Feat/acoustic modem

.pre-commit-config.yaml

@@ -12,74 +12,74 @@
 #
 # See https://github.com/pre-commit/pre-commit
 
-repos:
-  # Standard hooks
-  - repo: https://github.com/pre-commit/pre-commit-hooks
-    rev: v5.0.0
-    hooks:
-      - id: check-added-large-files
-      - id: check-ast
-      - id: check-case-conflict
-      - id: check-docstring-first
-      - id: check-merge-conflict
-      - id: check-symlinks
-      - id: check-xml
-      - id: check-yaml
-        args: ["--allow-multiple-documents"]
-      - id: debug-statements
-      - id: end-of-file-fixer
-      - id: mixed-line-ending
-      - id: trailing-whitespace
-        exclude_types: [rst]
-      - id: fix-byte-order-marker
-      - id: requirements-txt-fixer
-  # Python hooks
-  - repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.12.2
-    hooks:
-      - id: ruff-format
-      - id: ruff
-        name: ruff-isort
-        args: [
-            "--select=I",
-            "--fix"
-            ]
-      - id: ruff
-        name: ruff-pyupgrade
-        args: [
-            "--select=UP",
-            "--fix"
-            ]
-      - id: ruff
-        name: ruff-pydocstyle
-        args: [
-            "--select=D",
-            "--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D401",
-            "--fix",
-            ]
-        stages: [pre-commit]
-        pass_filenames: true
-      - id: ruff
-        name: ruff-check
-        args: [
-            "--select=F,PT,B,C4,T20,S,N",
-            "--ignore=T201,N812,B006,S101,S311,S607,S603",
-            "--fix"
-            ]
-        stages: [pre-commit]
-        pass_filenames: true
-  # C++ hooks
-  - repo: https://github.com/pre-commit/mirrors-clang-format
-    rev: v20.1.7
-    hooks:
-      - id: clang-format
-        args: [--style=file]
-  # Spellcheck in comments and docs
-  - repo: https://github.com/codespell-project/codespell
-    rev: v2.4.1
-    hooks:
-      - id: codespell
-        args: ['--write-changes', '--ignore-words-list=theses,fom']
+# repos:
+#   # Standard hooks
+#   - repo: https://github.com/pre-commit/pre-commit-hooks
+#     rev: v5.0.0
+#     hooks:
+#       - id: check-added-large-files
+#       - id: check-ast
+#       - id: check-case-conflict
+#       - id: check-docstring-first
+#       - id: check-merge-conflict
+#       - id: check-symlinks
+#       - id: check-xml
+#       - id: check-yaml
+#         args: ["--allow-multiple-documents"]
+#       - id: debug-statements
+#       - id: end-of-file-fixer
+#       - id: mixed-line-ending
+#       - id: trailing-whitespace
+#         exclude_types: [rst]
+#       - id: fix-byte-order-marker
+#       - id: requirements-txt-fixer
+#   # Python hooks
+#   - repo: https://github.com/astral-sh/ruff-pre-commit
+#     rev: v0.12.2
+#     hooks:
+#       - id: ruff-format
+#       - id: ruff
+#         name: ruff-isort
+#         args: [
+#             "--select=I",
+#             "--fix"
+#             ]
+#       - id: ruff
+#         name: ruff-pyupgrade
+#         args: [
+#             "--select=UP",
+#             "--fix"
+#             ]
+#       - id: ruff
+#         name: ruff-pydocstyle
+#         args: [
+#             "--select=D",
+#             "--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D401",
+#             "--fix",
+#             ]
+#         stages: [pre-commit]
+#         pass_filenames: true
+#       - id: ruff
+#         name: ruff-check
+#         args: [
+#             "--select=F,PT,B,C4,T20,S,N",
+#             "--ignore=T201,N812,B006,S101,S311,S607,S603",
+#             "--fix"
+#             ]
+#         stages: [pre-commit]
+#         pass_filenames: true
+#   # C++ hooks
+#   - repo: https://github.com/pre-commit/mirrors-clang-format
+#     rev: v20.1.7
+#     hooks:
+#       - id: clang-format
+#         args: [--style=file]
+#   # Spellcheck in comments and docs
+#   - repo: https://github.com/codespell-project/codespell
+#     rev: v2.4.1
+#     hooks:
+#       - id: codespell
+#         args: ['--write-changes', '--ignore-words-list=theses,fom']
 
