sgslib 1.5.0 → 1.6.0
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- checksums.yaml +4 -4
- data/exe/sgs_otto +0 -0
- data/lib/sgs/alarm.rb +21 -11
- data/lib/sgs/bearing.rb +32 -3
- data/lib/sgs/config.rb +0 -1
- data/lib/sgs/course.rb +18 -5
- data/lib/sgs/diagnostics.rb +2 -1
- data/lib/sgs/gps.rb +35 -2
- data/lib/sgs/location.rb +115 -59
- data/lib/sgs/logger.rb +1 -8
- data/lib/sgs/mission.rb +61 -184
- data/lib/sgs/mission_status.rb +20 -9
- data/lib/sgs/navigate.rb +206 -63
- data/lib/sgs/nmea.rb +3 -2
- data/lib/sgs/otto.rb +317 -45
- data/lib/sgs/redis_base.rb +9 -9
- data/lib/sgs/report.rb +6 -1
- data/lib/sgs/rpc.rb +5 -6
- data/lib/sgs/version.rb +1 -1
- data/lib/sgs/waypoint.rb +2 -2
- data/lib/sgslib.rb +1 -4
- data/sgslib.gemspec +7 -5
- metadata +52 -12
- data/exe/sgs_nav +0 -43
data/lib/sgs/nmea.rb
CHANGED
@@ -87,7 +87,7 @@ module SGS
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|
87
87
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if @args.count < 12 or @args.count > 13
|
88
88
|
return nil
|
89
89
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end
|
90
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-
gps =
|
90
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+
gps = GPS.new
|
91
91
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gps.is_valid if @args[2] == "A"
|
92
92
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hh = @args[1][0..1].to_i
|
93
93
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mm = @args[1][2..3].to_i
|
@@ -100,7 +100,8 @@ module SGS
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100
100
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gps.time = Time.gm(yy, mn, dd, hh, mm, ss, us)
|
101
101
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pos = {"latitude" => ll_nmea(@args[3,4]),
|
102
102
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"longitude" => ll_nmea(@args[5,6])}
|
103
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-
gps.location = Location.
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103
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+
gps.location = Location.new
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104
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+
gps.location.parse_hash(pos)
|
104
105
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gps.sog = @args[7].to_f
|
105
106
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gps.cmg = Bearing.dtor @args[8].to_f
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106
107
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gps
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data/lib/sgs/otto.rb
CHANGED
@@ -31,125 +31,397 @@
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31
31
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# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
32
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#
|
33
33
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# ABSTRACT
|
34
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+
# This daemon handles all serial I/O with the low-level board (Otto). Otto
|
35
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+
# publishes various status messages at regular intervals, and has a series
|
36
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+
# of registers which can be used to alter the low-level operational state.
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37
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+
# This daemon code has two threads. One thread listens for RPCs to update
|
38
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+
# Otto register state, and the other listens for status messages from Otto.
|
39
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+
# The class also has helper functions for converting between Otto data
|
40
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+
# formats (usually 8bit) and internal formats (usually floating point).
|
34
41
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#
|
42
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+
require 'serialport'
|
43
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+
require 'msgpack'
|
35
44
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|
36
45
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##
|
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46
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# Routines for interfacing with the low-level microcontroller.
|
38
47
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#
|
39
48
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module SGS
|
40
49
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class Otto < RedisBase
|
41
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-
attr_accessor :
