def run(self, Dest, acceptDist=None):
self.acceptDist = acceptDist
self.initialize()
gVars.logger.info("Started point to pointAWA toward " + repr(Dest))
self.Dest = Dest
self.updateData()
while (not self.arrivedAtPoint()) and gVars.kill_flagPTP == 0:
self.updateData()
if (standardcalc.isWPNoGoAWA(self.AWA, self.hog, self.Dest,
self.sog, self.GPSCoord)):
if (self.tackEngine.onStarboardTack(self.AWA)):
self.enterBeatLoop(False)
elif (self.tackEngine.onPortTack(self.AWA)):
self.enterBeatLoop(True)
else:
self.p2pLogger.printStraight("Sailing straight to point")
if (self.isThereChangeToAWAorWeatherOrModeOrAngle()):
self.sailor.adjustSheetsAndSteerByCompass(
self.AWA, self.angleBetweenCoords)
time.sleep(.1)
self.exitP2P()
def canLayMarkWithoutTack(self):
if standardcalc.isWPNoGoAWA(self.AWA, self.hog, self.Dest,self.sog,self.GPSCoord):
return False
else:
windDirection = standardcalc.boundTo180(self.AWA + self.hog)
bearing = standardcalc.angleBetweenTwoCoords(self.GPSCoord,self.Dest)
return not standardcalc.isAngleBetween(bearing,windDirection,self.hog)
def canLayMarkWithoutTack(self):
if standardcalc.isWPNoGoAWA(self.AWA, self.hog, self.Dest, self.sog,
self.GPSCoord):
return False
else:
windDirection = standardcalc.boundTo180(self.AWA + self.hog)
bearing = standardcalc.angleBetweenTwoCoords(
self.GPSCoord, self.Dest)
return not standardcalc.isAngleBetween(bearing, windDirection,
self.hog)
def calculateHeadingForExit(self):
if standardcalc.isWPNoGoAWA(gVars.currentData.awa, gVars.currentData.hog, self.wayPtCoords[self.currentWaypoint],gVars.currentData.sog,self.wayPtCoords[(self.currentWaypoint+2)%4]):
self.STEER_METHOD = self.AWA_METHOD
if gVars.currentData.awa<0:
tackAngleMultiplier = -1
else:
tackAngleMultiplier = 1
return tackAngleMultiplier*34
else:
self.STEER_METHOD = self.COMPASS_METHOD
return standardcalc.angleBetweenTwoCoords(self.wayPtCoords[(self.currentWaypoint+2)%4], self.wayPtCoords[self.currentWaypoint])
def run(self, Dest, acceptDist=None):
self.acceptDist = acceptDist
self.initialize()
gVars.logger.info("Started point to pointAWA toward "+repr(Dest))
self.Dest = Dest
self.updateData()
while(not self.arrivedAtPoint()) and gVars.kill_flagPTP == 0:
self.updateData()
if(standardcalc.isWPNoGoAWA(self.AWA, self.hog, self.Dest,self.sog,self.GPSCoord)):
if(self.tackEngine.onStarboardTack(self.AWA)):
self.enterBeatLoop(False)
elif(self.tackEngine.onPortTack(self.AWA)):
self.enterBeatLoop(True)
else:
self.p2pLogger.printStraight("Sailing straight to point")
if(self.isThereChangeToAWAorWeatherOrModeOrAngle()):
self.sailor.adjustSheetsAndSteerByCompass(self.AWA,self.angleBetweenCoords)
time.sleep(.1)
self.exitP2P()
def testExpectNotNoGoStrange(self):
self.appWind = 130
self.heading = -140
self.GPSCoord = datatypes.GPSCoordinate(49,-123)
self.Dest = datatypes.GPSCoordinate(48,-123)
self.assertFalse(standardcalc.isWPNoGoAWA(self.appWind, self.heading, self.Dest, self.sog, self.GPSCoord))
def testExpectNoGo(self):
self.appWind=-131
self.assertTrue(standardcalc.isWPNoGoAWA(self.appWind, self.heading, self.Dest, self.sog, self.GPSCoord))
def pointToPointAWA(Dest, initialTack, ACCEPTANCE_DISTANCE):
sheetList = parsing.parse(path.join(path.dirname(__file__), 'apparentSheetSetting'))
gVars.kill_flagPTP = 0
end_flag = 0
arduino = gVars.arduino
appWindAng = 0
oldColumn = 0
tackDirection = 0
gVars.logger.info("Started point to pointAWA")
while(end_flag == 0 and gVars.kill_flagPTP == 0):
gVars.logger.info("End flag and kill flag OK")
while(gVars.currentData[aut_index] == False):
time.sleep(0.1)
currentData = gVars.currentData
GPSCoord = currentData[gps_index]
newappWindAng = 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
arbitraryTWA = standardcalc.getTrueWindAngle(newappWindAng,sog)
#print ("Hit else statement")
#print ("TWA is: " + str(gVars.TrueWindAngle))
if(standardcalc.isWPNoGoAWA(newappWindAng,hog,Dest,sog,GPSCoord)):
gVars.logger.info("Point cannot be reached 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(-newappWindAng-43)<abs(-newappWindAng+43) 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]
newappWindAng = currentData[awa_index]
cog = currentData[cog_index]
hog = currentData[hog_index]
sog = currentData[sog_index] * 100 #Using speed in cm/s
arbitraryTWA = standardcalc.getTrueWindAngle(newappWindAng, sog)
if( appWindAng != newappWindAng or oldColumn != gVars.currentColumn):
gVars.logger.info("Changing sheets and rudder")
arduino.adjust_sheets(sheetList[abs(int(arbitraryTWA))][gVars.currentColumn])
arduino.steer(AWA_METHOD,hog-newappWindAng-43)
appWindAng = newappWindAng
oldColumn = gVars.currentColumn
if(newappWindAng > 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("Tacked 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("Tacked from 80 degrees")
elif((abs(-newappWindAng-43)>=abs(-newappWindAng+43) 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]
newappWindAng = currentData[awa_index]
cog = currentData[cog_index]
hog = currentData[hog_index]
sog = currentData[sog_index]*100
arbitraryTWA = standardcalc.getTrueWindAngle(newappWindAng, sog)
#TWA = abs(int(TWA))
#print ("TWA is: " + str(newTWA))
if(appWindAng != newappWindAng or oldColumn != gVars.currentColumn):
gVars.logger.info("Changing sheets and rudder")
arduino.adjust_sheets(sheetList[abs(int(arbitraryTWA))][gVars.currentColumn])
arduino.steer(AWA_METHOD,hog-newappWindAng+43)
appWindAng = newappWindAng
oldColumn = gVars.currentColumn
if(newappWindAng > 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("Tacked 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("Tacked from 80 degrees")
elif(abs(hog-arbitraryTWA-standardcalc.angleBetweenTwoCoords(GPSCoord, Dest))>90):
gVars.logger.info("Sailing straight to point")
if(appWindAng != newappWindAng or oldColumn != gVars.currentColumn):
gVars.logger.info("Changing sheets and rudder")
arduino.adjust_sheets(sheetList[abs(int(arbitraryTWA))][gVars.currentColumn])
arduino.steer(COMPASS_METHOD,standardcalc.angleBetweenTwoCoords(GPSCoord,Dest))
appWindAng = newappWindAng
gVars.currentColumn
else:
end_flag = 1
print ("Finished Point to Point")
gVars.logger.info("Finished Point to Point")
return 0
