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Lockout transmits by posting 1 to ACOMMS_TRANSMIT_LOCKOUT.
Receiving
To use simple receiving, the "enable_legacy" option must be enabled in the MOOS process config. Whenever a transmission is received, information about the reception is posted to several variables:
- ACOMMS_RECEIVED_DATA - binary string type - contains all the received data. Data from multiple frames is concatenated together, even if frames in the middle are missing.
- ACOMMS_BAD_FRAMES - string type - comma delimited list of bad frame indices
- ACOMMS_SOURCE_ID - double type - integer ID of the transmitting modem
- ACOMMS_DEST_ID - double type - integer ID of the destination modem (0 = broadcast)
- ACOMMS_RATE - double type - integer rate of the transmission
- ACOMMS_RECEIVED_STATUS - double type - integer indicated status. 0=good, 1=partial, 2=bad
- ACOMMS_ONE_WAY_TRAVEL_TIME - double type - posted if synced to pps, or requesting two-way ranging
- ACOMMS_STATS_SNR_OUT
- ACOMMS_STATS_SNR_IN
- ACOMMS_STATS_DQF
- ACOMMS_STATS_STDDEV_NOISE
- ACOMMS_STATS_MSE
- ACOMMS_STATS_DOPPLER
- ACOMMS_STATS_SPL
- ACOMMS_STATS_PSK_ERROR_CODE
Unified Interface
Sometimes the simple interface is cumbersome because applications have to subscribe to many variable to get enough information about incoming acomms transmissions. With the unified interface, only one variable is required to send or receive data.
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- DESIRED_THRUST
- DESIRED_RUDDER
- RADIO_POWER_COMMAND - "freewave" or "bullet"
- RUDDER_OFFSET - change rudder offset after launch
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- VOLTAGE
- CPU_BOX_TEMP
- ROBOTEQ_HEATSINK_TEMP
- ROBOTEQ_INTERNAL_TEMP
- ROBOTEQ_BATTERY_CURRENT
- ROBOTEQ_MOTOR_CURRENT
- THRUST_LIMIT
- ARDUINO_THRUST
- ARDUINO_RUDDER
- RADIO_POWER - "freewave", "bullet", "freewave_locked", or "bullet_locked"
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pScheduledTransmit
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