def getTrueWindAngle(awa, sog):
sVars.AWA_THRESHOLD = 0.9
while(1):
sVars.SOG_THRESHOLD = 0.9
while(1):
AWAList = parsing.parse(path.join(path.dirname(__file__), 'AWA.txt'))
SOGList = parsing.parse(path.join(path.dirname(__file__), 'SOGarray'))
AWAentries = searchAWAIndex(awa, AWAList)
SOGentries = searchSOGIndex(sog, SOGList)
for i in range(len(AWAentries)):
index = AWAentries[i][0]
column = AWAentries[i][1]
for x in range(len(SOGentries)):
if (SOGentries[x][0] == index) and (SOGentries[x][1] == column):
gVars.currentColumn = column
if(awa < 0):
gVars.trueWindAngle = -index
else:
gVars.trueWindAngle = index
sVars.SOG_THRESHOLD = 0.9
return index
sVars.SOG_THRESHOLD += 10
if(sVars.SOG_THRESHOLD >= 500):
print ("Hit Threshold")
break
sVars.AWA_THRESHOLD += 1
if(sVars.AWA_THRESHOLD >= 100):
return None
def __init__(self):
self.upwindWaypoint = 0
self.sheetList = parsing.parse(path.join(path.dirname(__file__), 'apparentSheetSetting'))
self.oldTackingAngle = 0
self.oldSheet_percent = 0
self.oldAwa = 0
self.meanSpd = 0.75 #from old arduino code
self.secLeft = self.CHALLENGE_TIME
self.SKLogger = SKLogger()
self.sheet_percent = 0
self.STEER_METHOD = self.AWA_METHOD
self.exitSpeed = gVars.instructions.SK_exit_speed
def updateWeatherSetting(awa, sog):
minIndex = 0
minNum = 500
SOGList = parsing.parse(path.join(path.dirname(__file__), 'SOGarray'))
index = boundTo180(awa)
SOGrow = SOGList[abs(int(index))]
for i in range(len(SOGrow)):
if (abs(SOGrow[i] - sog) < minNum):
minIndex = i
minNum = abs(SOGrow[i] - sog)
gVars.currentColumn = minIndex
def updateWeatherSetting(awa, sog):
minIndex = 0
minNum = 500
SOGList = parsing.parse(path.join(path.dirname(__file__), "SOGarray"))
index = boundTo180(awa)
SOGrow = SOGList[abs(int(index))]
for i in range(len(SOGrow)):
if abs(SOGrow[i] - sog) < minNum:
minIndex = i
minNum = abs(SOGrow[i] - sog)
gVars.currentColumn = minIndex
def getTrueWindAngle(awa, sog):
sVars.AWA_THRESHOLD = 0.9
while (1):
sVars.SOG_THRESHOLD = 0.9
while (1):
AWAList = parsing.parse(
path.join(path.dirname(__file__), 'AWA.txt'))
SOGList = parsing.parse(
path.join(path.dirname(__file__), 'SOGarray'))
AWAentries = searchAWAIndex(awa, AWAList)
SOGentries = searchSOGIndex(sog, SOGList)
for i in range(len(AWAentries)):
index = AWAentries[i][0]
column = AWAentries[i][1]
for x in range(len(SOGentries)):
if (SOGentries[x][0] == index) and (SOGentries[x][1]
== column):
gVars.currentColumn = column
if (awa < 0):
gVars.trueWindAngle = -index
else:
gVars.trueWindAngle = index
sVars.SOG_THRESHOLD = 0.9
return index
sVars.SOG_THRESHOLD += 10
if (sVars.SOG_THRESHOLD >= 500):
print("Hit Threshold")
break
sVars.AWA_THRESHOLD += 1
if (sVars.AWA_THRESHOLD >= 100):
return None
def test_noFile(self):
self.assertEqual(parsing.parse(""), None)
self.assertEqual(parsing.parse("fakeFile"), None)
def test_yesFile(self): self.assertEqual(parsing.parse(path.join(path.dirname(__file__), self.fname))[1][1], 7)
def pointToPointTWA(Dest, initialTack, ACCEPTANCE_DISTANCE):
sheetList = parsing.parse(path.join(path.dirname(__file__), 'apparentSheetSetting'))
gVars.kill_flagPTP = 0
end_flag = 0
arduino = gVars.arduino
TWA = 0
oldColumn = 0
tackDirection = 0
print "Started point to point"
gVars.logger.info("Started point to pointTWA")
while(end_flag == 0 and gVars.kill_flagPTP == 0):
while(gVars.currentData[aut_index] == False):
time.sleep(0.1)
currentData = gVars.currentData
GPSCoord = currentData[gps_index]
appWindAng = currentData[awa_index]
cog = currentData[cog_index]
hog = currentData[hog_index]
sog = currentData[sog_index] * 100
if(standardcalc.distBetweenTwoCoords(GPSCoord, Dest) > ACCEPTANCE_DISTANCE):
#This if statement determines the sailing method we are going to use based on apparent wind angle
if(sog < sVars.SPEED_AFFECTION_THRESHOLD):
newTWA = appWindAng
newTWA = abs(int(newTWA))
if(appWindAng < 0):
gVars.TrueWindAngle = -newTWA
else:
gVars.TrueWindAngle = newTWA
gVars.currentColumn = 0
#print ("TWA is: " + str(gVars.TrueWindAngle))
else:
newTWA = standardcalc.getTrueWindAngle(abs(int(appWindAng)),sog)
newTWA = abs(int(newTWA))
if(appWindAng < 0):
gVars.TrueWindAngle = -newTWA
else:
gVars.TrueWindAngle = newTWA
#print ("Hit else statement")
#print ("TWA is: " + str(gVars.TrueWindAngle))
if(standardcalc.isWPNoGo(appWindAng,hog,Dest,sog,GPSCoord)):
gVars.logger.info("Cannot reach point directly")
#Trying to determine whether 45 degrees clockwise or counter clockwise of TWA wrt North is closer to current heading
#This means we are trying to determine whether hog-TWA-45 or hog-TWA+45 (both using TWA wrt North) is closer to our current heading.
