sgslib 1.7.1 → 1.8.5

checksums.yaml

@@ -1,7 +1,7 @@
 ---
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+  data.tar.gz: f717f8defef045a95408bbe34217bb8bf60f6ae802e5ddf95d4ff08dc223b8ff
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data/lib/sgs/alarm.rb

@@ -46,25 +46,25 @@ module SGS
 
     #
     # Alarms generated by Otto.
-    MISSION_SWITCH = 0
-    RUDDSRV_FAULT = 1
-    SAILSRV_FAULT = 2
-    VBATT_CRITICAL = 3
-    VBATT_UNDERVOLTAGE = 4
-    VBATT_OVERVOLTAGE = 5
-    IBATT_INRUSH = 6
-    IBATT_DRAIN = 7
-    VSOLAR_OVERVOLTAGE = 8
-    COMPASS_ERROR = 9
-    COMPASS_NOREAD = 10
-    WDI_STUCK = 11
-    WDI_NOREAD = 12
-    RUDDER_NOZERO = 13
-    SAIL_NOZERO = 14
-    MOTHER_UNRESP = 15
+    OTTO_RESTART = 0
+    MISSION_SWITCH = 1
+    RUDDER_FAULT = 2
+    SAIL_FAULT = 3
+    BATTERY_FAULT = 4
+    SOLAR_FAULT = 5
+    COMPASS_FAULT = 6
+    ACCEL_FAULT = 7
+    WDI_FAULT = 8
+    MOTHER_UNRESP = 9
+    RESERVED1 = 10
+    RESERVED2 = 11
+    RESERVED3 = 12
+    RESERVED4 = 13
+    RESERVED5 = 14
+    RESERVED6 = 15
     #
     # Alarms generated by Mother.
-    OTTO_RESTART = 16
+    OTTO_FAULT = 16
     MISSION_COMMENCE = 17
     MISSION_COMPLETE = 18
     MISSION_ABORT = 19
@@ -73,23 +73,23 @@ module SGS
     INSIDE_FENCE = 22
 
     ALARM_NAMES = [
+      "OTTO Restarted Unexpectedly",
       "Mission Activation Switch",
-      "Rudder Servo Fault",
-      "Sail Servo Fault",
-      "Battery voltage is critically low",
-      "Battery voltage is low",
-      "Battery voltage is too high",
-      "Battery inrush current",
-      "Battery drain current",
-      "Solar voltage is too high",
-      "Compass module error",
-      "Compass not responding",
-      "WDI reading is misaligned",
-      "Cannot read from the WDI",
-      "Cannot zero the rudder position",
-      "Cannot zero the sail position",
-      "Mother is unresponsive",
-      "OTTO Restarted",
+      "Fault in Rudder Control System",
+      "Fault in Sail Control System",
+      "Battery Failure",
+      "Failure in Solar Array",
+      "Fault in Electronic Compass",
+      "Fault in Accelerometer",
+      "Fault in Wind Direction Indicator",
+      "Mother is Unresponsive",
+      "** Reserved 1 **",
+      "** Reserved 2 **",
+      "** Reserved 3 **",
+      "** Reserved 4 **",
+      "** Reserved 5 **",
+      "** Reserved 6 **",
+      "Fault with OTTO Communications",
       "Mission has commenced",
       "Mission is completed",
       "*** MISSION ABORT ***",
@@ -108,7 +108,7 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
-      puts  "Alarm daemon starting up..."
+      puts  "Alarm daemon starting up. VERSION: #{SGS::VERSION}"
       otto = RPCClient.new(:otto)
       loop do
         #puts "Check for any alarms..."

