Class: SGS::Otto

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

Constant Summary collapse

MISSION_SWITCH = 
1
RUDDER_FAULT = 
2
SAIL_FAULT = 
3
BATTERY_FAULT = 
4
SOLAR_FAULT = 
5
COMPASS_FAULT = 
6
ACCEL_FAULT = 
7
WDI_FAULT = 
8
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.



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# File 'lib/sgs/otto.rb', line 124

def initialize
  serial_port = nil
  #
  # Keep a local copy of the register set to avoid duplication.
  @registers = Array.new(MAX_REGISTER)
  #
  # 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.



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

def actual_rudder
  @actual_rudder
end

#actual_sail ⇒ Object (readonly)

Returns the value of attribute actual_sail.



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

def actual_sail
  @actual_sail
end

#alarm_status ⇒ Object (readonly)

Returns the value of attribute alarm_status.



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

def alarm_status
  @alarm_status
end

#bi_c ⇒ Object

Returns the value of attribute bi_c.



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

def bi_c
  @bi_c
end

#bi_m ⇒ Object

Returns the value of attribute bi_m.



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

def bi_m
  @bi_m
end

#bt_c ⇒ Object

Returns the value of attribute bt_c.



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

def bt_c
  @bt_c
end

#bt_m ⇒ Object

Returns the value of attribute bt_m.



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

def bt_m
  @bt_m
end

#bv_c ⇒ Object

Returns the value of attribute bv_c.



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

def bv_c
  @bv_c
end

#bv_m ⇒ Object

Returns the value of attribute bv_m.



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

def bv_m
  @bv_m
end

#mode ⇒ Object

Returns the value of attribute mode.



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

def mode
  @mode
end

#otto_mode ⇒ Object (readonly)

Returns the value of attribute otto_mode.



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

def otto_mode
  @otto_mode
end

#otto_timestamp ⇒ Object (readonly)

Returns the value of attribute otto_timestamp.



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

def otto_timestamp
  @otto_timestamp
end

#serial_port ⇒ Object

Returns the value of attribute serial_port.



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

def serial_port
  @serial_port
end

#sv_c ⇒ Object

Returns the value of attribute sv_c.



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

def sv_c
  @sv_c
end

#sv_m ⇒ Object

Returns the value of attribute sv_m.



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

def sv_m
  @sv_m
end

#telemetry ⇒ Object (readonly)

Returns the value of attribute telemetry.



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# 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



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# File 'lib/sgs/otto.rb', line 181

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.



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# File 'lib/sgs/otto.rb', line 161

def self.daemon
  puts "Low-level (Otto) communication subsystem starting up. Version #{SGS::VERSION}"
  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



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# File 'lib/sgs/otto.rb', line 343

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

#awa ⇒ Object

Return the apparent wind angle (in radians)



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# File 'lib/sgs/otto.rb', line 399

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

#compass ⇒ Object

Return the compass angle (in radians)



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# File 'lib/sgs/otto.rb', line 393

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.



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# File 'lib/sgs/otto.rb', line 337

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.



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

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



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# File 'lib/sgs/otto.rb', line 293

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.



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

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.



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# File 'lib/sgs/otto.rb', line 310

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



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# File 'lib/sgs/otto.rb', line 280

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



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# File 'lib/sgs/otto.rb', line 222

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



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# File 'lib/sgs/otto.rb', line 368

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



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# File 'lib/sgs/otto.rb', line 355

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)



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# File 'lib/sgs/otto.rb', line 387

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.



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# File 'lib/sgs/otto.rb', line 374

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



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# File 'lib/sgs/otto.rb', line 446

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.



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# File 'lib/sgs/otto.rb', line 204

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).



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# File 'lib/sgs/otto.rb', line 440

def track_awa
  Bearing.xtor(@track_awa)
end

#track_awa=(val) ⇒ Object

Set the required AWA for tracking (in radians).



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

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.



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

def track_compass
  Bearing.xtor(@track_compass)
end

#track_compass=(val) ⇒ Object

Set the required compass reading (in radians)



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# File 'lib/sgs/otto.rb', line 412

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)



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

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

#writer_thread ⇒ Object

Thread to write commands direct to Otto.



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# File 'lib/sgs/otto.rb', line 254

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']
    puts "PARAMS: #{params}"
    case request['method']
    when "set_local_register"
      reg, value = params
      if @registers[reg] != value
        cmd = "R%d=%X\r\n" % [reg, value]
        puts "Command: #{cmd}"
        @serial_port.write cmd
        @registers[reg] = value
      end
    end
  end
end