sgslib 0.2.5 → 0.2.6

checksums.yaml

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

@@ -62,7 +62,7 @@ module SGS
     CROSS_TRACK_ERROR = 20
     INSIDE_FENCE = 21
 
-    MESSAGES = [
+    ALARM_NAMES = [
       "OTTO Restarted",
       "Rudder Servo Fault",
       "Sail Servo Fault",

data/lib/sgs/otto.rb

@@ -30,134 +30,110 @@
 #
 module SGS
   class Otto < RedisBase
-    attr_reader :rudder, :sail, :compass, :twa
-    attr_accessor :bvcal, :bical, :btcal, :svcal
+    attr_accessor :raw_rudder, :raw_sail, :raw_compass, :raw_awa, :raw_tc, :raw_ta
+    attr_accessor :mode, :rudder_m, :rudder_c, :sail_m, :sail_c
+    attr_accessor :bv_m, :bv_c, :bi_m, :bi_c, :bt_m, :bt_c, :sv_m, :sv_c
 
-    def initialize
-      @bvcal = 0.0
-      @bical = 0.0
-      @btcal = 0.0
-      @svcal = 0.0
-      @rudder = read_rudder
-      @sail = read_sail
-      @compass = read_compass
-      @twa = read_twa
-      super
-    end
-
-    #
-    # Set the required rudder angle. Input values range from +/- 40 degrees
-    def rudder=(val)
-      val = -39.9 if val < -39.9
-      val = 39.9 if val > 39.9
-      return if @rudder == val
-      @rudder = val
-      intval = (@rudder * 120.0 / 40.0).to_int + 128
-      puts "New rudder value: #{intval} (#{@rudder} degrees)"
-      send_command(SET_RUDDER, intval)
-    end
+    MODE_INERT = 0
+    MODE_DIAGNOSTICS = 1
+    MODE_MANUAL = 2
+    MODE_TRACK_COMPASS = 3
+    MODE_TRACK_AWA = 4
 
-    #
-    # Set the required sail angle. Input values range from 0 -> 90 degrees.
-    def sail=(val)
-      val = 0.0 if val < 0.0
-      val = 90.0 if val > 90.0
-      return if @sail == val
-      @sail = val
-      intval = (@sail * 256.0 / 90.0).to_int
-      puts "New sail angle: #{intval} (#{@sail} degrees)"
-      send_command(SET_SAIL, intval)
-    end
+    MODE_NAMES = [
+      "Inert Mode", "Diagnostics Mode", "Manual Control Mode",
+      "Compass-Tracking Mode", "AWA-Tracking Mode"
+    ].freeze
 
     #
-    # Set the required compass reading. Input values range from 0 -> 359 degrees
-    def compass=(val)
-      while val < 0.0
-        val += 360.0
-      end
-      val %= 360.0
-      return if @compass == val
-      @compass = val
-      intval = (@compass * 256.0 / 360.0).to_int
-      puts "New compass heading: #{intval} (#{@compass} degrees)"
-      send_command(SET_COMPASS, intval)
+    # Set up some useful defaults. We assume rudder goes from 0 to 200 as does
+    # the sail angle.
+    def initialize
+      #
+	    # Configure the Mx + C values for sail and rudder
+      @rudder_m = 2.5
+      @rudder_c = 100.0
+      @sail_m = 2.0
+      @sail_c = 0.0
+      #
+      # Now set the rudder and sail to default positions (rudder is centered)
+      rudder = 0.0
+      sail = 0.0
+      #
+      # Set up some basic parameters for battery/solar readings
+      @bv_m = @bi_m = @bt_m = @sv_m = 1.0
+      @bv_c = @bi_c = @bt_c = @sv_c = 0.0
+      super
     end
 
     #
-    # Set the required true wind angle. Input values range from +/- 180 degrees
-    def twa=(val)
-      val = -179.9 if val < -179.9
-      val = 179.9 if val > 179.9
-      return if @twa == val
-      @twa = val
-      val = 360.0 + val if val < 0.0
-      intval = (val * 256.0 / 360.0).to_int
-      puts "New TWA: #{intval} (#{@twa} degrees)"
-      send_command(SET_TWA, intval)
+    # Set the required rudder angle. Input values range from +/- 40.0 degrees
+    def rudder=(val)
+      val = -40.0 if val < -40.0
+      val = 40.0 if val > 40.0
+      @raw_rudder = (@rudder_m * val.to_f + @rudder_c).to_i
     end
 
