sgslib 0.1.0
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- checksums.yaml +7 -0
- data/.gitignore +9 -0
- data/.rspec +2 -0
- data/.travis.yml +4 -0
- data/CODE_OF_CONDUCT.md +49 -0
- data/Gemfile +4 -0
- data/LICENSE +21 -0
- data/README.md +40 -0
- data/Rakefile +7 -0
- data/bin/console +14 -0
- data/bin/setup +8 -0
- data/lib/sgs/alarm.rb +103 -0
- data/lib/sgs/command.rb +167 -0
- data/lib/sgs/gps.rb +53 -0
- data/lib/sgs/location.rb +328 -0
- data/lib/sgs/logger.rb +96 -0
- data/lib/sgs/mission.rb +362 -0
- data/lib/sgs/navigate.rb +141 -0
- data/lib/sgs/nmea.rb +138 -0
- data/lib/sgs/otto.rb +163 -0
- data/lib/sgs/polar.rb +86 -0
- data/lib/sgs/redis_base.rb +251 -0
- data/lib/sgs/setup.rb +40 -0
- data/lib/sgs/timing.rb +45 -0
- data/lib/sgs/version.rb +3 -0
- data/lib/sgs/waypoint.rb +115 -0
- data/lib/sgslib.rb +46 -0
- data/sgslib.gemspec +35 -0
- metadata +129 -0
checksums.yaml
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---
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SHA1:
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metadata.gz: 0fc3371c28ba4e23106c0a6ec7438269c4e127a4
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data.tar.gz: 513b37fe44496a798e3c9a332fa7446bd35d7a93
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SHA512:
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metadata.gz: cc840557ca82d76640c300cd2fb93745da198f5827444ff38afd84c2a11aabfd429dcfd600cc54ea30020c28acecd2a9b5719f820a8d277e8060e5ed97e20d73
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data.tar.gz: a574b15c37a867713b01cf4583edfafa4623461c433d30ad87512d47b507d76224abe8b91aaaefed6ad65d4a3e8d57ed46f1921ce8e461aebd41f5fa3a8979b9
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data/.gitignore
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data/.rspec
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data/.travis.yml
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data/CODE_OF_CONDUCT.md
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# Contributor Code of Conduct
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As contributors and maintainers of this project, and in the interest of
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fostering an open and welcoming community, we pledge to respect all people who
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contribute through reporting issues, posting feature requests, updating
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documentation, submitting pull requests or patches, and other activities.
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We are committed to making participation in this project a harassment-free
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experience for everyone, regardless of level of experience, gender, gender
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identity and expression, sexual orientation, disability, personal appearance,
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body size, race, ethnicity, age, religion, or nationality.
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Examples of unacceptable behavior by participants include:
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* The use of sexualized language or imagery
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* Personal attacks
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* Trolling or insulting/derogatory comments
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* Public or private harassment
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* Publishing other's private information, such as physical or electronic
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addresses, without explicit permission
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* Other unethical or unprofessional conduct
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Project maintainers have the right and responsibility to remove, edit, or
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reject comments, commits, code, wiki edits, issues, and other contributions
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that are not aligned to this Code of Conduct, or to ban temporarily or
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permanently any contributor for other behaviors that they deem inappropriate,
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threatening, offensive, or harmful.
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By adopting this Code of Conduct, project maintainers commit themselves to
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fairly and consistently applying these principles to every aspect of managing
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this project. Project maintainers who do not follow or enforce the Code of
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Conduct may be permanently removed from the project team.
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This code of conduct applies both within project spaces and in public spaces
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when an individual is representing the project or its community.
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Instances of abusive, harassing, or otherwise unacceptable behavior may be
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reported by contacting a project maintainer at tynan@hpe.com. All
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complaints will be reviewed and investigated and will result in a response that
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is deemed necessary and appropriate to the circumstances. Maintainers are
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obligated to maintain confidentiality with regard to the reporter of an
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incident.
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This Code of Conduct is adapted from the [Contributor Covenant][homepage],
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version 1.3.0, available at
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[http://contributor-covenant.org/version/1/3/0/][version]
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[homepage]: http://contributor-covenant.org
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[version]: http://contributor-covenant.org/version/1/3/0/
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data/Gemfile
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data/LICENSE
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The MIT License (MIT)
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Copyright (c) 2017 Dermot Tynan
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in
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all copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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THE SOFTWARE.
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data/README.md
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# Sailboat Guidance System
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The Sailboat Guidance System is a Ruby gem for managing an autonomous, robotic sailboat.
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As it stands, it is quite specific to the [Beoga Beag](http://beogabeag.com) boat, but
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this will change, over time.
