sgslib 0.4.0 → 1.5.1

data/lib/sgs/waypoint.rb

@@ -1,54 +1,80 @@
 #
-# 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'
-
 module SGS
   #
   # Waypoint, Attractor, and Repellor definitions
   class Waypoint < RedisBase
-    attr_accessor :location, :normal, :radius, :name, :repellor, :bearing
+    attr_accessor :location, :normal, :range, :name, :attractor
     attr_reader :bearing, :distance
 
+    @@count = 0
+
+    #
+    # Parse a waypoint from a hash. Uses the instance method to do the work.
+    def self.parse(data)
+      waypt = new
+      waypt.parse(data)
+      waypt
+    end
+
+    #
+    # Parse the waypoint data and save it
+    def parse(data)
+      @@count += 1
+      @name = data["name"] || "Waypoint ##{@@count}"
+      @location = SGS::Location.parse(data)
+      @normal = data["normal"] || 0.0
+      @range = data["range"] || 0.1
+    end
+
     #
     # Define a new Attractor or Repellor, based on certain parameters.
     # The location is the centre of the waypoint. The normal is the compass
-    # angle of the start of the semicircle, and the radius is the size of
+    # angle of the start of the semicircle, and the range is the size of
     # the arc. You can specify an optional name for the waypoint and also
     # indicate if we should be attracted or repelled by it.
-    def initialize(location = nil, normal = 0.0, radius = 0.1, name = "", repellor = false)
+    def initialize(location = nil, normal = 0.0, range = 0.1, name = "", attractor = true)
       @location = location || Location.new
       @normal = normal
-      @radius = radius
+      @range = range
       @name = name
-      @repellor = repellor
+      @attractor = attractor
       @bearing = nil
       @distance = 0
     end
@@ -66,8 +92,8 @@ module SGS
       d = Bearing.new(@bearing.back_angle - @normal, @bearing.distance)
       # A chord angle of 0 gives a semicircle from 0 to 180 degrees. If our
       # approach angle is within range, then reduce our distance to the mark
-      # by the chord distance (radius).
-      @distance -= @radius if d.angle >= 0.0 and d.angle < Math::PI
+      # by the chord distance (range).
+      @distance -= @range if d.angle >= 0.0 and d.angle < Math::PI
       @distance = 0.0 if @distance < 0.0
       @distance
     end
@@ -75,13 +101,13 @@ module SGS
     #
     # Is this an attractor?
     def attractor?
-      @repellor == false
+      @attractor == true
     end
 
     #
     # Is this a repellor?
     def repellor?
-      @repellor == true
+      @attractor == true
     end
 
     #
@@ -103,10 +129,20 @@ module SGS
       @normal = Bearing.dtor val
     end
 
+    #
+    # Convert to a hash
+    def to_hash
+      hash = @location.to_hash
+      hash["name"] = @name
+      hash["normal"] = @normal
+      hash["range"] = @range
+      hash
+    end
+
     #
     # Pretty version of the waypoint.
     def to_s
-      "'#{@name}' at #{@location} => #{normal_d}%#{@radius}"
+      "'#{@name}' at #{@location} => #{normal_d}%#{@range}"
     end
 
     #

data/lib/sgslib.rb

@@ -1,37 +1,48 @@
 #
-# 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
+# Include all of the various components.
 
 ##
 #
 require "sgs/version"
 require 'sgs/redis_base'
 require 'sgs/config'
+require 'sgs/logger'
+require 'sgs/mission_status'
 require 'sgs/rpc'
 require 'sgs/location'
+require 'sgs/bearing'
 require 'sgs/nmea'
 require 'sgs/gps'
 require 'sgs/waypoint'
@@ -41,3 +52,5 @@ require 'sgs/otto'
 require 'sgs/course'
 require 'sgs/navigate'
 require 'sgs/mission'
+require 'sgs/diagnostics'
+require 'sgs/report'

data/sgslib.gemspec

@@ -12,7 +12,7 @@ Gem::Specification.new do |spec|
   spec.summary       = %q{Sailboat Guidance System}
   spec.description   = %q{Sailboat Guidance System - an autonomous navigation and control system for robotic sailboats.}
   spec.homepage      = "http://github.com/kalopa/sgslib"
-  spec.license       = "MIT"
+  spec.license       = "GPL-2.0"
 
