1] >= 24 or f[0][2] >= 60 or f[0][3] >= 60)
+				STDERR.puts "Corruption detected in data... please retry download!"
+				exit 2
+			end
+
+			$count += 1
+			output.puts [f[1][0]*R2D, f[1][1]*R2D, alt, spd, "#{date.year}/#{date.month}/#{date.day}", "#{f[0][1]}:#{f[0][2]}:#{f[0][3]}"].join(",")
+		end
+	end
+
+	output.close unless OPTIONS[:OneLog]
+end
+
+end_time = Time.now
+
+puts "#{sprintf('%.3f', end_time - start_time)} seconds to download #{$count} records. #{$dev.errors} error(s)."
+
+$dev.close

data/lib/gpstool.rb

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+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+require 'gpstool/world-point'
+require 'gpstool/message'
+
+module GPSTool
+	
+end
+

data/lib/gpstool/device.rb

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+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+module GPSTool
+	class Device
+		def self.open(path, options = {})
+			return self.new(File.open(path, "rb+"), options)
+		end
+		
+		def initialize(io, options = {})
+			@io = io
+			@errors = 0
+			
+			@options = options
+		end
+		
+		attr :io
+		attr :errors
+		
+		def close
+			@io.close
+		end
+		
+		def clear_io
+			# Consume any pre-existing data
+			pipes = nil
+			while (pipes = IO.select([@io], [], [], 0.1))
+				puts pipes.inspect
+				
+				buf = @io.read_nonblock(1024)
+				$stderr.puts "(clear) -> " + buf.dump
+			end
+		end
+		
+		def send_message(message)
+			unless Message === message
+				message = Message.parse(message)
+			end
+			
+			$stderr.puts "(write) <- " + message.to_s.dump
+			@io.write(message.to_s + "\r\n")
+		end
+		
+		def read_message(&block)
+			message_class = @options[:message_class] || Message
+			
+			while true
+				begin
+					message = message_class.read(@io, @options)
+					
+					return unless yield message
+				rescue
+					@errors += 1
+					
+					raise
+				end
+			end
+		end
+	end
+end

data/lib/gpstool/devices/rbt-2300.rb

@@ -0,0 +1,100 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+require 'gpstool/device'
+require 'gpstool/devices/rbt-2300/data-buckets'
+require 'gpstool/devices/rbt-2300/data-parser'
+
+require 'date'
+
+module GPSTool
+	module Devices
+		module RBT2300
+			class Message < ::GPSTool::Message
+				@@messages = {
+					"LOG101" => [:date, :mode, :frames, :pointer],
+					"LOG102" => [:data],
+					"LOG108" => [:mode, nil, nil, :overwrite, nil, :rate, nil, :files, nil]
+				}
+				
+				def self.read_body(io, name, options)
+					if (name == "LOG102")
+						buffer = '$' + name
+						buffer += io.readbytes(1)
+						
+						header_data = io.readbytes(3)
+						buffer += header_data
+						
+						if header_data[0,2] == "0*"
+							# This is sometimes a response when
+							# an invalid segment is requested
+							buffer += io.gets
+							
+							self.validate(buffer)
+							
+							return self.new([name, nil])
+						else
+							header = header_data.unpack("CCC")
+						
+							# Frame count is in bytes
+							data_size = header[2]
+							data = io.readbytes(data_size)
+						
+							buffer += data
+							buffer += io.gets
+						
+							# Check that the data was correct
+							self.validate(buffer)
+						
+							return self.new([name, header_data + data])
+						end
+					else
+						return super(io, name, options)
+					end
+				end
+			end
+			
+			MAX_PACKET_SIZE = 0xF0
+
+			def self.parse_date(log)
+				log[:date].match(/([0-9]{4})([0-9]{2})([0-9]{2})/)
+				date = Date.civil($1.to_i, $2.to_i, $3.to_i)
+
+				return date
+			end
+
+			def self.update_config(update_time, mode)
+				update_time = update_time.to_i
+
+				if update_time < 1 or update_time > 60
+					raise ArgumentError.new("Update time must be between 1-60 inclusive.")
+				end
+
+				mode = mode.to_i
+
+				if mode < 0 || mode > 3
+					raise ArgumentError.new("Mode must be one of 0, 1, 2.")
+				end
+
+				a = 0
+				b = update_time.to_i
+				c = mode
+				d = 0
+
+				return Message.parse("PROY104,#{a},#{b},#{c},#{d}")
+			end
+
+			def self.read_log_data(data)
+				header = data[0..3].unpack("CCC")
+				data = data[3..-1]
+
+				return header, data
+			end
+
+			def self.estimate_packet_count(frame_sz, count)
+				((frame_sz * count).to_f / MAX_PACKET_SIZE).ceil.to_i
+			end
+		end
+	end
+end

