def BORKUM_tuner(self, commands, for_send, ships_mat, thrust_constant, heading_constant, att_heading_constant, manoeuvre):
if manoeuvre!=None:
self.manoeuvre = manoeuvre
print(manoeuvre)
if self.manoeuvre:
environment_variable = 'RPA3' + '_' + self.manoeuvre + '_' + datetime.datetime.fromtimestamp(time.time()).strftime('%Y-%m-%d')
if self.manoeuvre==None:
self.t_reg = time.time()
#MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, 85, 100, int(10))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 10)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 10)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
self.heading_difference_circle_right = ships_mat[0, 0, 7]
self.heading_difference_circle_left = ships_mat[0, 0, 7]
self.heading_difference_zigzag_10 = ships_mat[0, 0, 7]
self.heading_difference_zigzag_20 = ships_mat[0, 0, 7]
if self.manoeuvre=='manoeuvre_circle_right':
self.manoeuvre_circle_right(ships_mat, environment_variable)
if self.manoeuvre=='manoeuvre_circle_left':
self.manoeuvre_circle_left(ships_mat, environment_variable)
if self.manoeuvre=='manoeuvre_zigzag_10':
self.manoeuvre_zigzag_10(ships_mat, environment_variable)
if self.manoeuvre=='manoeuvre_zigzag_20':
self.manoeuvre_zigzag_20(ships_mat, environment_variable)
if self.manoeuvre=='manoeuvre_astern':
self.manoeuvre_astern(ships_mat, environment_variable)
return (for_send, ships_mat)
def RT_Evolution_azimuth_thruster_command(self, engine_num, rpm, rud_angle, ships_mat):
for_send = self.nmea_make.TRC(engine_num, rpm, 100, rud_angle)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
def manoeuvre_zigzag_20(self, ships_mat, environment_variable): #environment_variable consists out of ship manoeuvre and data
#initialize and capture current attitude
if time.time() - self.t_reg >0.2:
self.t_start_manoeuvre_zigzag_20 = self.t_start_manoeuvre_zigzag_20 + (time.time() - self.t_reg)
self.t_reg = time.time()
covered_turn = ships_mat[0,0,7] - self.heading_difference_zigzag_20
print(covered_turn)
if self.t_start_manoeuvre_zigzag_20<2.0:
#MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
elif self.manoeuvre_zigzag_20_phase == 0:
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(20), int(20))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
if covered_turn>20.0 or covered_turn>-340 and covered_turn<-335:
self.manoeuvre_zigzag_20_phase = 1
elif self.manoeuvre_zigzag_20_phase==1:
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(-20), int(-20))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
self.t_end_manoeuvre_zigzag_10 = time.time()
if covered_turn<-20.0 or covered_turn<340 and covered_turn>335:
self.manoeuvre_zigzag_20_phase = 2
elif self.manoeuvre_zigzag_20_phase == 2:
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
if time.time() - self.t_end_manoeuvre_zigzag_20 > 5.0:
self.manoeuvre = None
self.write_csv([time.time(), ships_mat[0, 0, 2], ships_mat[0, 0, 3], ships_mat[0, 0, 4], ships_mat[2, 0, 2],
-float(ships_mat[2, 0, 3])], environment_variable)
def manoeuvre_astern(self, ships_mat, environment_variable): #environment_variable consists out of ship manoeuvre and data
#initialize and capture current attitude
if time.time() - self.t_reg >0.2:
self.t_start_manoeuvre_astern = self.t_start_manoeuvre_astern + (time.time() - self.t_reg)
self.t_reg = time.time()
if self.t_start_manoeuvre_astern<2.0:
#MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
else:
# MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, -85, -100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, -85, -100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
if ships_mat[0,0,5] <2.0:
self.manoeuvre = None
self.write_csv([time.time(), ships_mat[0, 0, 2], ships_mat[0, 0, 3], ships_mat[0, 0, 4], ships_mat[2, 0, 2],
-float(ships_mat[2, 0, 3])], environment_variable)
def manoeuvre_circle_left(self, ships_mat, environment_variable): #environment_variable consists out of ship manoeuvre and data
#initialize and capture current attitude
if time.time() - self.t_reg >0.2:
self.t_start_manoeuvre_circle_left = self.t_start_manoeuvre_circle_left + (time.time() - self.t_reg)
# print(ships_mat[2,0,3])
self.t_reg = time.time()
covered_turn = ships_mat[0,0,7] - self.heading_difference_circle_left
print(covered_turn)
if self.t_start_manoeuvre_circle_left<2.0:
#MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
elif covered_turn<=10 and covered_turn>=5 or abs(covered_turn)>350 or self.check_circle_manoeuvre_left==1:
self.check_circle_manoeuvre_left = 1
if time.time() - self.t_end_manoeuvre_circle_left >5.0:
self.manoeuvre = None
else:
# MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, 85, 100, int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
# RUDDERS
for_send = self.nmea_make.ROR(int(0), int(0))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
#start another timer add another iff statement
else:
#MAIN STARBOARD THRUSTER
for_send = self.nmea_make.TRC(2, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
#MAIN PORT THRUSTER
for_send = self.nmea_make.TRC(1, 85, 100, 0)
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
#BOW THRUSTER
for_send = self.nmea_make.TRC(0, 0, 100, 0 )
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
#RUDDERS
for_send = self.nmea_make.ROR(int(-35), int(-35))
self.SendRPA3.send_string("recieved", for_send, ships_mat)
write_topic(self.topic_name, for_send)
self.t_end_manoeuvre_circle_left = time.time()
self.write_csv([time.time(), ships_mat[0, 0, 2], ships_mat[0, 0, 3], ships_mat[0, 0, 4], ships_mat[2, 0, 2],
-float(ships_mat[2, 0, 3])], environment_variable)