   # Prevent pushing this gem to RubyGems.org by setting 'allowed_push_host', or
   # delete this section to allow pushing this gem to any host.
@@ -22,18 +22,28 @@ Gem::Specification.new do |spec|
     raise "RubyGems 2.0 or newer is required to protect against public gem pushes."
   end
 
-  spec.files         = `git ls-files -z`.split("\x0").reject { |f| f.match(%r{^(test|spec|features)/}) }
+  spec.files         = [
+    "Gemfile",
+    "LICENSE",
+    "Rakefile",
+    "bin/console",
+    "README.md",
+    "sgslib.gemspec",
+  ] + Dir.glob("exe/*") + Dir.glob("lib/**/*")
   spec.bindir        = "exe"
   spec.executables   = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
   spec.require_paths = ["lib"]
 
   spec.required_ruby_version = '>= 1.9.2'
 
-  spec.add_development_dependency "bundler", "~> 1.11"
-  spec.add_development_dependency "rake", "~> 10.0"
+  spec.add_development_dependency "bundler", "~> 2.2"
+  spec.add_development_dependency "rake", ">= 12.3.3"
   spec.add_development_dependency "rspec", "~> 3.0"
 
+  spec.add_runtime_dependency "redis", "~> 4.7"
+  spec.add_runtime_dependency "serialport", "~> 1.3"
   spec.add_runtime_dependency "msgpack", "~> 1.3"
-
-  spec.add_dependency "redis", "~> 3.3"
+  spec.add_runtime_dependency "json"
+  spec.add_runtime_dependency "securerandom"
+  spec.add_runtime_dependency "yaml"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: sgslib
 version: !ruby/object:Gem::Version
-  version: 0.4.0
+  version: 1.5.1
 platform: ruby
 authors:
 - Dermot Tynan
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2020-08-31 00:00:00.000000000 Z
+date: 2023-01-16 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -16,28 +16,28 @@ dependencies:
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '1.11'
+        version: '2.2'
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '1.11'
+        version: '2.2'
 - !ruby/object:Gem::Dependency
   name: rake
   requirement: !ruby/object:Gem::Requirement
     requirements:
-    - - "~>"
+    - - ">="
       - !ruby/object:Gem::Version
-        version: '10.0'
+        version: 12.3.3
   type: :development
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
-    - - "~>"
+    - - ">="
       - !ruby/object:Gem::Version
-        version: '10.0'
+        version: 12.3.3
 - !ruby/object:Gem::Dependency
   name: rspec
   requirement: !ruby/object:Gem::Requirement
@@ -53,7 +53,21 @@ dependencies:
       - !ruby/object:Gem::Version
         version: '3.0'
 - !ruby/object:Gem::Dependency
-  name: msgpack
+  name: redis
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '4.7'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - "~>"
+      - !ruby/object:Gem::Version
+        version: '4.7'
+- !ruby/object:Gem::Dependency
+  name: serialport
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
@@ -67,48 +81,105 @@ dependencies:
       - !ruby/object:Gem::Version
         version: '1.3'
 - !ruby/object:Gem::Dependency
-  name: redis
+  name: msgpack
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '3.3'
+        version: '1.3'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '3.3'
+        version: '1.3'
+- !ruby/object:Gem::Dependency
+  name: json
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: securerandom
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: yaml
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
 description: Sailboat Guidance System - an autonomous navigation and control system
   for robotic sailboats.
 email:
 - dtynan@kalopa.com
-executables: []
+executables:
+- sgs_alarm
+- sgs_diag
+- sgs_gpsread
+- sgs_logger
+- sgs_mission
+- sgs_nav
+- sgs_otto
+- sgs_report
 extensions: []
 extra_rdoc_files: []
 files:
-- ".gitignore"
-- ".rspec"
-- ".travis.yml"
-- CODE_OF_CONDUCT.md
 - Gemfile
 - LICENSE
 - README.md
 - Rakefile
 - bin/console
-- bin/setup
+- exe/sgs_alarm
+- exe/sgs_diag
+- exe/sgs_gpsread
+- exe/sgs_logger
+- exe/sgs_mission
+- exe/sgs_nav
+- exe/sgs_otto
+- exe/sgs_report
 - lib/sgs/alarm.rb
+- lib/sgs/bearing.rb
 - lib/sgs/config.rb
 - lib/sgs/course.rb
+- lib/sgs/diagnostics.rb
 - lib/sgs/gps.rb
 - lib/sgs/location.rb
 - lib/sgs/logger.rb
 - lib/sgs/mission.rb
+- lib/sgs/mission_status.rb
 - lib/sgs/navigate.rb
 - lib/sgs/nmea.rb
 - lib/sgs/otto.rb
 - lib/sgs/redis_base.rb
+- lib/sgs/report.rb
 - lib/sgs/rpc.rb
 - lib/sgs/timing.rb
 - lib/sgs/version.rb
@@ -117,7 +188,7 @@ files:
 - sgslib.gemspec
 homepage: http://github.com/kalopa/sgslib
 licenses:
-- MIT
+- GPL-2.0
 metadata:
   allowed_push_host: https://rubygems.org
 post_install_message: 
@@ -135,8 +206,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubyforge_project: 
-rubygems_version: 2.7.6
+rubygems_version: 3.1.6
 signing_key: 
 specification_version: 4
 summary: Sailboat Guidance System