data/lib/gpstool/devices/rbt-2300/data-buckets.rb

@@ -0,0 +1,74 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+module GPSTool
+	module Devices
+		module RBT2300
+			
+			class DataBuckets
+				def initialize(expected_frames, frame_size)
+					@expected_frames = expected_frames
+					@frame_size = frame_size
+
+					@data = "\0" * (@expected_frames * @frame_size)
+					@buckets = [nil] * @expected_frames
+
+					@progress = 0
+				end
+
+				attr :data
+				attr :buckets
+				attr :progress
+
+				def append_data(frame_offset, data)
+					frames_read = data.size / @frame_size
+					@progress += frames_read
+
+					@buckets[frame_offset] = frames_read
+
+					mem_offset = frame_offset * @frame_size
+					@data[mem_offset,data.size] = data
+
+					return frames_read
+				end
+
+				def first_missing_bucket
+					k = 0
+
+					while k < @buckets.size
+						c = @buckets[k]
+
+						if c == nil
+							return k
+						elsif c > 0
+							k += c
+						else
+							# $stderr.puts "Error finding missing bucket: #{@buckets.inspect}, #{k}, #{c}"
+							k += 1
+						end
+					end
+
+					if k == @buckets.size
+						return nil
+					else
+						return k
+					end
+				end
+
+				def missing_buckets(start)
+					return nil if start == nil
+
+					k = start
+
+					while k < @buckets.size and @buckets[k] == nil
+						k += 1
+					end
+
+					return k - start
+				end
+			end
+			
+		end
+	end
+end

data/lib/gpstool/devices/rbt-2300/data-parser.rb

@@ -0,0 +1,55 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+module GPSTool
+	module Devices
+		module RBT2300
+			def self.floats_for_format(format)
+				return 2 + format.to_i
+			end
+
+			def self.frame_size(format)
+				# HEADER(4 bytes) + (sizeof(float) * count)
+				return 4 + (floats_for_format(format) * 4)
+			end
+
+			def self.frames_per_packet(format)
+				return 240 / frame_size(format)
+			end
+			
+			class DataParser
+				def initialize(format = 0)
+					@frames = []
+					@floats = RBT2300::floats_for_format(format)
+				end
+
+				attr :frames
+
+				def append_data(datas)
+					sz = 4 + (@floats * 4)
+
+					while datas.size >= sz
+						# Pop buf off the front
+						buf = datas[0...sz]
+						datas = datas[sz..-1]
+
+						#puts "Inspecting data: #{buf.inspect}"
+
+						# Extract Date
+						date = buf.unpack("CCCC")
+						#puts "Extracted date: #{date.inspect}"
+						bufo = buf[4..-1]
+
+						# We need to extract IEEE floats
+						buf = bufo.unpack("C*").reverse.pack("C*")
+						numbers = buf.unpack("g" * @floats).reverse
+
+						@frames << [date, numbers]
+					end
+				end
+			end
+
+		end
+	end
+end

data/lib/gpstool/extensions/debug_io.rb

@@ -0,0 +1,45 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+class DebugIO
+	def initialize(io)
+		@io = io
+	end
+	
+	def readbytes(count)
+		buffer = @io.readbytes(count)
+	
+		$stderr.puts "(readbytes) -> " + buffer.dump
+	
+		return buffer
+	end
+
+	def read(count)
+		buffer = @io.read(count)
+	
+		$stderr.puts "(read) -> " + buffer.dump
+	
+		return buffer
+	end
+
+	def gets(eol = "\r\n")
+		buffer = @io.gets(eol)
+	
+		$stderr.puts "(gets) -> " + buffer.dump
+	
+		return buffer
+	end
+
+	def getc
+		char = @io.getc
+	
+		$stderr.puts "(getc) -> " + char.chr
+	
+		return char
+	end
+
+	def ungetc(c)
+		@io.ungetc(c)
+	end
+end

data/lib/gpstool/extensions/io.rb

@@ -0,0 +1,21 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+class IO
+	def readbytes(length)
+		buffer = ""
+		
+		while buffer.size < length
+			begin
+				buffer += read(length - buffer.size)
+				$stderr.puts "(*readbytes) -> #{buffer.dump}"
+			rescue Errno::EAGAIN
+				IO.select([self], [], [])
+				retry
+			end
+		end
+		
+		return buffer
+	end
+end

