sgslib 0.4.0 → 1.5.0

checksums.yaml

@@ -1,7 +1,7 @@
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data/LICENSE

@@ -1,21 +1,28 @@
-The MIT License (MIT)
+Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+reserved.
 
-Copyright (c) 2017 Dermot Tynan
+This program 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 of the License,
+or (at your option) any later version.
 
-Permission is hereby granted, free of charge, to any person obtaining a copy
-of this software and associated documentation files (the "Software"), to deal
-in the Software without restriction, including without limitation the rights
-to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
-copies of the Software, and to permit persons to whom the Software is
-furnished to do so, subject to the following conditions:
+This program 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.
 
-The above copyright notice and this permission notice shall be included in
-all copies or substantial portions of the Software.
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software Foundation,
+Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
 
-THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
-IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
-FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
-AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
-LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
-OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
-THE SOFTWARE.
+THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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 ROBOTICS LIMITED
+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.

data/README.md

@@ -3,8 +3,32 @@
 # Sailboat Guidance System
 
 The Sailboat Guidance System is a Ruby gem for managing an autonomous, robotic sailboat.
-As it stands, it is quite specific to the [Beoga Beag](http://beogabeag.com) boat, but
-this will change, over time.
+As it stands, it is quite specific to the
+[Beoga Beag](https://kalopa.com/vessels/2) boat, but this will change, over time
+(**and with your help!**).
+
+The architecture is split between a low-level, Arduino-like board and an upper-level
+FreeBSD-based board.
+The low-level board controls the second-by-second operations such as steering,
+sail trim, and battery voltage.
+It is designed to focus on things such as real-time performace, tight PID-control
+loops, and basic telemetry such as voltage/current measurement, electronic compass,
+and wind direction.
+The upper-level board has the advantage of floating-point and the disadvantage of
+a pre-emptive, multiprocess operating system.
+So it focuses on the "bigger picture."
+In this world-view, the GPS is read by the upper-level system.
+Likewise, any satellite communications are handled here.
+
+This mimics the way an ocean-going, racing sailboat (such as a Volvo Ocean Race boat)
+would organize itself.
+The two watch teams alternate the constant, 24/7 job of steering and sail trim,
+while the navigator analyses weather systems and makes more strategic decisions.
+
+The code in this repository is designed to handle all of the upper-level tasks
+associated with navigation, overall monitoring, reporting and logging, error
+detection, and anything which can be done on an hourly cadence rather than the
+tasks which require constant attention and control.
 
 ## Installation
 
@@ -28,15 +52,27 @@ TODO: Write usage instructions here
 
 ## Development
 
-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.
+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.
 
-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).
+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).
 
 ## Contributing
 
-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.
-
+Bug reports and pull requests are welcome on GitHub at
+https://github.com/kalopa/sgslib.
+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.
 
 ## License
 
-The gem is available as open source under the terms of the [MIT License](http://opensource.org/licenses/MIT).
+The gem is available as open source under the terms of the
+[GPL v2 License](http://opensource.org/licenses/gpl-2.0).

data/Rakefile

@@ -1,7 +1,7 @@
 require "bundler/gem_tasks"
-require "rspec/core/rake_task"
+#require "rspec/core/rake_task"
 
-RSpec::Core::RakeTask.new(:spec)
+#RSpec::Core::RakeTask.new(:spec)
 
 task :default => :spec
 task :test => :spec

data/bin/console

@@ -1,5 +1,38 @@
 #!/usr/bin/env ruby
-
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+#
 require "bundler/setup"
 require "sgslib"
 

data/exe/sgs_alarm

@@ -0,0 +1,41 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This utility daemon is responsible for pulling alarm status from the
+# low-level board, and reporting it as appropriate.
+#
+require 'sgslib'
+
+SGS:Alarm.daemon
+exit 0

data/exe/sgs_diag

@@ -0,0 +1,41 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# If needed, run a set of diagnostics on the sailboat, to determine if there
+# are issues. Also includes calibrating the compass, etc.
+#
+require 'sgslib'
+
+SGS::Diagnostics.daemon
+exit 0

