sgslib 1.5.0 → 1.5.1

checksums.yaml

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

@@ -44,7 +44,9 @@ module SGS
   class Alarm < RedisBase
     attr_accessor :last_report, :time
 
-    OTTO_RESTART = 0
+    #
+    # Alarms generated by Otto.
+    MISSION_SWITCH = 0
     RUDDSRV_FAULT = 1
     SAILSRV_FAULT = 2
     VBATT_CRITICAL = 3
@@ -60,16 +62,18 @@ module SGS
     RUDDER_NOZERO = 13
     SAIL_NOZERO = 14
     MOTHER_UNRESP = 15
-
-    MISSION_COMMENCE = 16
-    MISSION_COMPLETE = 17
-    MISSION_ABORT = 18
-    WAYPOINT_REACHED = 19
-    CROSS_TRACK_ERROR = 20
-    INSIDE_FENCE = 21
+    #
+    # Alarms generated by Mother.
+    OTTO_RESTART = 16
+    MISSION_COMMENCE = 17
+    MISSION_COMPLETE = 18
+    MISSION_ABORT = 19
+    WAYPOINT_REACHED = 20
+    CROSS_TRACK_ERROR = 21
+    INSIDE_FENCE = 22
 
     ALARM_NAMES = [
-      "OTTO Restarted",
+      "Mission Activation Switch",
       "Rudder Servo Fault",
       "Sail Servo Fault",
       "Battery voltage is critically low",
@@ -85,6 +89,7 @@ module SGS
       "Cannot zero the rudder position",
       "Cannot zero the sail position",
       "Mother is unresponsive",
+      "OTTO Restarted",
       "Mission has commenced",
       "Mission is completed",
       "*** MISSION ABORT ***",
@@ -103,8 +108,13 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
+      puts  "Alarm daemon starting up..."
+      otto = SGS::RPCClient.new(:otto)
       loop do
-        sleep 300
+        #puts "Check for any alarms..."
+        #resp = otto.command "A?"
+        #puts "Response: #{resp}"
+        sleep 30
       end
     end
 

data/lib/sgs/bearing.rb

@@ -1,4 +1,5 @@
 #
+#
 # Copyright (c) 2013-2023, Kalopa Robotics Limited.  All rights
 # reserved.
 #

data/lib/sgs/diagnostics.rb

@@ -41,6 +41,7 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
+      puts "Diagnostics subsystem starting up..."
       loop do
         sleep 300
       end

data/lib/sgs/gps.rb

@@ -32,6 +32,8 @@
 #
 # ABSTRACT
 #
+require 'serialport'
+
 module SGS
   class GPS < RedisBase
     attr_accessor :time, :location, :sog, :cmg, :magvar
@@ -49,8 +51,19 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
+      puts "GPS reader starting up..."
+      config = SGS::Config.load
+
+      sp = SerialPort.new config.gps_device, config.gps_speed
+      sp.read_timeout = 10000
+
       loop do
-        sleep 300
+        nmea = SGS::NMEA.parse sp.readline
+        if nmea.is_gprmc?
+          gps = nmea.parse_gprmc
+          p gps
+          gps.save_and_publish if gps and gps.valid?
+        end
       end
     end
 

data/lib/sgs/logger.rb

@@ -38,12 +38,5 @@
 #
 module SGS
   class Logger < RedisBase
-    #
-    # Main daemon function (called from executable)
-    def self.daemon
-      loop do
-        sleep 300
-      end
-    end
   end
 end

data/lib/sgs/mission.rb

@@ -51,6 +51,7 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
+      puts "Mission management system starting up..."
       loop do
         sleep 300
       end

data/lib/sgs/mission_status.rb

@@ -73,7 +73,6 @@ module SGS
       @state = STATE_AWAITING
       @current_waypoint = 0
       @start_time = @end_time = nil
-      @logger = Logger.new(STDOUT)
     end
 
