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- ACOMMS_TRANSMIT_DATA - 2048 random alphanumeric characters
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pAcommsScheduler
The scheduler is an application that can be run on all topside modems to provide synchronization with respect to a single underwater vehicle. pAcommScheduler expects the AUV to transmit updates with a constant period, which much be provided as a config variable, along with the AUV's modem ID. The scheduler will listen to incoming transmissions for those from the AUV, and average the last four receptions to determine the schedule. It will lockout the acomms driver to prevent transmission when receipts from the AUV are expected.
The scheduler will also post its current state and estimates of the offset and duration of incoming receipts from the AUV. Other applications can use this offset by utilizing system time as provided by the JoshUtils library.
Configuration
- period - time in seconds of AUV's expected transmit period
- source_ID - modem id of AUV
- pre_lock - time before expected receive start when modem lockout will begin
- post_lock - time after receive stop when modem lockout will end
Publications
- ACOMMS_SCHEDULER_OFFSET - the estimated offset of the receive start
- ACOMMS_SCHEDULER_DURATION - the estimated duration of the receive
- ACOMMS_SCHEDULER_STATE - current state: 0=unlocked, 1-3=locked (pre, mid, post), 4=unset (no observation)