Initial: ContinuousTransponder wrapper for Kogger USBL

High-level Python wrapper around the upstream cosma-tech/kogger_acousticAntenna driver. Configures a Kogger acoustic antenna as a permanent slave transponder in a single start() call: address filter, echo filter, optional TDMA sync slot, permanent response window, and Python callbacks for each ping received. No modification to the upstream driver — only composes existing public methods in the right order. Snapshot of upstream driver included read-only under driver/ for reference. Includes: - transponder_continu.py (302 lines): the wrapper class + CLI - examples/auv_slave.py (79 lines): usage example with logging - README.md: design rationale, usage, multi-AUV TDMA, watchdog, hardware wiring - driver/: snapshot of cosma-tech/kogger_acousticAntenna at commit 1b539f9 ('Add index slot for multi pinger', 2025-03-11) Built for Cosma context (USV master + N AUVs slaves) following the design conversation in Discord #ping-pong-ping (2026-04-27). See poulpe/ping-pong-ping on Gitea for the interactive demo of the protocol.
2026-04-27 22:08:44 +00:00
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+# Driver for Acoustic Antenna from Kogger
+
+## Installations request  
+
+```
+sudo apt update
+sudo apt install python3-serial python3-loguru
+```
+
+# Kogger wires  
+
+Brown  : supply (+)
+Blue   : ground (-)
+Green  : UART_RX (USBL side)
+Yellow : UART_TX (USBL side)
+Pink   : ground (-), connected to the blue wire inside USBL
+Gray   : TRIGGER_IN (USBL side)
+White  : TRIGGER_OUT (USBL side)
+
+## Files description
+
+```
+.
+├── communication.py
+├── interface.py
+├── kogger_protocol_driver.py
+└── test
+    ├── test_kogger_driver.py
+    └── test_messages.bin
+```
+
+### communication.py
+
+Test all functions from kogger\_protocol\_driver.py
+
+### interface.py
+
+Open a tkinter interface with all kogger\_protocol\_driver functions.
+
+### kogger\_protocol\_driver.py
+
+Driver for kogger device
+
+### test folder
+
+Contains tests function for kogger\_protocol\_driver.
+
+#### Raspberry connection to Kogger
+
+-----------------+         +---------------+         +------------+
+|                 |         |               |         |            |
+| RASPBERRY PI 4  o---USB---o Convertisseur o---UART--o Antenne    |
+|                 |         | USB-vers-UART | (TX,RX, | Kogger     |
+|                 |         |               |   GND)  |            |
+-----------------+         +---------------+         +------------+
+
+#### USV / Boat side
+
+Launch :  
+
+```
+cd test
+./test_usv.py
+```
+
+#### AUV / Sub side
+
+Launch :  
+
+```
+cd test
+./test_auv.py
+```
+
+
+# Analyze koggerApp
+
+ bb55  00    8b   11 00     xx      9cc3
+Header Route Mode ID Length Payload Check
+
+On boot : 
+A TX payload […]: 
+- bb55008b11009cc3
+- bb5500931100a4db
+- bb550083100100943e
+- bb550083130096af
+- bb550083120095ad
+- bb550083150098b3
+- bb550083140097b1
+- bb5500832000a3c9
+- bb55008b2000abe1
+- bb5500932000b3f9
+- bb55008318054a5d6bc9017c98
+- bb55008b18054a5d6bc90184d8
+- bb550
+
+A RX payload: 
+- bb5500c91103049cc3401e
+- bb5500d1110304a4db6876
+- bb5500c1100304943eaa54
+- bb5500c113030496af20d8
+- bb5500c112030495ad1ccf
+- bb5500c1150304 98b328ea
+- bb5500c114030497b124e1
+- bb5500412022000f00000000000078fe6b94000203000000000000000000000000000000000000000c32
+- bb5500c120 0301a3c95144
+- bb5500c9200305abe17da8
+- bb550051200900000f0002000003018f00
+- bb5500d1200305b3f9a500
+- bb5500c11803047c98f4a6
+- bb5500c91803 0484d84426
+- bb5500d11803048a870111
+
+## Conclusion :
+
+Host : read 0x10, 0x11, 0x12, x13, x14, x15, x18, x20
+0x10 : ID_DATASET
+- bb550083100100943e
+- bb5500c1100304943eaa54
+0x11 : ID_DIST_SETU
+0x12 : ID_CHART_SETUP
+0x14 : ID_TRANSC
+0x15 : ID_SND_SPD
+0x18 : ID_UART
+0x20 : ID_VERSION
+
+# Kogger number
+
+## USV to AUV
+
+0 : DISARM         Set AUV to DISARM
+1 : DEPTH_HOLD     Set AUV to fixed DEPTH
+2 : Pause?
+3 : MISSION_DEPTH  Go to mission on DEPTH_HOLD
+4 : MISSION        Go to mission on ALT_HOLD
+5 : SURFACE        Go to SURFACE
+6 : USBL_MODE_RESP Set USBL AUV as response
+7 : USBL_MODE_TRAN Set USBL AUV as transponder
+8 : 
+
+## AUV to USV
+
+0 : DISARM          AUV is DISARMED
+1 : DEPTH_HOLD      AUV is at fixed DEPTH
+2 : Pause?
+3 : MISSION_DEPTH   AUV is in mission on DEPTH_HOLD
+4 : MISSION         AUV is in mission on ALT_HOLD
+5 : SURFACE         AUV is going to to SURFACE
+6 : RECOVER_STUCK   AUV is in recover_stuck or recover_stuck_random
+7 : HARDWARE_FAIL   AUV is in emergency and is going to surface
+8 : EMERGENCY_STUCK AUV is stuck
+
+## Kogger transfer in the air
+
+-------------------------------------
+ Pinger sending | Responder receiving
+ 0              | 5
+ 1              | 2
+ 2              | 1
+ 3              | 4
+ 4              | 3
+ 5              | 0
+ 6              | 6
+ 7              | 7 OR 3 OR 5
+ 8              | 8 OR 255
+-------------------------------------
+
+# Python info  
+
+## struct.unpack  
+
+- ? : bool (1B)
+- b : int8 (1B)
+- B : uint8 (1B)
+- h : int16 
+- H : uint16 
+- i : int32
+- I : uint32
+- f : float (4B)
+- d : double(8B)
+- q : int64
+- Q : uint64
+
+# Test multi-antenna
+
+From test/test_multi_antenna.py we can try a multi-antenna with time syncho.
+
+## In spiral mode  
+
+### From USV/Slave  
+
+```
+./test_multi_antenna.py /dev/ttyUSB0 0 2
+```
+
+### From AUV/Master
+
+Where every lines is an AUV :
+```
+./test_multi_antenna.py /dev/ttyUSB1 1 2
+./test_multi_antenna.py /dev/ttyUSB2 2 2
+```
+
+