def adjust_hog(self):
# Update HOG from rudder change
hogChange = (self.boatData.sow *
math.sin(self.boatData.rudder * math.pi / 180.0) *
self.CLOCK_INTERVAL) * self.HOG_CHANGE_FACTOR
self.boatData.hog += hogChange
self.boatData.hog = standardcalc.bound_to_180(self.boatData.hog)
def adjust_current(self):
# self.currentFlowAngle += standardcalc.generate_bell_curve(self.CURRENT_ANGLE_FLUCTUATIONS * self.CLOCK_INTERVAL)
# self.currentFlowSpeed += standardcalc.generate_bell_curve(self.CURRENT_SPEED_FLUCTUATIONS * self.CLOCK_INTERVAL)
self.currentFlowAngle += random.gauss(0,1) * self.CLOCK_INTERVAL
self.currentFlowSpeed += random.gauss(0,1) * self.CLOCK_INTERVAL
self.currentFlowAngle = standardcalc.bound_to_180(self.currentFlowAngle)
self.currentFlowSpeed = abs(self.currentFlowSpeed)
self.currentFlowVector = standardcalc.Vector2D.create_from_angle(self.currentFlowAngle, self.currentFlowSpeed)
def adjust_current(self):
self.currentFlowAngle += random.gauss(0, 1) * self.CLOCK_INTERVAL
self.currentFlowSpeed += random.gauss(0, 0.3) * self.CLOCK_INTERVAL
self.currentFlowAngle = standardcalc.bound_to_180(
self.currentFlowAngle)
if self.currentFlowSpeed > self.MAX_CURRENT_SPEED:
self.currentFlowSpeed = self.MAX_CURRENT_SPEED
self.currentFlowSpeed = abs(self.currentFlowSpeed)
self.currentFlowVector = standardcalc.Vector2D.create_from_angle(
self.currentFlowAngle, self.currentFlowSpeed)
def adjust_true_wind(self):
# True wind angle is allowed to fluctuate
# self.trueWindAngle += standardcalc.generate_bell_curve(self.WIND_ANGLE_FLUCTUATIONS * self.CLOCK_INTERVAL)
# self.trueWindSpeed += standardcalc.generate_bell_curve(self.WIND_SPEED_FLUCTUATIONS * self.CLOCK_INTERVAL)
self.trueWindAngle += random.gauss(0,1) * self.CLOCK_INTERVAL
self.trueWindSpeed += random.gauss(0,1) * self.CLOCK_INTERVAL
self.trueWindAngle = standardcalc.bound_to_180(self.trueWindAngle)
self.trueWindSpeed = abs(self.trueWindSpeed)
self.windVector = -standardcalc.Vector2D.create_from_angle(self.trueWindAngle, self.trueWindSpeed)
def adjust_true_wind(self):
# True wind angle is allowed to fluctuate
self.trueWindAngle += random.gauss(0, 1) * self.CLOCK_INTERVAL
self.trueWindSpeed += random.gauss(0, 0.3) * self.CLOCK_INTERVAL
if self.trueWindSpeed > self.MAX_WIND_SPEED:
self.trueWindSpeed = self.MAX_WIND_SPEED
if self.trueWindSpeed < self.MIN_WIND_SPEED:
self.trueWindSpeed = self.MIN_WIND_SPEED
self.trueWindAngle = standardcalc.bound_to_180(self.trueWindAngle)
self.trueWindSpeed = abs(self.trueWindSpeed)
self.windVector = -standardcalc.Vector2D.create_from_angle(
self.trueWindAngle, self.trueWindSpeed)
def update_vectors(self):
self.boatVector = standardcalc.Vector2D.create_from_angle(self.boatData.hog, self.boatData.sow) \
+ self.currentFlowVector
# Update COG and SOG
self.boatData.cog = self.boatVector.angle()
self.boatData.sog = self.boatVector.length()
self.apparentWindVector = self.windVector - self.boatVector
# 4 Feb 2016
self.boatData.awa = standardcalc.bound_to_180(
standardcalc.Vector2D.angle_between(self.boatVector, -self.apparentWindVector))
self.boatData.windspeed = self.apparentWindVector.length()
def adjust_hog(self):
# Make functional, i.e. go to desired rudder angle immediately
# hogChange = self.currentData['sog'] * math.sin(self.currentData['rudderAngle']* math.pi / 180.0) \
# / self.L_CENTERBOARD_TO_RUDDER * self.TIME_SCALE
# self.currentData['hog'] += hogChange
# self.currentData['hog'] = standardcalc.bound_to_180(self.currentData['hog'])
#Update HOG from rudder change
hogChange = self.boatData.sow * math.sin(self.boatData.rudder * math.pi / 180.0) \
/ self.L_CENTERBOARD_TO_RUDDER * self.TIME_SCALE
self.boatData.hog += hogChange
self.boatData.hog = standardcalc.bound_to_180(self.boatData.hog)
def adjust_aw(self):
self.boatVector = standardcalc.Vector2D.create_from_angle(self.boatData.hog, self.boatData.sow) \