data/.gitignore

@@ -1,9 +0,0 @@
-/.bundle/
-/.yardoc
-/Gemfile.lock
-/_yardoc/
-/coverage/
-/doc/
-/pkg/
-/spec/reports/
-/tmp/

data/.rspec

@@ -1,2 +0,0 @@
---format documentation
---color

data/.travis.yml

@@ -1,4 +0,0 @@
-language: ruby
-rvm:
-  - 2.3.1
-before_install: gem install bundler -v 1.11.2

data/CODE_OF_CONDUCT.md

@@ -1,49 +0,0 @@
-# Contributor Code of Conduct
-
-As contributors and maintainers of this project, and in the interest of
-fostering an open and welcoming community, we pledge to respect all people who
-contribute through reporting issues, posting feature requests, updating
-documentation, submitting pull requests or patches, and other activities.
-
-We are committed to making participation in this project a harassment-free
-experience for everyone, regardless of level of experience, gender, gender
-identity and expression, sexual orientation, disability, personal appearance,
-body size, race, ethnicity, age, religion, or nationality.
-
-Examples of unacceptable behavior by participants include:
-
-* The use of sexualized language or imagery
-* Personal attacks
-* Trolling or insulting/derogatory comments
-* Public or private harassment
-* Publishing other's private information, such as physical or electronic
-  addresses, without explicit permission
-* Other unethical or unprofessional conduct
-
-Project maintainers have the right and responsibility to remove, edit, or
-reject comments, commits, code, wiki edits, issues, and other contributions
-that are not aligned to this Code of Conduct, or to ban temporarily or
-permanently any contributor for other behaviors that they deem inappropriate,
-threatening, offensive, or harmful.
-
-By adopting this Code of Conduct, project maintainers commit themselves to
-fairly and consistently applying these principles to every aspect of managing
-this project. Project maintainers who do not follow or enforce the Code of
-Conduct may be permanently removed from the project team.
-
-This code of conduct applies both within project spaces and in public spaces
-when an individual is representing the project or its community.
-
-Instances of abusive, harassing, or otherwise unacceptable behavior may be
-reported by contacting a project maintainer at tynan@hpe.com. All
-complaints will be reviewed and investigated and will result in a response that
-is deemed necessary and appropriate to the circumstances. Maintainers are
-obligated to maintain confidentiality with regard to the reporter of an
-incident.
-
-This Code of Conduct is adapted from the [Contributor Covenant][homepage],
-version 1.3.0, available at
-[http://contributor-covenant.org/version/1/3/0/][version]
-
-[homepage]: http://contributor-covenant.org
-[version]: http://contributor-covenant.org/version/1/3/0/

data/bin/setup

@@ -1,8 +0,0 @@
-#!/usr/bin/env bash
-set -euo pipefail
-IFS=$'\n\t'
-set -vx
-
-bundle install
-
-# Do any other automated setup that you need to do here