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.
This commit is contained in:
657
driver/test/log/2026-03-22_08-42-12_log_usv.log
Normal file
657
driver/test/log/2026-03-22_08-42-12_log_usv.log
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2026-03-22 08:42:12.672 | INFO | kogger_protocol_driver:setup_logging:81 - Kogger Protocol Driver: Loguru logging configured to level INFO and file log/2026-03-22_08-42-12_log_usv.log.
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2026-03-22 08:42:12.673 | INFO | kogger_protocol_driver:__init__:224 - KoggerSBPDevice configured for port /dev/ttyAMA4, baudrate 921600, address 0
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2026-03-22 08:42:12.673 | INFO | kogger_protocol_driver:_open_file:43 - CSV logging enabled to log/2026-03-22_08-42-12_AUV_usbl.csv
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2026-03-22 08:42:12.675 | INFO | kogger_protocol_driver:_reader_thread_loop:491 - Reader thread started.
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2026-03-22 08:42:12.675 | SUCCESS | kogger_protocol_driver:connect:314 - Successfully connected to /dev/ttyAMA4 at 921600 and started reader thread.
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2026-03-22 08:42:12.689 | INFO | __main__:main:127 - set_auto_response_filter(0)=True
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2026-03-22 08:42:12.692 | INFO | __main__:main:129 - set_auto_response_timeout(0xffffffff)=True
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2026-03-22 08:42:12.695 | INFO | __main__:main:131 - set_auto_response_payload(0xff)=True
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2026-03-22 08:42:13.022 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:14.048 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:15.038 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:16.028 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:17.052 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:18.042 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:19.032 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:20.057 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:21.045 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:24.048 | INFO | __main__:print_message:34 - printer:{
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2026-03-22 08:42:25.074 | INFO | __main__:print_message:34 - printer:{
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||||
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|
||||
"elevation_unc": 0.0,
|
||||
"snr": 20.721336364746094,
|
||||
"beacon_x_m": -5.9630303382873535,
|
||||
"beacon_y_m": -2.9341745376586914,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 33.57948303222656,
|
||||
"usbl_pitch": -12.30569076538086,
|
||||
"usbl_roll": 175.41395568847656,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": -6.590787887573242,
|
||||
"beacon_e_m": -0.8535951375961304,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:26.064 | INFO | __main__:print_message:34 - printer:{
|
||||
"id": 1,
|
||||
"role": 2,
|
||||
"reserved": 0,
|
||||
"timestamp_us": 640178851,
|
||||
"ping_counter": 0,
|
||||
"carrier_counter": 19202958,
|
||||
"distance_m": 5.316667079925537,
|
||||
"distance_unc": 0.0,
|
||||
"azimuth_deg": 102.5999984741211,
|
||||
"azimuth_unc": 0.0,
|
||||
"elevation_deg": -7.500001907348633,
|
||||
"elevation_unc": 0.0,
|
||||
"snr": 17.46601104736328,
|
||||
"beacon_x_m": -1.1597950458526611,
|
||||
"beacon_y_m": -5.188624382019043,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 33.905853271484375,
|
||||
"usbl_pitch": -11.852455139160156,
|
||||
"usbl_roll": 175.54457092285156,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": -3.856947898864746,
|
||||
"beacon_e_m": 3.659358024597168,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:30.058 | INFO | __main__:print_message:34 - printer:{
|
||||
"id": 4,
|
||||
"role": 2,
|
||||
"reserved": 0,
|
||||
"timestamp_us": 644171869,
|
||||
"ping_counter": 0,
|
||||
"carrier_counter": 19323313,
|
||||
"distance_m": 5.99333381652832,
|
||||
"distance_unc": 0.0,
|
||||
"azimuth_deg": 130.6999969482422,
|
||||
"azimuth_unc": 0.0,
|
||||
"elevation_deg": 9.199997901916504,
|
||||
"elevation_unc": 0.0,
|
||||
"snr": 19.3284854888916,
|
||||
"beacon_x_m": -3.908243417739868,