-ci:
-    autoupdate_schedule: quarterly
+# ci:
+#     autoupdate_schedule: quarterly

acoustic_modem/CMakeLists.txt

@@ -0,0 +1,90 @@
+cmake_minimum_required(VERSION 3.8)
+project(acoustic_modem)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 20)
+endif()
+
+# just for debugging
+#if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+ # add_compile_options(-Wall -Wextra -Wpedantic)
+#endif()
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+
+
+include_directories(include)
+
+#set(LIB_NAME ${PROJECT_NAME})
+
+add_library(${PROJECT_NAME} SHARED
+  src/driver/am_driver_single.cpp
+  src/tdma/tdma_link.cpp
+  src/tdma/tdma_manager.cpp
+  src/driver/am_driver_split.cpp
+  src/driver/am_driver_base.cpp
+  )
+
+
+
+ament_target_dependencies(${PROJECT_NAME}
+  rclcpp
+  std_msgs
+)
+
+add_executable(am_base_node
+  src/nodes/am_base_node.cpp
+)
+target_link_libraries(am_base_node ${PROJECT_NAME})
+ament_target_dependencies(am_base_node rclcpp std_msgs)
+
+add_executable(am_drone_node
+  src/nodes/am_drone_node.cpp
+)
+target_link_libraries(am_drone_node ${PROJECT_NAME})
+ament_target_dependencies(am_drone_node rclcpp std_msgs)
+
+# Install library and headers
+install(
+  TARGETS ${PROJECT_NAME}
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+
+#target_link_libraries()
+
+#install(TARGETS
+#am_node
+#DESTINATION lib/${PROJECT_NAME}
+#)
+install(
+  TARGETS
+    am_base_node
+    am_drone_node
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}
+)
+
+install(
+  DIRECTORY include/
+  DESTINATION include
+)
+
+
+ament_package()
+

acoustic_modem/config/base_single.yaml

@@ -0,0 +1,16 @@
+base_node:
+  ros__parameters:
+    split_mode: false
+    device: "/dev/serial0"
+    baudrate: 9600
+    channel: 1
+    level: 4
+    diagnostic: false
+    timeout: 0.5
+    # TDMA config
+    num_slots: 2
+    my_slot: 1
+    slot_duration_sec: 25
+    guard_ms: 1000
+    sync_delay: 5
+    estiamted_prop_delay: 0

acoustic_modem/config/base_split.yaml

@@ -0,0 +1,17 @@
+base_node:
+  ros__parameters:
+    split_mode: true
+    tx_device: "/tmp/ttyV0"
+    rx_device: "/tmp/ttyV1"
+    baudrate: 9600
+    channel: 1
+    level: 4
+    diagnostic: false
+    timeout: 0.5
+    # TDMA config
+    num_slots: 2
+    my_slot: 1
+    slot_duration_sec: 25
+    guard_ms: 1000
+    sync_delay: 5
+    estiamted_prop_delay: 0

acoustic_modem/config/drone_single.yaml

@@ -0,0 +1,16 @@
+drone_node:
+  ros__parameters:
+    split_mode: false
+    device: "/tmp/ttyV0"
+    baudrate: 9600
+    channel: 1
+    level: 4
+    diagnostic: false
+    timeout: 0.5
+    # TDMA config
+    num_slots: 2
+    my_slot: 0
+    slot_duration_sec: 25
+    guard_ms: 1000
+    sync_delay: 5
+    estiamted_prop_delay: 0

acoustic_modem/config/drone_split.yaml

@@ -0,0 +1,17 @@
+drone_node:
+  ros__parameters:
+    split_mode: true
+    tx_device: "/dev/ttyUSB1"
+    rx_device: "/dev/ttyUSB0"
+    baudrate: 9600
+    channel: 1
+    level: 4
+    diagnostic: false
+    timeout: 0.5
+    # TDMA config
+    num_slots: 2
+    my_slot: 0
+    slot_duration_sec: 25
+    guard_ms: 1000
+    sync_delay: 5
+    estiamted_prop_delay: 0