     #
-    # Read the uptime clock
-    def read_uptime
-      intval = send_command(READ_UPTIME)
+    # Return the rudder angle in degrees
+    def rudder
+      (@raw_rudder.to_f - @rudder_c) / @rudder_m
     end
 
     #
-    # Read the battery voltage
-    def read_battery_volts
-      intval = send_command(READ_BATTERY_VOLTAGE)
-      intval.to_f * @bvcal / 1024.0
+    # Set the required sail angle. Input values range from 0 -> 90 degrees.
+    def sail=(val)
+      val = 0.0 if val < 0.0
+      val = 100.0 if val > 100.0
+      @raw_sail = (@sail_m * val.to_f + @sail_c).to_i
     end
 
     #
-    # Read the battery current
-    def read_battery_current
-      intval = send_command(READ_BATTERY_CURRENT)
-      intval.to_f * @bical / 1024.0
+    # Return the sail setting (0.0 -> 100.0)
+    def sail
+      (@raw_sail.to_f - @sail_c) / @sail_m
     end
 
     #
-    # Read the boat temperature
-    def read_boat_temperature
-      intval = send_command(READ_BOAT_TEMPERATURE)
-      intval.to_f * @btcal / 1024.0
+    # Return the compass angle (in radians)
+    def compass
+      @raw_compass.to_f * Math::PI / 128.0
     end
 
     #
-    # Read the solar voltage
-    def read_solar_volts
-      intval = send_command(READ_SOLAR_VOLTAGE)
-      intval.to_f * @svcal / 1024.0
+    # Return the apparent wind angle (in radians)
+    def awa
+      @raw_awa.to_f * Math::PI / 128.0
     end
 
     #
-    # Read the actual compass value
-    def read_compass
-      intval = send_command(GET_COMPASS)
-      intval.to_f * 360.0 / 256.0
+    # Set the required compass reading. Input values range from 0 -> 359 degrees
+    def track_compass=(val)
+      while val < 0.0
+        val += 360.0
+      end
+      val %= 360.0
+      @raw_tc = (val.to_f * 128.0 / Math::PI).to_i
     end
 
     #
-    # Read the actual TWA value
-    def read_twa
-      intval = send_command(GET_TWA)
-      val = intval.to_f * 180.0 / 128.0
-      val = val - 360.0 if val > 180.0
-      val
+    # Return the compass value for tracking.
+    def track_compass
+      @raw_tc.to_f * Math::PI / 128.0
     end
 
     #
-    # Read the actual boat pitch
-    def read_pitch
-      intval = send_command(GET_PITCH)
-      intval.to_f
+    # Set the required AWA for tracking.
+    def track_awa=(val)
+      val = -180.0 if val < -180.0
+      val = 180.0 if val > 180.0
+      @raw_ta = (val.to_f * 128.0 / Math::PI).to_i
     end
 
     #
-    # Read the actual boat heel
-    def read_heel
-      intval = send_command(GET_HEEL)
-      intval.to_f
+    # Return the current tracking AWA.
+    def track_awa
+      @raw_ta.to_f * Math::PI / 128.0
     end
   end
 end

data/lib/sgs/redis_base.rb

@@ -32,17 +32,18 @@ require 'redis'
 
 module SGS
   class RedisBase
-    ##
+    class << self
+      def redis
+        puts "Class init"
+        @@redis ||= Redis.new
+      end
+    end
+
+    #
     # The base (inherited) class for dealing with Redis data for
     # the navigation system. Each model class inherits this parent,
     # and gets an update count for free.
 