|
42
|
-
attr_accessor :mode, :rudder_m, :rudder_c, :sail_m, :sail_c
|
50
|
+
attr_accessor :mode, :serial_port
|
43
51
|
attr_accessor :bv_m, :bv_c, :bi_m, :bi_c, :bt_m, :bt_c, :sv_m, :sv_c
|
52
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+
attr_reader :alarm_status
|
53
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+
attr_reader :actual_rudder, :actual_sail
|
54
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+
attr_reader :otto_mode, :otto_timestamp, :telemetry
|
44
55
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|
56
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+
#
|
57
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+
# Updates to Otto are done by setting an 8bit register value, as below.
|
58
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+
ALARM_CLEAR_REGISTER = 0
|
59
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+
MISSION_CONTROL_REGISTER = 1
|
60
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+
MODE_REGISTER = 2
|
61
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+
BUZZER_REGISTER = 3
|
62
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+
RUDDER_ANGLE_REGISTER = 4
|
63
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+
SAIL_ANGLE_REGISTER = 5
|
64
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+
COMPASS_HEADING_REGISTER = 6
|
65
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+
MIN_COMPASS_REGISTER = 7
|
66
|
+
MAX_COMPASS_REGISTER =8
|
67
|
+
AWA_HEADING_REGISTER = 9
|
68
|
+
MIN_AWA_REGISTER = 10
|
69
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+
MAX_AWA_REGISTER = 11
|
70
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+
WAKE_DURATION_REGISTER = 12
|
71
|
+
NEXT_WAKEUP_REGISTER = 13
|
72
|
+
MAX_REGISTER = 14
|
73
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+
|
74
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+
#
|
75
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+
# This is different from mission mode. This mode defines how Otto should
|
76
|
+
# operate. Inert means "do nothing". Diagnostic mode is for the low-level
|
77
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+
# code to run self-checks and calibrations. Manual means that the upper
|
78
|
+
# level system controls the rudder and sail angle without any higher-level
|
79
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+
# PID controller. Track compass means that the boat will try to keep the
|
80
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+
# actual compass reading within certain parameters, and track AWA will
|
81
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+
# try to maintain a specific "apparent wind angle".
|
45
82
|
MODE_INERT = 0
|
46
|
-
|
83
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+
MODE_DIAG = 1
|
47
84
|
MODE_MANUAL = 2
|
48
|
-
|
49
|
-
|
85
|
+
MODE_REMOTE = 3
|
86
|
+
MODE_TRACK_COMPASS = 4
|
87
|
+
MODE_TRACK_AWA = 5
|
50
88
|
|
51
|
-
|
52
|
-
|
53
|
-
|
54
|
-
|
89
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+
#
|
90
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+
# Define some tweaks for rudder and sail setting. Rudder goes from
|
91
|
+
# +/-40 degrees, with zero indicating a straight rudder. On Otto, this
|
92
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+
# translates to 0 (for -40.0), 128 (for the zero position) and 255 (for
|
93
|
+
# +40 degrees of rudder). A fully trimmed-in sail is zero and a fully
|
94
|
+
# extended sail is 255 (0->100 from a function perspective).
|
95
|
+
RUDDER_MAX = 40.0
|
96
|
+
RUDDER_MIN = -40.0
|
97
|
+
RUDDER_M = 3.175
|
98
|
+
RUDDER_C = 128.0
|
99
|
+
SAIL_MAX = 100.0
|
100
|
+
SAIL_MIN = 0.0
|
101
|
+
SAIL_M = 2.55
|
102
|
+
SAIL_C = 0.0
|
55
103
|
|
56
104
|
#
|
57
|
-
# Set up some useful defaults. We assume rudder goes from 0 to
|
58
|
-
# the sail angle.
|
105
|
+
# Set up some useful defaults. We assume rudder goes from 0 to 255 as does
|
106
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+
# the sail angle.
|
59
107
|
def initialize
|
108
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+
serial_port = nil
|
60
109
|
#
|
61
|
-
|
62
|
-
|
63
|
-
@
|
64
|
-
|
65
|
-
|
110
|
+
# Set some defaults for the read-back parameters
|
111
|
+