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## Installation
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Add this line to your application's Gemfile:
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```ruby
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gem 'sgslib'
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```
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And then execute:
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$ bundle
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Or install it yourself as:
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$ gem install sgslib
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## Usage
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TODO: Write usage instructions here
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## Development
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After checking out the repo, run `bin/setup` to install dependencies. Then, run `rake spec` to run the tests. You can also run `bin/console` for an interactive prompt that will allow you to experiment.
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To install this gem onto your local machine, run `bundle exec rake install`. To release a new version, update the version number in `version.rb`, and then run `bundle exec rake release`, which will create a git tag for the version, push git commits and tags, and push the `.gem` file to [rubygems.org](https://rubygems.org).
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## Contributing
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Bug reports and pull requests are welcome on GitHub at https://github.com/[USERNAME]/sgs. This project is intended to be a safe, welcoming space for collaboration, and contributors are expected to adhere to the [Contributor Covenant](http://contributor-covenant.org) code of conduct.
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## License
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The gem is available as open source under the terms of the [MIT License](http://opensource.org/licenses/MIT).
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data/Rakefile
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data/bin/console
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#!/usr/bin/env ruby
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require "bundler/setup"
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require "sgslib"
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# You can add fixtures and/or initialization code here to make experimenting
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# with your gem easier. You can also use a different console, if you like.
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# (If you use this, don't forget to add pry to your Gemfile!)
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# require "pry"
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# Pry.start
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require "irb"
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IRB.start
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data/bin/setup
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data/lib/sgs/alarm.rb
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#
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# Copyright (c) 2013, Kalopa Research. All rights reserved. This is free
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# software; you can redistribute it and/or modify it under the terms of the
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# GNU General Public License as published by the Free Software Foundation;
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# either version 2, or (at your option) any later version.
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#
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# It is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this product; see the file COPYING. If not, write to the Free
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# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
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#
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# THIS SOFTWARE IS PROVIDED BY KALOPA RESEARCH "AS IS" AND ANY EXPRESS OR
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# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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# IN NO EVENT SHALL KALOPA RESEARCH BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#
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##
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# Routines for handling sailboat alarms. Note that this is the definitive
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# list of alarms on the system. To add or modify an alarm, do so here.
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#
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require 'date'
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module SGS
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##
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# Deal with alarm subsystem.
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#
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class Alarm < RedisBase
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attr_accessor :last_report, :time
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OTTO_RESTART = 0
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RUDDSRV_FAULT = 1
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SAILSRV_FAULT = 2
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VBATT_CRITICAL = 3
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VBATT_UNDERVOLTAGE = 4
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VBATT_OVERVOLTAGE = 5
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IBATT_INRUSH = 6
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IBATT_DRAIN = 7
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VSOLAR_OVERVOLTAGE = 8
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COMPASS_ERROR = 9
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COMPASS_NOREAD = 10
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WDI_STUCK = 11
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WDI_NOREAD = 12
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RUDDER_NOZERO = 13
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SAIL_NOZERO = 14
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MOTHER_UNRESP = 15
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MISSION_COMMENCE = 16
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MISSION_COMPLETE = 17
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MISSION_ABORT = 18
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WAYPOINT_REACHED = 19
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CROSS_TRACK_ERROR = 20
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INSIDE_FENCE = 21
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MESSAGES = [
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"OTTO Restarted",
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"Rudder Servo Fault",
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"Sail Servo Fault",
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"Battery voltage is critically low",
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"Battery voltage is low",
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"Battery voltage is too high",
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"Battery inrush current",
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"Battery drain current",
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"Solar voltage is too high",
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"Compass module error",
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"Compass not responding",
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"WDI reading is misaligned",
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"Cannot read from the WDI",
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"Cannot zero the rudder position",
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"Cannot zero the sail position",
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"Mother is unresponsive",
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"Mission has commenced",
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"Mission is completed",
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"*** MISSION ABORT ***",
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"Waypoint has been reached",
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"Significant cross-track error",
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"Vessel is inside the fence"
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].freeze
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def initialize
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@count = 0
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@last_report = nil
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@time = Array.new(32, Time.at(0))
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super
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end
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#
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# Convert an alarm number into a string.
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def name(alarmno)
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MESSAGES[alarmno]
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end
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end
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end
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data/lib/sgs/command.rb
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#
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# Copyright (c) 2013, Kalopa Research. All rights reserved. This is free
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# software; you can redistribute it and/or modify it under the terms of the
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# GNU General Public License as published by the Free Software Foundation;
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# either version 2, or (at your option) any later version.
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#
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# It is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
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# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
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# for more details.
