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Several postings are made specifically for logging purposes, but applications may use them as well. These postings are always enabled. The serial communications between the host and modem are also recorded in a goby_log.txt file in the same directory pLogger uses.
Transmitting
- ACOMMS_TRANSMITTED_DATA_HEX - string - a hex translation of the transmitted data
- ACOMMS_TRANSMITTED_ALL - string - a loggable serialization of the transmission protobuf
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- Two way ranging
- Driver crashes if pLogger is not started first
- Goby update may have changed frame counting when 2 of 3 frames are completely filled, for example.
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uPokeDBHex
Similar to the normal uPokeDB, but pokes binary strings instead of normal strings using a hex representation.
Usage
| Code Block |
|---|
uPokeDBHex ACOMMS_TRANSMIT_DATA_BINARY="68:65:6c:6c:6f"
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iHoverKayak
The interface between MOOS and the low level kayak control running on the Arduino. To switch radios, poke the variable RADIO_WAIT_TIME once to begin the switch, then poke again with the same value within RADIO_WAIT_TIME seconds to confirm the switch.
Configuration
- PORT_NAME - serial port name, defaults to /dev/ttyO0 (hardware serial port)
- BAUD_RATE - defaults to 115200
- INVERT_RUDDER - boolean, which way is positive?
- RUDDER_OFFSET - constant offset to rudder angle, which way is positive?
- RADIO_WAIT_TIME - in seconds, time to wait for confirmation when switching radios
Subscriptions
- DESIRED_THRUST
- DESIRED_RUDDER
- RADIO_POWER - "freewave" or "bullet"
Publications
- VOLTAGE
- CPU_BOX_TEMP
- ROBOTEQ_HEATSINK_TEMP
- ROBOTEQ_INTERNAL_TEMP
- ROBOTEQ_BATTERY_CURRENT
- ROBOTEQ_MOTOR_CURRENT
- CPU_BOX_CURRENT
- ARDUINO_THRUST
- ARDUINO_RUDDER
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pScheduledTransmit
A simple application for collecting acomms data. Can be configured to transmit on a regular schedule using a period and offset, and measured using the system clock. Can be used across several vehicles as long as their clocks are in sync. Posts a long string of random alphanumeric characters that should completely fill any rate transmission.
Configuration
- period - time in seconds between transmissions
- offset - measured from midnight, offset in seconds of transmissions. Set different offsets on different vehicles to stagger transmissions.
Subscriptions
- SCHEDULED_TRANSMITS - "on" or "off" to enable/disable transmits
Publications
- ACOMMS_TRANSMIT_DATA - 2048 random alphanumeric characters
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