|
||||
"beacon_y_m": -4.543752193450928,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 34.13526153564453,
|
||||
"usbl_pitch": -11.99602222442627,
|
||||
"usbl_roll": 175.41482543945312,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": -5.784631729125977,
|
||||
"beacon_e_m": 1.5678273439407349,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:35.075 | INFO | __main__:print_message:34 - printer:{
|
||||
"id": 3,
|
||||
"role": 2,
|
||||
"reserved": 0,
|
||||
"timestamp_us": 649187868,
|
||||
"ping_counter": 0,
|
||||
"carrier_counter": 19473726,
|
||||
"distance_m": 5.872500419616699,
|
||||
"distance_unc": 0.0,
|
||||
"azimuth_deg": -156.3000030517578,
|
||||
"azimuth_unc": 0.0,
|
||||
"elevation_deg": 30.599994659423828,
|
||||
"elevation_unc": 0.0,
|
||||
"snr": 18.03278160095215,
|
||||
"beacon_x_m": -5.377228736877441,
|
||||
"beacon_y_m": 2.360438346862793,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 36.34476852416992,
|
||||
"usbl_pitch": -12.077938079833984,
|
||||
"usbl_roll": 175.67010498046875,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": -2.9322750568389893,
|
||||
"beacon_e_m": -5.088027477264404,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:46.099 | INFO | __main__:print_message:34 - printer:{
|
||||
"id": 2,
|
||||
"role": 2,
|
||||
"reserved": 0,
|
||||
"timestamp_us": 660212792,
|
||||
"ping_counter": 0,
|
||||
"carrier_counter": 19804586,
|
||||
"distance_m": 5.6066670417785645,
|
||||
"distance_unc": 0.0,
|
||||
"azimuth_deg": 15.499994277954102,
|
||||
"azimuth_unc": 0.0,
|
||||
"elevation_deg": 11.199997901916504,
|
||||
"elevation_unc": 0.0,
|
||||
"snr": 17.539196014404297,
|
||||
"beacon_x_m": 5.402755260467529,
|
||||
"beacon_y_m": -1.4983160495758057,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 38.88618087768555,
|
||||
"usbl_pitch": -11.584259986877441,
|
||||
"usbl_roll": 175.70375061035156,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": 3.264869451522827,
|
||||
"beacon_e_m": 4.557997703552246,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:51.118 | INFO | __main__:print_message:34 - printer:{
|
||||
"id": 3,
|
||||
"role": 2,
|
||||
"reserved": 0,
|
||||
"timestamp_us": 665231835,
|
||||
"ping_counter": 0,
|
||||
"carrier_counter": 19954968,
|
||||
"distance_m": 5.413333892822266,
|
||||
"distance_unc": 0.0,
|
||||
"azimuth_deg": -11.30000114440918,
|
||||
"azimuth_unc": 0.0,
|
||||
"elevation_deg": 23.69999885559082,
|
||||
"elevation_unc": 0.0,
|
||||
"snr": 17.977581024169922,
|
||||
"beacon_x_m": 5.308394432067871,
|
||||
"beacon_y_m": 1.0607221126556396,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 39.83439636230469,
|
||||
"usbl_pitch": -12.056816101074219,
|
||||
"usbl_roll": 175.6454315185547,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": 4.755778789520264,
|
||||
"beacon_e_m": 2.5858752727508545,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:56.137 | INFO | __main__:print_message:34 - printer:{
|
||||
"id": 4,
|
||||
"role": 2,
|
||||
"reserved": 0,
|
||||
"timestamp_us": 670250856,
|
||||
"ping_counter": 0,
|
||||
"carrier_counter": 20105377,
|
||||
"distance_m": 5.872500419616699,
|
||||
"distance_unc": 0.0,
|
||||
"azimuth_deg": 110.79999542236328,
|
||||
"azimuth_unc": 0.0,
|
||||
"elevation_deg": 18.099998474121094,
|
||||
"elevation_unc": 0.0,
|
||||
"snr": 18.67030143737793,
|
||||
"beacon_x_m": -2.0853655338287354,
|
||||
"beacon_y_m": -5.489764213562012,
|
||||
"beacon_latitude": "nan",
|
||||
"beacon_longitude": "nan",
|
||||
"beacon_depth": 0.0,
|
||||
"usbl_yaw": 39.86298370361328,
|
||||
"usbl_pitch": -12.253400802612305,
|
||||
"usbl_roll": 175.99600219726562,
|
||||
"usbl_latitude": "nan",
|
||||
"usbl_longitude": "nan",
|
||||
"last_iTOW": 0,
|
||||
"beacon_n_m": -5.1193695068359375,
|
||||
"beacon_e_m": 2.8772060871124268,
|
||||
"code_snr": [
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan",
|
||||
"nan"
|
||||
]
|
||||
}
|
||||
2026-03-22 08:42:56.239 | INFO | kogger_protocol_driver:_reader_thread_loop:568 - Reader thread finished.
|
||||
2026-03-22 08:42:56.240 | INFO | kogger_protocol_driver:disconnect:352 - Serial port /dev/ttyAMA4 closed.
|
||||
2026-03-22 08:42:56.240 | INFO | kogger_protocol_driver:disconnect:364 - Disconnected and cleaned up.
|
||||
Reference in New Issue
Block a user