# The following five parameters are reported back by Otto with a status
|
112
|
+
# message, and are read-only. @alarm_status is 16 bits while the other
|
113
|
+
# four are 8-bit values. The helper methods convert these 8-bit values
|
114
|
+
# into radians, etc. The telemetry parameters are used to capture
|
115
|
+
# telemetry data from Otto.
|
116
|
+
@alarm_status = 0
|
117
|
+
@actual_rudder = @actual_sail = @actual_awa = @actual_compass = 0
|
118
|
+
@telemetry = Array.new(16)
|
66
119
|
#
|
67
|
-
#
|
68
|
-
|
69
|
-
|
120
|
+
# Mode is used by Otto to decide how to steer the boat and trim the
|
121
|
+
# sails.
|
122
|
+
@otto_mode = MODE_INERT
|
123
|
+
@otto_timestamp = 1000
|
70
124
|
#
|
71
125
|
# Set up some basic parameters for battery/solar readings
|
72
126
|
@bv_m = @bi_m = @bt_m = @sv_m = 1.0
|
73
127
|
@bv_c = @bi_c = @bt_c = @sv_c = 0.0
|
128
|
+
#
|
129
|
+
# RPC client / server
|
130
|
+
@rpc_client = @rpc_server = nil
|
74
131
|
super
|
75
132
|
end
|
76
133
|
|
77
134
|
#
|
78
|
-
# Main daemon function (called from executable)
|
135
|
+
# Main daemon function (called from executable). The job of
|
136
|
+
# this daemon is to accept commands from the Redis pub/sub
|
137
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+
# stream and send them to the low-level device, recording the
|
138
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+
# response and sending it back to the caller. Note that we need
|
139
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+
# to do an initial sync with the device as it will ignore the
|
140
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+
# usual serial console boot-up gumph awaiting our sync message.
|
79
141
|
def self.daemon
|
80
|
-
|
81
|
-
|
142
|
+
puts "Low-level (Otto) communication subsystem starting up..."
|
143
|
+
otto = new
|
144
|
+
config = Config.load
|
145
|
+
otto.serial_port = SerialPort.new config.otto_device, config.otto_speed
|
146
|
+
otto.serial_port.read_timeout = 10000
|
147
|
+
#
|
148
|
+
# Start by getting a sync message from Otto.
|
149
|
+
otto.synchronize()
|
150
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+
#
|
151
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+
# Run the communications service with Otto. Two threads are used, one for
|
152
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+
# reading and one for writing. Don't let the command stack get too big.
|
153
|
+
t1 = Thread.new { otto.reader_thread }
|
154
|
+
t2 = Thread.new { otto.writer_thread }
|
155
|
+
t1.join
|
156
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+
t2.join
|
157
|
+
end
|
158
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+
|
159
|
+
#
|
160
|
+
# Build a C include file based on the current register definitions
|
161
|
+
def self.build_include(fname)
|
162
|
+
otto = new
|
163
|
+
File.open(fname, "w") do |f|
|
164
|
+
f.puts "/*\n * Autogenerated by #{__FILE__}.\n * DO NOT HAND-EDIT!\n */"
|
165
|
+
constants.sort.each do |c|
|
166
|
+
if c.to_s =~ /REGISTER$/
|
167
|
+
cval = Otto.const_get(c)
|
168
|
+
str = "#define SGS_#{c.to_s}"
|
169
|
+
str += "\t" if str.length < 32
|
170
|
+
str += "\t#{cval}"
|
171
|
+
f.puts str
|
172
|
+
end
|
173
|
+
end
|
174
|
+
end
|
175
|
+
end
|
176
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+
|
177
|
+
#
|
178
|
+
# Synchronize with the low-level board by sending CQ messages until
|
179
|
+
# they respond. When Mother boots up, the serial console is shared with
|
180
|
+
# Otto so a lot of rubbish is sent to the low-level board. To notify
|
181
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+
# Otto that we are now talking sense, we send @@CQ! and Otto responds
|
182
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+
# with +CQOK. Note that this function, which is always called before any
|
183
|
+
# of the threads, is bidirectional in terms of serial I/O.
|
184
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+
def synchronize
|
185
|
+
index = 0
|
186
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+
backoffs = [1, 1, 1, 1, 2, 2, 3, 5, 10, 10, 20, 30, 60]
|
187
|
+
puts "Attempting to synchronize with Otto..."
|
188
|
+
while true do
|
189
|
+
begin
|
190
|
+
@serial_port.puts "@@CQ!"
