sgslib 0.3.1 → 1.5.0

data/lib/sgs/location.rb

@@ -1,34 +1,41 @@
 #
-# Copyright (c) 2013, Kalopa Research.  All rights reserved.  This is free
-# software; you can redistribute it and/or modify it under the terms of the
-# GNU General Public License as published by the Free Software Foundation;
-# either version 2, or (at your option) any later version.
+# Copyright (c) 2013-2023, Kalopa Robotics Limited.  All rights
+# reserved.
 #
-# It is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
-# for more details.
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License as
+# published by the Free Software Foundation; either version 2 of
+# the License, or (at your option) any later version.
 #
-# You should have received a copy of the GNU General Public License along
-# with this product; see the file COPYING.  If not, write to the Free
-# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
 #
-# THIS SOFTWARE IS PROVIDED BY KALOPA RESEARCH "AS IS" AND ANY EXPRESS OR
-# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
-# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
-# IN NO EVENT SHALL KALOPA RESEARCH BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
-# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+# PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL KALOPA
+# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# ABSTRACT
 #
 
 ##
-# Routines for handling sailboat location and bearings.
+# Routines for handling sailboat location.
 #
-require 'date'
 require 'json'
 
 module SGS
@@ -97,35 +104,19 @@ module SGS
     end
 
     #
-    # Create a new location from a string.
-    # Uses the instance method to parse.
-    def self.parse_str(str)
-      loc = new
-      loc.parse_str(str)
-      loc
-    end
-
-    #
-    # Create a new location from a lat/long string pair
+    # Create a new location from a lat/long hash.
     # Uses the instance method to parse.
-    def self.parse(latstr, longstr)
+    def self.parse(data)
       loc = new
-      loc.parse(latstr, longstr)
+      loc.parse(data)
       loc
     end
 
     #
-    # Parse a lat/long value (in degrees)
-    def parse_str(str)
-      latstr, longstr = str.split(',')
-      parse(latstr, longstr)
-    end
-
-    #
-    # Parse a lat/long value pair (in degrees)
-    def parse(latstr, longstr)
-      @latitude = ll_parse(latstr.split, "NS")
-      @longitude = ll_parse(longstr.split, "EW")
+    # Set the lat/long from a hash.
+    def parse(data)
+      @latitude = ll_parse(data["latitude"], "NS")
+      @longitude = ll_parse(data["longitude"], "EW")
     end
 
     #
@@ -134,6 +125,13 @@ module SGS
       @latitude and @longitude
     end
 
+    #
+    # Convert the lat/long to a hash.
+    def to_hash
+      {"latitude" => ll_to_s(latitude, "NS"),
+        "longitude" => ll_to_s(longitude, "EW")}
+    end
+
     #
     # Display the lat/long as a useful string (in degrees).
     def to_s
@@ -186,8 +184,11 @@ module SGS
 
   private
     #
-    # Parse a string into a lat or long.
-    def ll_parse(args, nsew)
+    # Parse a string into a lat or long. The latitude or longitude string
+    # should be of the format dd mm ss.sssssC (where C is NS or EW). Note
+    # that latitude and longitude are saved internally in radians.
+    def ll_parse(value, nsew)
+      args = value.split
       dir = args[-1].gsub(/[\d\. ]+/, '').upcase
       args.map! {|val| val.to_f}
       val = args.shift
@@ -197,15 +198,22 @@ module SGS
     end
 
     #
-    #
+    # Convert a latitude or longitude into an ASCII string of the form:
+    # dd mm ss.ssssssC (where C is NS or EW). The value should be in
+    # radians.
     def ll_to_s(val, str)
+      val = Bearing.rtod val
       if val < 0.0
         chr = str[1]
         val = -val
       else
         chr = str[0]
       end
-      "%8.6f%c" % [Bearing.rtod(val), chr]
+      deg = val.to_i
+      val = (val - deg.to_f) * 60.0
+      min = val.to_i
+      sec = (val - min.to_f) * 60.0
+      "%d %d %8.6f%c" % [deg, min, sec, chr]
     end
 
