Omst/seatrac

etc/hardware/acoustic-modems/seatrac_uart.ini

@@ -48,6 +48,9 @@ Serial Port - Device                    = /dev/uart/1
 Pressure Sensor Mode                    = true
 Address Section                         = Seatrac Addresses
 Debug Level                             = Debug
+Honour Medium                           = false
+Pressure Sensor Mode                    = true
+Use Internal Pressure Sensor as Medium  = true
 
 [UserInterfaces.MantaPanel]
 Sections of System Addresses            = Seatrac Addresses

etc/hardware/lctr-a6xx/seatrac.ini

@@ -32,22 +32,26 @@
 [Transports.Seatrac]
 Enabled                                 = Hardware
 Debug Level                             = None
+Active                                  = true # keep always active for LAUVs
 Entity Label                            = Acoustic Modem
 Serial Port - Device                    = /dev/uart/10
 Serial Port - Baud Rate                 = 115200
-Activation Time                         = 3.5
+Activation Time                         = 5
 Deactivation Time                       = 0
 Transmit Only Underwater                = true
 Address Section                         = Seatrac Addresses
+Honour Medium                           = true
 Max Range                               = 1000
-AHRS Mode                               = false
+Turn Around Time                        = 10
 Pressure Sensor Mode                    = true
-Use Internal Pressure Sensor for Medium = true
+Use Internal Pressure Sensor as Medium  = false
 USBL Mode                               = true
 Enhanced USBL                           = true
+# If modem not installed upright either invert output with Blueprint's Seatrac Tools or rotate matrix 180º around Y-Axis (refer to "Beacon User Manual" section 6.5)
 AHRS Rotation Matrix                    = 1.0, 0.0, 0.0,
                                           0.0, 1.0, 0.0,
                                           0.0, 0.0, 1.0
+Calibration Threshold                   = 0.005
 Hard-Iron Calibration                   = 0.0, 0.0, 0.0
 
 [Transports.UAN]

src/DUNE/Network.hpp

@@ -46,5 +46,6 @@ namespace DUNE
 #include <DUNE/Network/Interface.hpp>
 #include <DUNE/Network/TDMA.hpp>
 #include <DUNE/Network/UpstreamTCPServer.hpp>
+#include <DUNE/Network/NodeMap.hpp>
 
 #endif

src/DUNE/Network/NodeMap.hpp

@@ -0,0 +1,112 @@
+//***************************************************************************
+// Copyright 2017 OceanScan - Marine Systems & Technology, Lda.             *
+//***************************************************************************
+// This file is subject to the terms and conditions defined in file         *
+// 'LICENCE.md', which is part of this source code package.                 *
+//***************************************************************************
+// Author: Ricardo Martins                                                  *
+//***************************************************************************
+
+#ifndef DUNE_NETWORK_NODE_MAP_HPP_INCLUDED_
+#define DUNE_NETWORK_NODE_MAP_HPP_INCLUDED_
+
+// ISO C++ 98 headers.
+#include <map>
+#include <string>
+
+// DUNE headers.
+#include <DUNE/Parsers/Config.hpp>
+
+namespace DUNE
+{
+  namespace Network
+  {
+    //! Utility class that enables mapping node names to addresses and
+    //! vice versa.
+    template <typename T>
+    class NodeMap
+    {
+    public:
+      //! Initialize node map from configuration section.
+      //!
+      //! @param[in] config config parser instance.
+      //! @param[in] section config section name.
+      void
+      readConfigSection(Parsers::Config& config, const std::string& section)
+      {
+        clear();
+
+        std::vector<std::string> addrs = config.options(section);
+        for (unsigned i = 0; i < addrs.size(); ++i)
+        {
+          T addr;
+          config.get(section, addrs[i], "", addr);
+          add(addrs[i], addr);
+        }
+      }
+
+      //! Add a node to the map.
+      //!
+      //! @param[in] name canonical node name.
+      //! @param[in] address node address.
+      void
+      add(const std::string& name, const T& address)
+      {
+        m_node_names[name] = address;
+        m_node_addresses[address] = name;
+      }
+
+      //! Remove all elements from the map.
+      void
+      clear()
+      {
+        m_node_names.clear();
+        m_node_addresses.clear();
+      }
+
+      //! Lookup a node's address given its name.
+      //!
+      //! @param[in] name canonical node name.
+      //! @param[out] address node address.
+      //!
+      //! @return true if the canonical node name has a corresponding
+      //! address, false otherwise.
+      bool
+      lookupAddress(const std::string& name, T& address) const
+      {
+        typename std::map<std::string, T>::const_iterator itr = m_node_names.find(name);
+        if (itr == m_node_names.end())
+          return false;
+
+        address = itr->second;
+        return true;
+      }
+
+      //! Lookup a node's name given its address.
+      //!
+      //! @param[in] address node address.
+      //! @param[out] name canonical node name.
+      //!
+      //! @return true if the node address has a corresponding
+      //! canonical name, false otherwise.
+      bool
+      lookupName(const T& address, std::string& name) const
+      {
+        typename std::map<T, std::string>::const_iterator itr = m_node_addresses.find(address);
+        if (itr == m_node_addresses.end())
+          return false;
+
+        name = itr->second;
+        return true;
+      }
+
+    private:
+      //! Map node names to addresses.
+      std::map<std::string, T> m_node_names;
+      //! Map node addresses to names.
+      std::map<T, std::string> m_node_addresses;
+    };
+  }
+}
+
+#endif

src/Transports/Seatrac/DataTypes.hpp → src/Transports/Seatrac/Constants.hpp

@@ -2,6 +2,8 @@
 // Copyright 2007-2023 Universidade do Porto - Faculdade de Engenharia      *
 // Laboratório de Sistemas e Tecnologia Subaquática (LSTS)                  *
 //***************************************************************************
+// Copyright 2023 OceanScan - Marine Systems & Technology, Lda.             *
+//***************************************************************************
 // This file is part of DUNE: Unified Navigation Environment.               *
 //                                                                          *
 // Commercial Licence Usage                                                 *
@@ -26,10 +28,11 @@
 //***************************************************************************
 // Author: João Teixeira                                                    *
 // Author: Raúl Sáez                                                        *
+// Author: Maria Costa (small refactor and fix for iUSBL implementation)    *
 //***************************************************************************
 
-#ifndef TRANSPORTS_SEATRAC_DATA_TYPES_HPP_INCLUDED_
-#define TRANSPORTS_SEATRAC_DATA_TYPES_HPP_INCLUDED_
+#ifndef TRANSPORTS_SEATRAC_CONSTANTS_HPP_INCLUDED_
+#define TRANSPORTS_SEATRAC_CONSTANTS_HPP_INCLUDED_
 
 #define MESSAGE_NUMBER (0x77 +0x1)
 #define MAX_MESSAGE_ERRORS 5
@@ -39,20 +42,46 @@
 //! Defines the minimum message length without preamble nor postamble
 #define MIN_MESSAGE_LENGTH 6
 
+// ISO C++ 98 headers.
+#include <string>
+#include <vector>
+
+// DUNE headers.
+#include <DUNE/DUNE.hpp>
+
 namespace Transports
 {
   namespace Seatrac
   {
     using DUNE_NAMESPACES;
 
+    //! Hard Iron calibration parameter name.
+    static const std::string c_hard_iron_param = "Hard-Iron Calibration";
+    //! Number of axis.
+    static const uint8_t c_number_axis = 3;
+    //! Acknowledged timeout time multiplier
+    static const uint8_t c_ack_timeout_multiplier = 6;
     //! Input Timeout (s).
-    static const double c_input_tout =  5;
+    static const double c_input_tout = 5;
     //! The bitrate of acoustic communication (bits/second).
-    static const double c_acoustic_bitrate =  100;
+    static const double c_acoustic_bitrate = 100;
     //! Message preamble
     static const char c_preamble = '$';
     //! Maximum buffer size.
     static const int c_bfr_size = 256;
+    //! Sound speed update window (m/s).
+    static const uint16_t c_sspeed_window = 1;
+
+    //! Entity states.
+    enum EntityStates
+    {
+      STA_BOOT,
+      STA_IDLE,
+      STA_ACTIVE,
+      STA_ERR_COM,
+      STA_ERR_STP,
+      STA_MAX
+    };
 
     //! States of the internal SM.
     enum ParserStates
@@ -137,7 +166,6 @@ namespace Transports
       BT_X150 = 0x31B
     };
 
-
     // Status Output Mode
     enum StatusMode_E
     {
@@ -174,7 +202,8 @@ namespace Transports
     };
 
     // Control XCVR flags
-    enum ControlXcvrFlags_E {
+    enum ControlXcvrFlags_E
+    {
       USBL_USE_AHRS_FLAG = 0x1,
       XCVR_POSFLT_ENABLE_FLAG = 0x2,
       XCVR_USBL_MSGS_FLAG = 0x20,
@@ -338,7 +367,7 @@ namespace Transports
       int16_t position_easting;
       int16_t position_northing;
       int16_t position_depth;
-      uint8_t outputflags_list[4];
+      uint8_t outputflags_list[5];
 
       void
       outputFlagsComp(void)
@@ -347,6 +376,7 @@ namespace Transports
         outputflags_list[1] = (0x02 & flags);
         outputflags_list[2] = (0x04 & flags);
         outputflags_list[3] = (0x08 & flags);
+        outputflags_list[4] = (0x10 & flags);
       }
     };
   }