Class: SGS::Otto

Inherits:
RedisBase show all
Defined in:
lib/sgs/otto.rb

Constant Summary collapse

ALARM_CLEAR_REGISTER =

Updates to Otto are done by setting an 8bit register value, as below.

0
MISSION_CONTROL_REGISTER = 
1
MODE_REGISTER = 
2
BUZZER_REGISTER = 
3
RUDDER_ANGLE_REGISTER = 
4
SAIL_ANGLE_REGISTER = 
5
COMPASS_HEADING_REGISTER = 
6
MIN_COMPASS_REGISTER = 
7
MAX_COMPASS_REGISTER = 
8
AWA_HEADING_REGISTER = 
9
MIN_AWA_REGISTER = 
10
MAX_AWA_REGISTER = 
11
WAKE_DURATION_REGISTER = 
12
NEXT_WAKEUP_REGISTER = 
13
RUDDER_PID_P = 
14
RUDDER_PID_I = 
15
RUDDER_PID_D = 
16
RUDDER_PID_E_NUM = 
17
RUDDER_PID_E_DEN = 
18
RUDDER_PID_U_DIV = 
19
SAIL_MXC_M_VALUE = 
20
SAIL_MXC_C_VALUE = 
21
SAIL_MXC_U_DIV = 
22
MAX_REGISTER = 
23
MODE_INERT =

This is different from mission mode. This mode defines how Otto should operate. Inert means “do nothing”. Diagnostic mode is for the low-level code to run self-checks and calibrations. Manual means that the upper level system controls the rudder and sail angle without any higher-level PID controller. Track compass means that the boat will try to keep the actual compass reading within certain parameters, and track AWA will try to maintain a specific “apparent wind angle”.

0
MODE_DIAG = 
1
MODE_MANUAL = 
2
MODE_REMOTE = 
3
MODE_TRACK_COMPASS = 
4
MODE_TRACK_AWA = 
5
RUDDER_MAX =

Define some tweaks for rudder and sail setting. Rudder goes from /-40 degrees, with zero indicating a straight rudder. On Otto, this translates to 0 (for -40.0), 128 (for the zero position) and 255 (for 40 degrees of rudder). A fully trimmed-in sail is zero and a fully extended sail is 255 (0->100 from a function perspective).

40.0
RUDDER_MIN = 
-40.0
RUDDER_M = 
3.175
RUDDER_C = 
128.0
SAIL_MAX = 
100.0
SAIL_MIN = 
0.0
SAIL_M = 
2.55
SAIL_C = 
0.0

Instance Attribute Summary collapse

Class Method Summary collapse

Instance Method Summary collapse

Methods inherited from RedisBase

#count, #count_name, #load, load, #make_redis_name, #publish, redis, redis_handle, #redis_read_var, #save, #save_and_publish, setup, subscribe, to_redis, var_init

Constructor Details

#initialize ⇒ Otto

Set up some useful defaults. We assume rudder goes from 0 to 255 as does the sail angle.



116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
 
# File 'lib/sgs/otto.rb', line 116

def initialize
  serial_port = nil
  #
  # Set some defaults for the read-back parameters
  # The following five parameters are reported back by Otto with a status
  # message, and are read-only. @alarm_status is 16 bits while the other
  # four are 8-bit values. The helper methods convert these 8-bit values
  # into radians, etc. The telemetry parameters are used to capture
  # telemetry data from Otto.
  @alarm_status = 0
  @actual_rudder = @actual_sail = @actual_awa = @actual_compass = 0
  @telemetry = Array.new(16)
  #
  # Mode is used by Otto to decide how to steer the boat and trim the
  # sails.
  @otto_mode = MODE_INERT
  @otto_timestamp = 1000
  #
  # Set up some basic parameters for battery/solar readings
  @bv_m = @bi_m = @bt_m = @sv_m = 1.0
  @bv_c = @bi_c = @bt_c = @sv_c = 0.0
  #
  # RPC client / server
  @rpc_client = @rpc_server = nil
  super
end

Instance Attribute Details

#actual_rudder ⇒ Object (readonly)

Returns the value of attribute actual_rudder.



53
54
55
 
# File 'lib/sgs/otto.rb', line 53

def actual_rudder
  @actual_rudder
end

#actual_sail ⇒ Object (readonly)

Returns the value of attribute actual_sail.



