From ee57b09f867946f35a4f657c2b40d3f12ba6b982 Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Wed, 18 Dec 2019 16:58:03 +0000 Subject: [PATCH 1/5] Preparation for category substitution of groups. --- IMC.xml | 908 ++++++++++++++++++++++++++++-------------------- IMC.xsd | 51 ++- doc/conf.py | 2 +- doc/generate.py | 39 ++- 4 files changed, 604 insertions(+), 396 deletions(-) diff --git a/IMC.xml b/IMC.xml index 1b7ab56..d70631f 100644 --- a/IMC.xml +++ b/IMC.xml @@ -1,7 +1,7 @@ - + State reported by an entity in the vehicle. The source entity is identified in the message header. @@ -504,14 +506,14 @@ - + Request entities to report their state. Entities should respond by issuing an appropriate EntityState message. - + This message describes an entity. @@ -543,7 +545,7 @@ - + Request information about an entity identifier. The receiving system shall reply with an EntityInfo message with the details @@ -556,7 +558,7 @@ - + This message describes the names and identification numbers of all entities in the system. @@ -575,7 +577,7 @@ - + Report of software CPU usage. @@ -586,7 +588,7 @@ - + Message generated when tasks bind to messages. @@ -602,7 +604,7 @@ - + Request the destination system to restart itself. @@ -616,7 +618,7 @@ - + This message controls the calibration procedure of a given device. The destination device is selected using the destination @@ -649,7 +651,7 @@ - + State of the calibration procedure. @@ -703,7 +705,7 @@ - + State of entity activation/deactivation. @@ -759,14 +761,14 @@ - + Query the activation/deactivation state of an entity. The recipient shall reply with an EntityActivationState message. - + Vehicle opertional limits. For aircraft this should represent the flight envelope and the dynamic contraints. @@ -871,12 +873,12 @@ - + - + This message presents the simulated state of the vehicle. The simulated state attempts to provide a realistic state interpretation of operating @@ -974,7 +976,7 @@ - + Simulate leak behavior. @@ -993,7 +995,7 @@ - + Underwater acoustics simulation request. @@ -1015,7 +1017,7 @@ - + Vehicle dynamics parameters for 3DOF, 4DOF or 5DOF simulations. @@ -1040,7 +1042,7 @@ - + Report of storage usage. @@ -1056,7 +1058,7 @@ - + Control caching of messages to persistent storage. @@ -1082,7 +1084,7 @@ - + Control logging of messages to persistent storage. @@ -1149,7 +1151,7 @@ - + Human readable message reporting an event of interest. @@ -1180,7 +1182,7 @@ - + Control history log. @@ -1222,7 +1224,7 @@ - + Control replay of LSF logged data. @@ -1240,7 +1242,7 @@ - + Clock control. @@ -1291,7 +1293,7 @@ - + This message is used to store historic (transmitted afterwards) CTD data . @@ -1300,7 +1302,7 @@ - + This message is used to store historic (transmitted afterwards) telemetry information. @@ -1323,7 +1325,7 @@ - + This message is used to store historic (transmitted afterwards) sonar data. @@ -1349,7 +1351,7 @@ - + This message is used to store historic event log entries. @@ -1363,7 +1365,7 @@ - + This message is used to store historic profiles for water parameters: Temperature, Salinity, Chlorophyll... @@ -1393,7 +1395,7 @@ - + Samples to calculate a vertical profile. @@ -1402,7 +1404,7 @@ - + The Heartbeat message is used to inform other modules that the sending entity's system is running normally and communications @@ -1410,7 +1412,7 @@ - + A system description that is to be broadcasted to other systems. @@ -1455,7 +1457,7 @@ - + Announcement about the existence of a service. @@ -1474,7 +1476,7 @@ - + Measure of the RSSI by a networking device. Indicates the gain or loss in the signal strength due to the transmission and reception equipment and the transmission medium and distance. @@ -1486,7 +1488,7 @@ - + Measure of the VSWR by a networking device. @@ -1497,7 +1499,7 @@ - + Measurement of link level quality. For instance, this may correspond to the acknowledgment ratio of a link. But, @@ -1510,7 +1512,7 @@ - + Send a SMS message. @@ -1531,7 +1533,7 @@ - + Request to send SMS. @@ -1557,7 +1559,7 @@ - + Received SMS data. @@ -1573,7 +1575,7 @@ - + Sequence number. @@ -1594,7 +1596,7 @@ - + A text message has been received. @@ -1610,7 +1612,7 @@ - + The unique identifier of this message's origin device (e.g. lauv-xtreme-2, manta-0). @@ -1626,7 +1628,7 @@ - + The request identifier used to receive transmission updates. @@ -1643,7 +1645,7 @@ - + The request identifier used to receive transmission updates @@ -1658,7 +1660,7 @@ - + Group communication link assertion. @@ -1675,7 +1677,7 @@ - + Group of systems configuration. @@ -1702,7 +1704,7 @@ - + Communications latency between two systems. @@ -1719,7 +1721,7 @@ - + Measure of the RSSI by a networking device. Indicates