data/exe/sgs_gpsread

@@ -0,0 +1,42 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This daemon is responsible for reading from the GPS unit and posting
+# the data to the Redis database, and also sending a GPS message to any
+# and all interested parties.
+#
+require 'sgslib'
+
+SGS::GPS.daemon
+exit 0

data/exe/sgs_logger

@@ -0,0 +1,45 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This utility daemon is responsible for reporting various system-level
+# activities to the appropriate log files. It attempts to catch all
+# messages thrown by the various daemons, and then writes the message
+# to the log file for possible transmission back to mission control. It
+# is responsible for rolling the log files, and recycling logging space
+# if the log directory starts to fill up - hopefully that won't happen.
+#
+require 'sgslib'
+
+SGS::Logger.daemon
+exit 0

data/exe/sgs_mission

@@ -0,0 +1,45 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This utility daemon is responsible for reporting various system-level
+# activities to the appropriate log files. It attempts to catch all
+# messages thrown by the various daemons, and then writes the message
+# to the log file for possible transmission back to mission control. It
+# is responsible for rolling the log files, and recycling logging space
+# if the log directory starts to fill up - hopefully that won't happen.
+#
+require 'sgslib'
+
+SGS::Mission.daemon
+exit 0

data/exe/sgs_nav

@@ -0,0 +1,43 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This is the main navigator function. It listens for GPS messages
+# and computes the mission details from the current boat position. It
+# understands the various boat-state functions so that it won't try to
+# steer the boat if it is in a passive state.
+#
+require 'sgslib'
+
+SGS::Navigate.daemon
+exit 0

data/exe/sgs_otto

@@ -0,0 +1,46 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This utility daemon handles all communication between the low-level
+# Atmel board ("Otto Von Helm") and the upper-level systems. Any component
+# which needs to interact with the low-level hardware does so using this
+# daemon. Alarms are also processed herein. It will periodically check
+# for various state updates, as well.
+#
+require 'serialport'
+require 'msgpack'
+require 'sgslib'
+
+SGS::Otto.daemon
+exit 0

data/exe/sgs_report

@@ -0,0 +1,44 @@
+#!/usr/bin/env ruby
+#
+# Copyright (c) 2014-2023, Kalopa Robotics Limited.  All rights
+# reserved.
+#
+# This program 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 of
+# the License, or (at your option) any later version.
+#
+# This program 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 program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
+# This daemon runs periodically to send status reports and alerts back to
+# mission control. Status reports are sent every six hours, and alerts
+# are sent as they happen. It understands the weird interface of the
+# RockBlock and sends compressed log data back to mission control.
+#
+require 'serialport'
+require 'sgslib'
+
+SGS::Report.daemon
+exit 0

data/lib/sgs/alarm.rb

@@ -1,36 +1,42 @@
 #
-# 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.
+# Copyright (c) 2013-2023, Kalopa Robotics Limited.  All rights
+# reserved.
 #
-# 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.
+# This program 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 of
+# the License, or (at your option) any later version.
 #
-# 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 program 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.
 #
-# 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.
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA
+# 02110-1301, USA.
+#
+# THIS SOFTWARE IS PROVIDED BY KALOPA ROBOTICS LIMITED "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
+# ROBOTICS LIMITED 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.
+#
+# ABSTRACT
 #
 
 ##
 # 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.
 #
-require 'date'
-
 module SGS
   ##
   # Deal with alarm subsystem.
@@ -94,6 +100,32 @@ module SGS
       super
     end
 
+    #
+    # Main daemon function (called from executable)
+    def self.daemon
+      loop do
+        sleep 300
+      end
+    end
+
+    #
+    # Build a C include file based on the current alarm definitions
+    def self.build_include(fname)
+      alarm = new
+      File.open(fname, "w") do |f|
+        f.puts "/*\n * Autogenerated by #{__FILE__}.\n * DO NOT HAND-EDIT!\n */"
+        constants.sort.each do |c|
+          unless c == :ALARM_NAMES
+            cval = SGS::Alarm.const_get(c)
+            str = "#define SGS_ALARM_#{c.to_s}"
+            str += "\t" if str.length < 32
+            str += "\t#{cval}\t/* #{alarm.name(cval)} */"
+            f.puts str
+          end
+        end
+      end
+    end
+
     #
     # Convert an alarm number into a string.
     def name(alarmno)