53
54
55
 
# File 'lib/sgs/otto.rb', line 53

def actual_sail
  @actual_sail
end

#alarm_status ⇒ Object (readonly)

Returns the value of attribute alarm_status.



52
53
54
 
# File 'lib/sgs/otto.rb', line 52

def alarm_status
  @alarm_status
end

#bi_c ⇒ Object

Returns the value of attribute bi_c.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def bi_c
  @bi_c
end

#bi_m ⇒ Object

Returns the value of attribute bi_m.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def bi_m
  @bi_m
end

#bt_c ⇒ Object

Returns the value of attribute bt_c.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def bt_c
  @bt_c
end

#bt_m ⇒ Object

Returns the value of attribute bt_m.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def bt_m
  @bt_m
end

#bv_c ⇒ Object

Returns the value of attribute bv_c.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def bv_c
  @bv_c
end

#bv_m ⇒ Object

Returns the value of attribute bv_m.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def bv_m
  @bv_m
end

#mode ⇒ Object

Returns the value of attribute mode.



50
51
52
 
# File 'lib/sgs/otto.rb', line 50

def mode
  @mode
end

#otto_mode ⇒ Object (readonly)

Returns the value of attribute otto_mode.



54
55
56
 
# File 'lib/sgs/otto.rb', line 54

def otto_mode
  @otto_mode
end

#otto_timestamp ⇒ Object (readonly)

Returns the value of attribute otto_timestamp.



54
55
56
 
# File 'lib/sgs/otto.rb', line 54

def otto_timestamp
  @otto_timestamp
end

#serial_port ⇒ Object

Returns the value of attribute serial_port.



50
51
52
 
# File 'lib/sgs/otto.rb', line 50

def serial_port
  @serial_port
end

#sv_c ⇒ Object

Returns the value of attribute sv_c.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def sv_c
  @sv_c
end

#sv_m ⇒ Object

Returns the value of attribute sv_m.



51
52
53
 
# File 'lib/sgs/otto.rb', line 51

def sv_m
  @sv_m
end

#telemetry ⇒ Object (readonly)

Returns the value of attribute telemetry.



54
55
56
 
# File 'lib/sgs/otto.rb', line 54

def telemetry
  @telemetry
end

Class Method Details

.build_include(fname) ⇒ Object

Build a C include file based on the current register definitions



170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
 
# File 'lib/sgs/otto.rb', line 170

def self.build_include(fname)
  otto = new
  File.open(fname, "w") do |f|
    f.puts "/*\n * Autogenerated by #{__FILE__}.\n * DO NOT HAND-EDIT!\n */"
    constants.sort.each do |c|
      if c.to_s =~ /REGISTER$/
        cval = Otto.const_get(c)
        str = "#define SGS_#{c.to_s}"
        str += "\t" if str.length < 32
        str += "\t#{cval}"
        f.puts str
      end
    end
  end
end

.daemon ⇒ Object

Main daemon function (called from executable). The job of this daemon is to accept commands from the Redis pub/sub stream and send them to the low-level device, recording the response and sending it back to the caller. Note that we need to do an initial sync with the device as it will ignore the usual serial console boot-up gumph awaiting our sync message.



150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
 
# File 'lib/sgs/otto.rb', line 150

def self.daemon
  puts "Low-level (Otto) communication subsystem starting up..."
  otto = new
  config = Config.load
  otto.serial_port = SerialPort.new config.otto_device, config.otto_speed
  otto.serial_port.read_timeout = 10000
  #
  # Start by getting a sync message from Otto.
  otto.synchronize()
  #
  # Run the communications service with Otto. Two threads are used, one for
  # reading and one for writing. Don't let the command stack get too big.
  t1 = Thread.new { otto.reader_thread }
  t2 = Thread.new { otto.writer_thread }
  t1.join
  t2.join
end

Instance Method Details

#alarm_clear(alarm) ⇒ Object

Clear an alarm setting



326
327
328
 
# File 'lib/sgs/otto.rb', line 326

def alarm_clear(alarm)
  set_register(ALARM_CLEAR_REGISTER, alarm)
end

#awa ⇒ Object

Return the apparent wind angle (in radians)



382
383
384
385
 
# File 'lib/sgs/otto.rb', line 382

def awa
  @actual_awa -= 256 if @actual_awa > 128
  Bearing.xtor(@actual_awa)
end

#compass ⇒ Object

Return the compass angle (in radians)



376
377
378
 
# File 'lib/sgs/otto.rb', line 376

def compass
  Bearing.xtor(@actual_compass)
end

#parse_debug(debug_data) ⇒ Object

Parse a debug message from the low-level code. Basically just append it to a log file.



320
321
322
 
# File 'lib/sgs/otto.rb', line 320

def parse_debug(debug_data)
  puts "DEBUG: [#{debug_data}].\n"
end

#parse_mode(mode) ⇒ Object

Parse a mode state message from Otto. In the form: “00”. An eight bit quantity.



304
305
306
 
# File 'lib/sgs/otto.rb', line 304

def parse_mode(mode)
  @otto_mode = mode.to_i(16)
end

#parse_status(status) ⇒ Object

Parse a status message from Otto. In the form: 0001:C000:0000



276
277
278
279
280
281
282
283
284
285
286
287
288
 
# File 'lib/sgs/otto.rb', line 276

def parse_status(status)
  puts "OTTO PARSE: #{status}"
  args = status.split /:/
  @alarm_status = args[0].to_i(16)
  wc = args[1].to_i(16)
  rs = args[2].to_i(16)
  @actual_awa = (wc >> 8) & 0xff
  @actual_compass = (wc & 0xff)
  @actual_rudder = (rs >> 8) & 0xff
  @actual_sail = (rs & 0xff)
  p self
  self.save_and_publish
end

#parse_telemetry(telemetry) ⇒ Object

Parse a telemetry message from Otto. In the form: “7327” where the first character is the channel (0->9) and the remaining 12 bits are the value.



311
312
313
314
315
 
# File 'lib/sgs/otto.rb', line 311

def parse_telemetry(telemetry)
  data = telemetry.to_i(16)
  chan = (data >> 12) & 0xf
  @telemetry[chan] = data & 0xfff
end

#parse_tstamp(tstamp) ⇒ Object

Parse a timestamp message from Otto. In the form: “000FE2” 24 bits representing the elapsed seconds since Otto restarted.



293
294
295
296
297
298
299
 
# File 'lib/sgs/otto.rb', line 293

def parse_tstamp(tstamp)
  newval = tstamp.to_i(16)
  if @otto_timestamp.nil? or newval < @otto_timestamp
    puts "ALARM! Otto rebooted (or something)..."
  end
  @otto_timestamp = newval
end

#read_data ⇒ Object

Read data from the serial port



263
264
265
266
267
268
269
270
271
 
# File 'lib/sgs/otto.rb', line 263

def read_data
  begin
    data = @serial_port.readline.chomp
  rescue EOFError => error
    puts "Otto Read Timeout!"
    data = nil
  end
  data
end

#reader_thread ⇒ Object

Thread to read status messages from Otto and handle them



211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
 
# File 'lib/sgs/otto.rb', line 211

def reader_thread
  puts "Starting OTTO reader thread..."
  while true
    data = read_data
    next if data.nil? or data.length == 0
    case data[0]
    when '$'
      #
      # Status message (every second)
      parse_status(data[1..])
    when '@'
      #
      # Otto elapsed time (every four seconds)
      parse_tstamp(data[1..])
    when '!'
      #
      # Otto mode state (every four seconds)
      parse_mode(data[1..])
    when '>'
      #
      # Telemetry data (every two seconds)
      parse_telemetry(data[1..])
    when '*'
      #
      # Message for the debug log
      parse_debug(data[1..])
    end
  end
end

#rudder ⇒ Object

Return the rudder angle in degrees



351
352
353
 
# File 'lib/sgs/otto.rb', line 351

def rudder
  (@actual_rudder.to_f - RUDDER_C) / RUDDER_M
end

#rudder=(val) ⇒ Object

Set the required rudder angle. Input values range from +/- 40.0 degrees



338
339
340
341
342
343
344
345
346
347
 
# File 'lib/sgs/otto.rb', line 338

def rudder=(val)
  val = RUDDER_MIN if val < RUDDER_MIN
  val = RUDDER_MAX if val > RUDDER_MAX
  val = (RUDDER_M * val.to_f + RUDDER_C).to_i
  if val != @actual_rudder
    @actual_rudder = val
    set_register(RUDDER_ANGLE_REGISTER, val)
  end
  mode = MODE_MANUAL
end

#sail ⇒ Object

Return the sail setting (0.0 -> 100.0)



370
371
372
 
# File 'lib/sgs/otto.rb', line 370

def sail
  (@actual_sail.to_f - SAIL_C) / SAIL_M
end

#sail=(val) ⇒ Object

Set the required sail angle. Input values range from 0 -> 100.



