sgslib 0.4.0 → 1.5.0
Sign up to get free protection for your applications and to get access to all the features.
- 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/otto.rb
CHANGED
@@ -1,28 +1,36 @@
|
|
1
1
|
#
|
2
|
-
# Copyright (c) 2013, Kalopa
|
3
|
-
#
|
4
|
-
# GNU General Public License as published by the Free Software Foundation;
|
5
|
-
# either version 2, or (at your option) any later version.
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
6
4
|
#
|
7
|
-
#
|
8
|
-
#
|
9
|
-
#
|
10
|
-
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
11
9
|
#
|
12
|
-
#
|
13
|
-
#
|
14
|
-
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
15
14
|
#
|
16
|
-
#
|
17
|
-
#
|
18
|
-
#
|
19
|
-
#
|
20
|
-
#
|
21
|
-
#
|
22
|
-
#
|
23
|
-
#
|
24
|
-
#
|
25
|
-
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
26
34
|
#
|
27
35
|
|
28
36
|
##
|
@@ -66,6 +74,14 @@ module SGS
|
|
66
74
|
super
|
67
75
|
end
|
68
76
|
|
77
|
+
#
|
78
|
+
# Main daemon function (called from executable)
|
79
|
+
def self.daemon
|
80
|
+
loop do
|
81
|
+
sleep 300
|
82
|
+
end
|
83
|
+
end
|
84
|
+
|
69
85
|
#
|
70
86
|
# Set the required rudder angle. Input values range from +/- 40.0 degrees
|
71
87
|
def rudder=(val)
