sgslib 0.4.0 → 1.5.1

data/lib/sgs/otto.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'
+require 'msgpack'
 
 ##
 # Routines for interfacing with the low-level microcontroller.
@@ -33,6 +43,9 @@ module SGS
     attr_accessor :raw_rudder, :raw_sail, :raw_compass, :raw_awa, :raw_tc, :raw_ta
     attr_accessor :mode, :rudder_m, :rudder_c, :sail_m, :sail_c
     attr_accessor :bv_m, :bv_c, :bi_m, :bi_c, :bt_m, :bt_c, :sv_m, :sv_c
+    attr_accessor :serial_port
+    attr_reader :alarm_status, :wind, :compass, :actual_rudder, :actual_sail
+    attr_reader :otto_mode, :otto_timestamp, :telemetry
 
     MODE_INERT = 0
     MODE_DIAGNOSTICS = 1
@@ -49,8 +62,9 @@ module SGS
     # Set up some useful defaults. We assume rudder goes from 0 to 200 as does
     # the sail angle.
     def initialize
+      serial_port = nil
       #
-	    # Configure the Mx + C values for sail and rudder
+      # Configure the Mx + C values for sail and rudder
       @rudder_m = 2.5
       @rudder_c = 100.0
       @sail_m = 2.0
@@ -60,12 +74,183 @@ module SGS
       rudder = 0.0
       sail = 0.0
       #
+      # Set some defaults for the read-back parameters
+      @alarm_status = @wind = @compass = @actual_rudder = @actual_sail = 0
+      @otto_mode = 0
+      @otto_timestamp = 1000
+      @telemetry = Array.new(16)
+      #
       # Set up some basic parameters for battery/solar readings
       @bv_m = @bi_m = @bt_m = @sv_m = 1.0
       @bv_c = @bi_c = @bt_c = @sv_c = 0.0
       super
     end
 
