def __init__(self, client, boatimu):
from rudder import Rudder
from nmea import Nmea
from signalk import signalk
self.client = client
# services that can receive sensor data
self.nmea = Nmea(self)
self.signalk = signalk(self)
self.gpsd = gpsd(self)
# actual sensors supported
self.gps = gps(client)
self.wind = Wind(client, boatimu)
self.rudder = Rudder(client)
self.apb = APB(client)
self.water = Water(client)
self.sensors = {
'gps': self.gps,
'wind': self.wind,
'rudder': self.rudder,
'apb': self.apb,
'water': self.water
}
class Sensors(object):
def __init__(self, server):
from gpsd import gpsd
from rudder import Rudder
from nmea import Nmea
self.server = server
self.nmea = Nmea(server, self)
self.gps = gpsd(server, self)
self.wind = Wind(server)
self.rudder = Rudder(server)
self.apb = APB(server)
self.sensors = {
'gps': self.gps,
'wind': self.wind,
'rudder': self.rudder,
'apb': self.apb
}
def poll(self):
self.gps.poll()
self.nmea.poll()
self.rudder.poll()
# timeout sources
t = time.time()
for name in self.sensors:
sensor = self.sensors[name]
if sensor.source.value == 'none':
continue
if t - sensor.lastupdate > 8:
self.lostsensor(sensor)
def lostsensor(self, sensor):
print('sensor', sensor.name, 'lost', sensor.source.value,
sensor.device)
sensor.source.set('none')
sensor.reset()
sensor.device = None
def write(self, sensor, data, source):
if not sensor in self.sensors:
print('unknown data parsed!', sensor)
return
self.sensors[sensor].write(data, source)
def lostdevice(self, device):
# optional routine useful when a device is
# unplugged to skip the normal data timeout
for name in self.sensors:
sensor = self.sensors[name]
if sensor.device and sensor.device[2:] == device:
self.lostsensor(sensor)
def __init__(self, server):
from gpsd import Gpsd
from rudder import Rudder
from nmea import Nmea
self.server = server
self.nmea = Nmea(server, self)
self.gps = Gpsd(server, self)
self.wind = Wind(server)
self.rudder = Rudder(server)
self.sensors = {'gps': self.gps, 'wind': self.wind, 'rudder': self.rudder}
class Sensors(object):
def __init__(self, server):
from gpsd import Gpsd
from rudder import Rudder
from nmea import Nmea
self.server = server
self.nmea = Nmea(server, self)
self.gps = Gpsd(server, self)
self.wind = Wind(server)
self.rudder = Rudder(server)
self.sensors = {
'gps': self.gps,
'wind': self.wind,
'rudder': self.rudder
}
def poll(self):
self.gps.poll()
self.nmea.poll()
self.rudder.poll()
# timeout sources
t = time.time()
for name in self.sensors:
sensor = self.sensors[name]
if sensor.source.value == 'none':
continue
if t - sensor.lastupdate > 8:
print 'sensor timeout for', name, 'source', sensor.source.value, t - sensor.lastupdate
sensor.source.set('none')
sensor.device = None
def write(self, sensor, data, source):
if not sensor in self.sensors:
print 'unknown data parsed!', sensor
return
self.sensors[sensor].write(data, source)
class Boat:
orientation = RigidTransform2d(
Translation2d(0.0 * unit.meter, 0.0 * unit.meter),
Rotation2d(1.0, 0.0))
# Boat relative ([1.0, 0.0] is always 1 m/s forwards)
velocity = Vector2d(0.0 * unit.meter / unit.second,
0.0 * unit.meter / unit.second)
angularVelocity = 0 * unit.radian / unit.second
MOI = 10 * unit.kg * unit.meter**2
fwdCrossSectionArea = 1 * unit.foot * 2 * unit.foot
sideCrossSectionArea = 8 * unit.foot * 2 * unit.foot
sail = Sail()
rudder = Rudder()
forwardCd = 0.15
sideCd = 1.2
viscFriction = 1e1 * unit.newton * unit.meter * unit.second
def __init__(self):
pass
@property
def spankerAngle(self):
return self.sail.trailingEdgeAngle
@spankerAngle.setter
def spankerAngle(self, newAngle: Rotation2d):
self.sail.trailingEdgeAngle = newAngle
@property
def rudderAngle(self):
return self.rudder.angle
@rudderAngle.setter
def rudderAngle(self, newAngle: Rotation2d):
self.rudder.angle = newAngle
def update(self, *, dt):
forceFromSail = self.sail.update(
dt=dt,
boatRelativeWindAngle=Wind.angle.rotateBy(
self.orientation.rot.rotation))
class Sensors(object):
def __init__(self, client):
from rudder import Rudder
from nmea import Nmea
from signalk import signalk
self.client = client
# services that can receive sensor data
self.nmea = Nmea(self)
self.signalk = signalk(self)
self.gpsd = gpsd(self)
# actual sensors supported
self.gps = gps(client)
self.wind = Wind(client)
self.rudder = Rudder(client)
self.apb = APB(client)
self.sensors = {
'gps': self.gps,
'wind': self.wind,
'rudder': self.rudder,
'apb': self.apb
}
def poll(self):
self.nmea.poll()
self.signalk.poll()
self.gpsd.poll()
self.rudder.poll()
# timeout sources
t = time.monotonic()
for name in self.sensors:
sensor = self.sensors[name]
if sensor.source.value == 'none':
continue
if t - sensor.lastupdate > 8:
self.lostsensor(sensor)
def lostsensor(self, sensor):
print('sensor', sensor.name, 'lost', sensor.source.value,
sensor.device)
sensor.source.set('none')
sensor.reset()
sensor.device = None
def lostgpsd(self):
if self.gps.source.value == 'gpsd':
self.lostsensor(self.gps)
def write(self, sensor, data, source):
if not sensor in self.sensors:
print('unknown data parsed!', sensor)
return
self.sensors[sensor].write(data, source)
def lostdevice(self, device):
# optional routine useful when a device is
# unplugged to skip the normal data timeout
for name in self.sensors:
sensor = self.sensors[name]
if sensor.device and sensor.device[2:] == device:
self.lostsensor(sensor)
