def review_progress(self, event):
current_position = self.sensors.position
if self._arrived(current_position, self.destination_waypoint):
self.logger.info('Navigator, arrived at {:+f},{:+f}'.format(
self.destination_waypoint.latitude,
self.destination_waypoint.longitude))
self.exchange.publish(
Event(EventName.arrived, self.destination_waypoint))
else:
time_to_next_review = self._time_to_review(
current_position, self.destination_waypoint)
bearing = self.globe.bearing(current_position,
self.destination_waypoint.position)
if isNaN(bearing):
self.logger.warn(
'Navigator, no information from sensors, continuing on current course'
)
else:
self.logger.info(
'Navigator, steering to {:+f},{:+f}, bearing {:5.1f}, distance {:.1f}m, review after {:.0f}s'
.format(
self.destination_waypoint.latitude,
self.destination_waypoint.longitude, bearing,
self._distance(current_position,
self.destination_waypoint),
time_to_next_review))
self.exchange.publish(
Event(EventName.set_course, heading=bearing))
self.exchange.publish(
Event(EventName.after,
seconds=time_to_next_review,
next_event=Event(EventName.navigate_review)))
def steer(self,requested_heading,heading,rate_of_turn,rudder_deflection_factor = 1):
if isNaN(heading):
self.logger.debug('Steerer, no valid heading, centralising rudder')
self._set_rudder_angle(0)
return
if not self.on_course(requested_heading,heading,rate_of_turn):
new_rudder_angle = self._calculate_rudder_angle(requested_heading,heading,rate_of_turn,rudder_deflection_factor)
self.logger.debug(
'Steerer, steering {:.1f}, heading {:.1f}, rate of turn {:+.1f}, rudder {:+.1f}, new rudder {:+.1f}'
.format(requested_heading, heading, rate_of_turn, self.rudder_angle, new_rudder_angle))
self._set_rudder_angle(new_rudder_angle)
def test_should_return_hasfix_false_and_NaN_for_values_if_gps_has_no_fix(self):
self.assertEqual(self.gps_reader.hasfix, False)
self.assertTrue(isNaN(self.gps_reader.position.latitude))
self.assertTrue(isNaN(self.gps_reader.position.longitude))
self.assertEqual(self.gps_reader.position.long_error, 0)
self.assertEqual(self.gps_reader.position.lat_error, 0)
self.assertTrue(isNaN(self.gps_reader.track))
self.assertTrue(isNaN(self.gps_reader.speed))
self.assertTrue(isNaN(self.gps_reader.time))
self.assertTrue(isNaN(self.gps_reader.speed_error))
self.assertTrue(isNaN(self.gps_reader.track_error))
def test_should_return_hasfix_false_and_NaN_for_values_if_gps_has_no_fix(
self):
self.assertEqual(self.gps_reader.hasfix, False)
self.assertTrue(isNaN(self.gps_reader.position.latitude))
self.assertTrue(isNaN(self.gps_reader.position.longitude))
self.assertEqual(self.gps_reader.position.long_error, 0)
self.assertEqual(self.gps_reader.position.lat_error, 0)
self.assertTrue(isNaN(self.gps_reader.track))
self.assertTrue(isNaN(self.gps_reader.speed))
self.assertTrue(isNaN(self.gps_reader.time))
self.assertTrue(isNaN(self.gps_reader.speed_error))
self.assertTrue(isNaN(self.gps_reader.track_error))
def review_progress(self,event):
current_position = self.sensors.position
if self._arrived(current_position, self.destination_waypoint):
self.logger.info('Navigator, arrived at {:+f},{:+f}'.format(self.destination_waypoint.latitude,self.destination_waypoint.longitude))
self.exchange.publish(Event(EventName.arrived,self.destination_waypoint))
else:
time_to_next_review = self._time_to_review(current_position,self.destination_waypoint)
bearing = self.globe.bearing(current_position, self.destination_waypoint.position)
if isNaN(bearing):
self.logger.warn('Navigator, no information from sensors, continuing on current course')
else:
self.logger.info('Navigator, steering to {:+f},{:+f}, bearing {:5.1f}, distance {:.1f}m, review after {:.0f}s'
.format(self.destination_waypoint.latitude,self.destination_waypoint.longitude, bearing,
self._distance(current_position,self.destination_waypoint),time_to_next_review))
self.exchange.publish(Event(EventName.set_course,heading=bearing))
self.exchange.publish(Event(EventName.after,seconds=time_to_next_review,next_event=Event(EventName.navigate_review)))
def _default(self, value,default):
return default if isNaN(value) else value
def _default(self, value, default):
return default if isNaN(value) else value
