sgslib 0.4.0 → 1.5.0
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- checksums.yaml +4 -4
- data/LICENSE +24 -17
- data/README.md +43 -7
- data/Rakefile +2 -2
- data/bin/console +34 -1
- data/exe/sgs_alarm +41 -0
- data/exe/sgs_diag +41 -0
- data/exe/sgs_gpsread +42 -0
- data/exe/sgs_logger +45 -0
- data/exe/sgs_mission +45 -0
- data/exe/sgs_nav +43 -0
- data/exe/sgs_otto +46 -0
- data/exe/sgs_report +44 -0
- data/lib/sgs/alarm.rb +55 -23
- data/lib/sgs/bearing.rb +150 -0
- data/lib/sgs/config.rb +35 -24
- data/lib/sgs/course.rb +29 -24
- data/lib/sgs/diagnostics.rb +49 -0
- data/lib/sgs/gps.rb +37 -21
- data/lib/sgs/location.rb +58 -159
- data/lib/sgs/logger.rb +35 -82
- data/lib/sgs/mission.rb +96 -173
- data/lib/sgs/mission_status.rb +128 -0
- data/lib/sgs/navigate.rb +37 -21
- data/lib/sgs/nmea.rb +32 -22
- data/lib/sgs/otto.rb +37 -21
- data/lib/sgs/redis_base.rb +32 -24
- data/lib/sgs/report.rb +49 -0
- data/lib/sgs/rpc.rb +29 -21
- data/lib/sgs/timing.rb +32 -24
- data/lib/sgs/version.rb +35 -1
- data/lib/sgs/waypoint.rb +69 -33
- data/lib/sgslib.rb +40 -24
- data/sgslib.gemspec +13 -5
- metadata +47 -19
- data/.gitignore +0 -9
- data/.rspec +0 -2
- data/.travis.yml +0 -4
- data/CODE_OF_CONDUCT.md +0 -49
- data/bin/setup +0 -8
data/lib/sgs/location.rb
CHANGED
@@ -1,34 +1,41 @@
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#
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# Copyright (c) 2013, Kalopa
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#
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# GNU General Public License as published by the Free Software Foundation;
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# either version 2, or (at your option) any later version.
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# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
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# reserved.
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# This program is free software; you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as
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# published by the Free Software Foundation; either version 2 of
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# the License, or (at your option) any later version.
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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# You should have received a copy of the GNU General Public License
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# along with this program; if not, write to the Free Software
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# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
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# 02110-1301, USA.
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#
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# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
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# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
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# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#
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# ABSTRACT
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#
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##
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# Routines for handling sailboat location
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# Routines for handling sailboat location.
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#
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require 'date'
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require 'json'
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module SGS
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@@ -97,35 +104,19 @@ module SGS
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end
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#
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# Create a new location from a
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# Uses the instance method to parse.
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def self.parse_str(str)
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loc = new
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loc.parse_str(str)
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loc
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end
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#
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# Create a new location from a lat/long string pair
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# Create a new location from a lat/long hash.
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# Uses the instance method to parse.
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def self.parse(
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def self.parse(data)
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loc = new
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loc.parse(
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loc.parse(data)
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loc
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end
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#
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#
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def
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end
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#
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# Parse a lat/long value pair (in degrees)
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def parse(latstr, longstr)
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@latitude = ll_parse(latstr.split, "NS")
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@longitude = ll_parse(longstr.split, "EW")
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# Set the lat/long from a hash.
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def parse(data)
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@latitude = ll_parse(data["latitude"], "NS")
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@longitude = ll_parse(data["longitude"], "EW")
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end
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#
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@latitude and @longitude
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end
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#
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# Convert the lat/long to a hash.
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def to_hash
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{"latitude" => ll_to_s(latitude, "NS"),
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"longitude" => ll_to_s(longitude, "EW")}
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end
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#
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# Display the lat/long as a useful string (in degrees).
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def to_s
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private
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#
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# Parse a string into a lat or long.
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-
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# Parse a string into a lat or long. The latitude or longitude string
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# should be of the format dd mm ss.sssssC (where C is NS or EW). Note
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# that latitude and longitude are saved internally in radians.