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#
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# You should have received a copy of the GNU General Public License along
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# with this product; see the file COPYING. If not, write to the Free
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# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
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#
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# THIS SOFTWARE IS PROVIDED BY KALOPA RESEARCH "AS IS" AND ANY EXPRESS OR
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# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
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# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
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# IN NO EVENT SHALL KALOPA RESEARCH BE LIABLE FOR ANY DIRECT, INDIRECT,
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# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
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# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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#
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##
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# Routines for handling sailboat alarms. Note that this is the definitive
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# list of alarms on the system. To add or modify an alarm, do so here.
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#
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module SGS
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##
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# Deal with command subsystem.
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#
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# This code handles the Fonz packet commands.
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#
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class Command < RedisBase
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attr_accessor :last_received, :time
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FONZ_PING = 0
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FONZ_MAGIC = 1
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FONZ_ACK = 2
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FONZ_GET_TIMEL = 4
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FONZ_TIME_DATAL = 5
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FONZ_GET_TIMEH = 6
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FONZ_TIME_DATAH = 7
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FONZ_GET_VOLTS1 = 8
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FONZ_VOLTS1_DATA = 9
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FONZ_GET_VOLTS2 = 10
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FONZ_VOLTS2_DATA = 11
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FONZ_GET_VOLTS3 = 12
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FONZ_VOLTS3_DATA = 13
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FONZ_GET_VOLTS4 = 14
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FONZ_VOLTS4_DATA = 15
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FONZ_GET_VOLTS5 = 16
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FONZ_VOLTS5_DATA = 17
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FONZ_GET_VOLTS6 = 18
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FONZ_VOLTS6_DATA = 19
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FONZ_GET_VOLTS7 = 20
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FONZ_VOLTS7_DATA = 21
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FONZ_GET_VOLTS8 = 22
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FONZ_VOLTS8_DATA = 23
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FONZ_GET_CURR1 = 24
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FONZ_CURR1_DATA = 25
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FONZ_GET_CURR2 = 26
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FONZ_CURR2_DATA = 27
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FONZ_GET_CURR3 = 28
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FONZ_CURR3_DATA = 29
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FONZ_GET_CURR4 = 30
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FONZ_CURR4_DATA = 31
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FONZ_GET_CURR5 = 32
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FONZ_CURR5_DATA = 33
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FONZ_GET_CURR6 = 34
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FONZ_CURR6_DATA = 35
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FONZ_GET_CURR7 = 36
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FONZ_CURR7_DATA = 37
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FONZ_GET_CURR8 = 38
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FONZ_CURR8_DATA = 39
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FONZ_GET_ALARMS = 40
