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.
22 lines
2.4 KiB
Plaintext
22 lines
2.4 KiB
Plaintext
2026-03-20 14:44:29.689 | INFO | kogger_protocol_driver:setup_logging:81 - Kogger Protocol Driver: Loguru logging configured to level INFO and file log/2026-03-20_14-44-29_log_auv.log.
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2026-03-20 14:44:29.689 | INFO | kogger_protocol_driver:__init__:224 - KoggerSBPDevice configured for port /dev/ttyAMA4, baudrate 921600, address 0
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2026-03-20 14:44:29.690 | INFO | kogger_protocol_driver:_open_file:43 - CSV logging enabled to log/2026-03-20_14-44-29_AUV_usbl.csv
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2026-03-20 14:44:29.692 | INFO | kogger_protocol_driver:_reader_thread_loop:491 - Reader thread started.
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2026-03-20 14:44:29.692 | SUCCESS | kogger_protocol_driver:connect:314 - Successfully connected to /dev/ttyAMA4 at 921600 and started reader thread.
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2026-03-20 14:44:29.714 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x4
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2026-03-20 14:44:29.745 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x20
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2026-03-20 14:44:29.777 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x21
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2026-03-20 14:44:29.810 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x65
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2026-03-20 14:44:29.842 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x68
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2026-03-20 14:44:29.842 | INFO | __main__:main:136 - set_auto_response_filter(0)=None
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2026-03-20 14:44:29.863 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x68
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2026-03-20 14:44:29.864 | INFO | __main__:main:138 - set_auto_response_timeout(0xffffffff)=None
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2026-03-20 14:44:29.885 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x68
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2026-03-20 14:44:29.886 | INFO | __main__:main:140 - set_auto_response_payload(0xff)=None
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2026-03-20 14:44:29.886 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:44:30.886 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:44:31.887 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:44:32.819 | INFO | kogger_protocol_driver:_reader_thread_loop:568 - Reader thread finished.
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2026-03-20 14:44:32.821 | INFO | kogger_protocol_driver:disconnect:352 - Serial port /dev/ttyAMA4 closed.
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2026-03-20 14:44:32.822 | INFO | kogger_protocol_driver:disconnect:364 - Disconnected and cleaned up.
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