-    #
-    # Initialize the base class.
-    def initialize
-      $redis = Redis.new unless $redis
-    end
-
     #
     # Initialize the (sub-)class variables in Redis.
     def self.setup
@@ -67,7 +68,7 @@ module SGS
     # Initialize a Redis variable.
     def self.var_init(var, val, idx = nil)
       cls = new
-      $redis.setnx cls.make_redis_name(var, :idx => idx), self.to_redis(var, val, idx)
+      SGS::RedisBase.redis.setnx cls.make_redis_name(var, :idx => idx), self.to_redis(var, val, idx)
     end
 
     #
@@ -133,11 +134,11 @@ module SGS
       #
       # Inside a multi-block, set all the variables and increment
       # the count.
-      $redis.multi do
+      SGS::RedisBase.redis.multi do
         var_list.each do |key, value|
-          $redis.set key, value
+          SGS::RedisBase.redis.set key, value
         end
-        $redis.incr count_name
+        SGS::RedisBase.redis.incr count_name
       end
       true
     end
@@ -149,7 +150,7 @@ module SGS
     # class name), you can remember the last received count and decide if
     # there is fresh data. Or, you can just act anyway.
     def publish
-      $redis.publish self.class.redis_handle, count.to_s
+      SGS::RedisBase.redis.publish self.class.redis_handle, count.to_s
     end
 
     #
@@ -174,7 +175,7 @@ module SGS
     #
     # Retrieve the count
     def count
-      $redis.get count_name
+      SGS::RedisBase.redis.get count_name
     end
 
     #
@@ -187,7 +188,7 @@ module SGS
     # Get an instance variable value from a Redis value.
     def redis_read_var(var, klass, opts = {})
       redis_name = make_redis_name var, opts
-      redis_val = $redis.get redis_name
+      redis_val = SGS::RedisBase.redis.get redis_name
       redis_val = nil if redis_val == ""
       if redis_val
         if not klass or klass == NilClass

data/lib/sgs/version.rb

@@ -1,3 +1,3 @@
 module SGS
-  VERSION = "0.2.5"
+  VERSION = "0.2.6"
 end

data/lib/sgslib.rb

@@ -36,7 +36,6 @@ require 'sgs/gps'
 require 'sgs/waypoint'
 require 'sgs/alarm'
 require 'sgs/timing'
-require 'sgs/command'
 require 'sgs/otto'
 require 'sgs/course'
 require 'sgs/navigate'

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: sgslib
 version: !ruby/object:Gem::Version
-  version: 0.2.5
+  version: 0.2.6
 platform: ruby
 authors:
 - Dermot Tynan
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2018-06-21 00:00:00.000000000 Z
+date: 2018-06-28 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -85,7 +85,6 @@ files:
 - bin/console
 - bin/setup
 - lib/sgs/alarm.rb
-- lib/sgs/command.rb
 - lib/sgs/config.rb
 - lib/sgs/course.rb
 - lib/sgs/gps.rb