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FONZ_ALARM_RAISE = 41
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FONZ_GET_OTTORST = 42
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FONZ_OTTORST_DATA = 43
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|
+
FONZ_GET_MISSION = 44
|
90
|
+
FONZ_MISSION_DATA = 45
|
91
|
+
FONZ_GET_COMPASS = 46
|
92
|
+
FONZ_COMPASS_DATA = 47
|
93
|
+
FONZ_GET_TWA = 48
|
94
|
+
FONZ_TWA_DATA = 49
|
95
|
+
FONZ_GET_RUDDER = 50
|
96
|
+
FONZ_RUDDER_DATA = 51
|
97
|
+
FONZ_GET_SAIL = 52
|
98
|
+
FONZ_SAIL_DATA = 53
|
99
|
+
FONZ_GET_PDOWN = 54
|
100
|
+
FONZ_PDOWN_DATA = 55
|
101
|
+
FONZ_GET_NAVLIGHT = 56
|
102
|
+
FONZ_NAVLIGHT_DATA = 57
|
103
|
+
FONZ_GET_BUZZER = 58
|
104
|
+
FONZ_BUZZER_DATA = 59
|
105
|
+
|
106
|
+
FONZ_GET_EEADDR = 60
|
107
|
+
FONZ_SET_EEADDR = 61
|
108
|
+
FONZ_GET_EEDATA = 62
|
109
|
+
FONZ_SET_EEDATA = 63
|
110
|
+
|
111
|
+
MESSAGES = [
|
112
|
+
"Ping", "Magic Word",
|
113
|
+
"ACK", "??",
|
114
|
+
"Get Time (Lo)", "Time Data (Lo)",
|
115
|
+
"Get Time (Hi)", "Time Data (Hi)",
|
116
|
+
"Get Voltage1", "Voltage1 Data",
|
117
|
+
"Get Voltage2", "Voltage2 Data",
|
118
|
+
"Get Voltage3", "Voltage3 Data",
|
119
|
+
"Get Voltage4", "Voltage4 Data",
|
120
|
+
"Get Voltage5", "Voltage5 Data",
|
121
|
+
"Get Voltage6", "Voltage6 Data",
|
122
|
+
"Get Voltage7", "Voltage7 Data",
|
123
|
+
"Get Voltage8", "Voltage8 Data",
|
124
|
+
"Get Current1", "Current1 Data",
|
125
|
+
"Get Current2", "Current2 Data",
|
126
|
+
"Get Current3", "Current3 Data",
|
127
|
+
"Get Current4", "Current4 Data",
|
128
|
+
"Get Current5", "Current5 Data",
|
129
|
+
"Get Current6", "Current6 Data",
|
130
|
+
"Get Current7", "Current7 Data",
|
131
|
+
"Get Current8", "Current8 Data",
|
132
|
+
"Get Alarms", "Alarm Raised!",
|
133
|
+
"Get Otto Reset", "Otto Reset Status",
|
134
|
+
"Get Mission", "Mission Data",
|
135
|
+
"Get Compass", "Compass Data",
|
136
|
+
"Get TWA", "TWA Data",
|
137
|
+
"Get Rudder Position", "Rudder Position Data",
|
138
|
+
"Get Sail Trim", "Sail Trim Data",
|
139
|
+
"Get Power Down", "Time to Power Down",
|
140
|
+
"Get Nav Light", "Nav Light Status",
|
141
|
+
"Get Buzzer", "Buzzer Status",
|
142
|
+
"Get EEPROM Address", "Set EEPROM Address",
|
143
|
+
"Get EEPROM Data", "Set EEPROM Data"
|
144
|
+
].freeze
|
145
|
+
|
146
|
+
def initialize
|
147
|
+
@count = 0
|
148
|
+
@last_report = nil
|
149
|
+
@time = Array.new(32, Time.at(0))
|
150
|
+
super
|
151
|
+
end
|
152
|
+
|
153
|
+
#
|
154
|
+
# Convert a command code into a string.
|
155
|
+
def name(code)
|
156
|
+
(code < MESSAGES.count) ? MESSAGES[code] : nil
|
157
|
+
end
|
158
|
+
|
159
|
+
#
|
160
|
+
# Send a command to the microcontroller
|
161
|
+
def send_command(cmd, arg = nil)
|
162
|
+
puts "Send command #{cmd} (#{name(cmd)})"
|
163
|
+
puts "Arg is #{arg}" if arg
|
164
|
+
return 0
|
165
|
+
end
|
166
|
+
end
|
167
|
+
end
|
data/lib/sgs/gps.rb
ADDED
@@ -0,0 +1,53 @@
|
|
1
|
+
#
|
2
|
+
# Copyright (c) 2013, Kalopa Research. All rights reserved. This is free
|
3
|
+
# software; you can redistribute it and/or modify it under the terms of the
|
4
|
+
# GNU General Public License as published by the Free Software Foundation;
|
5
|
+
# either version 2, or (at your option) any later version.
|
6
|
+
#
|
7
|
+
# It is distributed in the hope that it will be useful, but WITHOUT
|
8
|
+
# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
|
9
|
+
# FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
|
10
|
+
# for more details.
|
11
|
+
#
|
12
|
+
# You should have received a copy of the GNU General Public License along
|
13
|
+
# with this product; see the file COPYING. If not, write to the Free
|
14
|
+
# Software Foundation, 675 Mass Ave, Cambridge, MA 02139, USA.
|
15
|
+
#
|
16
|
+
# THIS SOFTWARE IS PROVIDED BY KALOPA RESEARCH "AS IS" AND ANY EXPRESS OR
|
17
|
+
# IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES
|
18
|
+
# OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
|
19
|
+
# IN NO EVENT SHALL KALOPA RESEARCH BE LIABLE FOR ANY DIRECT, INDIRECT,
|
20
|
+
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
|
21
|
+
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
|
22
|
+
# USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
|
23
|
+
# ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
|
24
|
+
# (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
25
|
+
# OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
26
|
+
#
|
27
|
+
module SGS
|
28
|
+
class GPS < RedisBase
|
29
|
+
attr_accessor :time, :location, :sog, :cmg, :magvar
|
30
|
+
|
31
|
+
def initialize(lat = nil, long = nil)
|
32
|
+
@time = Time.new(2000, 1, 1)
|
33
|
+
@location = Location.new(lat, long)
|
34
|
+
@sog = 0.0
|
35
|
+
@cmg = 0.0
|
36
|
+
@magvar = nil
|
37
|
+
@valid = false
|
38
|
+
super()
|
39
|
+
end
|
40
|
+
|
41
|
+
#
|
42
|
+
# Set the validity
|
43
|
+
def is_valid
|
44
|
+
@valid = true
|
45
|
+
end
|
46
|
+
|
47
|
+
#
|
48
|
+
# Is the GPS data valid?
|
49
|
+
def valid?
|
50
|
+
@valid == true
|
51
|
+
end
|
52
|
+
end
|
53
|
+
end
|