|
191
|
+
resp = read_data
|
192
|
+
break if resp =~ /^\+CQOK/ or resp =~ /^\+OK/
|
193
|
+
sleep backoffs[index]
|
194
|
+
index += 1 if index < (backoffs.count - 1)
|
195
|
+
end
|
196
|
+
end
|
197
|
+
puts "Synchronization complete!"
|
198
|
+
end
|
199
|
+
|
200
|
+
#
|
201
|
+
# Thread to read status messages from Otto and handle them
|
202
|
+
def reader_thread
|
203
|
+
puts "Starting OTTO reader thread..."
|
204
|
+
while true
|
205
|
+
data = read_data
|
206
|
+
next if data.nil? or data.length == 0
|
207
|
+
case data[0]
|
208
|
+
when '$'
|
209
|
+
#
|
210
|
+
# Status message (every second)
|
211
|
+
parse_status(data[1..])
|
212
|
+
when '@'
|
213
|
+
#
|
214
|
+
# Otto elapsed time (every four seconds)
|
215
|
+
parse_tstamp(data[1..])
|
216
|
+
when '!'
|
217
|
+
#
|
218
|
+
# Otto mode state (every four seconds)
|
219
|
+
parse_mode(data[1..])
|
220
|
+
when '>'
|
221
|
+
#
|
222
|
+
# Telemetry data (every two seconds)
|
223
|
+
parse_telemetry(data[1..])
|
224
|
+
when '*'
|
225
|
+
#
|
226
|
+
# Message for the debug log
|
227
|
+
parse_debug(data[1..])
|
228
|
+
end
|
229
|
+
end
|
230
|
+
end
|
231
|
+
|
232
|
+
#
|
233
|
+
# Thread to write commands direct to Otto.
|
234
|
+
def writer_thread
|
235
|
+
puts "Starting OTTO writer thread..."
|
236
|
+
#
|
237
|
+
# Now listen for Redis PUB/SUB requests and act on each one.
|
238
|
+
myredis = Redis.new
|
239
|
+
while true
|
240
|
+
channel, request = myredis.brpop("otto")
|
241
|
+
request = MessagePack.unpack(request)
|
242
|
+
puts "Req:[#{request.inspect}]"
|
243
|
+
params = request['params']
|
244
|
+
next if request['method'] != "set_local_register"
|
245
|
+
puts "PARAMS: #{params}"
|
246
|
+
cmd = "R%d=%X\r\n" % params
|
247
|
+
puts "Command: #{cmd}"
|
248
|
+
@serial_port.write cmd
|
249
|
+
puts "> Sending command: #{str}"
|
250
|
+
@serial_port.puts "#{str}"
|
251
|
+
end
|
252
|
+
end
|
253
|
+
|
254
|
+
#
|
255
|
+
# Read data from the serial port
|
256
|
+
def read_data
|
257
|
+
begin
|
258
|
+
data = @serial_port.readline.chomp
|
259
|
+
rescue EOFError => error
|
260
|
+
puts "Otto Read Timeout!"
|
261
|
+
data = nil
|
262
|
+
end
|
263
|
+
data
|
264
|
+
end
|
265
|
+
|
266
|
+
#
|
267
|
+
# Parse a status message from Otto. In the form:
|
268
|
+
# 0001:C000:0000
|
269
|
+
def parse_status(status)
|
270
|
+
puts "OTTO PARSE: #{status}"
|
271
|
+
args = status.split /:/
|
272
|
+
@alarm_status = args[0].to_i(16)
|
273
|
+
wc = args[1].to_i(16)
|
274
|
+
rs = args[2].to_i(16)
|
275
|
+
@actual_awa = (wc >> 8) & 0xff
|
276
|
+
@actual_compass = (wc & 0xff)
|
277
|
+
@actual_rudder = (rs >> 8) & 0xff
|
278
|
+
@actual_sail = (rs & 0xff)
|
279
|
+
p self
|
280
|
+
self.save_and_publish
|
281
|
+
end
|
282
|
+
|
283
|
+
#
|
284
|
+
# Parse a timestamp message from Otto. In the form: "000FE2" 24 bits
|
285
|
+
# representing the elapsed seconds since Otto restarted.
|
286
|
+
def parse_tstamp(tstamp)
|
287
|
+
newval = tstamp.to_i(16)
|
288
|
+
if newval < @otto_timestamp
|
289
|
+
puts "ALARM! Otto rebooted (or something)..."