     #
@@ -91,7 +90,7 @@ module SGS
     #
     # Commence a mission...
     def start_test!(time = nil)
-      @logger.warn "***** Starting test phase *****"
+      puts "***** Starting test phase *****"
       @start_time = time || Time.now
       @state = STATE_START_TEST
       @current_waypoint = 0
@@ -104,7 +103,7 @@ module SGS
       @end_time = time || Time.now
       @state = STATE_COMPLETE
       save_and_publish
-      @logger.warn "***** Mission completed! *****"
+      puts "***** Mission completed! *****"
     end
 
     #
@@ -113,7 +112,7 @@ module SGS
       @end_time = time || Time.now
       @state = STATE_TERMINATED
       save_and_publish
-      @logger.warn "***** Mission terminated! *****"
+      puts "***** Mission terminated! *****"
     end
 
     #
@@ -122,7 +121,7 @@ module SGS
       @end_time = time || Time.now
       @state = STATE_FAILURE
       save_and_publish
-      @logger.warn "***** Mission failure! *****"
+      puts "***** Mission failure! *****"
     end
   end
 end

data/lib/sgs/navigate.rb

@@ -71,8 +71,27 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
-      loop do
-        sleep 300
+      puts "Navigation system starting up..."
+      #
+      # Load the mission data from Redis and augment it with the
+      # contents of the mission file.
+      config = SGS::Config.load
+      mission = SGS::Mission.file_load config.mission_file
+      #
+      # Now listen for GPS data...
+      SGS::GPS.subscribe do |count|
+        puts "Received new GPS count: #{count}"
+        case SGS::MissionStatus.state
+        when STATE_COMPASS_FOLLOW
+        when STATE_WIND_FOLLOW
+          mission.navigate
+        when STATE_COMPLETE
+        when STATE_TERMINATED
+        when STATE_FAILURE
+          mission.hold_station
+        end
+        gps = SGS::GPS.load
+        p gps
       end
     end
 

data/lib/sgs/otto.rb

@@ -32,6 +32,8 @@
 #
 # ABSTRACT
 #
+require 'serialport'
+require 'msgpack'
 
 ##
 # Routines for interfacing with the low-level microcontroller.
@@ -41,6 +43,9 @@ module SGS
     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
+    attr_accessor :serial_port
+    attr_reader :alarm_status, :wind, :compass, :actual_rudder, :actual_sail
+    attr_reader :otto_mode, :otto_timestamp, :telemetry
 
     MODE_INERT = 0
     MODE_DIAGNOSTICS = 1
@@ -57,8 +62,9 @@ module SGS
     # Set up some useful defaults. We assume rudder goes from 0 to 200 as does
     # the sail angle.
     def initialize
+      serial_port = nil
       #
-	    # Configure the Mx + C values for sail and rudder
+      # Configure the Mx + C values for sail and rudder
       @rudder_m = 2.5
       @rudder_c = 100.0
       @sail_m = 2.0
@@ -68,6 +74,12 @@ module SGS
       rudder = 0.0
       sail = 0.0
       #
+      # Set some defaults for the read-back parameters
+      @alarm_status = @wind = @compass = @actual_rudder = @actual_sail = 0
+      @otto_mode = 0
+      @otto_timestamp = 1000
+      @telemetry = Array.new(16)
+      #
       # 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
@@ -75,13 +87,170 @@ module SGS
     end
 