the gain or loss in the signal strenght due to the transmission @@ -1737,7 +1739,7 @@ - + This message holds a list of inline data samples produced by one or more vehicles in the past. It is used to transfer data over disruption tolerant networks. @@ -1760,7 +1762,7 @@ - + This message holds a list of inline data samples produced by one or more vehicles in the past. It is used to transfer data over disruption tolerant networks. @@ -1787,7 +1789,7 @@ - + The IMC identifier of the system that produced this sample. @@ -1825,7 +1827,7 @@ - + @@ -1842,7 +1844,7 @@ - + Command to remote system. If a system receives a RemoteCommand and it isn't the intended recipient, then it should resend it. @@ -1870,7 +1872,7 @@ - + Presence of Communication Interfaces query. @@ -1920,7 +1922,7 @@ - + Message to handle telemetry transmissions. @@ -1992,7 +1994,7 @@ - + When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics @@ -2012,7 +2014,7 @@ - + Position and configuration of an LBL transponder (beacon). @@ -2053,7 +2055,7 @@ - + Long Base Line configuration. @@ -2076,7 +2078,7 @@ - + Send an acoustic message. @@ -2087,7 +2089,7 @@ - + Send an acoustic message. @@ -2136,7 +2138,7 @@ - + Acoustic operation. @@ -2266,7 +2268,7 @@ - + Request a list of known underwater acoustic systems. The recipient of this message shall reply with an AcousticSystems @@ -2274,7 +2276,7 @@ - + This message is sent in reply to an AcousticSystemsQuery message and lists all known underwater acoustic systems (modems, narrow @@ -2287,7 +2289,7 @@ - + This message is used to report the perceived link quality to other acoustic peers. @@ -2317,7 +2319,7 @@ - + Request Acoustic sending. @@ -2351,7 +2353,7 @@ - + Reply sent in response to a Acoustic Text sending request. @@ -2386,7 +2388,7 @@ - + Number of revolutions per minute. @@ -2397,7 +2399,7 @@ - + Report of electrical voltage. @@ -2409,7 +2411,7 @@ - + Report of electrical current. @@ -2421,7 +2423,7 @@ - + Report of a GPS fix. @@ -2578,7 +2580,7 @@ - + Report of spatial orientation according to SNAME's notation (1950). @@ -2616,7 +2618,7 @@ - + Component of incremetal orientation vector over a period of time. @@ -2647,7 +2649,7 @@ - + Vector quantifying the direction and magnitude of the measured angular velocity that a device is exposed to. @@ -2674,7 +2676,7 @@ - + Vector quantifying the direction and magnitude of the measured acceleration that a device is exposed to. @@ -2701,7 +2703,7 @@ - + Vector quantifying the direction and magnitude of the measured magnetic field that a device is exposed to. @@ -2728,7 +2730,7 @@ - + Vector quantifying the direction and magnitude of the measured velocity relative to the ground that a device is exposed to. @@ -2759,7 +2761,7 @@ - + Vector quantifying the direction and magnitude of the measured velocity relative to the water that a device is exposed to. @@ -2790,7 +2792,7 @@ - + Component of incremetal velocity vector. @@ -2816,7 +2818,7 @@ - + Distance measurement detected by the device. @@ -2852,7 +2854,7 @@ - + Report of temperature. @@ -2863,7 +2865,7 @@ - + Report of external pressure. @@ -2874,7 +2876,7 @@ - + Depth report. @@ -2885,7 +2887,7 @@ - + Report of Depth Offset. @@ -2896,7 +2898,7 @@ - + Sound Speed report. @@ -2907,7 +2909,7 @@ - + Water Density report. @@ -2918,7 +2920,7 @@ - + Report of conductivity. @@ -2929,18 +2931,18 @@ - + Report of salinity. - + The value of the salinity as measured by the sensor. - + Measurement of wind speed. @@ -2961,7 +2963,7 @@ - + Measurement of relative humidity. @@ -2972,7 +2974,7 @@ - + Verbatim representation of device data in plain text format. @@ -2983,7 +2985,7 @@ - + Verbatim representation of device data in binary format. @@ -2994,7 +2996,7 @@ - + Force measurement. @@ -3005,7 +3007,7 @@ - + This message contains the data acquired by a single sonar measurement. The following describes the format used to @@ -3132,13 +3134,13 @@ - + Hardware pulse detection. - + Control of hardware pulse detection. @@ -3151,7 +3153,7 @@ - + Report of fuel level. @@ -3174,7 +3176,7 @@ - + Report of GPS navigation data. @@ -3255,7 +3257,7 @@ - + Actual position of a servo. @@ -3271,7 +3273,7 @@ - + Location of a specific device in the system infrastructure. @@ -3307,7 +3309,7 @@ - + Beam configuration of the device. @@ -3325,7 +3327,7 @@ - + Report sanity or lack of it in the data output by a sensor. @@ -3346,7 +3348,7 @@ - + Rhodamine Dye measurement. @@ -3357,7 +3359,7 @@ - + Crude oil measurement. @@ -3368,7 +3370,7 @@ - + Fine oil measurement. @@ -3379,7 +3381,7 @@ - + Turbidity measurement. @@ -3390,7 +3392,7 @@ - + Chlorophyll measurement. @@ -3401,7 +3403,7 @@ - + Fluorescein measurement. @@ -3412,7 +3414,7 @@ - + Phycocyanin measurement. @@ -3423,7 +3425,7 @@ - + Phycoerythrin measurement. @@ -3434,7 +3436,7 @@ - + Report of an RTK-GPS fix. @@ -3555,7 +3557,7 @@ - + This message is a representation of the state of the vehicle, as seen by an external navigation computer. @@ -3589,7 +3591,7 @@ - + Dissolved Oxygen measurement. @@ -3600,7 +3602,7 @@ - + Air Saturation measurement. @@ -3611,7 +3613,7 @@ - + Throttle e.g. for Plane/Copter . @@ -3622,7 +3624,7 @@ - + Report of pH. @@ -3633,7 +3635,7 @@ - + Report of Redox Potential. @@ -3645,7 +3647,7 @@ - + Camera Zoom. @@ -3670,7 +3672,7 @@ - + Actuate directly on a thruster. @@ -3686,7 +3688,7 @@ - + Set the position of a servo. @@ -3702,7 +3704,7 @@ - + Set the deflection angle of a control surface. @@ -3718,7 +3720,7 @@ - + This message is used as query to request for the possible remote actions (operation=QUERY and the list is empty in this @@ -3741,7 +3743,7 @@ - + This message is used to send a periodic update of values for each remote action. If the action is not on the list the assumed @@ -3754,7 +3756,7 @@ - + Event of a specific hardware button. @@ -3770,7 +3772,7 @@ - + Control LCD. @@ -3791,7 +3793,7 @@ - + This message allows controlling the system's power lines. @@ -3857,7 +3859,7 @@ - + This message allows controlling power channels. @@ -3922,13 +3924,13 @@ - + Request the state of power channels. - + Message conveying the state of a power channel. @@ -3954,7 +3956,7 @@ - + Brightness value of an LED (Light-Emitting Diode). @@ -3970,7 +3972,7 @@ - + Query the brightness of an LED (Light-Emitting Diode). The recipient of this message shall reply with 'LedBrightness'. @@ -3982,7 +3984,7 @@ - + Control the brightness of an LED (Light-Emitting Diode). The recipient of this message shall set the intensity of the LED to @@ -4000,7 +4002,7 @@ - + Set properties of a PWM signal channel. @@ -4023,7 +4025,7 @@ - + Properties of a PWM signal channel. @@ -4047,7 +4049,7 @@ - + This message presents the estimated state of the vehicle. @@ -4176,7 +4178,7 @@ - + The estimated stream velocity, typically for water or air streams. @@ -4198,21 +4200,21 @@ - + Speed measured by the navigation filter. - + Ground true speed. - + Report of navigation uncertainty. This is usually given by the output of the state @@ -4287,7 +4289,7 @@ - + Report of navigation data. This is constituted by data which is not @@ -4335,7 +4337,7 @@ - + UTC time of the rejected GPS fix measured in seconds since @@ -4374,7 +4376,7 @@ - + When the vehicle uses Long Base Line navigation, this message notifies that a new range was received from one of the acoustics @@ -4426,7 +4428,7 @@ - + When the vehicle uses Doppler Velocity Log sensor, this message notifies that a new measurement was locally rejected by the @@ -4504,7 +4506,7 @@ - + LBL Beacon position estimate. @@ -4542,7 +4544,7 @@ - + This message notifies the vehicle is ready for dead-reckoning missions. @@ -4555,10 +4557,13 @@ + + + - + The stream velocity estimated by a group of systems. Typically for water or air streams. @@ -4580,7 +4585,7 @@ - + Airspeed along with airflow angles. @@ -4602,7 +4607,7 @@ - + Desired Heading angle reference value for the control layer. @@ -4614,7 +4619,7 @@ - + Desired Z reference value for the control layer. @@ -4630,7 +4635,7 @@ - + Desired Speed reference value for the control layer. @@ -4647,7 +4652,7 @@ - + Desired Roll angle reference value for the control layer. @@ -4658,7 +4663,7 @@ - + Desired Pitch angle reference value for the control layer. @@ -4669,7 +4674,7 @@ - + Desired Vertical Rate speed reference value for the control layer. @@ -4681,7 +4686,7 @@ - + Perform path control. @@ -4837,7 +4842,7 @@ - + Set the desired virtual forces and torques to be applied to the vehicle. @@ -4909,7 +4914,7 @@ - + Desired Heading Rate speed reference value for the control layer. @@ -4921,7 +4926,7 @@ - + Desired value for each linear and angular speeds. @@ -4992,7 +4997,7 @@ - + Path control state issued by Path Controller. @@ -5128,7 +5133,7 @@ - + Control torques allocated to the actuators. @@ -5149,7 +5154,7 @@ - + Report of PID control parcels. @@ -5175,7 +5180,7 @@ - + Brake the vehicle in some way, i. e., reduce forward speed. @@ -5201,7 +5206,7 @@ - + Position, velocity and acceleration setpoints in NED @@ -5302,7 +5307,7 @@ - + Desired throttle e.g. for Plane in FBWA-mode. @@ -5314,7 +5319,7 @@ - + A "Goto" is a maneuver specifying a movement of the vehicle to a target waypoint. The waypoint is described by the WGS-84 @@ -5392,7 +5397,7 @@ - + The Pop Up maneuver makes the vehicle come to the surface at a specific waypoint. This maneuver is restricted to underwater vehicles. @@ -5479,7 +5484,7 @@ - + The Teleoperation Maneuver lets the vehicle be controlled by an external human operator. @@ -5491,7 +5496,7 @@ - + The Loiter maneuver makes the vehicle circle around a specific waypoint with fixed depth reference. @@ -5580,7 +5585,7 @@ - + Causes the vehicle to stay idle for some time. @@ -5597,7 +5602,7 @@ - + Low level maneuver that sends a (heading, roll, speed, ...) reference to a controller of the vehicle and then optionally @@ -5621,7 +5626,7 @@ - + Rows maneuver (i.e: lawn mower type maneuver) @@ -5708,7 +5713,7 @@ - + Maneuver constituted by a list of Path Points. @@ -5756,7 +5761,7 @@ - + Waypoint coordinate of a Follow Path maneuver. @@ -5780,7 +5785,7 @@ - + A "yo-yo" is a maneuver specifying a vehicle movement to a target waypoint in which depth/altitude varies along the way @@ -5839,13 +5844,13 @@ - + Notification of completion of a Teleoperation maneuver. - + The Station Keeping maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate @@ -5894,7 +5899,7 @@ - + The Elevator maneuver specifies a vehicle to reach a target waypoint using a cruise altitude/depth and then ascend or @@ -5976,7 +5981,7 @@ - + Maneuver constituted by a list of Trajectory Points. @@ -6028,7 +6033,7 @@ - + Waypoint coordinate of a Follow Trajectory maneuver. @@ -6057,7 +6062,7 @@ - + The Custom Maneuver message may be used as specification of a very specific maneuver not covered by the IMC scope. The @@ -6084,7 +6089,7 @@ - + Coordinate maneuver using two or more cooperating systems. @@ -6141,7 +6146,7 @@ - + Definition of a vehicle participant in a VehicleFormation maneuver. @@ -6167,13 +6172,13 @@ - + Command used to stop currently executing maneuver. - + Command used to indicate maneuver can be executed in the vehicle. @@ -6185,7 +6190,7 @@ - + Maneuver control state. @@ -6227,7 +6232,7 @@ - + System-following maneuver. @@ -6274,7 +6279,7 @@ - + In this maneuver, a vehicle drives to the center of two other systems (a, b) in order to be used as a communications relay. @@ -6322,7 +6327,7 @@ - + Given a polygonal area, generates trajectories to cover the area. @@ -6370,7 +6375,7 @@ - + This message is used to store the various polygon vertices for CoverArea maneuvers. @@ -6387,7 +6392,7 @@ - + This maneuver is a mix between the Loiter maneuver and the YoYo maneuver. The vehicle cirlcles around a specific waypoint with a variable Z @@ -6466,7 +6471,7 @@ - + A "Formation" is defined by the relative positions of the vehicles inside the formation, and the reference frame where this positions are defined. @@ -6508,7 +6513,7 @@ - + A "Formation Plan" is a maneuver specifying a plan for a team of vehicles. The maneuver defines: @@ -6594,7 +6599,7 @@ - + This maneuver follows a reference given by an external entity. @@ -6632,7 +6637,7 @@ - + @@ -6649,7 +6654,7 @@ - + The IMC identifier of the source system that is allowed to control the vehicle. @@ -6682,7 +6687,7 @@ - + Monitoring variables for the formation state and performance. @@ -6807,7 +6812,7 @@ - + Inter-vehicle formation state. @@ -6926,7 +6931,7 @@ - + A "Dislodge" is a maneuver ordering the vehicle to attempt a series of thruster operations that will hopefully get it @@ -6961,7 +6966,7 @@ - + The "Formation" is a controller to execute a maneuver with a team of vehicles. It defines the: @@ -7125,7 +7130,7 @@ - + A "Launch" is a maneuver specifying a movement of the vehicle to a target waypoint after being launched from a ship or pier. @@ -7178,7 +7183,7 @@ - + A "Drop" is a maneuver specifying a movement of the vehicle to a target waypoint. The waypoint is described by the WGS-84 @@ -7230,7 +7235,7 @@ - + This maneuver is used to command the vehicle to arrive at some destination at a specified absolute time. @@ -7298,7 +7303,7 @@ - + Rows coverage (i.e: lawn mower type maneuver) but with adaptive cover @@ -7393,7 +7398,7 @@ - + A "Sample" is a maneuver specifying a movement of the vehicle to a target waypoint. The waypoint is described by the WGS-84 @@ -7460,14 +7465,14 @@ - + A "ImageTracking" is a maneuver specifying a particular heading to the detected object. - + Automatic takeoff for UAVs. This maneuver specifies a target waypoint where to takeoff. @@ -7517,7 +7522,7 @@ - + Automatic landing on the ground, for UAVs. This maneuver specifies the target touchdown location and sets the final approach based on the maneuver bearing and glide slope parameters. @@ -7579,7 +7584,7 @@ - + This maneuver triggers an external controller that will guide the vehicle during a specified duration of time or until it relinquishes control using (ManeuverDone). The external controller is allowed to @@ -7645,7 +7650,7 @@ - + This maneuver behaves by following a point. @@ -7689,7 +7694,7 @@ - + An "Alignment" is a maneuver specifying a movement of the vehicle to a target waypoint intended to control activation of an IMU/INS in order @@ -7727,7 +7732,7 @@ - + The Station Keeping Extended maneuver makes the vehicle come to the surface and then enter a given circular perimeter around a waypoint coordinate @@ -7801,7 +7806,7 @@ - + Magnetometer calibration maneuver (i.e: one square pattern in one direction, a second square in the opposite direction) @@ -7867,7 +7872,7 @@ - + This message summarizes the overall state of the vehicle. It can contains information regarding: @@ -7962,7 +7967,7 @@ - + Vehicle command. @@ -8001,7 +8006,7 @@ - + Controls monitoring of entity states in the vehicle. Command. @@ -8016,7 +8021,7 @@ - + Number of entitities being monitored. @@ -8060,7 +8065,7 @@ - + Definition of operational limits. @@ -8078,13 +8083,13 @@ - + Command to obtain the operational limits in use by the vehicle. - + Initiate overall calibration of a vehicle. @@ -8095,7 +8100,7 @@ - + Enable or disable control loops. @@ -8119,7 +8124,7 @@ - + Detect current vehicle medium. @@ -8145,7 +8150,7 @@ - + Detected collision. @@ -8173,7 +8178,7 @@ - + Monitoring variables to assert the formation tracking state, i.e., the mismatch between the real and the simulated aircraft position, the convergence state, etc. @@ -8217,7 +8222,7 @@ - + Reports autopilot mode. @@ -8242,7 +8247,7 @@ - + Monitoring variables to assert the formation tracking state, i.e., the mismatch between the real and the simulated aircraft position, the convergence state, etc. @@ -8308,7 +8313,7 @@ - + This message is sent to trigger reports to a destination system. @@ -8397,7 +8402,7 @@ - + Concise representation of entire system state. @@ -8451,7 +8456,7 @@ - + Request data to be sent over a specified communication mean. @@ -8516,7 +8521,7 @@ - + Reply sent in response to a communications request. @@ -8540,7 +8545,7 @@ - + Request SMS Text sending. @@ -8558,7 +8563,7 @@ - + Reply sent in response to a SMS sending request. @@ -8574,7 +8579,7 @@ - + Reports VTOL current state. @@ -8597,7 +8602,7 @@ - + Reports if motors are currently armed or disarmed. @@ -8607,7 +8612,7 @@ - + Request data to be sent over a TCP connection @@ -8628,7 +8633,7 @@ - + Reply sent in response to a TCP sending request. @@ -8648,13 +8653,13 @@ - + Stops any executing actions and put the system in a standby mode. - + Identity and description of a plan's general parameters, associated with plan loading (i.e. load plan command in @@ -8715,7 +8720,7 @@ - + Named plan maneuver. @@ -8743,7 +8748,7 @@ - + Describes a plan transition within a plan specification. A transition states the vehicle conditions that must be met to @@ -8780,7 +8785,7 @@ - + @@ -8792,7 +8797,7 @@ - + @@ -8805,7 +8810,7 @@ - + Request/reply to plan database. @@ -8914,7 +8919,7 @@ - + Characterizes the state of the entire plan database. @@ -8958,7 +8963,7 @@ - + Plan identifier. @@ -8994,7 +8999,7 @@ - + Plan control request/reply. @@ -9088,7 +9093,7 @@ - + State of plan control. @@ -9174,7 +9179,7 @@ - + A plan variable. @@ -9191,7 +9196,7 @@ - + This message is used to order the generation of plans based on id and set of parameters. @@ -9240,7 +9245,7 @@ - + This message defines the formation leader state. @@ -9372,7 +9377,7 @@ - + The name of the plan to be generated. @@ -9415,28 +9420,28 @@ - Maneuver and plan duration statistics in seconds, for example: “Total=1000,Goto1=20,Rows=980” + Maneuver and plan duration statistics in seconds, for example: Total=1000,Goto1=20,Rows=980 - Distances travelled in meters in each maneuver and/or total: “Total=2000,Rows=1800,Elevator=200” + Distances travelled in meters in each maneuver and/or total: Total=2000,Rows=1800,Elevator=200 - List of components active by plan actions during the plan and time active in seconds: “Sidescan=100,Camera Module=150” + List of components active by plan actions during the plan and time active in seconds: Sidescan=100,Camera Module=150 - Amount of fuel spent, in battery percentage, by different parcels (if applicable): “Total=35,Hotel=5,Payload=10,Motion=20,IMU=0” + Amount of fuel spent, in battery percentage, by different parcels (if applicable): Total=35,Hotel=5,Payload=10,Motion=20,IMU=0 - + A vehicle state that is reported to other consoles (including PDAConsole). Source can be acoustic tracker, SMS, Wi-Fi, etc... @@ -9480,7 +9485,7 @@ - + Whenever the CUCS receives a message from one of the existing sensors (through SMS, ZigBee, Acoustic Comms, ...) it disseminates that info recurring to this message. @@ -9498,7 +9503,7 @@ - + This message represents a simple map that is transferred between CCU consoles (from Neptus to ACCU) The id of the map @@ -9508,7 +9513,7 @@ - + A feature to appear on the map The unique identifier for this feature (used as the name for points of interest) @@ -9551,14 +9556,14 @@ - + This message represents a point in the world. - + This message is used to signal events among running CCUs. @@ -9579,7 +9584,7 @@ - + This message is sent by the TREX task which gives further information to a TREX instance about connected IMC nodes @@ -9591,7 +9596,7 @@ - + This message is sent to TREX to post timeline observations @@ -9600,7 +9605,7 @@ - + This message is used to control TREX execution @@ -9621,7 +9626,7 @@ - + This message is used to control TREX execution @@ -9643,7 +9648,7 @@ - + Name of this attribute. @@ -9666,18 +9671,18 @@ - + - + - + This message is used for signaling asynchronous events between different (sub) systems. @@ -9690,13 +9695,13 @@ - + - + @@ -9705,7 +9710,7 @@ - + State summary for a remote vehicle. WGS-84 Latitude. @@ -9725,7 +9730,7 @@ - + Target. @@ -9767,7 +9772,7 @@ - + Entity parameter. @@ -9783,7 +9788,7 @@ - + List of entity parameters. @@ -9799,22 +9804,22 @@ - + - + - + - + Request creating a new session with this remote peer. Example session sequence is shown in the following diagram. @@ -9832,14 +9837,14 @@ - + Request closing of an ongoing session - + @@ -9849,12 +9854,12 @@ - + Message exchanged to prevent a session from timing out - + Message transmitted periodically to inform the state of a communication session @@ -9863,15 +9868,15 @@ - + - + - + Notification of an I/O event. @@ -9889,48 +9894,209 @@ - - - + + + This message shall be sent to acoustic modem drivers to request + transmission of a data frame via the acoustic channel. + + + + A sequence identifier that should be incremented for each + request. This number will then be used to issue transmission + status updates via the message UamTxStatus. + + + + + The canonical name of the destination system. If supported, the + special destination 'broadcast' shall be used to dispatch messages + to all nodes. + + - - + + Transmission flags. + + + + On modems that support it, this flag shall be used to request an + acknowledgment of reception from the receiving node. + + + + + On modems that support it, this flag shall be used to delay the + frame transmission until the modem needs to transmit control + data (e.g., acknowledgment of reception, etc). + + + + + + The actual data frame to transmit. The data size shall not exceed + the MTU of the acoustic modem. + - - - - + + + This message shall be dispatched by acoustic modem drivers each time + a data frame is received over the acoustic channel. + + + + The canonical name of the node that transmitted the data frame. If + this name cannot be resolved the string 'unknown' shall be used. + + + + + The canonical name of the destination node of the data frame. If + this name cannot be resolved the string 'unknown' shall be used. + + - - + + Reception flags. + + + + The data frame was transmitted to an acoustic modem other than + the one the acoustic modem driver is controlling. + + + + + The data frame was transmitted using the DELAYED flag. + + + + + + The actual received data frame. + - - - + + + This message shall be used by acoustic modem drivers to send updates + on the transmission status of data frames. + + + + The sequence identifier of the frame transmission request. + + - - - - - - - - + + Frame transmission status. + + + + The frame transmission was completed. + + + + + The frame transmission failed. The reason for the failure is given in + the field 'error'. + + + + + The frame transmission was canceled. + + + + + The acoustic modem driver is busy and could not honor the + frame transmission request at the moment. + + + + + The canonical name of the destination node could not be + resolved. + + + + + The frame transmission is in progress. + + + + + The frame transmission request is not valid for this acoustic + modem driver. + + + + + The frame transmission request exceeds the MTU of the acoustic + modem. + + + + + transducer not connected to the acoustic modem. + + + + + + Where applicable this field shall contain a human-readable message + explaining the error. + - - - - - + + + Acoustic range measurement. + + + + The sequence identifier of the ranging request. + + + + + The canonical name of the ranged system. + + + + + The actual range. Negative values denote invalid measurements. + + - + + + Request an acoustic modem driver to measure the distance to another system. + + + + A sequence identifier that should be incremented for each + request. This number will then be used to issue transmission + status updates via the message UamTxStatus. + + + + + The canonical name of the target system. + + + + + Maximum amount of time to wait for a reply. + + + + + Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains. @@ -9971,7 +10137,7 @@ - + Formation control performance evaluation variables. @@ -9992,7 +10158,7 @@ - + Formation controller paramenters, as: trajectory gains, control boundary layer thickness, and formation shape gains. @@ -10059,7 +10225,7 @@ - + Formation control performance evaluation variables. @@ -10132,19 +10298,19 @@ - + - + - + @@ -10163,7 +10329,7 @@ - + @@ -10174,25 +10340,25 @@ - + - + - + This message signals that an :ref:`Abort` message was received and acted upon. - + This message contains information, collected using USBL, about the bearing and elevation of a target. @@ -10214,7 +10380,7 @@ - + This message contains information, collected using USBL, about a target's position. @@ -10241,7 +10407,7 @@ - + This message contains the WGS-84 position of a target computed using USBL. @@ -10274,7 +10440,7 @@ - + Message containing the parameters XML of the source system. @@ -10290,14 +10456,14 @@ - + Request the destination system to send its parameters XML file via a :ref:`ParametersXml` message. - + Message containing the x and y coordinates of object to track in remote peer. @@ -10318,7 +10484,7 @@ - + Message containing the x and y coordinates of object to track in image slave. @@ -10339,7 +10505,7 @@ - + Message containing the x, y and z coordinates of object in the real world. @@ -10375,7 +10541,7 @@ - + This message contains information, collected using USBL, about the bearing and elevation of a target. @@ -10427,7 +10593,7 @@ - + This message contains information, collected using USBL, about a target's position. @@ -10489,7 +10655,7 @@ - + This message contains the WGS-84 position of a target computed using USBL. @@ -10527,7 +10693,7 @@ - + Position and configuration of an Ultra-Short Base Line modem. @@ -10559,7 +10725,7 @@ - + Ultra-Short Base Line configuration. @@ -10582,7 +10748,7 @@ - + Dissolved Organic Matter measurement. @@ -10600,7 +10766,7 @@ - + The optical backscattering coefficient refers to all the photons that have been redirected in the backward directions when a photon of light propagates in water and interacts with a "particle" (varying from water molecules to fish). @@ -10612,7 +10778,7 @@ - + This messages is used to record system activity parameters. These parameters are mainly used for used for maintenance purposes. @@ -10701,7 +10867,7 @@ - + StatusText message from ardupilot. @@ -10725,7 +10891,7 @@ - + Readings from SADC board. @@ -10749,7 +10915,7 @@ - + Presence of DMS (Dimethyl Sulphide). If the value of the channel is greater than zero, it means DMS was detected. @@ -10772,13 +10938,7 @@ - - - Total Magnetic Field Intensity (TMI) - - - - + Vehicle Home Position. @@ -10817,4 +10977,10 @@ + + + Total Magnetic Field Intensity (TMI) + + + diff --git a/IMC.xsd b/IMC.xsd index 8412dc7..db312d3 100644 --- a/IMC.xsd +++ b/IMC.xsd @@ -1,9 +1,9 @@ - + ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ - + Copyright (C) 2007-2018 Laboratório de Sistemas e Tecnologia Subaquática + + Copyright (C) 2007-2020 Laboratório de Sistemas e Tecnologia Subaquática + Departamento de Engenharia Electrotécnica e de Computadores + Rua Dr. Roberto Frias, 4200-465 Porto, Portugal ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ @@ -132,16 +132,16 @@ - This is a placehold for helping to define fields that apear allways in the begining of the message payload. + This is a placeholder for helping to define fields that appear always in the beginning of the message payload. - + - It's a facility to group messages. The grouping is made using windows of 'id' values. + DEPRECATED. It's a facility to group messages. The grouping is made using windows of 'id' values. @@ -164,6 +164,28 @@ + + + It's a facility to categorise messages. It's purpose is for documentation, not for coding. + + + + + + + + + + + + + + + + + + + @@ -245,6 +267,14 @@ + + + + + + + + @@ -344,7 +374,7 @@ This flags should be indicated in the 'flags' child element of 'messages'. - + @@ -468,23 +498,24 @@ - + - Use coma separeted values: ccu, vehicle, simulated. + Use comma separated values: ccu, vehicle, simulated. + - + - Use coma separeted values: ccu, vehicle, simulated. + Use coma separated values: ccu, vehicle, simulated. diff --git a/doc/conf.py b/doc/conf.py index 378b288..5ee3a29 100644 --- a/doc/conf.py +++ b/doc/conf.py @@ -43,7 +43,7 @@ # General information about the project. project = u'IMC' -copyright = u'2013-2017, ' + vendor +copyright = u'2013-2020, ' + vendor # The language for content autogenerated by Sphinx. Refer to documentation # for a list of supported languages. diff --git a/doc/generate.py