sgslib 0.4.0 → 1.5.1

data/lib/sgs/alarm.rb

@@ -1,36 +1,42 @@
 #
-# 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 alarms. Note that this is the definitive
 # list of alarms on the system. To add or modify an alarm, do so here.
 #
-require 'date'
-
 module SGS
   ##
   # Deal with alarm subsystem.
@@ -38,7 +44,9 @@ module SGS
   class Alarm < RedisBase
     attr_accessor :last_report, :time
 
-    OTTO_RESTART = 0
+    #
+    # Alarms generated by Otto.
+    MISSION_SWITCH = 0
     RUDDSRV_FAULT = 1
     SAILSRV_FAULT = 2
     VBATT_CRITICAL = 3
@@ -54,16 +62,18 @@ module SGS
     RUDDER_NOZERO = 13
     SAIL_NOZERO = 14
     MOTHER_UNRESP = 15
-
-    MISSION_COMMENCE = 16
-    MISSION_COMPLETE = 17
-    MISSION_ABORT = 18
-    WAYPOINT_REACHED = 19
-    CROSS_TRACK_ERROR = 20
-    INSIDE_FENCE = 21
+    #
+    # Alarms generated by Mother.
+    OTTO_RESTART = 16
+    MISSION_COMMENCE = 17
+    MISSION_COMPLETE = 18
+    MISSION_ABORT = 19
+    WAYPOINT_REACHED = 20
+    CROSS_TRACK_ERROR = 21
+    INSIDE_FENCE = 22
 
     ALARM_NAMES = [
-      "OTTO Restarted",
+      "Mission Activation Switch",
       "Rudder Servo Fault",
       "Sail Servo Fault",
       "Battery voltage is critically low",
@@ -79,6 +89,7 @@ module SGS
       "Cannot zero the rudder position",
       "Cannot zero the sail position",
       "Mother is unresponsive",
+      "OTTO Restarted",
       "Mission has commenced",
       "Mission is completed",
       "*** MISSION ABORT ***",
@@ -94,6 +105,37 @@ module SGS
       super
     end
 
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      puts  "Alarm daemon starting up..."
+      otto = SGS::RPCClient.new(:otto)
+      loop do
+        #puts "Check for any alarms..."
+        #resp = otto.command "A?"
+        #puts "Response: #{resp}"
+        sleep 30
+      end
+    end
+
+    #
+    # Build a C include file based on the current alarm definitions
+    def self.build_include(fname)
+      alarm = new
+      File.open(fname, "w") do |f|
+        f.puts "/*\n * Autogenerated by #{__FILE__}.\n * DO NOT HAND-EDIT!\n */"
+        constants.sort.each do |c|
+          unless c == :ALARM_NAMES
+            cval = SGS::Alarm.const_get(c)
+            str = "#define SGS_ALARM_#{c.to_s}"
+            str += "\t" if str.length < 32
+            str += "\t#{cval}\t/* #{alarm.name(cval)} */"
+            f.puts str
+          end
+        end
+      end
+    end
+
     #
     # Convert an alarm number into a string.
     def name(alarmno)

data/lib/sgs/bearing.rb

@@ -0,0 +1,151 @@
+#
+#
+# Copyright (c) 2013-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# 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.
+#
+# 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.
+#
+# 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 bearings.
+#
+require 'json'
+
+module SGS
+  ##
+  # 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/config.rb

@@ -1,38 +1,48 @@
 #
-# Copyright (c) 2018, 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) 2018-2023, 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
 #
 module SGS
   class Config < RedisBase
     attr_accessor :otto_device, :gps_device, :comm_device
     attr_accessor :otto_speed, :gps_speed, :comm_speed
+    attr_accessor :mission_file
 
     def initialize
-      @otto_device = "/dev/ttyU0"
-      @gps_device = "/dev/ttyU1"
-      @comm_device = "/dev/ttyU2"
+      @mission_file = "/etc/mission.yaml"
+      @otto_device = "/dev/ttyu0"
+      @gps_device = "/dev/ttyu1"
+      @comm_device = "/dev/ttyu2"
       @otto_speed = @gps_speed = @comm_speed = 9600
       super()
     end
@@ -41,6 +51,7 @@ module SGS
     # Set up the Redis configuration with some basic data
     def self.configure_all
       Config.setup
+      MissionStatus.setup
       Alarm.setup
       GPS.setup
       Otto.setup

data/lib/sgs/course.rb

@@ -1,28 +1,36 @@
 #
-# 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
 #
 
 ##
@@ -31,9 +39,6 @@
 # The code on this page was derived from formulae on the Movable Type site:
 # http://www.movable-type.co.uk/scripts/latlong.html
 #
-
-require 'date'
-
 module SGS
   ##
   #

data/lib/sgs/diagnostics.rb

@@ -0,0 +1,50 @@
+#
+# Copyright (c) 2013-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# 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.
+#
+# 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.
+#
+# 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 navigation and route planning.
+#
+module SGS
+  class Diagnostics < RedisBase
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      puts "Diagnostics subsystem starting up..."
+      loop do
+        sleep 300
+      end
+    end
+  end
+end

data/lib/sgs/gps.rb

@@ -1,29 +1,39 @@
 #
-# 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
+#
+require 'serialport'
+
 module SGS
   class GPS < RedisBase
     attr_accessor :time, :location, :sog, :cmg, :magvar
@@ -38,6 +48,25 @@ module SGS
       super()
     end
 
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      puts "GPS reader starting up..."
+      config = SGS::Config.load
+
+      sp = SerialPort.new config.gps_device, config.gps_speed
+      sp.read_timeout = 10000
+
+      loop do
+        nmea = SGS::NMEA.parse sp.readline
+        if nmea.is_gprmc?
+          gps = nmea.parse_gprmc
+          p gps
+          gps.save_and_publish if gps and gps.valid?
+        end
+      end
+    end
+
     #
     # Set the validity
     def is_valid