sgslib 1.6.0 → 1.8.1

checksums.yaml

@@ -1,7 +1,7 @@
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data/lib/sgs/bearing.rb

@@ -113,7 +113,7 @@ module SGS
     # This code was derived from formulae on the Movable Type site:
     # http://www.movable-type.co.uk/scripts/latlong.html
     #
-    # var d = Math.acos(Math.sin(lat1)*Math.sin(lat2) + 
+    # var d = Math.acos(Math.sin(lat1)*Math.sin(lat2) +
     #                  Math.cos(lat1)*Math.cos(lat2) *
     #                  Math.cos(lon2-lon1)) * R;
     # var y = Math.sin(dLon) * Math.cos(lat2);

data/lib/sgs/location.rb

@@ -75,9 +75,9 @@ module SGS
     # This code was derived from formulae on the Movable Type site:
     # http://www.movable-type.co.uk/scripts/latlong.html
     #
-    # var lat2 = Math.asin( Math.sin(lat1)*Math.cos(d/R) + 
+    # var lat2 = Math.asin( Math.sin(lat1)*Math.cos(d/R) +
     #              Math.cos(lat1)*Math.sin(d/R)*Math.cos(angle) );
-    # var lon2 = lon1 + Math.atan2(Math.sin(angle)*Math.sin(d/R)*Math.cos(lat1), 
+    # var lon2 = lon1 + Math.atan2(Math.sin(angle)*Math.sin(d/R)*Math.cos(lat1),
     #                     Math.cos(d/R)-Math.sin(lat1)*Math.sin(lat2));
     def +(bearing)
       loc = Location.new
@@ -144,7 +144,7 @@ module SGS
     #
     # Is this location valid?
     def valid?
-      @latitude and @longitude
+      !@latitude.nil? and !@longitude.nil?
     end
 
     #
@@ -227,6 +227,7 @@ module SGS
       # Can also strip out the special degrees unicode, as well as
       # single and double quotes.
       def _ll_parse(arg, nsew)
+        return arg.to_f if arg.kind_of? Float or arg.kind_of? Integer
         str = arg.chomp.gsub /[\u00B0'"]/, ' '
         if str[-1].upcase =~ /[#{nsew}]/
           sign = (str[-1].upcase == nsew[1]) ? -1 : 1

data/lib/sgs/mission.rb

@@ -126,7 +126,8 @@ module SGS
       @description = data["description"]
       if data["launch"]
         @launch_site = data["launch"]["site"] || "Launch Site"
-        @launch_location = Location.parse data["launch"]
+        @launch_location = Location.new
+        @launch_location.parse_hash data["launch"]
       end
       if data["attractors"]
         data["attractors"].each do |waypt_data|
@@ -165,7 +166,10 @@ module SGS
         hash["attractors"] << waypt.to_hash
       end
       hash["repellors"] = []
-      hash
+      @repellors.each do |waypt|
+        hash["repellors"] << waypt.to_hash
+      end
+      return hash
     end
   end
 end

data/lib/sgs/navigate.rb

@@ -142,6 +142,8 @@ module SGS
           best_course = new_course
         end
       end
+      puts "Best course:"
+      p best_course
       if best_course.tack != @course.tack
         puts "TACKING!!!!"
       end

data/lib/sgs/nmea.rb

@@ -58,7 +58,7 @@ module SGS
       end
       nmea
     end
-    
+
     #
     # Parse an NMEA string into its component parts.
     def parse(str)

data/lib/sgs/otto.rb

@@ -69,7 +69,16 @@ module SGS
     MAX_AWA_REGISTER = 11
     WAKE_DURATION_REGISTER = 12
     NEXT_WAKEUP_REGISTER = 13
-    MAX_REGISTER = 14
+    RUDDER_PID_P = 14
+    RUDDER_PID_I = 15
+    RUDDER_PID_D = 16
+    RUDDER_PID_E_NUM = 17
+    RUDDER_PID_E_DEN = 18
+    RUDDER_PID_U_DIV = 19
+    SAIL_MXC_M_VALUE = 20
+    SAIL_MXC_C_VALUE = 21
+    SAIL_MXC_U_DIV = 22
+    MAX_REGISTER = 23
 
     #
     # This is different from mission mode. This mode defines how Otto should
@@ -103,7 +112,7 @@ module SGS
 
     #
     # Set up some useful defaults. We assume rudder goes from 0 to 255 as does
-    # the sail angle. 
+    # the sail angle.
     def initialize
       serial_port = nil
       #
@@ -246,8 +255,6 @@ module SGS
         cmd = "R%d=%X\r\n" % params
         puts "Command: #{cmd}"
         @serial_port.write cmd
-        puts "> Sending command: #{str}"
-        @serial_port.puts "#{str}"
       end
     end
 
@@ -285,7 +292,7 @@ module SGS
     # representing the elapsed seconds since Otto restarted.
     def parse_tstamp(tstamp)
       newval = tstamp.to_i(16)
-      if newval < @otto_timestamp
+      if @otto_timestamp.nil? or newval < @otto_timestamp
         puts "ALARM! Otto rebooted (or something)..."
       end
       @otto_timestamp = newval

data/lib/sgs/redis_base.rb

@@ -96,7 +96,7 @@ module SGS
           # It's an array - iterate and read the values.
           lval.size.times do |idx|
             idx_val = lval[idx]
-            lval[idx] = redis_read_var var, idx_val.class, :idx => idx 
+            lval[idx] = redis_read_var var, idx_val.class, :idx => idx
          end
         elsif lval.kind_of? Location
           #
@@ -206,7 +206,7 @@ module SGS
         case
         when klass == Time
           redis_val = Time.at(redis_val.to_f).gmtime
-        when klass == Fixnum
+        when klass == Integer
           redis_val = redis_val.to_i
         when klass == Float
           redis_val = redis_val.to_f

data/lib/sgs/version.rb

@@ -33,5 +33,5 @@
 # ABSTRACT
 #
 module SGS
-  VERSION = "1.6.0"
+  VERSION = "1.8.1"
 end

data/lib/sgs/waypoint.rb

@@ -58,7 +58,8 @@ module SGS
     def parse(data)
       @@count += 1
       @name = data["name"] || "Waypoint ##{@@count}"
-      @location = Location.parse(data)
+      @location = Location.new
+      @location.parse_hash(data)
       @normal = data["normal"] || 0.0
       @range = data["range"] || 0.1
     end
@@ -136,7 +137,7 @@ module SGS
       hash["name"] = @name
       hash["normal"] = @normal
       hash["range"] = @range
-      hash
+      return hash
     end
 
     #

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: sgslib
 version: !ruby/object:Gem::Version
-  version: 1.6.0
+  version: 1.8.1
 platform: ruby
 authors:
 - Dermot Tynan
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2023-03-07 00:00:00.000000000 Z
+date: 2023-10-13 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler