sgslib 1.5.1 → 1.6.0
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- checksums.yaml +4 -4
- data/lib/sgs/alarm.rb +2 -2
- data/lib/sgs/bearing.rb +31 -3
- data/lib/sgs/config.rb +0 -1
- data/lib/sgs/course.rb +18 -5
- data/lib/sgs/diagnostics.rb +1 -1
- data/lib/sgs/gps.rb +23 -3
- data/lib/sgs/location.rb +115 -59
- data/lib/sgs/logger.rb +1 -1
- data/lib/sgs/mission.rb +61 -185
- data/lib/sgs/mission_status.rb +16 -4
- data/lib/sgs/navigate.rb +203 -79
- data/lib/sgs/nmea.rb +3 -2
- data/lib/sgs/otto.rb +181 -78
- data/lib/sgs/redis_base.rb +9 -9
- data/lib/sgs/report.rb +2 -2
- data/lib/sgs/rpc.rb +5 -6
- data/lib/sgs/version.rb +1 -1
- data/lib/sgs/waypoint.rb +2 -2
- data/sgslib.gemspec +3 -3
- metadata +8 -10
- data/exe/sgs_nav +0 -43
checksums.yaml
CHANGED
@@ -1,7 +1,7 @@
|
|
1
1
|
---
|
2
2
|
SHA256:
|
3
|
-
metadata.gz:
|
4
|
-
data.tar.gz:
|
3
|
+
metadata.gz: 87786bab467aa776dcf6c87f887469ed917b43019d4863dd3be4249ff6fe299d
|
4
|
+
data.tar.gz: 3142d29756860081e97292373f37647d83f1a409f78ec6aad702dcf6d6484dd4
|
5
5
|
SHA512:
|
6
|
-
metadata.gz:
|
7
|
-
data.tar.gz:
|
6
|
+
metadata.gz: 120c638f13a6cb70844ec022fef4366c23b19d51643179bd5f1805fe75fbff11167db8338703c0f0a48a75ab77f6d76589b5ddd9d6f26a28fc03fca45e9beacf
|
7
|
+
data.tar.gz: 67c4abc829bf6c3a0bbdc75de66b12bf797de3b348103db654300edd08eb7fb098b3b66fe3e571fe250da1546d04b4012b5b8e7199780988024c39b1a6eb0a7a
|
data/lib/sgs/alarm.rb
CHANGED
@@ -109,7 +109,7 @@ module SGS
|
|
109
109
|
# Main daemon function (called from executable)
|
110
110
|
def self.daemon
|
111
111
|
puts "Alarm daemon starting up..."
|
112
|
-
otto =
|
112
|
+
otto = RPCClient.new(:otto)
|
113
113
|
loop do
|
114
114
|
#puts "Check for any alarms..."
|
115
115
|
#resp = otto.command "A?"
|
@@ -126,7 +126,7 @@ module SGS
|
|
126
126
|
f.puts "/*\n * Autogenerated by #{__FILE__}.\n * DO NOT HAND-EDIT!\n */"
|
127
127
|
constants.sort.each do |c|
|
128
128
|
unless c == :ALARM_NAMES
|
129
|
-
cval =
|
129
|
+
cval = Alarm.const_get(c)
|
130
130
|
str = "#define SGS_ALARM_#{c.to_s}"
|
131
131
|
str += "\t" if str.length < 32
|
132
132
|
str += "\t#{cval}\t/* #{alarm.name(cval)} */"
|
data/lib/sgs/bearing.rb
CHANGED
@@ -49,7 +49,8 @@ module SGS
|
|
49
49
|
attr_accessor :distance
|
50
50
|
|
51
51
|
#
|
52
|
-
# Create the Bearing instance.
|
52
|
+
# Create the Bearing instance. Angle is in radians, distance in nautical
|
53
|
+
# miles.
|
53
54
|
def initialize(angle = 0.0, distance = 0.0)
|
54
55
|
self.angle = angle.to_f
|
55
56
|
self.distance = distance.to_f
|
@@ -73,6 +74,23 @@ module SGS
|
|
73
74
|
rad.to_f * 180.0 / Math::PI
|
74
75
|
end
|
75
76
|
|
77
|
+
#
|
78
|
+
# Convert boat angle (0->255) to radians. The boat uses an 8bit quantity
|
79
|
+
# to represent an angle, where 256 maps to 360 degrees. This makes angle
|
80
|
+
# arithmetic quite simple on an 8 bit processor, but useless for
|
81
|
+
# something which has a proper FPU. These two helper functions convert
|
82
|
+
# to and from radians.
|
83
|
+
def self.xtor(val)
|
84
|
+
val &= 0xff
|
85
|
+
val.to_f * Math::PI / 128.0
|
86
|
+
end
|
87
|
+
|
88
|
+
#
|
89
|
+
# Convert radians to hex-degrees.
|
90
|
+
def self.rtox(rad)
|
91
|
+
(rad.to_f * 128.0 / Math::PI).round.to_i & 0xff
|
92
|
+
end
|
93
|
+
|
76
94
|
#
|
77
95
|
# Handy function to re-adjust an angle away from negative
|
78
96
|
def self.absolute(angle)
|
@@ -111,7 +129,7 @@ module SGS
|
|
111
129
|
sin_dlon = Math.sin(loc2.longitude - loc1.longitude)
|
112
130
|
cos_dlon = Math.cos(loc2.longitude - loc1.longitude)
|
113
131
|
bearing.distance = Math.acos(sin_lat1*sin_lat2 + cos_lat1*cos_lat2*cos_dlon) *
|
114
|
-
|
132
|
+
EARTH_RADIUS
|
115
133
|
y = sin_dlon * cos_lat2
|
116
134
|
x = cos_lat1 * sin_lat2 - sin_lat1 * cos_lat2 * cos_dlon
|
117
135
|
bearing.angle = Math.atan2(y, x)
|
@@ -142,10 +160,20 @@ module SGS
|
|
142
160
|
Bearing.absolute(@angle - Math::PI)
|
143
161
|
end
|
144
162
|
|
163
|
+
#
|
164
|
+
# Return the distance in metres
|
165
|
+
def distance_m
|
166
|
+
@distance * 1852.0
|
167
|
+
end
|
168
|
+
|
145
169
|
#
|
146
170
|
# Convert to a string
|
147
171
|
def to_s
|
148
|
-
|
172
|
+
if @distance > 0.9
|
173
|
+
"BRNG %03dd,%.3fNM" % [angle_d, @distance]
|
174
|
+
else
|
175
|
+
"BRNG %03dd,%.1fm" % [angle_d, distance_m]
|
176
|
+
end
|
149
177
|
end
|
150
178
|
end
|
151
179
|
end
|
data/lib/sgs/config.rb
CHANGED
data/lib/sgs/course.rb
CHANGED
@@ -149,11 +149,21 @@ module SGS
|
|
149
149
|
end
|
150
150
|
|
151
151
|
#
|
152
|
-
# Compute a relative VMG based on the waypoint
|
152
|
+
# Compute a relative VMG based on the waypoint. If you're computing
|
153
|
+
# angles to one waypoint, the relative VMG will allow you to compare
|
154
|
+
# against each possible angle. If you're computing to different
|
155
|
+
# waypoints, then the distance from your position to that waypoint is
|
156
|
+
# taken into consideration so that waypoints further away have less
|
157
|
+
# impact on your VMG choice.
|
153
158
|
def relative_vmg(waypt)
|
154
|
-
|
155
|
-
|
156
|
-
|
159
|
+
@speed * Math::cos(waypt.bearing.angle - @heading) / waypt.distance
|
160
|
+
end
|
161
|
+
|
162
|
+
#
|
163
|
+
# Compute the wind (as a Bearing) based on the compass heading and the
|
164
|
+
# apparent wind as reported.
|
165
|
+
def compute_wind
|
166
|
+
@wind.angle = @heading + @awa
|
157
167
|
end
|
158
168
|
|
159
169
|
#
|
@@ -161,7 +171,10 @@ module SGS
|
|
161
171
|
# fast the boat will travel at the particular apparent wind angle.
|
162
172
|
def compute_speed
|
163
173
|
awa = @awa.abs
|
164
|
-
|
174
|
+
if awa < 0.75
|
175
|
+
@speed = 0.0
|
176
|
+
return
|
177
|
+
end
|
165
178
|
ap = 1.0
|
166
179
|
@speed = 0.0
|
167
180
|
@polar_curve.each do |poly_val|
|
data/lib/sgs/diagnostics.rb
CHANGED
data/lib/sgs/gps.rb
CHANGED
@@ -36,8 +36,10 @@ require 'serialport'
|
|
36
36
|
|
37
37
|
module SGS
|
38
38
|
class GPS < RedisBase
|
39
|
-
attr_accessor :time, :location, :sog, :cmg, :magvar
|
39
|
+
attr_accessor :time, :location, :sog, :cmg, :magvar, :val
|
40
40
|
|
41
|
+
#
|
42
|
+
# Create a new GPS record. Lat/Long are in radians.
|
41
43
|
def initialize(lat = nil, long = nil)
|
42
44
|
@time = Time.new(2000, 1, 1)
|
43
45
|
@location = Location.new(lat, long)
|
@@ -52,13 +54,13 @@ module SGS
|
|
52
54
|
# Main daemon function (called from executable)
|
53
55
|
def self.daemon
|
54
56
|
puts "GPS reader starting up..."
|
55
|
-
config =
|
57
|
+
config = Config.load
|
56
58
|
|
57
59
|
sp = SerialPort.new config.gps_device, config.gps_speed
|
58
60
|
sp.read_timeout = 10000
|
59
61
|
|
60
62
|
loop do
|
61
|
-
nmea =
|
63
|
+
nmea = NMEA.parse sp.readline
|
62
64
|
if nmea.is_gprmc?
|
63
65
|
gps = nmea.parse_gprmc
|
64
66
|
p gps
|
@@ -67,6 +69,14 @@ module SGS
|
|
67
69
|
end
|
68
70
|
end
|
69
71
|
|
72
|
+
#
|
73
|
+
# Hard-code a GPS value (usually for debugging purposes)
|
74
|
+
def force(lat, long, time = nil)
|
75
|
+
@time = time || Time.now
|
76
|
+
@location = Location.new(lat, long)
|
77
|
+
@valid = true
|
78
|
+
end
|
79
|
+
|
70
80
|
#
|
71
81
|
# Set the validity
|
72
82
|
def is_valid
|
@@ -78,5 +88,15 @@ module SGS
|
|
78
88
|
def valid?
|
79
89
|
@valid == true
|
80
90
|
end
|
91
|
+
|
92
|
+
#
|
93
|
+
# Display the GPS data as a useful string (in degrees)
|
94
|
+
def to_s
|
95
|
+
if valid?
|
96
|
+
"@#{@time.strftime('%Y%m%d-%T')}, #{@location}, SOG:#{@sog}, CMG:#{@cmg}"
|
97
|
+
else
|
98
|
+
"GPS error"
|
99
|
+
end
|
100
|
+
end
|
81
101
|
end
|
82
102
|
end
|
data/lib/sgs/location.rb
CHANGED
@@ -56,7 +56,7 @@ module SGS
|
|
56
56
|
attr_accessor :latitude, :longitude
|
57
57
|
|
58
58
|
#
|
59
|
-
# Create the Location instance.
|
59
|
+
# Create the Location instance. Latitude and longitude passed in radians.
|
60
60
|
def initialize(lat = nil, long = nil)
|
61
61
|
@latitude = lat.to_f if lat
|
62
62
|
@longitude = long.to_f if long
|
@@ -65,7 +65,6 @@ module SGS
|
|
65
65
|
#
|
66
66
|
# The difference between two locations is a Bearing
|
67
67
|
def -(loc)
|
68
|
-
puts "Distance from #{self} to #{loc}"
|
69
68
|
Bearing.compute(self, loc)
|
70
69
|
end
|
71
70
|
|
@@ -84,8 +83,8 @@ module SGS
|
|
84
83
|
loc = Location.new
|
85
84
|
sin_angle = Math.sin(bearing.angle)
|
86
85
|
cos_angle = Math.cos(bearing.angle)
|
87
|
-
sin_dstr = Math.sin(bearing.distance /
|
88
|
-
cos_dstr = Math.cos(bearing.distance /
|
86
|
+
sin_dstr = Math.sin(bearing.distance / EARTH_RADIUS)
|
87
|
+
cos_dstr = Math.cos(bearing.distance / EARTH_RADIUS)
|
89
88
|
sin_lat1 = Math.sin(@latitude)
|
90
89
|
cos_lat1 = Math.cos(@latitude)
|
91
90
|
loc.latitude = Math.asin(sin_lat1*cos_dstr + cos_lat1*sin_dstr*cos_angle)
|
@@ -113,10 +112,33 @@ module SGS
|
|
113
112
|
end
|
114
113
|
|
115
114
|
#
|
116
|
-
#
|
115
|
+
# Parse the lat/long values passed as a string. This function
|
116
|
+
# should be able to handle any type of lat/long string, in most
|
117
|
+
# general formats. See :to_s for examples.
|
117
118
|
def parse(data)
|
118
|
-
|
119
|
-
|
119
|
+
llvals = data.split /,/
|
120
|
+
if llvals.count == 1
|
121
|
+
#
|
122
|
+
# Must be space-separated. Try that...
|
123
|
+
llvals = data.split(/ /)
|
124
|
+
if llvals.count != 2
|
125
|
+
raise ArgumentError.new "Cannot split lat/long values"
|
126
|
+
end
|
127
|
+
elsif llvals.count != 2
|
128
|
+
#
|
129
|
+
# Too many comma separators.
|
130
|
+
raise ArgumentError.new "Invalid lat/long values"
|
131
|
+
end
|
132
|
+
self.latitude_d = _ll_parse(llvals[0], "NS")
|
133
|
+
self.longitude_d = _ll_parse(llvals[1], "EW")
|
134
|
+
true
|
135
|
+
end
|
136
|
+
|
137
|
+
#
|
138
|
+
# Parse the lat/long from a hash object.
|
139
|
+
def parse_hash(data = {})
|
140
|
+
self.latitude_d = _ll_parse(data["latitude"], "NS")
|
141
|
+
self.longitude_d = _ll_parse(data["longitude"], "EW")
|
120
142
|
end
|
121
143
|
|
122
144
|
#
|
@@ -128,15 +150,21 @@ module SGS
|
|
128
150
|
#
|
129
151
|
# Convert the lat/long to a hash.
|
130
152
|
def to_hash
|
131
|
-
{"latitude" =>
|
132
|
-
"longitude" => ll_to_s(longitude, "EW")}
|
153
|
+
{"latitude" => latitude_d.round(6), "longitude" => longitude_d.round(6)}
|
133
154
|
end
|
134
155
|
|
135
156
|
#
|
136
|
-
# Display the lat/long as a useful string (in degrees).
|
137
|
-
|
157
|
+
# Display the lat/long as a useful string (in degrees). Output
|
158
|
+
# formats are as follows (default is :d):
|
159
|
+
# :d "48.104051, -7.282614"
|
160
|
+
# :dd "48.104051N, 7.282614W"
|
161
|
+
# :dmm "48 6.243060N, 7 16.956840W"
|
162
|
+
# :dms "48 6 14.583600N, 7 16 57.410400W"
|
163
|
+
def to_s(opts = {})
|
138
164
|
if valid?
|
139
|
-
|
165
|
+
lat_str = _ll_conv(latitude_d.round(6), "NS", opts)
|
166
|
+
lon_str = _ll_conv(longitude_d.round(6), "EW", opts)
|
167
|
+
"#{lat_str}, #{lon_str}"
|
140
168
|
else
|
141
169
|
"unknown"
|
142
170
|
end
|
@@ -151,29 +179,39 @@ module SGS
|
|
151
179
|
end
|
152
180
|
|
153
181
|
#
|
154
|
-
#
|
182
|
+
# Return the latitude in degrees.
|
155
183
|
def latitude_d
|
156
184
|
Bearing.rtod @latitude
|
157
185
|
end
|
158
186
|
|
187
|
+
#
|
188
|
+
# Set the latitude using a value in degrees.
|
159
189
|
def latitude_d=(val)
|
160
190
|
@latitude = Bearing.dtor val
|
161
191
|
end
|
162
192
|
|
193
|
+
#
|
194
|
+
# Produce a latitude array for NMEA output.
|
163
195
|
def latitude_array(fmt = nil)
|
164
|
-
|
196
|
+
_make_ll_array latitude_d, "NS", fmt
|
165
197
|
end
|
166
198
|
|
199
|
+
#
|
200
|
+
# Return the longitude in degrees.
|
167
201
|
def longitude_d
|
168
202
|
Bearing.rtod @longitude
|
169
203
|
end
|
170
204
|
|
205
|
+
#
|
206
|
+
# Set the longitude using a value in degrees.
|
171
207
|
def longitude_d=(val)
|
172
208
|
@longitude = Bearing.dtor val
|
173
209
|
end
|
174
210
|
|
211
|
+
#
|
212
|
+
# Produce a longitude array for NMEA output.
|
175
213
|
def longitude_array(fmt = nil)
|
176
|
-
|
214
|
+
_make_ll_array longitude_d, "EW", fmt
|
177
215
|
end
|
178
216
|
|
179
217
|
#
|
@@ -182,53 +220,71 @@ module SGS
|
|
182
220
|
Bearing.compute(self, loc)
|
183
221
|
end
|
184
222
|
|
185
|
-
|
186
|
-
|
187
|
-
|
188
|
-
|
189
|
-
|
190
|
-
|
191
|
-
|
192
|
-
|
193
|
-
|
194
|
-
|
195
|
-
|
196
|
-
|
197
|
-
|
198
|
-
|
223
|
+
private
|
224
|
+
#
|
225
|
+
# Parse a latitude or longitude value, from a wide range of
|
226
|
+
# formats. Should handle D.ddd, D M.mmm and D M S.sss values.
|
227
|
+
# Can also strip out the special degrees unicode, as well as
|
228
|
+
# single and double quotes.
|
229
|
+
def _ll_parse(arg, nsew)
|
230
|
+
str = arg.chomp.gsub /[\u00B0'"]/, ' '
|
231
|
+
if str[-1].upcase =~ /[#{nsew}]/
|
232
|
+
sign = (str[-1].upcase == nsew[1]) ? -1 : 1
|
233
|
+
str[-1] = ' '
|
234
|
+
else
|
235
|
+
sign = 1
|
236
|
+
end
|
237
|
+
args = str.split
|
238
|
+
raise ArgumentError.new "Cannot parse lat/long value" if args.count > 3
|
239
|
+
value = 0.0
|
240
|
+
(args.count - 1).downto(0).each do |idx|
|
241
|
+
value = args[idx].to_f + value / 60.0
|
242
|
+
end
|
243
|
+
sign * value
|
244
|
+
end
|
199
245
|
|
200
|
-
|
201
|
-
|
202
|
-
|
203
|
-
|
204
|
-
|
205
|
-
|
206
|
-
|
207
|
-
|
208
|
-
|
209
|
-
|
210
|
-
|
246
|
+
#
|
247
|
+
# Convert a latitude/longitude to a string. Can specify
|
248
|
+
# multiple output formats such as :d, :dd, :dmm, :dms to
|
249
|
+
# format according to various different styles.
|
250
|
+
def _ll_conv(value, nsew, opts)
|
251
|
+
format = opts[:format] || :d
|
252
|
+
return "%.6f" % value if format == :d
|
253
|
+
if value < 0.0
|
254
|
+
suffix = nsew[1]
|
255
|
+
value = -value
|
256
|
+
else
|
257
|
+
suffix = nsew[0]
|
258
|
+
end
|
259
|
+
case opts[:format] || :d
|
260
|
+
when :dd
|
261
|
+
"%.6f%s" % [value, suffix]
|
262
|
+
when :dmm
|
263
|
+
dd = value.to_i
|
264
|
+
mm = (value - dd.to_f) * 60.0
|
265
|
+
"%d %.6f%s" % [dd, mm, suffix]
|
266
|
+
when :dms
|
267
|
+
dd = value.to_i
|
268
|
+
value = (value - dd.to_f) * 60.0
|
269
|
+
mm = value.to_i
|
270
|
+
ss = (value - mm.to_f) * 60.0
|
271
|
+
"%d %d %.6f%s" % [dd, mm, ss, suffix]
|
272
|
+
end
|
211
273
|
end
|
212
|
-
deg = val.to_i
|
213
|
-
val = (val - deg.to_f) * 60.0
|
214
|
-
min = val.to_i
|
215
|
-
sec = (val - min.to_f) * 60.0
|
216
|
-
"%d %d %8.6f%c" % [deg, min, sec, chr]
|
217
|
-
end
|
218
274
|
|
219
|
-
|
220
|
-
|
221
|
-
|
222
|
-
|
223
|
-
|
224
|
-
|
225
|
-
|
226
|
-
|
227
|
-
|
275
|
+
#
|
276
|
+
# Create a Lat/Long array suitable for an NMEA output.
|
277
|
+
def _make_ll_array(val, nsew, fmt = nil)
|
278
|
+
fmt ||= "%02d%07.4f"
|
279
|
+
if (val < 0)
|
280
|
+
val = -val
|
281
|
+
suffix = nsew[1]
|
282
|
+
else
|
283
|
+
suffix = nsew[0]
|
284
|
+
end
|
285
|
+
deg = val.to_i
|
286
|
+
val = (val - deg) * 60
|
287
|
+
[fmt % [deg, val], suffix.chr]
|
228
288
|
end
|
229
|
-
deg = val.to_i
|
230
|
-
val = (val - deg) * 60
|
231
|
-
[fmt % [deg, val], ne.chr]
|
232
|
-
end
|
233
289
|
end
|
234
290
|
end
|