     #
-    # Main daemon function (called from executable)
+    # Main daemon function (called from executable). The job of
+    # this daemon is to accept commands from the Redis pub/sub
+    # stream and send them to the low-level device, recording the
+    # response and sending it back to the caller. Note that we need
+    # 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
-      loop do
-        sleep 300
+      puts "Low-level (Otto) communication subsystem starting up..."
+      otto = new
+      config = SGS::Config.load
+      otto.serial_port = SerialPort.new config.otto_device, config.otto_speed
+      otto.serial_port.read_timeout = 10000
+      #
+      # Start by getting a sync message from Otto.
+      otto.synchronize()
+      #
+      # Run the communications service with Otto. Two threads are used, one for
+      # reading and one for writing. Don't let the command stack get too big.
+      t1 = Thread.new { otto.reader_thread }
+      t2 = Thread.new { otto.writer_thread }
+      t1.join
+      t2.join
+    end
+
+    #
+    # Synchronize with the low-level board by sending CQ messages until
+    # they respond.
+    def synchronize
+      index = 0
+      backoffs = [1, 1, 1, 1, 2, 2, 3, 5, 10, 10, 20, 30, 60]
+      puts "Attempting to synchronize with Otto..."
+      while true do
+        begin
+          @serial_port.puts "@@CQ!"
+          resp = read_data
+          break if resp =~ /^\+CQOK/ or resp =~ /^\+OK/
+          sleep backoffs[index]
+          index += 1 if index < (backoffs.count - 1)
+        end
+      end
+      puts "Synchronization complete!"
+    end
+
+    #
+    # Thread to read status messages from Otto and handle them
+    def reader_thread
+      puts "Starting OTTO reader thread..."
+      while true
+        data = read_data
+        next if data.nil? or data.length == 0
+        case data[0]
+        when '$'
+          #
+          # Status message (every second)
+          parse_status(data[1..])
+        when '@'
+          #
+          # Otto elapsed time (every four seconds)
+          parse_tstamp(data[1..])
+        when '!'
+          #
+          # Otto mode state (every four seconds)
+          parse_mode(data[1..])
+        when '>'
+          #
+          # Telemetry data (every two seconds)
+          parse_telemetry(data[1..])
+        end
+      end
+    end
+
+    #
+    # Thread to write commands direct to Otto.
+    def writer_thread
+      puts "Starting OTTO writer thread..."
+      #
+      # Now listen for Redis PUB/SUB requests and act on each one.
+      while true
+        channel, request = SGS::RedisBase.redis.brpop("otto")
+        request = MessagePack.unpack(request)
+        puts "Req:[#{request.inspect}]"
+        cmd = {
+          id: request['id'],
+          args: request['params'].unshift(request['method'])
+        }
+        puts "CMD:#{cmd.inspect}"
+        #
+        # Don't let the command stack get too big.
+        while @command_stack.length > 5
+          sleep 5
+        end
+
+        puts "> Sending command: #{str}"
+        @serial_port.puts "#{str}"
+
+        reply = {
+          'id' => id,
+          'jsonrpc' => '2.0',
+          'result' => result
+        }
+        SGS::RedisBase.redis.rpush(id, MessagePack.pack(reply))
+        SGS::RedisBase.redis.expire(id, 30)
       end
     end
 
+    #
+    # Read data from the serial port
+    def read_data
+      begin
+        data = @serial_port.readline.chomp
+      rescue EOFError => error
+        puts "Otto Read Timeout!"
+        data = nil
+      end
+      data
+    end
+
+    #
+    # Parse a status message from Otto. In the form:
+    # 0001:C000:0000
+    def parse_status(status)
+      puts "Parse status: #{status}"
+      args = status.split /:/
+      @alarm_status = args[0].to_i(16)
+      wc = args[1].to_i(16)
+      rs = args[2].to_i(16)
+      @wind = (wc >> 8) & 0xff
+      @compass = (wc & 0xff)
+      @actual_rudder = (rs >> 8) & 0xff
+      @actual_sail = (rs & 0xff)
+      p self
+      self.save_and_publish
+    end
+
+    #
+    # Parse a timestamp message from Otto. In the form: "000FE2" 24 bits
+    # representing the elapsed seconds since Otto restarted.
+    def parse_tstamp(tstamp)
+      puts "Parse timestamp: #{tstamp}"
+      newval = tstamp.to_i(16)
+      if newval < @otto_timestamp
+        puts "ALARM! Otto rebooted (or something)..."
+      end
+      @otto_timestamp = newval
+    end
+
+    #
+    # Parse a mode state message from Otto. In the form: "00". An eight bit
+    # quantity.
+    def parse_mode(mode)
+      puts "Parse Otto Mode State: #{mode}"
+      @otto_mode = mode.to_i(16)
+    end
+
+    #
+    # Parse a telemetry message from Otto. In the form: "7327" where the first
+    # character is the channel (0->9) and the remaining 12 bits are the value.
+    def parse_telemetry(telemetry)
+      puts "Parse Otto Telemetry Data: #{telemetry}"
+      data = telemetry.to_i(16)
+      chan = (data >> 12) & 0xf
+      @telemetry[chan] = data & 0xff
+    end
+
     #
     # Set the required rudder angle. Input values range from +/- 40.0 degrees
     def rudder=(val)

data/lib/sgs/report.rb

@@ -32,6 +32,7 @@
 #
 # ABSTRACT
 #
+require 'serialport'
 