+    #
+    # Main daemon function (called from executable). The job of
+    # this daemon is to accept commands from the Redis pub/sub
+    # stream and send them to the low-level device, recording the
+    # response and sending it back to the caller. Note that we need
+    # to do an initial sync with the device as it will ignore the
+    # usual serial console boot-up gumph awaiting our sync message.
+    def self.daemon
+      puts "Low-level (Otto) communication subsystem starting up..."
+      otto = new
+      config = SGS::Config.load
+      otto.serial_port = SerialPort.new config.otto_device, config.otto_speed
+      otto.serial_port.read_timeout = 10000
+      #
+      # Start by getting a sync message from Otto.
+      otto.synchronize()
+      #
+      # Run the communications service with Otto. Two threads are used, one for
+      # reading and one for writing. Don't let the command stack get too big.
+      t1 = Thread.new { otto.reader_thread }
+      t2 = Thread.new { otto.writer_thread }
+      t1.join
+      t2.join
+    end
+
+    #
+    # Synchronize with the low-level board by sending CQ messages until
+    # they respond.
+    def synchronize
+      index = 0
+      backoffs = [1, 1, 1, 1, 2, 2, 3, 5, 10, 10, 20, 30, 60]
+      puts "Attempting to synchronize with Otto..."
+      while true do
+        begin
+          @serial_port.puts "@@CQ!"
+          resp = read_data
+          break if resp =~ /^\+CQOK/ or resp =~ /^\+OK/
+          sleep backoffs[index]
+          index += 1 if index < (backoffs.count - 1)
+        end
+      end
+      puts "Synchronization complete!"
+    end
+
+    #
+    # Thread to read status messages from Otto and handle them
+    def reader_thread
+      puts "Starting OTTO reader thread..."
+      while true
+        data = read_data
+        next if data.nil? or data.length == 0
+        case data[0]
+        when '$'
+          #
+          # Status message (every second)
+          parse_status(data[1..])
+        when '@'
+          #
+          # Otto elapsed time (every four seconds)
+          parse_tstamp(data[1..])
+        when '!'
+          #
+          # Otto mode state (every four seconds)
+          parse_mode(data[1..])
+        when '>'
+          #
+          # Telemetry data (every two seconds)
+          parse_telemetry(data[1..])
+        end
+      end
+    end
+
+    #
+    # Thread to write commands direct to Otto.
+    def writer_thread
+      puts "Starting OTTO writer thread..."
+      #
+      # Now listen for Redis PUB/SUB requests and act on each one.
+      while true
+        channel, request = SGS::RedisBase.redis.brpop("otto")
+        request = MessagePack.unpack(request)
+        puts "Req:[#{request.inspect}]"
+        cmd = {
+          id: request['id'],
+          args: request['params'].unshift(request['method'])
+        }
+        puts "CMD:#{cmd.inspect}"
+        #
+        # Don't let the command stack get too big.
+        while @command_stack.length > 5
+          sleep 5
+        end
+
+        puts "> Sending command: #{str}"
+        @serial_port.puts "#{str}"
+
+        reply = {
+          'id' => id,
+          'jsonrpc' => '2.0',
+          'result' => result
+        }
+        SGS::RedisBase.redis.rpush(id, MessagePack.pack(reply))
+        SGS::RedisBase.redis.expire(id, 30)
+      end
+    end
+
+    #
+    # Read data from the serial port
+    def read_data
+      begin
+        data = @serial_port.readline.chomp
+      rescue EOFError => error
+        puts "Otto Read Timeout!"
+        data = nil
+      end
+      data
+    end
+
+    #
+    # Parse a status message from Otto. In the form:
+    # 0001:C000:0000
+    def parse_status(status)
+      puts "Parse status: #{status}"
+      args = status.split /:/
+      @alarm_status = args[0].to_i(16)
+      wc = args[1].to_i(16)
+      rs = args[2].to_i(16)
+      @wind = (wc >> 8) & 0xff
+      @compass = (wc & 0xff)
+      @actual_rudder = (rs >> 8) & 0xff
+      @actual_sail = (rs & 0xff)
+      p self
+      self.save_and_publish
+    end
+
+    #
+    # Parse a timestamp message from Otto. In the form: "000FE2" 24 bits
+    # representing the elapsed seconds since Otto restarted.
+    def parse_tstamp(tstamp)
+      puts "Parse timestamp: #{tstamp}"
+      newval = tstamp.to_i(16)
+      if newval < @otto_timestamp
+        puts "ALARM! Otto rebooted (or something)..."
+      end
+      @otto_timestamp = newval
+    end
+
+    #
+    # Parse a mode state message from Otto. In the form: "00". An eight bit
+    # quantity.
+    def parse_mode(mode)
+      puts "Parse Otto Mode State: #{mode}"
+      @otto_mode = mode.to_i(16)
+    end
+
+    #
+    # Parse a telemetry message from Otto. In the form: "7327" where the first
+    # character is the channel (0->9) and the remaining 12 bits are the value.
+    def parse_telemetry(telemetry)
+      puts "Parse Otto Telemetry Data: #{telemetry}"
+      data = telemetry.to_i(16)
+      chan = (data >> 12) & 0xf
+      @telemetry[chan] = data & 0xff
+    end
+
     #
     # Set the required rudder angle. Input values range from +/- 40.0 degrees
     def rudder=(val)

data/lib/sgs/redis_base.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
 #
 
 ##
@@ -133,11 +141,11 @@ module SGS
       #
       # Inside a multi-block, set all the variables and increment
       # the count.
-      SGS::RedisBase.redis.multi do
+      SGS::RedisBase.redis.multi do |pipeline|
         var_list.each do |key, value|
-          SGS::RedisBase.redis.set key, value
+          pipeline.set key, value
         end
-        SGS::RedisBase.redis.incr count_name
+        pipeline.incr count_name
       end
       true
     end

data/lib/sgs/report.rb

@@ -0,0 +1,54 @@
+#
+# 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
+#
+require 'serialport'
+
+##
+# Routines for handling sailboat navigation and route planning.
+#
+module SGS
+  class Report < RedisBase
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      puts "Reporting subsystem starting up..."
+      config = SGS::Config.load
+      sp = SerialPort.new config.comm_device, config.comm_speed
+      sp.read_timeout = 10000
+      loop do
+        sleep 300
+      end
+    end
+  end
+end

data/lib/sgs/rpc.rb

@@ -1,28 +1,36 @@
 #
-# 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
 #
 
 ##

data/lib/sgs/timing.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.
-#
-# 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.
-#
-# 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 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.
+# 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
 #
 
 ##

data/lib/sgs/version.rb

@@ -1,3 +1,37 @@
+#
+# 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
+#
 module SGS
-  VERSION = "0.4.0"
+  VERSION = "1.5.1"
 end