|
82
290
|
end
|
291
|
+
@otto_timestamp = newval
|
292
|
+
end
|
293
|
+
|
294
|
+
#
|
295
|
+
# Parse a mode state message from Otto. In the form: "00". An eight bit
|
296
|
+
# quantity.
|
297
|
+
def parse_mode(mode)
|
298
|
+
@otto_mode = mode.to_i(16)
|
299
|
+
end
|
300
|
+
|
301
|
+
#
|
302
|
+
# Parse a telemetry message from Otto. In the form: "7327" where the first
|
303
|
+
# character is the channel (0->9) and the remaining 12 bits are the value.
|
304
|
+
def parse_telemetry(telemetry)
|
305
|
+
data = telemetry.to_i(16)
|
306
|
+
chan = (data >> 12) & 0xf
|
307
|
+
@telemetry[chan] = data & 0xfff
|
308
|
+
end
|
309
|
+
|
310
|
+
#
|
311
|
+
# Parse a debug message from the low-level code. Basically just append it
|
312
|
+
# to a log file.
|
313
|
+
def parse_debug(debug_data)
|
314
|
+
puts "DEBUG: [#{debug_data}].\n"
|
315
|
+
end
|
316
|
+
|
317
|
+
#
|
318
|
+
# Clear an alarm setting
|
319
|
+
def alarm_clear(alarm)
|
320
|
+
set_register(ALARM_CLEAR_REGISTER, alarm)
|
321
|
+
end
|
322
|
+
|
323
|
+
#
|
324
|
+
# Set the Otto mode
|
325
|
+
def mode=(val)
|
326
|
+
set_register(MODE_REGISTER, val) if @otto_mode != val
|
83
327
|
end
|
84
328
|
|
85
329
|
#
|
86
330
|
# Set the required rudder angle. Input values range from +/- 40.0 degrees
|
87
331
|
def rudder=(val)
|
88
|
-
val =
|
89
|
-
val =
|
90
|
-
|
332
|
+
val = RUDDER_MIN if val < RUDDER_MIN
|
333
|
+
val = RUDDER_MAX if val > RUDDER_MAX
|
334
|
+
val = (RUDDER_M * val.to_f + RUDDER_C).to_i
|
335
|
+
if val != @actual_rudder
|
336
|
+
@actual_rudder = val
|
337
|
+
set_register(RUDDER_ANGLE_REGISTER, val)