- self.currentFlowVector
# Update COG and SOG
self.boatData.cog = self.boatVector.angle()
self.boatData.sog = self.boatVector.length()
self.apparentWindVector = self.windVector - self.boatVector
# print str(self.apparentWindVector.angle()) + " " + str(self.apparentWindVector.length())
self.boatData.awa = standardcalc.bound_to_180(
standardcalc.Vector2D.angle_between(self.boatVector,
-self.apparentWindVector))
self.boatData.windspeed = self.apparentWindVector.length()
def gust_manager(self):
if self.gustTimer <= 0:
if random.randint(1, self.GUST_PROBABILITY / self.TIME_SCALE) == 2:
self.preGustTrueWindAngle = self.trueWindAngle
self.preGustTrueWindSpeed = self.trueWindSpeed
self.trueWindSpeed = random.randint(20, 30)
self.trueWindAngle += random.randint(-5, 5)
self.gustTimer = random.randint(5, 80) / self.TIME_SCALE
else:
self.gustTimer -= 1
if self.verbose:
print "Gust is active. Timer: " + str(self.gustTimer)
if self.gustTimer <= 0:
self.trueWindSpeed = abs(self.preGustTrueWindSpeed + random.randint(-2, 2))
self.trueWindAngle = standardcalc.bound_to_180(self.preGustTrueWindAngle + random.randint(-1, 1))
def gust_manager(self):
if self.gustTimer <= 0:
if random.randint(1, self.GUST_PROBABILITY /
self.CLOCK_INTERVAL) == 2:
self.preGustTrueWindAngle = self.trueWindAngle
self.preGustTrueWindSpeed = self.trueWindSpeed
self.trueWindSpeed = random.randint(20, 30)
self.trueWindAngle += random.randint(-5, 5)
self.gustTimer = random.randint(5, 80) / self.CLOCK_INTERVAL
else:
self.gustTimer -= 1
if self.verbose:
print "Gust is active. Timer: " + str(self.gustTimer)
if self.gustTimer <= 0:
self.trueWindSpeed = abs(self.preGustTrueWindSpeed +
random.randint(-2, 2))
self.trueWindAngle = standardcalc.bound_to_180(
self.preGustTrueWindAngle + random.randint(-1, 1))
def data():
lat = boatDataStruct.gps_coord.lat
lng = boatDataStruct.gps_coord.long
aws = boatDataStruct.windspeed
awa = boatDataStruct.awa
hog = boatDataStruct.hog
sow = boatDataStruct.sow
tws = TWS
twa = TWA
awa_abs = standardcalc.bound_to_180(boatDataStruct.hog +
boatDataStruct.awa)
# Data to be sent in one array.
coords = [
lat, lng, awa_abs, sow, hog, dest.lat, dest.long,
currentVector.length(),
currentVector.angle(), awa, aws, twa, tws
]
# Converts data to JSON.
return json.dumps(coords)
def testNoChange(self): self.assertEqual(standardcalc.bound_to_180(self.num1), self.num1bounded)
def testNoChange(self):
self.assertEqual(standardcalc.bound_to_180(self.num1),
self.num1bounded)
def testGreaterThan180(self):
self.assertEqual(standardcalc.bound_to_180(self.num2),
self.num2bounded)
def testLessThan180(self):
self.assertEqual(standardcalc.bound_to_180(self.num3),
self.num3bounded)
def testLessThan360ToPositive(self): self.assertEqual(standardcalc.bound_to_180(self.num7), self.num7bounded)
def testGreaterThan360ToNegative(self): self.assertEqual(standardcalc.bound_to_180(self.num5), self.num5bounded)
def testLessThan360ToNegative(self): self.assertEqual(standardcalc.bound_to_180(self.num6), self.num6bounded)
def testLessThan180(self): self.assertEqual(standardcalc.bound_to_180(self.num3), self.num3bounded)
def testGreaterThan360ToPositive(self): self.assertEqual(standardcalc.bound_to_180(self.num4), self.num4bounded)
def testGreaterThan180(self): self.assertEqual(standardcalc.bound_to_180(self.num2), self.num2bounded)
def testGreaterThan360ToPositive(self):
self.assertEqual(standardcalc.bound_to_180(self.num4),
self.num4bounded)
def testLessThan360ToPositive(self):
self.assertEqual(standardcalc.bound_to_180(self.num7),
self.num7bounded)
def testLessThan360ToNegative(self):
self.assertEqual(standardcalc.bound_to_180(self.num6),
self.num6bounded)
def testGreaterThan360ToNegative(self):
self.assertEqual(standardcalc.bound_to_180(self.num5),
self.num5bounded)
