iridium [AutoNaut Documentation Wiki]

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=====IridiumSBD Remote Control=====

==== List of Hardware Components ====
^ Hardware ^ ID ^
| Level 2 Subsystem | l2 |
| Level 3 Subsystem | l3 |
| Level 1 IridiumSBD | iridium |
| 4G/LTE Modem | modem |
| Bilge Pumps | pumps |
| OWL VHF Radio | vhf |

The **relays** string is made of 6 booleans that indicate the relay setting: 0 = ON, 1 = OFF, 2 = REBOOT.
The user can control the state of the sensor by changing the appropriate boolean in the array.
Example: 011011 means l2 is ON, l3 is OFF, L1 iridium is OFF, 4G modem is ON, pumps are OFF, VHF is OFF.  

 
==== List of Commands & Vehicle Replies ====
**Commands** are sent from operators to the vehicle. **Replies** viceversa.\\
Commands are written in red. Reference: https://github.com/LSTS/dune/wiki/Text-Commands
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**Periodical Status Reports**: periodical reports from the vehicle.\\ <code>(R) 13:29:16/63.872886,8.640461/b:127/c:78/s:0.00/sat:8/pp:15/cp:17/s:M/001011</code> **meaning**: **(R)**=report/UTC time/latitude(deg),longitude(deg)/**b**=battery voltage/**c**=COG/**s**=SOG/**sat**=GPS satellites in view/**pp**=produced power (from solar panels)/**cp**=consumed power (from system+thruster)/**s**=status (M:maneuvering, S:service, C:calibration, E:error)/relays.\\
The frequency of reports can be set via Iridium by sending this message:\\
<color red>**reports seconds**</color>: //seconds// is the amount of seconds between two reports.

\\
**Navigation Commands** are used to send new navigation plans, retrieve telemetry and statistics, mission status.

  - <color red>**info**</color>: retrieve information about plan being executed \\ **replies**: \\ 
    - //Vehicle is ready.// : vehicle is ready to execute its first plan.
    - //Initializing <plan_id>.// : vehicle is in calibration mode, starting a plan.
    - //Executing <plan_id> / <man_id>. ETA: <eta in seconds> (<progress>%)// : Vehicle is currently executing a plan.
    - //Finished <plan_id>// : vehicle has finished executing a plan successfully.
    - //Failed to exec <plan_id>: <reason>// : vehicle has failed to execute its plan.
  - <color red>**navstat**</color>: retrieve navigation information \\ **reply**: \\ <code>(NAV) 2020-06-23 13:28:06/63.8728 8.6404/C:69/dC:-20/r:-57/th:0/S:0.0/aws:0.7/awd:118</code> **meaning**: **(NAV)**=navigation report/UTC date&time/latitude(deg),longitude(deg)/**C**=COG/**dC**=desired COG/**r**=rudder angle/**th**=thruster actuation/**S**=SOG/**aws**=absolute wind speed/**awd**=absolute wind direction.
  - <color red>**abort**</color>: this command aborts the execution of any ongoing plan and receives no arguments.
  - <color red>**errors**</color>: retrieve a simple vehicle diagnostic \\ **replies**: //Vehicle has no reported errors.// or //Errors: <entities_in_error>// listing all entities that present errors.
  - <color red>**start plan_ID**</color>: order execution of a plan already in the Plan Database of the vehicle. It receives, as its sole argument the name of the plan to be executed. \\ **reply**: //Started execution of plan_ID.//
  - <color red>**force plan_ID**</color>: order execution of a plan ignoring any errors. \\ **reply**: //Started execution of plan_ID ignoring errors.//
  - <color red>**resume plan_ID GoTo_number**</color>: order execution of a plan, starting from a specific maneuver id. It will generate a new plan that has the given maneuver ID as the starting maneuver and then will proceed to execute it. It will create a new plan named //plan_ID-Goto_number// that starts in maneuver Goto_number and will execute the plan.
  - <color red>**go lat=<latitude>;lon=<longitude>;speed=<speed>**</color>: commands the vehicle to go to a given waypoint in DEGREES (using a Goto maneuver).
  - <color red>**fence <latitude>,<longitude>;<latitude>,<longitude>;...**</color>: creates a polygon (geofence) using the <latitude>,<longitude> (in DEGREES) list as vertices; when the USV is outside the polygon, a warning is raised and an Iridium message is sent.
  - <color red>**colav on/off**</color>: turns anti-collision system on.
  - <color red>**gains p i d**</color>: sets new gains for the course/heading autopilot.


\\
**Hardware Commands** are used to send new navigation plans, retrieve telemetry and statistics, mission status.
    - <color red>**cr6 relays**</color>: where //relays// is the string of booleans indicated above. This command enables/disables the solid-state relays. \\ **reply**: //New CR6 settings applied.//
    - <color red>**on relay/sensor**</color>: enables a specific relay - turns ON a specific sensor as indicated in the table above. Example //on vhf// turns ON the VHF radio. \\ **reply**: //VHF is turning on.//
    - <color red>**off relay/sensor**</color>: disables specific relay - turns OFF a specific sensor as indicated in the table above. Example //off modem// turns OFF the 4G/LTE Modem.
    - <color red>**restart relay/sensor**</color>: toggles off and on a specific relay - restarts a specific sensor as indicated in the table above. Example //restart modem// restarts the 4G/LTE Modem.
    - <color red>**reboot**</color>: Reboot the system remotely. It can be used to reboot just DUNE, the main CPU or auxiliary CPU.\\
      - **reboot**: Reboots the main CPU.
      - **reboot aux**: Reboots the auxiliary CPU.
      - **reboot dune**: Reboots DUNE without rebooting the CPU.
   - <color red>**camera**</color>: Triggers the onboard camera\\
      - **camera on**: Starts live broadcast.
      - **camera off**: Stops live broadcast and deactivates the camera until further notice; if routines are running, they are disabled.
      - **camera frame**: Captures and stores one frame.
      - **camera video 20**: Records one video of 20 seconds.
      - **camera frame-p 300**: Captures one frame every 300 seconds.
      - **camera video-p 300 20**: Records one video every 300 seconds of 20 seconds length.
\\