|
338
|
+
end
|
339
|
+
mode = MODE_MANUAL
|
91
340
|
end
|
92
341
|
|
93
342
|
#
|
94
343
|
# Return the rudder angle in degrees
|
95
344
|
def rudder
|
96
|
-
(@
|
345
|
+
(@actual_rudder.to_f - RUDDER_C) / RUDDER_M
|
97
346
|
end
|
98
347
|
|
99
348
|
#
|
100
|
-
# Set the required sail angle. Input values range from 0 ->
|
349
|
+
# Set the required sail angle. Input values range from 0 -> 100.
|
101
350
|
def sail=(val)
|
102
|
-
val =
|
103
|
-
val =
|
104
|
-
|
351
|
+
val = SAIL_MIN if val < SAIL_MIN
|
352
|
+
val = SAIL_MAX if val > SAIL_MAX
|
353
|
+
val = (SAIL_M * val.to_f + SAIL_C).to_i
|
354
|
+
if val != @actual_sail
|
355
|
+
@actual_sail = val
|
356
|
+
set_register(SAIL_ANGLE_REGISTER, val)
|
357
|
+
end
|
358
|
+
mode = MODE_MANUAL
|
105
359
|
end
|
106
360
|
|
107
361
|
#
|
108
362
|
# Return the sail setting (0.0 -> 100.0)
|
109
363
|
def sail
|
110
|
-
(@
|
364
|
+
(@actual_sail.to_f - SAIL_C) / SAIL_M
|
111
365
|
end
|
112
366
|
|
113
367
|
#
|
114
368
|
# Return the compass angle (in radians)
|
115
369
|
def compass
|
116
|
-
@
|
370
|
+
Bearing.xtor(@actual_compass)
|
117
371
|
end
|
118
372
|
|
119
373
|
#
|
120
374
|
# Return the apparent wind angle (in radians)
|
121
375
|
def awa
|
122
|
-
@
|
376
|
+
@actual_awa -= 256 if @actual_awa > 128
|
377
|
+
Bearing.xtor(@actual_awa)
|
123
378
|
end
|
124
379
|
|
125
380
|
#
|
126
|
-
#
|
381
|
+
# Return the actual wind direction (in radians)
|
382
|
+
def wind
|
383
|
+
Bearing.xtor(@actual_compass + @actual_awa)
|
384
|
+
end
|
385
|
+
|
386
|
+
#
|
387
|
+
# Set the required compass reading (in radians)
|
127
388
|
def track_compass=(val)
|
128
|
-
|
129
|
-
|
389
|
+
val = Bearing.rtox(val)
|
390
|
+
if @track_compass.nil? or @track_compass != val
|
391
|
+
@track_compass = val
|
392
|
+
set_register(COMPASS_HEADING_REGISTER, val)
|
130
393
|
end
|
131
|
-
|
132
|
-
@raw_tc = (val.to_f * 128.0 / Math::PI).to_i
|
394
|
+
mode = MODE_TRACK_COMPASS
|
133
395
|
end
|
134
396
|
|
135
397
|
#
|
136
398
|
# Return the compass value for tracking.
|
137
399
|
def track_compass
|
138
|
-
@
|
400
|
+
Bearing.xtor(@track_compass)
|
139
401
|
end
|
140
402
|
|
141
403
|
#
|
142
|
-
# Set the required AWA for tracking.
|
404
|
+
# Set the required AWA for tracking (in radians).
|
143
405
|
def track_awa=(val)
|
144
|
-
val =
|
145
|
-
|
146
|
-
|
406
|
+
val = Bearing.rtox(val)
|
407
|
+
if @track_awa.nil? or @track_awa != val
|
408
|
+
@track_awa = val
|
409
|
+
set_register(AWA_HEADING_REGISTER, val)
|
410
|
+
end
|
411
|
+
mode = MODE_TRACK_AWA
|
147
412
|
end
|
148
413
|
|
149
414
|
#
|
150
|
-
# Return the current tracking AWA.
|
415
|
+
# Return the current tracking AWA (in radians).
|
151
416
|
def track_awa
|
152
|
-
@
|
417
|
+
Bearing.xtor(@track_awa)
|
418
|
+
end
|
419
|
+
|
420
|
+
#
|
421
|
+
# RPC client call to set register - sent to writer function above
|
422
|
+
def set_register(regno, value)
|
423
|
+
@rpc_client = RPCClient.new("otto") unless @rpc_client
|
424
|
+
@rpc_client.set_local_register(regno, value)
|
153
425
|
end
|
154
426
|
end
|
155
427
|
end
|
data/lib/sgs/redis_base.rb
CHANGED
@@ -75,7 +75,7 @@ module SGS
|
|
75
75
|
# Initialize a Redis variable.
|
76
76
|
def self.var_init(var, val, idx = nil)
|
77
77
|
cls = new
|
78
|
-
|
78
|
+
RedisBase.redis.setnx cls.make_redis_name(var, :idx => idx), self.to_redis(var, val, idx)