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def ll_parse(value, nsew)
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args = value.split
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dir = args[-1].gsub(/[\d\. ]+/, '').upcase
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args.map! {|val| val.to_f}
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val = args.shift
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end
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#
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#
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# Convert a latitude or longitude into an ASCII string of the form:
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# dd mm ss.ssssssC (where C is NS or EW). The value should be in
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# radians.
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def ll_to_s(val, str)
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val = Bearing.rtod val
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if val < 0.0
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chr = str[1]
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val = -val
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else
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chr = str[0]
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end
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-
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deg = val.to_i
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val = (val - deg.to_f) * 60.0
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min = val.to_i
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sec = (val - min.to_f) * 60.0
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"%d %d %8.6f%c" % [deg, min, sec, chr]
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end
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#
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[fmt % [deg, val], ne.chr]
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end
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end
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##
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# Class for dealing with the angle/distance vector.
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#
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# Note that for convenience, we retain the angle in Radians. The
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# distance is in nautical miles.
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class Bearing
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attr_accessor :distance
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#
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# Create the Bearing instance.
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def initialize(angle = 0.0, distance = 0.0)
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self.angle = angle.to_f
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self.distance = distance.to_f
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end
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#
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# Create a bearing from an angle in degrees.
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def self.degrees(angle, distance)
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new(Bearing.dtor(angle), distance)
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end
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#
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# Handy function to translate degrees to radians
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def self.dtor(deg)
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deg.to_f * Math::PI / 180.0
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end
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#
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# Handy function to translate radians to degrees
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def self.rtod(rad)
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rad.to_f * 180.0 / Math::PI
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end
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#
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# Handy function to re-adjust an angle away from negative
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def self.absolute(angle)
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(angle + 2.0 * Math::PI) % (2.0 * Math::PI)
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end
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#
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# Another handy function to re-adjust an angle (in degrees) away from
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# negative.
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def self.absolute_d(angle)
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(angle + 360) % 360
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end
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#
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# Haversine formula for calculating distance and angle, given two
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# locations.
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#
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# To calculate an angle and distance from two positions:
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#
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# This code was derived from formulae on the Movable Type site:
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# http://www.movable-type.co.uk/scripts/latlong.html
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#
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# var d = Math.acos(Math.sin(lat1)*Math.sin(lat2) +
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# Math.cos(lat1)*Math.cos(lat2) *
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# Math.cos(lon2-lon1)) * R;
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# var y = Math.sin(dLon) * Math.cos(lat2);
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# var x = Math.cos(lat1)*Math.sin(lat2) -
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# Math.sin(lat1)*Math.cos(lat2)*Math.cos(dLon);
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# var angle = Math.atan2(y, x).toDeg();
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def self.compute(loc1, loc2)
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bearing = new
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sin_lat1 = Math.sin(loc1.latitude)
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sin_lat2 = Math.sin(loc2.latitude)
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cos_lat1 = Math.cos(loc1.latitude)
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cos_lat2 = Math.cos(loc2.latitude)
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sin_dlon = Math.sin(loc2.longitude - loc1.longitude)
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cos_dlon = Math.cos(loc2.longitude - loc1.longitude)
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bearing.distance = Math.acos(sin_lat1*sin_lat2 + cos_lat1*cos_lat2*cos_dlon) *
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SGS::EARTH_RADIUS
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y = sin_dlon * cos_lat2
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x = cos_lat1 * sin_lat2 - sin_lat1 * cos_lat2 * cos_dlon
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bearing.angle = Math.atan2(y, x)
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bearing
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end
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#
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# Set the angle
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def angle=(angle)
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@angle = Bearing.absolute(angle)
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end
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#
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# Get the angle
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def angle
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@angle
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end
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#
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# Return the angle (in degrees)
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def angle_d
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Bearing.rtod(@angle).to_i
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end
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#
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# Get the back-angle (the angle viewed from the opposite end of the line)
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def back_angle
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Bearing.absolute(@angle - Math::PI)
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end
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#
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# Convert to a string
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def to_s
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"BRNG %03dd,%.3fnm" % [angle_d, @distance]
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end
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end
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end
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data/lib/sgs/logger.rb
CHANGED
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#
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# Copyright (c) 2013, Kalopa
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#
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# GNU General Public License as published by the Free Software Foundation;
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# either version 2, or (at your option) any later version.