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/diagnostics.rb

@@ -41,7 +41,7 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
-      puts "Diagnostics subsystem starting up..."
+      puts "Diagnostics subsystem starting up. Version #{SGS::VERSION}"
       loop do
         sleep 300
       end

data/lib/sgs/gps.rb

@@ -53,17 +53,22 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
-      puts "GPS reader starting up..."
+      puts "GPS reader starting up. Version #{SGS::VERSION}"
       config = Config.load
 
       sp = SerialPort.new config.gps_device, config.gps_speed
       sp.read_timeout = 10000
 
       loop do
-        nmea = NMEA.parse sp.readline
+        line = sp.readline
+        nmea = NMEA.parse line
         if nmea.is_gprmc?
           gps = nmea.parse_gprmc
           p gps
+          if gps.cmg < 0.0
+            puts "CMG ERROR?!? #{gps.cmg}"
+            p line
+          end
           gps.save_and_publish if gps and gps.valid?
         end
       end

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
 
     #

data/lib/sgs/mission.rb

@@ -69,7 +69,7 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
-      puts "Mission management system starting up..."
+      puts "Mission management system starting up. Version #{SGS::VERSION}"
       #
       # Load the mission data from Redis and augment it with the
       # contents of the mission file.
@@ -87,14 +87,14 @@ module SGS
           # a compass course), and set the Otto register accordingly.
           # Repeat until we run out of waypoints.
           GPS.subscribe do |count|
-            puts "Mission received new GPS count: #{count}"
-            new_course = nav.navigate
-            if new_course.nil?
+            puts "\n***** Mission received new GPS count: #{count} *****"
+            if nav.navigate
               mission.status.completed!
               break
             end
             mission.status.save
-            compass = Bearing.rtox(new_course.heading)
+            compass = Bearing.rtox(nav.course.heading)
+            puts "Proposed compass course: #{compass}xd"
             otto.set_register(Otto::COMPASS_HEADING_REGISTER, compass)
           end
         else
@@ -166,7 +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

@@ -49,16 +49,20 @@
 #
 module SGS
   class Navigate
+    attr_reader :course, :gps, :otto, :waypoint
+
     #
     # Initialize the navigational parameters
     def initialize(mission)
       @mission = mission
+      @course = nil
       @swing = 45
     end
 
     #
     # Compute the best heading based on our current position and the position
-    # of the current attractor. This is where the heavy-lifting happens
+    # of the current attractor. This is where the heavy-lifting happens.
+    # Returns TRUE if we're done.
     def navigate
       if @mission.status.current_waypoint == -1
         @mission.status.current_waypoint = 0
@@ -66,35 +70,29 @@ module SGS
       end
       set_waypoint
       puts "Attempting to navigate to #{@waypoint}..."
-      #
-      # Pull the latest GPS data...
-      @gps = GPS.load
-      puts "GPS: #{@gps}"
-      return unless @gps.valid?
-      #
-      # Pull the latest Otto data...
-      @otto = Otto.load
-      puts "OTTO:"
-      p @otto
-      puts "Compass: #{@otto.compass}"
-      puts "AWA: #{@otto.awa}"
-      puts "Wind: #{@otto.wind}"
-      #
-      # Update our local copy of the course based on what Otto says.
-      puts "Course:"
-      @course = Course.new
-      @course.heading = @otto.compass
-      @course.awa = @otto.awa
-      @course.compute_wind
-      #
-      # Compute a new course from the parameter set
-      compute_new_course
+      pull_gps_data
+      pull_otto_data
+      return compute_new_course
     end
 
     #
     # Compute a new course based on our position and other information.
     def compute_new_course
+      #
+      # Update our local copy of the course based on what Otto says.
       puts "Compute new course..."
+      unless @course
+        #
+        # First time through, the current course is whichever way the boat
+        # is pointing.
+        @course = Course.new
+        @course.heading = @otto.compass
+      end
+      #
+      # Really it's the AWA we're interested in, not the boat heading.
+      @course.awa = @otto.awa
+      @course.compute_wind
+      p @course
       #
       # First off, compute distance and bearing from our current location
       # to every attractor and repellor. We only look at forward attractors,
@@ -107,7 +105,7 @@ module SGS
       while active? and reached?
         next_waypoint!
       end
-      return nil unless active?
+      return true unless active?
       puts "Angle to next waypoint: #{@waypoint.bearing.angle_d}d"
       puts "Adjusted distance to waypoint is #{@waypoint.distance}"
       #
@@ -142,10 +140,13 @@ module SGS
           best_course = new_course
         end
       end
+      puts "Best course: AWA: #{best_course.awa_d} degrees, Course: #{best_course.heading_d} degrees, Speed: #{best_course.speed} knots"
+      p best_course
       if best_course.tack != @course.tack
         puts "TACKING!!!!"
       end
-      best_course
+      @course = best_course
+      return false
     end
 
