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.
27 lines
2.8 KiB
Plaintext
27 lines
2.8 KiB
Plaintext
2026-03-20 14:36:35.266 | INFO | kogger_protocol_driver:setup_logging:81 - Kogger Protocol Driver: Loguru logging configured to level INFO and file log/2026-03-20_14-36-35_log_auv.log.
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2026-03-20 14:36:35.267 | INFO | kogger_protocol_driver:__init__:224 - KoggerSBPDevice configured for port /dev/ttyAMA4, baudrate 921600, address 0
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2026-03-20 14:36:35.267 | INFO | kogger_protocol_driver:_open_file:43 - CSV logging enabled to log/2026-03-20_14-36-35_AUV_usbl.csv
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2026-03-20 14:36:35.269 | INFO | kogger_protocol_driver:_reader_thread_loop:491 - Reader thread started.
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2026-03-20 14:36:35.269 | SUCCESS | kogger_protocol_driver:connect:314 - Successfully connected to /dev/ttyAMA4 at 921600 and started reader thread.
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2026-03-20 14:36:35.290 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x4
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2026-03-20 14:36:35.321 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x20
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2026-03-20 14:36:35.353 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x21
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2026-03-20 14:36:35.384 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x65
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2026-03-20 14:36:35.415 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x68
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2026-03-20 14:36:35.415 | INFO | __main__:main:136 - set_auto_response_filter(0)=None
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2026-03-20 14:36:35.436 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x68
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2026-03-20 14:36:35.436 | INFO | __main__:main:138 - set_auto_response_timeout(0xffffffff)=None
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2026-03-20 14:36:35.458 | WARNING | kogger_protocol_driver:_execute_command:643 - Timeout waiting for response for command ID 0x68
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2026-03-20 14:36:35.458 | INFO | __main__:main:140 - set_auto_response_payload(0xff)=None
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2026-03-20 14:36:35.458 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:36.459 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:37.460 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:38.460 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:39.461 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:40.463 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:41.466 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:42.467 | INFO | __main__:main:147 - response_received=-1
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2026-03-20 14:36:42.632 | INFO | kogger_protocol_driver:_reader_thread_loop:568 - Reader thread finished.
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2026-03-20 14:36:42.633 | INFO | kogger_protocol_driver:disconnect:352 - Serial port /dev/ttyAMA4 closed.
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2026-03-20 14:36:42.634 | INFO | kogger_protocol_driver:disconnect:364 - Disconnected and cleaned up.
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