==== Handling Scientific Sensors & Data ====
The following set of commands is able to control the [[sci_sens | Scientific Payload]].
\\
==== List of Scientific Sensors ====
^ Sensor Name ^ Sensor ID ^
| optode | opt |
| ctd | ctd |
| ecopuck | eco |
| tblive | tbl |
| adcp | adcp |
\\
- <color red>**sensor sensor_ID on_off samp_duration samp_interval**</color>: where //sensor_ID// is the sensor ID; //on_off// determines if the sensor has to be turned ON or OFF; //samp_duration// determines for how long (seconds) the sensor collects data; //samp_interval// indicates the seconds between two consecutive samplings (sensor is turned OFF between them)  \\ **replies**: 
    - //L3 is OFF, turn on first.// : if the payload computer is OFF.
    - //sensor_name is already ON// : if the sensor to be turned ON is already ON.
    - //sensor_name is already OFF// : if the sensor to be turned OFF is already OFF.
    - //sensor_name actions.// otherwise (sensor is OFF and you want to turn it ON or viceversa).
    - Examples: <color red>**sensor ctd 0 60 120**</color> will turn ON the CTD at regular intervals of 120s and collect CTD data for 60s; <color red>**sensor opt 0 0 0**</color> will turn ON the Optode 4835 and sample indefinitely; <color red>**sensor eco 1 0 0**</color> will turn OFF the ECOPuck Triplet indefinitely.
- <color red>**sensors**</color> +  <color red>**sensor_ID on_off samp_duration samp_interval**</color> for each sensor: unique long message to control all sensors with one Iridium message only.
- <color red>**sensor_name report**</color>: where //sensor_name// is the full sensor name.
    - <color red>**ecopuck report**</color> will reply \\ <code>(ECO) 2020/06/23 09:00:21/63.8728 8.6404/FDOM:0.1832/TU:0.0912/CHLA:0.1898</code> **meaning**: **(ECO)**=sensor_id/UTC date-time/latitude(deg),longitude(deg)/**FDOM**=fluorescent dissolved organic matter/**TU**=turbidity/**CHLA**=chlorophyll-a.\\
    - <color red>**ctd report**</color> will reply \\ <code>(CTD) 2020/06/23 09:37:49/63.8728 8.6404/S:0.29/C:0.04/T:15.80/SS:-1.00/D:0.05</code> **meaning**: **(CTD)**=sensor_id/UTC date-time/latitude(deg),longitude(deg)/**S**=salinity/**C**=conductivity/**T**=water temperature/**SS**=sound speed/**D**=sensor depth.\\
    - <color red>**optode report**</color> will reply \\ <code>(OPT) 2020/06/23 08:51:44/63.8728 8.6404/T:18.40/AS:98.87/DOX:289.87</code> **meaning**: **(OPT)**=sensor_id/UTC date-time/latitude(deg),longitude(deg)/**T**=water temperature/**AS**=air saturation/**DOX**=dissolved oxygen.\\
    - <color red>**tblive report**</color> will reply \\ <code>(TBL) 2020/06/23 13:00:10/63.8728 8.6404/SN:1000037/T:0.00/ANL:9/PNL:14/RLF:69/RMA:4</code> **meaning**: **(TBL)**=sensor_id/UTC date-time/latitude(deg),longitude(deg)/**SN**=sensor serial number/**T**=water temperature/**ANL**=average noise level/**PNL**=peak noise level/**RLF**=receiver listening frequency/**RMA**=receiver memory address.\\
  - <color red>**ecopar report**</color> will reply \\ <code>(PAR) 2020-07-01 18:01:16/63.8787 8.6482/PAR:302.03</code> **meaning**: **(PAR)**=sensor_id/UTC date-time/latitude(deg),longitude(deg)/**PAR**=Photosynthetically Active Radiation value.\\
  - <color red>**radiation report**</color> will reply \\ <code>(RAD) 64.1658 8.4496/2020-07-02 10:01:41/PAR:831.52/2020-07-02 10:01:47/FDOM:1.28/TU:0.06/CHLA:0.13</code> **meaning**: **(RAD)**=message_id/PAR sensor UTC date-time/latitude(deg),longitude(deg)/**PAR**=Photosynthetically Active Radiation value/ECOPUCK sensor UTC date-time/**FDOM**=fluorescent dissolved organic matter/**TU**=turbidity/**CHLA**=chlorophyll-a.\\
  - <color red>**ADCP depth**</color> will reply \\ <code>(ADCP) 2020-07-02 10:01:41/64.1658 8.4496/DP:7.5/S:1.4/D:64.4</code> **meaning**: **(ADCP)**=message_id/UTC date-time/latitude(deg),longitude(deg)/**DP**=sea current depth/**S**=sea current speed/**D**=sea current direction in degrees (NED).\\