sgslib 0.4.0 → 1.5.1

data/lib/sgs/mission.rb

@@ -1,53 +1,90 @@
+#!/usr/bin/env ruby
 #
-# 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 navigation and route planning.
 #
-require 'date'
-require 'nokogiri'
+require 'yaml'
 
 module SGS
   #
   # Handle a specific mission.
   class Mission
+    attr_accessor :title, :url, :description
+    attr_accessor :launch_site, :launch_location
     attr_accessor :attractors, :repellors, :track
     attr_accessor :where, :time, :course, :distance
 
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      puts "Mission management system starting up..."
+      loop do
+        sleep 300
+      end
+    end
+
+    #
+    # Load a new mission from the missions directory.
+    def self.file_load(filename)
+      parse YAML.load(File.open(filename))
+    end
+
+    #
+    # Load a new mission from the missions directory.
+    def self.parse(data)
+      mission = new
+      mission.parse(data)
+      mission
+    end
+
     #
     # Create the attractors and repellors as well as the track array
     # and other items. @where is our current TrackPoint, @current_wpt is
     # the waypoint we're working (-1 if none), @course is the heading/speed
     # the boat is on.
     def initialize
+      @title = nil
+      @url = nil
+      @description = nil
+      @launch_site = nil
+      @launch_location = nil
       @attractors = []
       @repellors = []
       @track = nil
-      @current_wpt = -1
       @start_time = @time = nil
       @where = nil
       @course = Course.new
@@ -55,29 +92,6 @@ module SGS
       @swing = 60
     end
 
-    #
-    # Load a new mission from the missions directory.
-    def self.load(filename)
-      mission = new
-      mission.read(File.open(filename))
-      mission
-    end
-
-    #
-    # Commence a mission...
-    def commence(time = nil)
-      @start_time = @time = time || Time.now
-      @track = [TrackPoint.new(time, @where)]
-      @current_wpt = 0
-    end
-
-    #
-    # Terminate a mission.
-    def terminate
-      puts "***** Mission terminated! *****"
-      @current_wpt = -1
-    end
-
     #
     # Compute the best heading based on our current position and the position
     # of the current attractor. This is where the heavy-lifting happens
@@ -158,13 +172,6 @@ module SGS
       set_position(@time + how_long, @where + Bearing.new(@course.heading, distance))
     end
 
-    #
-    # On-mission means we have something to do. In other words, we have a
-    # waypoint to get to.
-    def active?
-      @current_wpt >= 0 and @current_wpt < @attractors.count
-    end
-
     #
     # How long has the mission been active?
     def elapsed
@@ -174,7 +181,7 @@ module SGS
     #
     # Return the current waypoint.
     def waypoint
-      active? ? @attractors[@current_wpt] : nil
+     #@attractors[@current_wpt] : nil
     end
 
     #
@@ -237,135 +244,52 @@ module SGS
         loc = wpt.location
       end
       dist
-     end
-
-    #
-    # Parse a mission file.
-    def read(file)
-      file.each do |line|
-        unless line =~ /^#/
-          args = line.split(':')
-          code = args[0]
-          loc = Location.parse_str(args[1])
-          nrml = Bearing.dtor args[2].to_i
-          dist = args[3].to_f
-          name = args[4].chomp
-          case code
-          when /[Xx]/
-            @where = loc
-            @course.wind = Bearing.new(nrml, dist)
-          when /\d/
-            @attractors[code.to_i] = Waypoint.new(loc, nrml, dist, name)
-          when /[Rr]/
-            @repellors << Waypoint.new(loc, nrml, dist, name, true)
-          end
-        end
-      end
-      @current_wpt = -1
     end
 