|
79
79
|
end
|
80
80
|
|
81
81
|
#
|
@@ -96,8 +96,8 @@ module SGS
|
|
96
96
|
# It's an array - iterate and read the values.
|
97
97
|
lval.size.times do |idx|
|
98
98
|
idx_val = lval[idx]
|
99
|
-
lval[idx] = redis_read_var var, idx_val.class, :idx => idx
|
100
|
-
|
99
|
+
lval[idx] = redis_read_var var, idx_val.class, :idx => idx
|
100
|
+
end
|
101
101
|
elsif lval.kind_of? Location
|
102
102
|
#
|
103
103
|
# ::FIXME:: Yes. this is a hack.
|
@@ -141,7 +141,7 @@ module SGS
|
|
141
141
|
#
|
142
142
|
# Inside a multi-block, set all the variables and increment
|
143
143
|
# the count.
|
144
|
-
|
144
|
+
RedisBase.redis.multi do |pipeline|
|
145
145
|
var_list.each do |key, value|
|
146
146
|
pipeline.set key, value
|
147
147
|
end
|
@@ -157,7 +157,7 @@ module SGS
|
|
157
157
|
# class name), you can remember the last received count and decide if
|
158
158
|
# there is fresh data. Or, you can just act anyway.
|
159
159
|
def publish
|
160
|
-
|
160
|
+
RedisBase.redis.publish self.class.redis_handle, count.to_s
|
161
161
|
end
|
162
162
|
|
163
163
|
#
|
@@ -182,7 +182,7 @@ module SGS
|
|
182
182
|
#
|
183
183
|
# Retrieve the count
|
184
184
|
def count
|
185
|
-
|
185
|
+
RedisBase.redis.get count_name
|
186
186
|
end
|
187
187
|
|
188
188
|
#
|
@@ -195,7 +195,7 @@ module SGS
|
|
195
195
|
# Get an instance variable value from a Redis value.
|
196
196
|
def redis_read_var(var, klass, opts = {})
|
197
197
|
redis_name = make_redis_name var, opts
|
198
|
-
redis_val =
|
198
|
+
redis_val = RedisBase.redis.get redis_name
|
199
199
|
redis_val = nil if redis_val == ""
|
200
200
|
if redis_val
|
201
201
|
if not klass or klass == NilClass
|
@@ -211,9 +211,9 @@ module SGS
|
|
211
211
|
when klass == Float
|
212
212
|
redis_val = redis_val.to_f
|
213
213
|
when klass == FalseClass
|
214
|
-
redis_val =
|
214
|
+
redis_val = (redis_val == "true" or redis_val == "TRUE")
|
215
215
|
when klass == TrueClass
|
216
|
-
redis_val = true
|
216
|
+
redis_val = (redis_val == "true" or redis_val == "TRUE")
|
217
217
|
end
|
218
218
|
end
|
219
219
|
redis_val
|
data/lib/sgs/report.rb
CHANGED
@@ -32,15 +32,20 @@
|
|
32
32
|
#
|
33
33
|
# ABSTRACT
|
34
34
|
#
|
35
|
+
require 'serialport'
|
35
36
|
|
36
37
|
##
|
37
38
|
# Routines for handling sailboat navigation and route planning.
|
38
39
|
#
|
39
40
|
module SGS
|
40
|
-
class Report
|
41
|
+
class Report
|
41
42
|
#
|
42
43
|
# Main daemon function (called from executable)
|
43
44
|
def self.daemon
|
45
|
+
puts "Reporting subsystem starting up..."
