From a618234ce7d5aa9f6c28dd686b36f705bdd3e04b Mon Sep 17 00:00:00 2001
From: Dimitrios Pallas <dimitrios.pallas@eurodyn.com>
Date: Thu, 29 Jun 2023 19:30:20 +0300
Subject: [PATCH] fixed rate of turn

---
 ais-lib-cli/pom.xml                                 |  2 +-
 ais-lib-communication/pom.xml                       |  2 +-
 ais-lib-json/pom.xml                                |  2 +-
 .../AisPositionMessageDecoderTest.java              |  2 +-
 ais-lib-messages/pom.xml                            |  2 +-
 .../java/dk/dma/ais/message/AisPositionMessage.java | 13 ++++++++++++-
 .../test/java/dk/dma/ais/sentence/MessageTest.java  |  2 +-
 ais-lib-utils/pom.xml                               |  2 +-
 pom.xml                                             |  2 +-
 9 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/ais-lib-cli/pom.xml b/ais-lib-cli/pom.xml
index 2f2721b3..52dc1aee 100644
--- a/ais-lib-cli/pom.xml
+++ b/ais-lib-cli/pom.xml
@@ -4,7 +4,7 @@
   <parent>
     <groupId>dk.dma.ais.lib</groupId>
     <artifactId>ais-parent</artifactId>
-    <version>2.8.1</version>
+    <version>2.8.2</version>
   </parent>
 
 
diff --git a/ais-lib-communication/pom.xml b/ais-lib-communication/pom.xml
index 5d012848..cbeaf5f2 100755
--- a/ais-lib-communication/pom.xml
+++ b/ais-lib-communication/pom.xml
@@ -5,7 +5,7 @@
   <parent>
     <groupId>dk.dma.ais.lib</groupId>
     <artifactId>ais-parent</artifactId>
-    <version>2.8.1</version>
+    <version>2.8.2</version>
     <relativePath>../pom.xml</relativePath>
   </parent>
 
diff --git a/ais-lib-json/pom.xml b/ais-lib-json/pom.xml
index 0abb4f6a..647fa30c 100644
--- a/ais-lib-json/pom.xml
+++ b/ais-lib-json/pom.xml
@@ -5,7 +5,7 @@
     <parent>
         <groupId>dk.dma.ais.lib</groupId>
         <artifactId>ais-parent</artifactId>
-        <version>2.8.1</version>
+        <version>2.8.2</version>
         <relativePath>../pom.xml</relativePath>
     </parent>
 
diff --git a/ais-lib-json/src/test/java/dk/dma/ais/message_decoders/AisPositionMessageDecoderTest.java b/ais-lib-json/src/test/java/dk/dma/ais/message_decoders/AisPositionMessageDecoderTest.java
index 534a76ac..1b6c9b7a 100644
--- a/ais-lib-json/src/test/java/dk/dma/ais/message_decoders/AisPositionMessageDecoderTest.java
+++ b/ais-lib-json/src/test/java/dk/dma/ais/message_decoders/AisPositionMessageDecoderTest.java
@@ -56,7 +56,7 @@ public void shouldWork() throws AisMessageException, SixbitException, SentenceEx
 
         JSONAssert.assertEquals(
                 DecoderTestHelper.getJson(objectWriter,
-                        new DecodedAisFieldObject(0, "Turning right at 0.0 degrees/ min")).toString(),
+                        new DecodedAisFieldObject(-1, "Turning left at 0.04464028833340796 degrees/ min")).toString(),
                 jsonObject.get("rotDFO").toString(),
                 true);
 
diff --git a/ais-lib-messages/pom.xml b/ais-lib-messages/pom.xml
index 1dcef72c..ed6f4929 100755
--- a/ais-lib-messages/pom.xml
+++ b/ais-lib-messages/pom.xml
@@ -5,7 +5,7 @@
 	<parent>
 		<groupId>dk.dma.ais.lib</groupId>
 		<artifactId>ais-parent</artifactId>
-		<version>2.8.1</version>
+		<version>2.8.2</version>
 		<relativePath>../pom.xml</relativePath>
 	</parent>
 
diff --git a/ais-lib-messages/src/main/java/dk/dma/ais/message/AisPositionMessage.java b/ais-lib-messages/src/main/java/dk/dma/ais/message/AisPositionMessage.java
index e2bda587..f1b1f377 100644
--- a/ais-lib-messages/src/main/java/dk/dma/ais/message/AisPositionMessage.java
+++ b/ais-lib-messages/src/main/java/dk/dma/ais/message/AisPositionMessage.java
@@ -252,9 +252,20 @@ public void setNavStatus(int navStatus) {
      * @return the rot
      */
     public int getRot() {
-        return rot;
+        if (rot == 128) {
+            return 0;
+        }
+        int signedRot = (byte) rot;
+        double sensorRot = Math.pow(signedRot / 4.733, 2);
+        if (signedRot < 0) {
+            sensorRot *= -1;
+            return (int) sensorRot + 1;
+        } else {
+            return (int) sensorRot - 1;
+        }
     }
 
+
     /**
      * Gets sensor rot.
      *
diff --git a/ais-lib-messages/src/test/java/dk/dma/ais/sentence/MessageTest.java b/ais-lib-messages/src/test/java/dk/dma/ais/sentence/MessageTest.java
index 7f30869d..eafa9321 100644
--- a/ais-lib-messages/src/test/java/dk/dma/ais/sentence/MessageTest.java
+++ b/ais-lib-messages/src/test/java/dk/dma/ais/sentence/MessageTest.java
@@ -44,7 +44,7 @@ public void testMessage1() throws SentenceException, SixbitException, AisMessage
         Assert.assertEquals("repeat", 0, msg.getRepeat());
         Assert.assertEquals("userid", 636012431, msg.getUserId());
         Assert.assertEquals("nav_status", 8, msg.getNavStatus());
-        Assert.assertEquals("rot", 0, msg.getRot());
+        Assert.assertEquals("rot", -1, msg.getRot());
         Assert.assertEquals("sog", 191, msg.getSog());
         Assert.assertEquals("pos_acc", 1, msg.getPosAcc());
         Assert.assertEquals("longitude", -73481550, msg.getPos().getLongitude());
diff --git a/ais-lib-utils/pom.xml b/ais-lib-utils/pom.xml
index 34fb8bbb..6eb833d8 100644
--- a/ais-lib-utils/pom.xml
+++ b/ais-lib-utils/pom.xml
@@ -5,7 +5,7 @@
 	<parent>
 		<groupId>dk.dma.ais.lib</groupId>
 		<artifactId>ais-parent</artifactId>
-		<version>2.8.1</version>
+		<version>2.8.2</version>
 		<relativePath>../pom.xml</relativePath>
 	</parent>
 
diff --git a/pom.xml b/pom.xml
index c510496d..d2dab169 100755
--- a/pom.xml
+++ b/pom.xml
@@ -10,7 +10,7 @@
 
 	<groupId>dk.dma.ais.lib</groupId>
 	<artifactId>ais-parent</artifactId>
-	<version>2.8.1</version>
+	<version>2.8.2</version>
 	<name>AIS Parent</name>
 	<packaging>pom</packaging>
 	<description>This parent pom for AIS</description>