357
358
359
360
361
362
363
364
365
366
 
# File 'lib/sgs/otto.rb', line 357

def sail=(val)
  val = SAIL_MIN if val < SAIL_MIN
  val = SAIL_MAX if val > SAIL_MAX
  val = (SAIL_M * val.to_f + SAIL_C).to_i
  if val != @actual_sail
    @actual_sail = val
    set_register(SAIL_ANGLE_REGISTER, val)
  end
  mode = MODE_MANUAL
end

#set_register(regno, value) ⇒ Object

RPC client call to set register - sent to writer function above



429
430
431
432
 
# File 'lib/sgs/otto.rb', line 429

def set_register(regno, value)
  @rpc_client = RPCClient.new("otto") unless @rpc_client
  @rpc_client.set_local_register(regno, value)
end

#synchronize ⇒ Object

Synchronize with the low-level board by sending CQ messages until they respond. When Mother boots up, the serial console is shared with Otto so a lot of rubbish is sent to the low-level board. To notify Otto that we are now talking sense, we send @@CQ! and Otto responds with +CQOK. Note that this function, which is always called before any of the threads, is bidirectional in terms of serial I/O.



193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
 
# File 'lib/sgs/otto.rb', line 193

def synchronize
  index = 0
  backoffs = [1, 1, 1, 1, 2, 2, 3, 5, 10, 10, 20, 30, 60]
  puts "Attempting to synchronize with Otto..."
  while true do
    begin
      @serial_port.puts "@@CQ!"
      resp = read_data
      break if resp =~ /^\+CQOK/ or resp =~ /^\+OK/
      sleep backoffs[index]
      index += 1 if index < (backoffs.count - 1)
    end
  end
  puts "Synchronization complete!"
end

#track_awa ⇒ Object

Return the current tracking AWA (in radians).



423
424
425
 
# File 'lib/sgs/otto.rb', line 423

def track_awa
  Bearing.xtor(@track_awa)
end

#track_awa=(val) ⇒ Object

Set the required AWA for tracking (in radians).



412
413
414
415
416
417
418
419
 
# File 'lib/sgs/otto.rb', line 412

def track_awa=(val)
  val = Bearing.rtox(val)
  if @track_awa.nil? or @track_awa != val
    @track_awa = val
    set_register(AWA_HEADING_REGISTER, val)
  end
  mode = MODE_TRACK_AWA
end

#track_compass ⇒ Object

 Return the compass value for tracking.



406
407
408
 
# File 'lib/sgs/otto.rb', line 406

def track_compass
  Bearing.xtor(@track_compass)
end

#track_compass=(val) ⇒ Object

Set the required compass reading (in radians)



395
396
397
398
399
400
401
402
 
# File 'lib/sgs/otto.rb', line 395

def track_compass=(val)
  val = Bearing.rtox(val)
  if @track_compass.nil? or @track_compass != val
    @track_compass = val
    set_register(COMPASS_HEADING_REGISTER, val)
  end
  mode = MODE_TRACK_COMPASS
end

#wind ⇒ Object

Return the actual wind direction (in radians)



389
390
391
 
# File 'lib/sgs/otto.rb', line 389

def wind
  Bearing.xtor(@actual_compass + @actual_awa)
end

#writer_thread ⇒ Object

Thread to write commands direct to Otto.



243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
 
# File 'lib/sgs/otto.rb', line 243

def writer_thread
  puts "Starting OTTO writer thread..."
  #
  # Now listen for Redis PUB/SUB requests and act on each one.
  myredis = Redis.new
  while true
    channel, request = myredis.brpop("otto")
    request = MessagePack.unpack(request)
    puts "Req:[#{request.inspect}]"
    params = request['params']
    next if request['method'] != "set_local_register"
    puts "PARAMS: #{params}"
    cmd = "R%d=%X\r\n" % params
    puts "Command: #{cmd}"
    @serial_port.write cmd
  end
end