     #
@@ -223,113 +231,4 @@ module SGS
       [fmt % [deg, val], ne.chr]
     end
   end
-
-  ##
-  # Class for dealing with the angle/distance vector.
-  #
-  # Note that for convenience, we retain the angle in Radians. The
-  # distance is in nautical miles.
-  class Bearing
-    attr_accessor :distance
-
-    #
-    # Create the Bearing instance.
-    def initialize(angle = 0.0, distance = 0.0)
-      self.angle = angle.to_f
-      self.distance = distance.to_f
-    end
-
-    #
-    # Create a bearing from an angle in degrees.
-    def self.degrees(angle, distance)
-      new(Bearing.dtor(angle), distance)
-    end
-
-    #
-    # Handy function to translate degrees to radians
-    def self.dtor(deg)
-      deg.to_f * Math::PI / 180.0
-    end
-
-    #
-    # Handy function to translate radians to degrees
-    def self.rtod(rad)
-      rad.to_f * 180.0 / Math::PI
-    end
-
-    #
-    # Handy function to re-adjust an angle away from negative
-    def self.absolute(angle)
-      (angle + 2.0 * Math::PI) % (2.0 * Math::PI)
-    end
-
-    #
-    # Another handy function to re-adjust an angle (in degrees) away from
-    # negative.
-    def self.absolute_d(angle)
-      (angle + 360) % 360
-    end
-
-    #
-    # Haversine formula for calculating distance and angle, given two
-    # locations.
-    #
-    # To calculate an angle and distance from two positions:
-    #
-    # This code was derived from formulae on the Movable Type site:
-    # http://www.movable-type.co.uk/scripts/latlong.html
-    #
-    # var d = Math.acos(Math.sin(lat1)*Math.sin(lat2) + 
-    #                  Math.cos(lat1)*Math.cos(lat2) *
-    #                  Math.cos(lon2-lon1)) * R;
-    # var y = Math.sin(dLon) * Math.cos(lat2);
-    # var x = Math.cos(lat1)*Math.sin(lat2) -
-    #         Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
-    # var angle = Math.atan2(y, x).toDeg();
-    def self.compute(loc1, loc2)
-      bearing = new
-      sin_lat1 = Math.sin(loc1.latitude)
-      sin_lat2 = Math.sin(loc2.latitude)
-      cos_lat1 = Math.cos(loc1.latitude)
-      cos_lat2 = Math.cos(loc2.latitude)
-      sin_dlon = Math.sin(loc2.longitude - loc1.longitude)
-      cos_dlon = Math.cos(loc2.longitude - loc1.longitude)
-      bearing.distance = Math.acos(sin_lat1*sin_lat2 + cos_lat1*cos_lat2*cos_dlon) *
-                                SGS::EARTH_RADIUS
-      y = sin_dlon * cos_lat2
-      x = cos_lat1 * sin_lat2 - sin_lat1 * cos_lat2 * cos_dlon
-      bearing.angle = Math.atan2(y, x)
-      bearing
-    end
-
-    #
-    # Set the angle
-    def angle=(angle)
-      @angle = Bearing.absolute(angle)
-    end
-
-    #
-    # Get the angle
-    def angle
-      @angle
-    end
-
-    #
-    # Return the angle (in degrees)
-    def angle_d
-      Bearing.rtod(@angle).to_i
-    end
-
-    #
-    # Get the back-angle (the angle viewed from the opposite end of the line)
-    def back_angle
-      Bearing.absolute(@angle - Math::PI)
-    end
-
-    #
-    # Convert to a string
-    def to_s
-      "BRNG %03dd,%.3fnm" % [angle_d, @distance]
-    end
-  end
 end

data/lib/sgs/logger.rb

@@ -1,96 +1,49 @@
 #
-# Copyright (c) 2013, Kalopa Research.  All rights reserved.  This is free
-# software; you can redistribute it and/or modify it under the terms of the
-# GNU General Public License as published by the Free Software Foundation;
-# either version 2, or (at your option) any later version.
+# Copyright (c) 2013-2023, Kalopa Robotics Limited.  All rights
+# reserved.
 #
-# It is distributed in the hope that it will be useful, but WITHOUT
-# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-# FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License
-# for more details.
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License as
+# published by the Free Software Foundation; either version 2 of
+# the License, or (at your option) any later version.
 #
-# You should have received a copy of the GNU General Public License along
-# with this product; see the file COPYING.  If not, write to the Free
-# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
 #
-# THIS SOFTWARE IS PROVIDED BY KALOPA RESEARCH "AS IS" AND ANY EXPRESS OR
-# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
-# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
-# IN NO EVENT SHALL KALOPA RESEARCH BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
-# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
-# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
+# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
+# PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL KALOPA
+# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
+# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+#
+# ABSTRACT
 #
 
 ##
-# Routines for handling sailboat logging.
+# Routines for handling sailboat navigation and route planning.
 #
-require 'date'
-
 module SGS
-  #
-  # Waypoint, Attractor, and Repellor definitions
   class Logger < RedisBase
-    attr_accessor :watch
-
-    #
-    # Watch names and definitions. The first watch is from 8PM until
-    # midnight (local time), the middle watch is from midnight until
-    # 4AM. The morning watch is from 4AM until 8AM. The forenoon watch
-    # runs from 8AM until noon and the afternoon watch runs from noon
-    # until 4PM. The dog watches run from 4PM until 8PM and around we
-    # go again.
-    #
-    # Logs are sent back to base every four hours (6 per day) starting
-    # at midnight UTC. However, some of the reporting is based on
-    # the watch system rather than UTC. For example, reporting battery
-    # voltage is most useful at the start of the forenoon watch, because
-    # this represents the lowest voltage point after driving the boat all
-    # night. As a result, the watch ID is computed based on the longitude,
-    # which is a rough approximation of the timezone.
-    FIRST_WATCH = 0
-    MIDDLE_WATCH = 1
-    MORNING_WATCH = 2
-    FORENOON_WATCH = 3
-    AFTERNOON_WATCH = 4
-    DOG_WATCH = 5
-    ALARM_REPORT = 7
-
-    WATCH_NAMES = [
-      "First Watch", "Middle Watch", "Morning Watch",
-      "Forenoon Watch", "Afternoon Watch", "Dog Watch",
-      "", "** ALARM REPORT **"
-    ].freeze
-
-    def initialize()
-      @watch = FIRST_WATCH
-    end
-
-    #
-    # Convert the watch ID to a name
-    def watch_name
-      WATCH_NAMES[@watch]
-    end
-
     #
-    # Determine the watch report. This takes account our actual latitude
-    # and the current time. It does a rudimentary timezone conversion and
-    # calculates the watch. Note that what we're calculating here is what
-    # was the previous watch. So any time after 23:45 (local), we'll report
-    # from the First Watch. Right up until 03:45 (local) when we'll start
-    # reporting from the Middle Watch.
-    def determine_watch(longitude)
-      utc = Time.now
-      local_hour = utc.hour + longitude * 12.0 / Math::PI
-      p utc
-      p local_hour
-      local_hour += 24.0 if local_hour < 0.0
-      local_hour -= 24.0 if local_hour >= 24.0
-      @watch = ((local_hour / 4.0) + 0.25).to_i
-      @watch = FIRST_WATCH if @watch == 6
+    # Main daemon function (called from executable)
+    def self.daemon
+      loop do
+        sleep 300
+      end
     end
   end
 end