b/doc/generate.py index edff22c..2b88557 100644 --- a/doc/generate.py +++ b/doc/generate.py @@ -1,7 +1,7 @@ ############################################################################# # This Python file uses the following encoding: utf-8 # ############################################################################# -# Copyright (C) 2016 Laboratório de Sistemas e Tecnologia Subaquática # +# Copyright (C) 2016-2020 Laboratório de Sistemas e Tecnologia Subaquática # # Departamento de Engenharia Electrotécnica e de Computadores # # Rua Dr. Roberto Frias, 4200-465 Porto, Portugal # ############################################################################# @@ -238,16 +238,25 @@ def getEnumerationDescripion(elem, headerPrefix = '', refPrefix = ''): text += str(tmgs) open(os.path.join(src_dir, 'Message Format.rst'), 'a', encoding='utf-8').write(text) -# Messages by Group. -groups = [] -for group in root.findall('groups/group'): - name = group.attrib['name'] - min_id = int(group.attrib['min']) - max_id = int(group.attrib['max']) +## Messages by Group. +#groups = [] +#for group in root.findall('groups/group'): +# name = group.attrib['name'] +# min_id = int(group.attrib['min']) +# max_id = int(group.attrib['max']) +# files.append(name + '.rst') +# groups.append({'name': name, 'min': min_id, 'max': max_id}) +# text = rst.h1(name + ' Messages') +# open(os.path.join(src_dir, name + '.rst'), 'w', encoding='utf-8').write(text) + +# Messages by Category. +categories = [g.attrib['category'] for g in root.findall('message')] +categories = sorted(set(categories), key=lambda x: categories.index(x)) + +for name in categories: files.append(name + '.rst') - groups.append({'name': name, 'min': min_id, 'max': max_id}) text = rst.h1(name + ' Messages') - open(os.path.join(src_dir, name + '.rst'), 'w', encoding='utf-8').write(text) + open(os.path.join(src_dir, name + '.rst'), 'w').write(text) # Messages. for msg in root.findall('message'): @@ -321,12 +330,14 @@ def getEnumerationDescripion(elem, headerPrefix = '', refPrefix = ''): text += str(t) text += txtLocalEnumBitField - my_group = '' - for group in groups: - if id >= group['min'] and id <= group['max']: - my_group = group['name'] + category = msg.attrib['category'] +# my_group = '' +# for group in groups: +# if id >= group['min'] and id <= group['max']: +# my_group = group['name'] - open(os.path.join(src_dir, my_group + '.rst'), 'a', encoding='utf-8').write(text) +# open(os.path.join(src_dir, my_group + '.rst'), 'a', encoding='utf-8').write(text) + open(os.path.join(src_dir, category + '.rst'), 'a', encoding='utf-8').write(text) # Master document. fd = open(os.path.join(src_dir, 'index.rst'), 'w', encoding='utf-8') From 069ef324125a73570983674d31a7f74a961f83dd Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Thu, 4 Feb 2021 14:16:10 +0000 Subject: [PATCH 2/5] Little reordering on maneuvers group. --- IMC.xml | 50 +++++++++++++++++++++++++------------------------- 1 file changed, 25 insertions(+), 25 deletions(-) diff --git a/IMC.xml b/IMC.xml index 156607a..d58fe33 100644 --- a/IMC.xml +++ b/IMC.xml @@ -319,39 +319,39 @@ + + + + + + + + + + + + + + + + - - + - + + - - - - - - - - - - - - - - + - - - - - - - + - + + + + From 4f96f7e58445b18e4a153746dc70389440b80f91 Mon Sep 17 00:00:00 2001 From: mariacosta Date: Thu, 15 Jul 2021 19:18:04 +0100 Subject: [PATCH 3/5] IMC_Addresses: Updated auxiliary CPUs addresses. --- IMC_Addresses.xml | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/IMC_Addresses.xml b/IMC_Addresses.xml index 8de5d97..1423129 100644 --- a/IMC_Addresses.xml +++ b/IMC_Addresses.xml @@ -147,8 +147,12 @@
-
+
+
+
+
+
From 14b092e1479a000d30fd48c5cd2340d41f14402e Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:28:44 +0100 Subject: [PATCH 4/5] Added enum value to field op of Acoustic Operation. --- IMC.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/IMC.xml b/IMC.xml index d58fe33..bdfc57c 100644 --- a/IMC.xml +++ b/IMC.xml @@ -2248,6 +2248,13 @@ Request sending updated position to remote system so it can be ranged. + + + Send an abort through the acoustic channel to the system + specified in the field 'system', ignoring safety checks such + as "transducer not connected". + + From 25a6c90ebff99d9026b6891dbecbbe052322325b Mon Sep 17 00:00:00 2001 From: Paulo Dias Date: Fri, 22 Oct 2021 19:31:04 +0100 Subject: [PATCH 5/5] Added bitfield value forced to field flags of UamTxFrame. --- IMC.xml | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/IMC.xml b/IMC.xml index bdfc57c..95df30f 100644 --- a/IMC.xml +++ b/IMC.xml @@ -9938,6 +9938,11 @@ data (e.g., acknowledgment of reception, etc). + + + Ignore safety checks such as "transducer not connected". + +