Poulpe
9a158f5c5f
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.
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