|
data/lib/sgs/redis_base.rb
CHANGED
@@ -1,28 +1,36 @@
|
|
1
1
|
#
|
2
|
-
# Copyright (c) 2013, Kalopa
|
3
|
-
#
|
4
|
-
# GNU General Public License as published by the Free Software Foundation;
|
5
|
-
# either version 2, or (at your option) any later version.
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
6
4
|
#
|
7
|
-
#
|
8
|
-
#
|
9
|
-
#
|
10
|
-
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
11
9
|
#
|
12
|
-
#
|
13
|
-
#
|
14
|
-
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
15
14
|
#
|
16
|
-
#
|
17
|
-
#
|
18
|
-
#
|
19
|
-
#
|
20
|
-
#
|
21
|
-
#
|
22
|
-
#
|
23
|
-
#
|
24
|
-
#
|
25
|
-
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
26
34
|
#
|
27
35
|
|
28
36
|
##
|
@@ -133,11 +141,11 @@ module SGS
|
|
133
141
|
#
|
134
142
|
# Inside a multi-block, set all the variables and increment
|
135
143
|
# the count.
|
136
|
-
SGS::RedisBase.redis.multi do
|
144
|
+
SGS::RedisBase.redis.multi do |pipeline|
|
137
145
|
var_list.each do |key, value|
|
138
|
-
|
146
|
+
pipeline.set key, value
|
139
147
|
end
|
140
|
-
|
148
|
+
pipeline.incr count_name
|
141
149
|
end
|
142
150
|
true
|
143
151
|
end
|
data/lib/sgs/report.rb
ADDED
@@ -0,0 +1,49 @@
|
|
1
|
+
#
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
4
|
+
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
9
|
+
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
14
|
+
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
34
|
+
#
|
35
|
+
|
36
|
+
##
|
37
|
+
# Routines for handling sailboat navigation and route planning.
|
38
|
+
#
|
39
|
+
module SGS
|
40
|
+
class Report < RedisBase
|
41
|
+
#
|
42
|
+
# Main daemon function (called from executable)
|
43
|
+
def self.daemon
|
44
|
+
loop do
|
45
|
+
sleep 300
|
46
|
+
end
|
47
|
+
end
|
48
|
+
end
|
49
|
+
end
|
data/lib/sgs/rpc.rb
CHANGED
@@ -1,28 +1,36 @@
|
|
1
1
|
#
|
2
|
-
# Copyright (c) 2018, Kalopa
|
3
|
-
#
|
4
|
-
# GNU General Public License as published by the Free Software Foundation;
|
5
|
-
# either version 2, or (at your option) any later version.
|
2
|
+
# Copyright (c) 2018-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
6
4
|
#
|
7
|
-
#
|
8
|
-
#
|
9
|
-
#
|
10
|
-
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
11
9
|
#
|
12
|
-
#
|
13
|
-
#
|
14
|
-
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
15
14
|
#
|
16
|
-
#
|
17
|
-
#
|
18
|
-
#
|
19
|
-
#
|
20
|
-
#
|
21
|
-
#
|
22
|
-
#
|
23
|
-
#
|
24
|
-
#
|
25
|
-
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
26
34
|
#
|
27
35
|
|
28
36
|
##
|
data/lib/sgs/timing.rb
CHANGED
@@ -1,28 +1,36 @@
|
|
1
1
|
#
|
2
|
-
# Copyright (c) 2013, Kalopa
|
3
|
-
#
|
4
|
-
#
|
5
|
-
#
|
6
|
-
#
|
7
|
-
#
|
8
|
-
#
|
9
|
-
#
|
10
|
-
#
|
11
|
-
#
|
12
|
-
#
|
13
|
-
#
|
14
|
-
#
|
15
|
-
#
|
16
|
-
#
|
17
|
-
#
|
18
|
-
#
|
19
|
-
#
|
20
|
-
#
|
21
|
-
#
|
22
|
-
#
|
23
|
-
#
|
24
|
-
#
|
25
|
-
#
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
4
|
+
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
9
|
+
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
14
|
+
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
26
34
|
#
|
27
35
|
|
28
36
|
##
|
data/lib/sgs/version.rb
CHANGED
@@ -1,3 +1,37 @@
|
|
1
|
+
#
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
4
|
+
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
9
|
+
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
14
|
+
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
34
|
+
#
|
1
35
|
module SGS
|
2
|
-
VERSION = "
|
36
|
+
VERSION = "1.5.0"
|
3
37
|
end
|
data/lib/sgs/waypoint.rb
CHANGED
@@ -1,54 +1,80 @@
|
|
1
1
|
#
|
2
|
-
# Copyright (c) 2013, Kalopa
|
3
|
-
#
|
4
|
-
# GNU General Public License as published by the Free Software Foundation;
|
5
|
-
# either version 2, or (at your option) any later version.
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
6
4
|
#
|
7
|
-
#
|
8
|
-
#
|
9
|
-
#
|
10
|
-
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
11
9
|
#
|
12
|
-
#
|
13
|
-
#
|
14
|
-
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
15
14
|
#
|
16
|
-
#
|
17
|
-
#
|
18
|
-
#
|
19
|
-
#
|
20
|
-
#
|
21
|
-
#
|
22
|
-
#
|
23
|
-
#
|
24
|
-
#
|
25
|
-
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
26
34
|
#
|
27
35
|
|
28
36
|
##
|
29
37
|
# Routines for handling sailboat navigation and route planning.
|
30
38
|
#
|
31
|
-
require 'date'
|
32
|
-
|
33
39
|
module SGS
|
34
40
|
#
|
35
41
|
# Waypoint, Attractor, and Repellor definitions
|
36
42
|
class Waypoint < RedisBase
|
37
|
-
attr_accessor :location, :normal, :
|
43
|
+
attr_accessor :location, :normal, :range, :name, :attractor
|
38
44
|
attr_reader :bearing, :distance
|
39
45
|
|
46
|
+
@@count = 0
|
47
|
+
|
48
|
+
#
|
49
|
+
# Parse a waypoint from a hash. Uses the instance method to do the work.
|
50
|
+
def self.parse(data)
|
51
|
+
waypt = new
|
52
|
+
waypt.parse(data)
|
53
|
+
waypt
|
54
|
+
end
|
55
|
+
|
56
|
+
#
|
57
|
+
# Parse the waypoint data and save it
|
58
|
+
def parse(data)
|
59
|
+
@@count += 1
|
60
|
+
@name = data["name"] || "Waypoint ##{@@count}"
|
61
|
+
@location = SGS::Location.parse(data)
|
62
|
+
@normal = data["normal"] || 0.0
|
63
|
+
@range = data["range"] || 0.1
|
64
|
+
end
|
65
|
+
|
40
66
|
#
|
41
67
|
# Define a new Attractor or Repellor, based on certain parameters.
|
42
68
|
# The location is the centre of the waypoint. The normal is the compass
|
43
|
-
# angle of the start of the semicircle, and the
|
69
|
+
# angle of the start of the semicircle, and the range is the size of
|
44
70
|
# the arc. You can specify an optional name for the waypoint and also
|
45
71
|
# indicate if we should be attracted or repelled by it.
|
46
|
-
def initialize(location = nil, normal = 0.0,
|
72
|
+
def initialize(location = nil, normal = 0.0, range = 0.1, name = "", attractor = true)
|
47
73
|
@location = location || Location.new
|
48
74
|
@normal = normal
|
49
|
-
@
|
75
|
+
@range = range
|
50
76
|
@name = name
|
51
|
-
@
|
77
|
+
@attractor = attractor
|
52
78
|
@bearing = nil
|
53
79
|
@distance = 0
|
54
80
|
end
|
@@ -66,8 +92,8 @@ module SGS
|
|
66
92
|
d = Bearing.new(@bearing.back_angle - @normal, @bearing.distance)
|
67
93
|
# A chord angle of 0 gives a semicircle from 0 to 180 degrees. If our
|
68
94
|
# approach angle is within range, then reduce our distance to the mark
|
69
|
-
# by the chord distance (
|
70
|
-
@distance -= @
|
95
|
+
# by the chord distance (range).
|
96
|
+
@distance -= @range if d.angle >= 0.0 and d.angle < Math::PI
|
71
97
|
@distance = 0.0 if @distance < 0.0
|
72
98
|
@distance
|
73
99
|
end
|
@@ -75,13 +101,13 @@ module SGS
|
|
75
101
|
#
|
76
102
|
# Is this an attractor?
|
77
103
|
def attractor?