#Since those values give us TWA wrt to north, we need to subtract hog from them to get TWA wrt to our heading and figure out which one has a smaller value.
#To get it wrt to current heading, we use hog-TWA-45-hog and hog-TWA+45-hog. Both terms have hogs cancelling out.
#We are left with -TWA-45 and -TWA+45, which makes sense since the original TWA was always with respect to the boat.
#Since we are trying to figure out which one is closest to turn to, we use absolute values.
if((abs(-newTWA-45)<abs(-newTWA+45) and initialTack is None) or initialTack == 1):
initialTack = None
while(abs(hog-standardcalc.angleBetweenTwoCoords(GPSCoord, Dest))<80 and gVars.kill_flagPTP ==0):
gVars.logger.info("On starboard tack")
while(gVars.currentData[aut_index] == False):
time.sleep(0.1)
gVars.tacked_flag = 0
GPSCoord = currentData[gps_index]
appWindAng = currentData[awa_index]
cog = currentData[cog_index]
hog = currentData[hog_index]
sog = currentData[sog_index] * 100
if(sog > sVars.SOG_THRESHOLD):
newTWA = standardcalc.getTrueWindAngle(appWindAng, sog)
else:
newTWA = appWindAng
newTWA = abs(int(newTWA))
if( TWA != newTWA or oldColumn != gVars.currentColumn):
gVars.logger.info("Changing sheets and rudder")
arduino.adjust_sheets(sheetList[newTWA][gVars.currentColumn])
arduino.steer(AWA_METHOD,hog-newTWA-45)
TWA = newTWA
oldColumn = gVars.currentColumn
if(appWindAng > 0):
tackDirection = 1
else:
tackDirection = 0
if( len(gVars.boundaries) > 0 ):
for boundary in gVars.boundaries:
if(standardcalc.distBetweenTwoCoords(boundary, GPSCoord) <= boundary.radius):
arduino.tack(gVars.currentColumn,tackDirection)
gVars.logger.info("Tacking from boundary")
gVars.tacked_flag = 1
break
if(gVars.tacked_flag):
break
arduino.tack(gVars.currentColumn,tackDirection)
gVars.logger.info("Tacking from 80 degrees")
elif((abs(-newTWA-45)>=abs(-newTWA+45) and initialTack is None) or initialTack == 0):
initialTack = None
while(abs(hog-standardcalc.angleBetweenTwoCoords(GPSCoord, Dest))<80 and gVars.kill_flagPTP == 0):
gVars.logger.info("On port tack")
while(gVars.currentData[aut_index] == False):
time.sleep(0.1)
gVars.tacked_flag = 0
GPSCoord = currentData[gps_index]
appWindAng = currentData[awa_index]
cog = currentData[cog_index]
hog = currentData[hog_index]
sog = currentData[sog_index]*100
if(sog > sVars.SOG_THRESHOLD):
newTWA = standardcalc.getTrueWindAngle(appWindAng, sog)
else:
newTWA = appWindAng
newTWA = abs(int(newTWA))
#TWA = abs(int(TWA))
#print ("TWA is: " + str(newTWA))
if(TWA != newTWA or oldColumn != gVars.currentColumn):
gVars.logger.info("Changing sheets and rudder")
arduino.adjust_sheets(sheetList[int(abs(newTWA))][gVars.currentColumn])
arduino.steer(AWA_METHOD,hog-newTWA+45)
TWA = newTWA
oldColumn = gVars.currentColumn
if(appWindAng > 0):
tackDirection = 1
else:
tackDirection = 0
if( len(gVars.boundaries) > 0 ):
for boundary in gVars.boundaries:
if(standardcalc.distBetweenTwoCoords(boundary, GPSCoord) <= boundary.radius):
gVars.logger.info("Tacking from boundary")
arduino.tack(gVars.currentColumn,tackDirection)
gVars.tacked_flag = 1
break
if(gVars.tacked_flag):
break
arduino.tack(gVars.currentColumn,tackDirection)
gVars.logger.info("Tacking from 80 degrees")
elif(abs(hog-newTWA-standardcalc.angleBetweenTwoCoords(GPSCoord, Dest))>90):
gVars.logger.info("Sailing straight to point")
if(TWA != newTWA or oldColumn != gVars.currentColumn):
gVars.logger.info("Adjusting sheets and rudder")
arduino.adjust_sheets(sheetList[abs(int(newTWA))][gVars.currentColumn])
arduino.steer(COMPASS_METHOD,standardcalc.angleBetweenTwoCoords(GPSCoord,Dest))
TWA = newTWA
gVars.currentColumn
else:
end_flag = 1
print ("Finished Point to Point")
gVars.logger.info("Finished Point to Point")
return 0
def __init__(self):
self.sheetList = parsing.parse(
path.join(path.dirname(__file__), 'apparentSheetSetting'))
def test_yesFile(self): self.assertEqual(parsing.parse(path.join(path.dirname(__file__), self.fname))[1][1], 7)
def test_noFile(self):
self.assertEqual(parsing.parse(""), None)
self.assertEqual(parsing.parse("fakeFile"), None)
def __init__(self):
self.sheetList = parsing.parse(path.join(path.dirname(__file__), 'apparentSheetSetting'))