     #
-    # Write a mission to a file.
-    def write(filename)
-      File.open(filename, 'w') do |file|
-        file.puts "#\n# My starting position."
-        file.puts ["X", @where.to_s, @course.wind.angle_d.to_i, @course.wind.distance.to_i, "Starting position"].join(':')
-        file.puts "#\n# Attractors."
-        @attractors.each_with_index do |wpt, i|
-          file.puts "%d:%s:%d:%f:%s" % [i,
-                                        wpt.location,
-                                        wpt.normal_d,
-                                        wpt.radius,
-                                        wpt.name]
-        end
-        file.puts "#\n# Repellors."
-        @repellors.each do |wpt|
-          file.puts "r:%s:%d:%f:%s" % [wpt.location,
-                                        wpt.normal_d,
-                                        wpt.radius,
-                                        wpt.name]
-        end
+    # Parse mission data from a hash.
+    def parse(data)
+      @title = data["title"] || "Untitled Mission"
+      @url = data["url"]
+      @description = data["description"]
+      if data["launch"]
+        @launch_site = data["launch"]["name"] || "Launch Site"
+        @launch_location = SGS::Location.parse data["launch"]
+      end
+      data["attractors"].each do |waypt_data|
+        waypt = Waypoint.parse(waypt_data)
+        waypt.attractor = true
+        @attractors << waypt
+      end
+      data["repellors"].each do |waypt_data|
+        waypt = Waypoint.parse(waypt_data)
+        waypt.attractor = false
+        @repellors << waypt
       end
     end
 
     #
-    # Save the track.
-    def track_save(filename)
-      kml_write(File.open(filename, 'w'))
+    # Return a YAML string from the mission data
+    def to_yaml
+      to_hash.to_yaml
     end
 
     #
-    # Write the track data as a KML file.
-#                xml.LineString {
-#                  xml.extrude 1
-#                  xml.tessellate 1
-#                  xml.coordinates wpt.to_kml
-#                }
-#              }
-#              xml.Placemark {
-#                xml.styleUrl "#attractorLine"
-#                xml.LineString {
-#                  xml.extrude 1
-#                  xml.tessellate 1
-#                  xml.coordinates wpt.to_axis_kml
-#                }
-#              }
-    def kml_write(file)
-      builder = Nokogiri::XML::Builder.new do |xml|
-        xml.kml('xmlns' => 'http://www.opengis.net/kml/2.2',
-                'xmlns:gx' => 'http://www.google.com/kml/ext/2.2') {
-          xml.Folder {
-            xml_line_style(xml, "attractorLine", "0xffcf0000", 4)
-            xml_line_style(xml, "repellorLine", "0xff00007f", 4)
-            xml_line_style(xml, "trackLine")
-            @attractors.each do |wpt|
-              xml.Placemark {
-                xml.name wpt.name
-                xml.styleUrl "#attractorLine"
-                xml.Point {
-                  xml.coordinates wpt.location.to_kml
-                }
-              }
-            end
-            @repellors.each do |wpt|
-              xml.Placemark {
-                xml.name wpt.name
-                xml.styleUrl "#repellorLine"
-                xml.Point {
-                  xml.coordinates wpt.location.to_kml
-                }
-              }
-            end
-            xml.Placemark {
-              xml.name "Track"
-              xml.styleUrl "#trackLine"
-              xml.GX_Track {
-                @track.each do |pt|
-                  xml.when pt.time.strftime('%Y-%m-%dT%H:%M:%S+00:00')
-                  end
-                @track.each do |pt|
-                  xml.GX_coord pt.location.to_kml(' ')
-                end
-              }
-            }
-          }
-        }
+    # Convert the mission into a hash
+    def to_hash
+      hash = {"title" => @title}
+      hash["url"] = @url if @url
+      hash["description"] = @description if @description
+      if @launch_location
+        hash["launch"] = @launch_location.to_hash
+        hash["launch"]["site"] = @launch_site
       end
-      # Requires a hack to get rid of the 'gx:' for the when tag.
-      file.puts builder.to_xml.gsub(/GX_/, 'gx:')
-    end
-
-    #
-    # Do a line style. The colour is of the form aabbggrr for some unknown
-    # reason...
-    def xml_line_style(xml, label, color = "0xffffffff", width = 1)
-      xml.Style(:id => label) {
-        xml.LineStyle {
-          xml.color color
-          xml.width width
-          xml.GX_labelVisibility 1
-        }
-      }
+      hash["attractors"] = []
+      @attractors.each do |waypt|
+        hash["attractors"] << waypt.to_hash
+      end
+      hash["repellors"] = []
+      hash
     end
   end
 end