|
46
|
+
config = Config.load
|
47
|
+
sp = SerialPort.new config.comm_device, config.comm_speed
|
48
|
+
sp.read_timeout = 10000
|
44
49
|
loop do
|
45
50
|
sleep 300
|
46
51
|
end
|
data/lib/sgs/rpc.rb
CHANGED
@@ -55,9 +55,8 @@ module SGS
|
|
55
55
|
'method' => name,
|
56
56
|
'params' => args
|
57
57
|
}
|
58
|
-
|
59
|
-
|
60
|
-
MessagePack.unpack(response)['result']
|
58
|
+
puts "RPC CLIENT SENDING MESSAGE! request: #{request.inspect}, channel: #{@channel}"
|
59
|
+
RedisBase.redis.lpush(@channel, request.to_msgpack)
|
61
60
|
end
|
62
61
|
end
|
63
62
|
|
@@ -70,7 +69,7 @@ module SGS
|
|
70
69
|
def start
|
71
70
|
puts "Starting RPC server for #{@channel}"
|
72
71
|
loop do
|
73
|
-
channel, request =
|
72
|
+
channel, request = RedisBase.redis.brpop(@channel)
|
74
73
|
request = MessagePack.unpack(request)
|
75
74
|
|
76
75
|
puts "Working on request: #{request['id']}"
|
@@ -84,8 +83,8 @@ module SGS
|
|
84
83
|
'id' => request['id']
|
85
84
|
}
|
86
85
|
|
87
|
-
|
88
|
-
|
86
|
+
RedisBase.redis.rpush(request['id'], MessagePack.pack(reply))
|
87
|
+
RedisBase.redis.expire(request['id'], 30)
|
89
88
|
end
|
90
89
|
end
|
91
90
|
end
|
data/lib/sgs/version.rb
CHANGED
data/lib/sgs/waypoint.rb
CHANGED
@@ -39,7 +39,7 @@
|
|
39
39
|
module SGS
|
40
40
|
#
|
41
41
|
# Waypoint, Attractor, and Repellor definitions
|
42
|
-
class Waypoint
|
42
|
+
class Waypoint
|
43
43
|
attr_accessor :location, :normal, :range, :name, :attractor
|
44
44
|
attr_reader :bearing, :distance
|
45
45
|
|
@@ -58,7 +58,7 @@ module SGS
|
|
58
58
|
def parse(data)
|
59
59
|
@@count += 1
|
60
60
|
@name = data["name"] || "Waypoint ##{@@count}"
|
61
|
-
@location =
|
61
|
+
@location = Location.parse(data)
|
62
62
|
@normal = data["normal"] || 0.0
|
63
63
|
@range = data["range"] || 0.1
|
64
64
|
end
|
data/lib/sgslib.rb
CHANGED
@@ -31,13 +31,10 @@
|
|
31
31
|
# ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
32
32
|
#
|
33
33
|
# ABSTRACT
|
34
|
-
#
|
34
|
+
# Include all of the various components.
|
35
35
|
|
36
36
|
##
|
37
37
|
#
|
38
|
-
require 'date'
|
39
|
-
require 'logger'
|
40
|
-
|
41
38
|
require "sgs/version"
|
42
39
|
require 'sgs/redis_base'
|
43
40
|
require 'sgs/config'
|
data/sgslib.gemspec
CHANGED
@@ -34,14 +34,16 @@ Gem::Specification.new do |spec|
|
|
34
34
|
spec.executables = spec.files.grep(%r{^exe/}) { |f| File.basename(f) }
|
35
35
|
spec.require_paths = ["lib"]
|
36
36
|
|
37
|
-
spec.required_ruby_version = '>=
|
37
|
+
spec.required_ruby_version = '>= 2.7.6'
|
38
38
|
|
39
39
|
spec.add_development_dependency "bundler", "~> 2.2"
|
40
40
|
spec.add_development_dependency "rake", ">= 12.3.3"
|
41
41
|
spec.add_development_dependency "rspec", "~> 3.0"
|
42
42
|
|
43
|
-
spec.add_runtime_dependency "
|
44
|
-
spec.add_runtime_dependency "
|
45
|
-
|
46
|
-
spec.
|
43
|
+
spec.add_runtime_dependency "redis", "~> 5.0"
|
44
|
+
spec.add_runtime_dependency "serialport", "~> 1.3"
|
45
|
+
spec.add_runtime_dependency "msgpack", "~> 1.6"
|
46
|
+
spec.add_runtime_dependency "json"
|
47
|
+
spec.add_runtime_dependency "securerandom"
|
48
|
+
spec.add_runtime_dependency "yaml"
|
47
49
|
end
|