 ##
 # Routines for handling sailboat navigation and route planning.
@@ -41,6 +42,10 @@ module SGS
     #
     # Main daemon function (called from executable)
     def self.daemon
+      puts "Reporting subsystem starting up..."
+      config = SGS::Config.load
+      sp = SerialPort.new config.comm_device, config.comm_speed
+      sp.read_timeout = 10000
       loop do
         sleep 300
       end

data/lib/sgs/version.rb

@@ -33,5 +33,5 @@
 # ABSTRACT
 #
 module SGS
-  VERSION = "1.5.0"
+  VERSION = "1.5.1"
 end

data/lib/sgslib.rb

@@ -31,13 +31,10 @@
 # ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #
 # ABSTRACT
-#
+# Include all of the various components.
 
 ##
 #
-require 'date'
-require 'logger'
-
 require "sgs/version"
 require 'sgs/redis_base'
 require 'sgs/config'

data/sgslib.gemspec

@@ -40,8 +40,10 @@ Gem::Specification.new do |spec|
   spec.add_development_dependency "rake", ">= 12.3.3"
   spec.add_development_dependency "rspec", "~> 3.0"
 
-  spec.add_runtime_dependency "logger", "~> 1.4"
+  spec.add_runtime_dependency "redis", "~> 4.7"
+  spec.add_runtime_dependency "serialport", "~> 1.3"
   spec.add_runtime_dependency "msgpack", "~> 1.3"
-
-  spec.add_dependency "redis", "~> 4.7"
+  spec.add_runtime_dependency "json"
+  spec.add_runtime_dependency "securerandom"
+  spec.add_runtime_dependency "yaml"
 end

metadata

@@ -1,14 +1,14 @@
 --- !ruby/object:Gem::Specification
 name: sgslib
 version: !ruby/object:Gem::Version
-  version: 1.5.0
+  version: 1.5.1
 platform: ruby
 authors:
 - Dermot Tynan
 autorequire: 
 bindir: exe
 cert_chain: []
-date: 2023-01-08 00:00:00.000000000 Z
+date: 2023-01-16 00:00:00.000000000 Z
 dependencies:
 - !ruby/object:Gem::Dependency
   name: bundler
@@ -53,21 +53,21 @@ dependencies:
       - !ruby/object:Gem::Version
         version: '3.0'
 - !ruby/object:Gem::Dependency
-  name: logger
+  name: redis
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '1.4'
+        version: '4.7'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '1.4'
+        version: '4.7'
 - !ruby/object:Gem::Dependency
-  name: msgpack
+  name: serialport
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
@@ -81,19 +81,61 @@ dependencies:
       - !ruby/object:Gem::Version
         version: '1.3'
 - !ruby/object:Gem::Dependency
-  name: redis
+  name: msgpack
   requirement: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '4.7'
+        version: '1.3'
   type: :runtime
   prerelease: false
   version_requirements: !ruby/object:Gem::Requirement
     requirements:
     - - "~>"
       - !ruby/object:Gem::Version
-        version: '4.7'
+        version: '1.3'
+- !ruby/object:Gem::Dependency
+  name: json
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: securerandom
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: yaml
+  requirement: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :runtime
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    requirements:
+    - - ">="
+      - !ruby/object:Gem::Version
+        version: '0'
 description: Sailboat Guidance System - an autonomous navigation and control system
   for robotic sailboats.
 email:
@@ -164,7 +206,7 @@ required_rubygems_version: !ruby/object:Gem::Requirement
     - !ruby/object:Gem::Version
       version: '0'
 requirements: []
-rubygems_version: 3.0.3.1
+rubygems_version: 3.1.6
 signing_key: 
 specification_version: 4
 summary: Sailboat Guidance System