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ee:hydrophones:start [2018/01/24 20:20] Ryan Summers |
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| Note that the HydroZynq does not run ROS natively, so python scripts running on cobalt are necessary for interfacing the HydroZynq with ROS. As of now, these scripts are still under initial development. | Note that the HydroZynq does not run ROS natively, so python scripts running on cobalt are necessary for interfacing the HydroZynq with ROS. As of now, these scripts are still under initial development. | ||
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| + | The HydroZynq currently sends out all data used in the cross-correlation and the results of the final cross-correlation. These can be visualized using python and MatPlotLib through the scripts made available: | ||
| + | python [hydrozynq-repo-path]/scripts/data_receiver.py | ||
| + | | ||
| + | python [hydrozynq-repo-path/scripts/correlation_receiver.py | ||
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| + | The data and correlation results are sent using a trivial packet format: | ||
| + | <packet_number as unsigned, little-endian 4-byte integer> <Sample 1> ... <Sample N> | ||
| + | |||
| + | Data results contain 4 channels per Sample, where each channel is a 16-bit unsigned integer (little-endian) value. (E.g. each sample is 64 bits and has 4 values). | ||
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| + | Correlation results contain 3 channels per Sample, where each channel is a 4-byte integer (little-endian) value. The first sample is the correlation between Channel 1 and reference, teh second is between Channel 2 and reference, and the last is between Channel 3 and reference. | ||
| The HydroZynq allows for a number of run-time parameters to be set dynamically, including the ping detection threshold. These can be sent to the HydroZynq command port in a simple ASCII string. | The HydroZynq allows for a number of run-time parameters to be set dynamically, including the ping detection threshold. These can be sent to the HydroZynq command port in a simple ASCII string. | ||
