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docs: link to Kogger hardware companion repo

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Add a 'Implémentation Cosma — antenne Kogger' section to the page that ties the
abstract protocol (DS-TWR / SS-TWR / addressed) shown in the animations to the
concrete hardware driver used in the Cosma project (cosma-tech/kogger_acoustic
Antenna), and to the new wrapper poulpe/kogger-transpondeur-continu that turns
a Kogger antenna into a permanent slave transponder in a single start() call.

Add a 'Sources' section listing all four related repos (this page, wrapper,
upstream driver location, log decoder).

Update README similarly with a 'Hardware companion repo' section so the
ping-pong-ping repo no longer reads as standalone — it's the protocol
explainer, kogger-transpondeur-continu is the hardware glue.

Reported by Flag 2026-04-27 ('as-tu mis un lien...').
This commit is contained in:
Poulpe (Gouvernance Gitea)
2026-04-27 22:13:38 +00:00
parent ab7140968a
commit a22f060268
2 changed files with 38 additions and 1 deletions
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README.md
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@@ -91,6 +91,14 @@ To re-deploy after an edit :
./deploy.sh
```
## Hardware companion repo
For the Kogger USBL hardware described in the page :
- **Wrapper Python "transpondeur continu"** : `poulpe/kogger-transpondeur-continu` on Gitea — high-level wrapper around the upstream `cosma-tech/kogger_acousticAntenna` driver that puts a Kogger antenna in permanent slave-transponder mode in a single `start()` call. Composes address filter + echo filter + TDMA sync slot + permanent response window + Python callbacks for received pings. No modification of the upstream driver.
- **Driver upstream** : `cosma-tech/kogger_acousticAntenna` on GitHub (private). Active checkout on Pi 184 `cosma-auv2` at `/home/pi/dev/swarm-vehicle/src/drivers/kogger_acousticAntenna/`. Snapshot included read-only in the wrapper repo for reference.
- **Log decoder** (post-acquisition USBL frame parsing for analysis) : `floppyrj45/cosma-nav/extract/decode_kogger.py` on Gitea.
## TODO / future work
- [ ] Add a 3rd animation showing **2D positioning** — currently distance only is animated. AUVs equipped with USBL micro-arrays could also compute their bearing-to-USV; the page mentions this in passing but doesn't visualize it.