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# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
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# reserved.
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# This program is free software; you can redistribute it and/or
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# modify it under the terms of the GNU General Public License as
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# published by the Free Software Foundation; either version 2 of
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# the License, or (at your option) any later version.
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# This program is distributed in the hope that it will be useful,
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# but WITHOUT ANY WARRANTY; without even the implied warranty of
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# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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# GNU General Public License for more details.
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# You should have received a copy of the GNU General Public License
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# along with this program; if not, write to the Free Software
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# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
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# 02110-1301, USA.
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#
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# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
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# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
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# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
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# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
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# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
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# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#
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# ABSTRACT
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#
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##
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# Routines for handling sailboat
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# Routines for handling sailboat navigation and route planning.
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#
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require 'date'
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module SGS
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#
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# Waypoint, Attractor, and Repellor definitions
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class Logger < RedisBase
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attr_accessor :watch
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#
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# Watch names and definitions. The first watch is from 8PM until
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# midnight (local time), the middle watch is from midnight until
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# 4AM. The morning watch is from 4AM until 8AM. The forenoon watch
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# runs from 8AM until noon and the afternoon watch runs from noon
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# until 4PM. The dog watches run from 4PM until 8PM and around we
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# go again.
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#
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# Logs are sent back to base every four hours (6 per day) starting
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# at midnight UTC. However, some of the reporting is based on
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# the watch system rather than UTC. For example, reporting battery
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# voltage is most useful at the start of the forenoon watch, because
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# this represents the lowest voltage point after driving the boat all
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# night. As a result, the watch ID is computed based on the longitude,
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# which is a rough approximation of the timezone.
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FIRST_WATCH = 0
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|
-
MIDDLE_WATCH = 1
|
56
|
-
MORNING_WATCH = 2
|
57
|
-
FORENOON_WATCH = 3
|
58
|
-
AFTERNOON_WATCH = 4
|
59
|
-
DOG_WATCH = 5
|
60
|
-
ALARM_REPORT = 7
|
61
|
-
|
62
|
-
WATCH_NAMES = [
|
63
|
-
"First Watch", "Middle Watch", "Morning Watch",
|
64
|
-
"Forenoon Watch", "Afternoon Watch", "Dog Watch",
|
65
|
-
"", "** ALARM REPORT **"
|
66
|
-
].freeze
|
67
|
-
|
68
|
-
def initialize()
|
69
|
-
@watch = FIRST_WATCH
|
70
|
-
end
|
71
|
-
|
72
|
-
#
|
73
|
-
# Convert the watch ID to a name
|
74
|
-
def watch_name
|
75
|
-
WATCH_NAMES[@watch]
|
76
|
-
end
|
77
|
-
|
78
41
|
#
|
79
|
-
#
|
80
|
-
|
81
|
-
|
82
|
-
|
83
|
-
|
84
|
-
# reporting from the Middle Watch.
|
85
|
-
def determine_watch(longitude)
|
86
|
-
utc = Time.now
|
87
|
-
local_hour = utc.hour + longitude * 12.0 / Math::PI
|
88
|
-
p utc
|
89
|
-
p local_hour
|
90
|
-
local_hour += 24.0 if local_hour < 0.0
|
91
|
-
local_hour -= 24.0 if local_hour >= 24.0
|
92
|
-
@watch = ((local_hour / 4.0) + 0.25).to_i
|
93
|
-
@watch = FIRST_WATCH if @watch == 6
|
42
|
+
# Main daemon function (called from executable)
|
43
|
+
def self.daemon
|
44
|
+
loop do
|
45
|
+
sleep 300
|
46
|
+
end
|
94
47
|
end
|
95
48
|
end
|
96
49
|
end
|