data/lib/gpstool/extensions/numeric.rb

@@ -0,0 +1,9 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+class Numeric
+	def to_radians
+		self.to_f / 180.0 * Math::PI
+	end
+end

data/lib/gpstool/filters/distance.rb

@@ -0,0 +1,35 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+module GPSTool
+	module Filters
+		module Distance
+			def self.filter_points(points, options)
+				filtered_points = []
+				i = 0
+				
+				while i < points.size
+					current = points[i]
+					
+					filtered_points << current
+					
+					j = i + 1
+					
+					while j < points.size
+						step = points[j]
+						distance = current.distanceTo(step)
+						
+						break if distance < options[:distance]
+						
+						j += 1
+					end
+					
+					i = j
+				end
+				
+				return filtered_points
+			end
+		end
+	end
+end

data/lib/gpstool/filters/velocity.rb

@@ -0,0 +1,35 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+module GPSTool
+	module Filters
+		module Velocity
+			def self.filter_points(points, options)
+				filtered_points = []
+				i = 0
+				
+				while i < points.size
+					current = points[i]
+					
+					filtered_points << current
+					
+					j = i + 1
+					
+					while j < points.size
+						step = points[j]
+						speed = current.averageSpeedTo(step)
+						
+						break if speed < options[:speed]
+						
+						j += 1
+					end
+					
+					i = j
+				end
+				
+				return filtered_points
+			end
+		end
+	end
+end

data/lib/gpstool/formats/csv.rb

@@ -0,0 +1,3 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.

data/lib/gpstool/formats/gpx.rb

@@ -0,0 +1,3 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.

data/lib/gpstool/formats/kml.rb

@@ -0,0 +1,3 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.

data/lib/gpstool/message.rb

@@ -0,0 +1,145 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+require 'gpstool/extensions/io'
+
+module GPSTool
+	class InvalidChecksumError < StandardError
+		def initialize(data, sum)
+			@data = data
+			@sum = sum
+		end
+		
+		attr :data
+		attr :sum
+		
+		def to_s
+			"Invalid Checksum: #{data.dump}*#{sum}, should be #{Message.checksum_hex(data)}"
+		end
+	end
+	
+	class Message
+		@@messages = {}
+		
+		def self.checksum(data)
+			sum = 0
+			
+			data.size.times do |i|
+				sum = sum ^ data[i]
+			end
+			
+			return sum
+		end
+		
+		def self.checksum_hex(body)
+			sprintf("%X", checksum(body).to_i).rjust(2, "0")
+		end
+		
+		# This function performs validation and normalisation on the input data.
+		def self.validate(data)
+			data.strip!
+			
+			data = data[1..-1] if data[0,1] == "$"
+			sum = nil
+			
+			if data[-3,1] == "*"
+				sum = data[-2,2]
+				data = data[0..-4]
+				
+				if checksum_hex(data) != sum
+					raise InvalidChecksumError.new(data, sum)
+				end
+			end
+			
+			return data
+		end
+		
+		def self.parse(data)
+			data = self.validate(data)
+			
+			return self.new(data)
+		end
+		
+		def self.read_body(io, name, options)
+			return self.parse('$' + name + io.gets)
+		end
+		
+		def self.read(io, options = {})
+			# Try to synchronise to the start message boundary
+			while io.readbytes(1) != '$'
+			end
+
+			name = ''
+			while true
+				c = io.readbytes(1)
+				
+				if c == ',' || c == '*'
+					io.ungetc(c[0])
+					return self.read_body(io, name, options)
+				end
+
+				name += c
+			end
+		end
+		
+		def initialize(body)
+			if Array === body
+				@name = body.shift
+				@parts = body
+			else
+				@name, @parts = body.split(",", 2)
+			
+				if @parts
+					if structure == nil
+						@parts = @parts.split(",")
+					elsif structure.size > 1
+						@parts = @parts.split(",", structure.size)
+					else
+						@parts = [@parts]
+					end
+				else
+					@parts = []
+				end
+			end
+		end
+		
+		attr :parts
+		attr :name
+		
+		def structure
+			messages = self.class.class_eval('@@messages')
+			messages[@name]
+		end
+
+		def to_hash
+			result = {}
+			structure.each_with_index do |n,i|
+				result[n] = @parts[i] if n
+			end
+		end
+
+		def [](key)
+			if structure
+				offset = structure.index(key)
+				return @parts[offset]
+			end
+
+			return nil
+		end
+		
+		def to_s
+			body = nil
+			
+			if @parts.length > 0
+				body = "#{@name},#{@parts.join(',')}"
+			else
+				body = @name
+			end
+			
+			sum = self.class.checksum_hex(body)
+			
+			return "$#{body}*#{sum}"
+		end
+	end
+end