     #
@@ -253,6 +254,31 @@ module SGS
       dist
     end
 
+    #
+    # Pull the latest GPS data. Failure is not an option.
+    def pull_gps_data
+      loop do
+        @gps = GPS.load
+        puts "GPS: #{@gps}"
+        break if @gps.valid?
+        puts "Retrying GPS..."
+        sleep 1
+      end
+    end
+
+    #
+    # Pull the latest Otto data.
+    def pull_otto_data
+      #
+      # Pull the latest Otto data...
+      @otto = Otto.load
+      puts "OTTO:"
+      p @otto
+      puts "Compass: #{@otto.compass}"
+      puts "AWA: #{@otto.awa}"
+      puts "Wind: #{@otto.wind}"
+    end
+
     #
     # Navigate a course up to a windward mark which is one nautical mile
     # upwind of the start position. From there, navigate downwind to the

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

@@ -53,6 +53,14 @@ module SGS
     attr_reader :actual_rudder, :actual_sail
     attr_reader :otto_mode, :otto_timestamp, :telemetry
 
+    MISSION_SWITCH = 1
+    RUDDER_FAULT = 2
+    SAIL_FAULT = 3
+    BATTERY_FAULT = 4
+    SOLAR_FAULT = 5
+    COMPASS_FAULT = 6
+    ACCEL_FAULT = 7
+    WDI_FAULT = 8
     #
     # Updates to Otto are done by setting an 8bit register value, as below.
     ALARM_CLEAR_REGISTER = 0
@@ -112,10 +120,13 @@ 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
       #
+      # Keep a local copy of the register set to avoid duplication.
+      @registers = Array.new(MAX_REGISTER)
+      #
       # Set some defaults for the read-back parameters
       # The following five parameters are reported back by Otto with a status
       # message, and are read-only. @alarm_status is 16 bits while the other
@@ -148,7 +159,7 @@ module SGS
     # 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..."
+      puts "Low-level (Otto) communication subsystem starting up. Version #{SGS::VERSION}"
       otto = new
       config = Config.load
       otto.serial_port = SerialPort.new config.otto_device, config.otto_speed
@@ -250,13 +261,17 @@ module SGS
         request = MessagePack.unpack(request)
         puts "Req:[#{request.inspect}]"
         params = request['params']
-        next if request['method'] != "set_local_register"
         puts "PARAMS: #{params}"
-        cmd = "R%d=%X\r\n" % params
-        puts "Command: #{cmd}"
-        @serial_port.write cmd
-        puts "> Sending command: #{str}"
-        @serial_port.puts "#{str}"
+        case request['method']
+        when "set_local_register"
+          reg, value = params
+          if @registers[reg] != value
+            cmd = "R%d=%X\r\n" % [reg, value]
+            puts "Command: #{cmd}"
+            @serial_port.write cmd
+            @registers[reg] = value
+          end
+        end
       end
     end
 
@@ -294,7 +309,7 @@ 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/report.rb

@@ -42,7 +42,7 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
-      puts "Reporting subsystem starting up..."
+      puts "Reporting subsystem starting up. Version #{SGS::VERSION}"
       config = Config.load
       sp = SerialPort.new config.comm_device, config.comm_speed
       sp.read_timeout = 10000

data/lib/sgs/version.rb

@@ -33,5 +33,5 @@
 # ABSTRACT
 #
 module SGS
-  VERSION = "1.7.1"
+  VERSION = "1.8.5"
 end

data/lib/sgs/waypoint.rb

@@ -137,7 +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: 1.7.1
+  version: 1.8.5
 platform: ruby
 authors:
 - Dermot Tynan
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2023-05-31 00:00:00.000000000 Z
+date: 2023-10-15 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -204,7 +204,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.1.6
+rubygems_version: 3.3.5
 signing_key: 
 specification_version: 4
 summary: Sailboat Guidance System