|
78
|
-
@
|
104
|
+
@attractor == true
|
79
105
|
end
|
80
106
|
|
81
107
|
#
|
82
108
|
# Is this a repellor?
|
83
109
|
def repellor?
|
84
|
-
@
|
110
|
+
@attractor == true
|
85
111
|
end
|
86
112
|
|
87
113
|
#
|
@@ -103,10 +129,20 @@ module SGS
|
|
103
129
|
@normal = Bearing.dtor val
|
104
130
|
end
|
105
131
|
|
132
|
+
#
|
133
|
+
# Convert to a hash
|
134
|
+
def to_hash
|
135
|
+
hash = @location.to_hash
|
136
|
+
hash["name"] = @name
|
137
|
+
hash["normal"] = @normal
|
138
|
+
hash["range"] = @range
|
139
|
+
hash
|
140
|
+
end
|
141
|
+
|
106
142
|
#
|
107
143
|
# Pretty version of the waypoint.
|
108
144
|
def to_s
|
109
|
-
"'#{@name}' at #{@location} => #{normal_d}%#{@
|
145
|
+
"'#{@name}' at #{@location} => #{normal_d}%#{@range}"
|
110
146
|
end
|
111
147
|
|
112
148
|
#
|
data/lib/sgslib.rb
CHANGED
@@ -1,37 +1,51 @@
|
|
1
1
|
#
|
2
|
-
# Copyright (c) 2013, Kalopa
|
3
|
-
#
|
4
|
-
#
|
5
|
-
#
|
6
|
-
#
|
7
|
-
#
|
8
|
-
#
|
9
|
-
#
|
10
|
-
#
|
11
|
-
#
|
12
|
-
#
|
13
|
-
#
|
14
|
-
#
|
15
|
-
#
|
16
|
-
#
|
17
|
-
#
|
18
|
-
#
|
19
|
-
#
|
20
|
-
#
|
21
|
-
#
|
22
|
-
#
|
23
|
-
#
|
24
|
-
#
|
25
|
-
#
|
2
|
+
# Copyright (c) 2013-2023, Kalopa Robotics Limited. All rights
|
3
|
+
# reserved.
|
4
|
+
#
|
5
|
+
# This program is free software; you can redistribute it and/or
|
6
|
+
# modify it under the terms of the GNU General Public License as
|
7
|
+
# published by the Free Software Foundation; either version 2 of
|
8
|
+
# the License, or (at your option) any later version.
|
9
|
+
#
|
10
|
+
# This program is distributed in the hope that it will be useful,
|
11
|
+
# but WITHOUT ANY WARRANTY; without even the implied warranty of
|
12
|
+
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
13
|
+
# GNU General Public License for more details.
|
14
|
+
#
|
15
|
+
# You should have received a copy of the GNU General Public License
|
16
|
+
# along with this program; if not, write to the Free Software
|
17
|
+
# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
|
18
|
+
# 02110-1301, USA.
|
19
|
+
#
|
20
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "AS IS" AND
|
21
|
+
# ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
|
22
|
+
# TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A
|
23
|
+
# PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KALOPA
|
24
|
+
# ROBOTICS LIMITED BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
|
25
|
+
# SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
|
26
|
+
# LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
|
27
|
+
# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
28
|
+
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
|
29
|
+
# STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
30
|
+
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
|
31
|
+
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
|
+
#
|
33
|
+
# ABSTRACT
|
26
34
|
#
|
27
35
|
|
28
36
|
##
|
29
37
|
#
|
38
|
+
require 'date'
|
39
|
+
require 'logger'
|
40
|
+
|
30
41
|
require "sgs/version"
|
31
42
|
require 'sgs/redis_base'
|
32
43
|
require 'sgs/config'
|
44
|
+
require 'sgs/logger'
|
45
|
+
require 'sgs/mission_status'
|
33
46
|
require 'sgs/rpc'
|
34
47
|
require 'sgs/location'
|
48
|
+
require 'sgs/bearing'
|
35
49
|
require 'sgs/nmea'
|
36
50
|
require 'sgs/gps'
|
37
51
|
require 'sgs/waypoint'
|
@@ -41,3 +55,5 @@ require 'sgs/otto'
|
|
41
55
|
require 'sgs/course'
|
42
56
|
require 'sgs/navigate'
|
43
57
|
require 'sgs/mission'
|
58
|
+
require 'sgs/diagnostics'
|
59
|
+
require 'sgs/report'
|