data/lib/gpstool/version.rb

@@ -0,0 +1,13 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+module GPSTool
+  module VERSION #:nodoc:
+    MAJOR = 0
+    MINOR = 1
+    TINY  = 0
+
+    STRING = [MAJOR, MINOR, TINY].join('.')
+  end
+end

data/lib/gpstool/world-point.rb

@@ -0,0 +1,47 @@
+# This file is part of the "GPSTool" project, and is distributed under the MIT License.
+# Copyright (c) 2011 Samuel G. D. Williams. <http://www.oriontransfer.co.nz>
+# See <LICENSE.txt> for licensing details.
+
+require 'gpstool/extensions/numeric'
+
+module GPSTool
+	class WorldPoint
+		EARTH_RADIUS = 6371
+	
+		def initialize(datetime, latitude, longitude, altitude = EARTH_RADIUS)
+			@datetime = datetime
+			@latitude = latitude
+			@longitude = longitude
+			@altitude = altitude
+		end
+	
+		attr :latitude
+		attr :longitude
+		attr :altitude
+		attr :datetime
+	
+		def distanceTo(other)
+			dLat = (other.latitude - self.latitude).to_radians
+			dLon = (other.longitude - self.longitude).to_radians
+		
+			a = Math.sin(dLat/2) * Math.sin(dLat/2) +
+				Math.cos(self.latitude.to_radians) * Math.cos(other.latitude.to_radians) * 
+				Math.sin(dLon/2) * Math.sin(dLon/2)
+		
+			c = 2 * Math.atan2(Math.sqrt(a), Math.sqrt(1-a))
+		
+			d = EARTH_RADIUS * c
+		end
+	
+		def averageSpeedTo(other)
+			# In Km
+			distance = self.distanceTo(other)
+		
+			# In hours
+			duration = (other.datetime - @datetime) * 24
+		
+			# In Km/hr
+			return distance / duration
+		end
+	end
+end

metadata

@@ -0,0 +1,85 @@
+--- !ruby/object:Gem::Specification 
+name: gpstool
+version: !ruby/object:Gem::Version 
+  hash: 27
+  prerelease: 
+  segments: 
+  - 0
+  - 1
+  - 0
+  version: 0.1.0
+platform: ruby
+authors: 
+- Samuel Williams
+autorequire: 
+bindir: bin
+cert_chain: []
+
+date: 2011-05-24 00:00:00 +12:00
+default_executable: gps-import-rbt-2300
+dependencies: []
+
+description: 
+email: 
+executables: 
+- gps-import-rbt-2300
+extensions: []
+
+extra_rdoc_files: 
+- README.rdoc
+files: 
+- lib/gpstool/device.rb
+- lib/gpstool/devices/rbt-2300/data-buckets.rb
+- lib/gpstool/devices/rbt-2300/data-parser.rb
+- lib/gpstool/devices/rbt-2300.rb
+- lib/gpstool/extensions/debug_io.rb
+- lib/gpstool/extensions/io.rb
+- lib/gpstool/extensions/numeric.rb
+- lib/gpstool/filters/distance.rb
+- lib/gpstool/filters/velocity.rb
+- lib/gpstool/formats/csv.rb
+- lib/gpstool/formats/gpx.rb
+- lib/gpstool/formats/kml.rb
+- lib/gpstool/message.rb
+- lib/gpstool/version.rb
+- lib/gpstool/world-point.rb
+- lib/gpstool.rb
+- bin/gps-import-rbt-2300
+- README.rdoc
+has_rdoc: true
+homepage: http://www.oriontransfer.co.nz/projects/GPSTool
+licenses: []
+
+post_install_message: 
+rdoc_options: 
+- --main
+- README.rdoc
+require_paths: 
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement 
+  none: false
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      hash: 3
+      segments: 
+      - 0
+      version: "0"
+required_rubygems_version: !ruby/object:Gem::Requirement 
+  none: false
+  requirements: 
+  - - ">="
+    - !ruby/object:Gem::Version 
+      hash: 3
+      segments: 
+      - 0
+      version: "0"
+requirements: []
+
+rubyforge_project: 
+rubygems_version: 1.6.2
+signing_key: 
+specification_version: 3
+summary: A framework for processing GPS data.
+test_files: []
+