data/lib/sgs/command.rb

@@ -1,167 +0,0 @@
-#
-# 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.
-#
-# 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.
-#
-# 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 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.
-#
-
-##
-# Routines for handling sailboat alarms. Note that this is the definitive
-# list of alarms on the system. To add or modify an alarm, do so here.
-#
-module SGS
-  ##
-  # Deal with command subsystem.
-  #
-  # This code handles the Fonz packet commands.
-  #
-  class Command < RedisBase
-    attr_accessor :last_received, :time
-
-    FONZ_PING = 0
-    FONZ_MAGIC = 1
-    FONZ_ACK = 2
-
-    FONZ_GET_TIMEL = 4
-    FONZ_TIME_DATAL = 5
-    FONZ_GET_TIMEH = 6
-    FONZ_TIME_DATAH = 7
-
-    FONZ_GET_VOLTS1 = 8
-    FONZ_VOLTS1_DATA = 9
-    FONZ_GET_VOLTS2 = 10
-    FONZ_VOLTS2_DATA = 11
-    FONZ_GET_VOLTS3 = 12
-    FONZ_VOLTS3_DATA = 13
-    FONZ_GET_VOLTS4 = 14
-    FONZ_VOLTS4_DATA = 15
-    FONZ_GET_VOLTS5 = 16
-    FONZ_VOLTS5_DATA = 17
-    FONZ_GET_VOLTS6 = 18
-    FONZ_VOLTS6_DATA = 19
-    FONZ_GET_VOLTS7 = 20
-    FONZ_VOLTS7_DATA = 21
-    FONZ_GET_VOLTS8 = 22
-    FONZ_VOLTS8_DATA = 23
-
-    FONZ_GET_CURR1 = 24
-    FONZ_CURR1_DATA = 25
-    FONZ_GET_CURR2 = 26
-    FONZ_CURR2_DATA = 27
-    FONZ_GET_CURR3 = 28
-    FONZ_CURR3_DATA = 29
-    FONZ_GET_CURR4 = 30
-    FONZ_CURR4_DATA = 31
-    FONZ_GET_CURR5 = 32
-    FONZ_CURR5_DATA = 33
-    FONZ_GET_CURR6 = 34
-    FONZ_CURR6_DATA = 35
-    FONZ_GET_CURR7 = 36
-    FONZ_CURR7_DATA = 37
-    FONZ_GET_CURR8 = 38
-    FONZ_CURR8_DATA = 39
-
-    FONZ_GET_ALARMS = 40
-    FONZ_ALARM_RAISE = 41
-
-    FONZ_GET_OTTORST = 42
-    FONZ_OTTORST_DATA = 43
-    FONZ_GET_MISSION = 44
-    FONZ_MISSION_DATA = 45
-    FONZ_GET_COMPASS = 46
-    FONZ_COMPASS_DATA = 47
-    FONZ_GET_TWA = 48
-    FONZ_TWA_DATA = 49
-    FONZ_GET_RUDDER = 50
-    FONZ_RUDDER_DATA = 51
-    FONZ_GET_SAIL = 52
-    FONZ_SAIL_DATA = 53
-    FONZ_GET_PDOWN = 54
-    FONZ_PDOWN_DATA = 55
-    FONZ_GET_NAVLIGHT = 56
-    FONZ_NAVLIGHT_DATA = 57
-    FONZ_GET_BUZZER = 58
-    FONZ_BUZZER_DATA = 59
-
-    FONZ_GET_EEADDR = 60
-    FONZ_SET_EEADDR = 61
-    FONZ_GET_EEDATA = 62
-    FONZ_SET_EEDATA = 63
-
-    MESSAGES = [
-      "Ping", "Magic Word",
-      "ACK", "??",
-      "Get Time (Lo)", "Time Data (Lo)",
-      "Get Time (Hi)", "Time Data (Hi)",
-      "Get Voltage1", "Voltage1 Data",
-      "Get Voltage2", "Voltage2 Data",
-      "Get Voltage3", "Voltage3 Data",
-      "Get Voltage4", "Voltage4 Data",
-      "Get Voltage5", "Voltage5 Data",
-      "Get Voltage6", "Voltage6 Data",
-      "Get Voltage7", "Voltage7 Data",
-      "Get Voltage8", "Voltage8 Data",
-      "Get Current1", "Current1 Data",
-      "Get Current2", "Current2 Data",
-      "Get Current3", "Current3 Data",
-      "Get Current4", "Current4 Data",
-      "Get Current5", "Current5 Data",
-      "Get Current6", "Current6 Data",
-      "Get Current7", "Current7 Data",
-      "Get Current8", "Current8 Data",
-      "Get Alarms", "Alarm Raised!",
-      "Get Otto Reset", "Otto Reset Status",
-      "Get Mission", "Mission Data",
-      "Get Compass", "Compass Data",
-      "Get TWA", "TWA Data",
-      "Get Rudder Position", "Rudder Position Data",
-      "Get Sail Trim", "Sail Trim Data",
-      "Get Power Down", "Time to Power Down",
-      "Get Nav Light", "Nav Light Status",
-      "Get Buzzer", "Buzzer Status",
-      "Get EEPROM Address", "Set EEPROM Address",
-      "Get EEPROM Data", "Set EEPROM Data"
-    ].freeze
-
-    def initialize
-      @count = 0
-      @last_report = nil
-      @time = Array.new(32, Time.at(0))
-      super
-    end
-
-    #
-    # Convert a command code into a string.
-    def name(code)
-      (code < MESSAGES.count) ? MESSAGES[code] : nil
-    end
-
-    #
-    # Send a command to the microcontroller
-    def send_command(cmd, arg = nil)
-      puts "Send command #{cmd} (#{name(cmd)})"
-      puts "Arg is #{arg}" if arg
-      return 0
-    end
-  end
-end