data/lib/sgs/mission_status.rb

@@ -0,0 +1,127 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 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
+#
+
+##
+# Mission state
+#
+module SGS
+  #
+  # Handle a specific mission.
+  class MissionStatus < RedisBase
+    attr_accessor :state, :current_waypoint, :start_time, :end_time
+
+    STATE_AWAITING = 0
+    STATE_READY_TO_START = 1
+    STATE_START_TEST = 2
+    STATE_RADIO_CONTROL = 3
+    STATE_COMPASS_FOLLOW = 4
+    STATE_WIND_FOLLOW = 5
+    STATE_COMPLETE = 6
+    STATE_TERMINATED = 7
+    STATE_FAILURE = 8
+
+    STATE_NAMES = [
+      ["Awaiting Instructions", STATE_AWAITING],
+      ["Ready to Start", STATE_READY_TO_START],
+      ["Initial Testing", STATE_START_TEST],
+      ["On-Mission - Radio Control", STATE_RADIO_CONTROL],
+      ["On-Mission - Track Compass Heading", STATE_COMPASS_FOLLOW],
+      ["On-Mission - Track Wind Direction", STATE_WIND_FOLLOW],
+      ["Mission Completed!", STATE_COMPLETE],
+      ["Mission Terminated", STATE_TERMINATED],
+      ["Mission Failure", STATE_FAILURE]
+    ].freeze
+
+    #
+    # Create the attractors and repellors as well as the track array
+    # and other items. @where is our current TrackPoint, @current_wpt is
+    # the waypoint we're working (-1 if none), @course is the heading/speed
+    # the boat is on.
+    def initialize
+      @state = STATE_AWAITING
+      @current_waypoint = 0
+      @start_time = @end_time = nil
+    end
+
+    #
+    # Print a user-friendly label for the state
+    def state_name
+      STATE_NAMES[@state][0]
+    end
+
+    #
+    # Are we actively on-mission?
+    def active?
+      @state >= STATE_START_TEST && @state < STATE_COMPLETE
+    end
+
+    #
+    # Commence a mission...
+    def start_test!(time = nil)
+      puts "***** Starting test phase *****"
+      @start_time = time || Time.now
+      @state = STATE_START_TEST
+      @current_waypoint = 0
+      save_and_publish
+    end
+
+    #
+    # Terminate a mission.
+    def completed!(time = nil)
+      @end_time = time || Time.now
+      @state = STATE_COMPLETE
+      save_and_publish
+      puts "***** Mission completed! *****"
+    end
+
+    #
+    # Terminate a mission.
+    def terminate!(time = nil)
+      @end_time = time || Time.now
+      @state = STATE_TERMINATED
+      save_and_publish
+      puts "***** Mission terminated! *****"
+    end
+
+    #
+    # Terminate a mission.
+    def failure!(time = nil)
+      @end_time = time || Time.now
+      @state = STATE_FAILURE
+      save_and_publish
+      puts "***** Mission failure! *****"
+    end
+  end
+end

data/lib/sgs/navigate.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
 #
 
 ##
@@ -60,6 +68,33 @@ module SGS
       super
     end
 
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      puts "Navigation system starting up..."
+      #
+      # Load the mission data from Redis and augment it with the
+      # contents of the mission file.
+      config = SGS::Config.load
+      mission = SGS::Mission.file_load config.mission_file
+      #
+      # Now listen for GPS data...
+      SGS::GPS.subscribe do |count|
+        puts "Received new GPS count: #{count}"
+        case SGS::MissionStatus.state
+        when STATE_COMPASS_FOLLOW
+        when STATE_WIND_FOLLOW
+          mission.navigate
+        when STATE_COMPLETE
+        when STATE_TERMINATED
+        when STATE_FAILURE
+          mission.hold_station
+        end
+        gps = SGS::GPS.load
+        p gps
+      end
+    end
+
     #
     # What is the mode name?
     def mode_name

data/lib/sgs/nmea.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
 #
 
 ##
@@ -90,7 +98,9 @@ module SGS
       mn = @args[9][2..3].to_i
       yy = @args[9][4..5].to_i + 2000
       gps.time = Time.gm(yy, mn, dd, hh, mm, ss, us)
-      gps.location = Location.parse ll_nmea(@args[3,4]), ll_nmea(@args[5,6])
+      pos = {"latitude" => ll_nmea(@args[3,4]),
+             "longitude" => ll_nmea(@args[5,6])}
+      gps.location = Location.parse pos
       gps.sog = @args[7].to_f
       gps.cmg = Bearing.dtor @args[8].to_f
       gps