Added support for TCP with the Omniscan450, Surveyor240, and the Sounder S500. Added default values for control functions on these sonar.

Author: BradG13531

examples/simpleOmniscan450Example.py

@@ -10,36 +10,24 @@
 
 import signal
 import sys
-import struct
 
 ##Parse Command line options
 ############################
 
 parser = argparse.ArgumentParser(description="Ping python library example.")
 parser.add_argument('--device', action="store", required=False, type=str, help="Ping device port. E.g: /dev/ttyUSB0")
 parser.add_argument('--baudrate', action="store", type=int, default=115200, help="Ping device baudrate. E.g: 115200")
-parser.add_argument('--udp', action="store", required=False, type=str, help="Ping UDP server. E.g: 192.168.2.2:9090")
+parser.add_argument('--udp', action="store", required=False, type=str, help="Omniscan IP:Port. E.g: 192.168.2.92:51200")
+parser.add_argument('--tcp', action="store", required=False, type=str, help="Omniscan IP:Port. E.g: 192.168.2.92:51200")
 args = parser.parse_args()
-if args.device is None and args.udp is None:
+if args.device is None and args.udp is None and args.tcp is None:
     parser.print_help()
     exit(1)
 
 # Signal handler to stop pinging on the Omniscan450
 def signal_handler(sig, frame):
     print("Stopping pinging on Omniscan450...")
-    myOmniscan450.control_os_ping_params(
-    start_mm=0,
-    length_mm=0,
-    msec_per_ping=0,
-    reserved_1=0,
-    reserved_2=0,
-    pulse_len_percent=0.002,
-    filter_duration_percent=0.0015,
-    gain_index=-1,
-    num_results=600,
-    enable=0,
-    reserved_3=0
-    )
+    myOmniscan450.control_os_ping_params(enable=0)
     if myOmniscan450.iodev:
         try:
             myOmniscan450.iodev.close()
@@ -49,13 +37,16 @@ def signal_handler(sig, frame):
 
 signal.signal(signal.SIGINT, signal_handler)
 
-# Make a new Surveyor240
+# Make a new Omniscan450
 myOmniscan450 = Omniscan450()
 if args.device is not None:
     myOmniscan450.connect_serial(args.device, args.baudrate)
 elif args.udp is not None:
     (host, port) = args.udp.split(':')
     myOmniscan450.connect_udp(host, int(port))
+elif args.tcp is not None:
+    (host, port) = args.tcp.split(':')
+    myOmniscan450.connect_tcp(host, int(port)) 
 
 if myOmniscan450.initialize() is False:
     print("Failed to initialize Omniscan450!")
@@ -71,18 +62,20 @@ def signal_handler(sig, frame):
 
 input("Press Enter to continue...")
 
+# For default settings, just set enable pinging
+myOmniscan450.control_os_ping_params(enable=1)
+
+# For a custom ping rate
+custom_msec_per_ping = Omniscan450.calc_msec_per_ping(1000)    # 1000 Hz
+
+# To find pulse length percent
+custom_pulse_length = Omniscan450.calc_pulse_length_pc(0.2)    # 0.2%
+
 myOmniscan450.control_os_ping_params(
-    start_mm=0,
-    length_mm=0,
-    msec_per_ping=0,
-    reserved_1=0,
-    reserved_2=0,
-    pulse_len_percent=0.002,
-    filter_duration_percent=0.0015,
-    gain_index=-1,
-    num_results=600,
-    enable=1,
-    reserved_3=0
+    msec_per_ping=custom_msec_per_ping,
+    pulse_len_percent=custom_pulse_length,
+    num_results=200,
+    enable=1
 )
 
 # View power results
@@ -95,3 +88,11 @@ def signal_handler(sig, frame):
     print(f"Max power: {data.max_pwr_db} dB")
 else:
     print("Failed to get report")
+
+# Disable pinging and close socket
+myOmniscan450.control_os_ping_params(enable=0)
+if myOmniscan450.iodev:
+        try:
+            myOmniscan450.iodev.close()
+        except Exception as e:
+            print(f"Failed to close socket: {e}")

examples/simpleS500Example.py

@@ -10,7 +10,6 @@
 
 import signal
 import sys
-import struct
 
 ##Parse Command line options
 ############################
@@ -19,25 +18,21 @@
 parser.add_argument('--device', action="store", required=False, type=str, help="Ping device port. E.g: /dev/ttyUSB0")
 parser.add_argument('--baudrate', action="store", type=int, default=115200, help="Ping device baudrate. E.g: 115200")
 parser.add_argument('--udp', action="store", required=False, type=str, help="Ping UDP server. E.g: 192.168.2.2:9090")
+parser.add_argument('--tcp', action="store", required=False, type=str, help="Sounder IP:Port. E.g: 192.168.2.86:51200")
 args = parser.parse_args()
-if args.device is None and args.udp is None:
+if args.device is None and args.udp is None and args.tcp is None:
     parser.print_help()
     exit(1)
 
 # Signal handler to stop pinging on the S500
 def signal_handler(sig, frame):
     print("Stopping pinging on S500...")
-    myS500.control_set_ping_params(
-    start_mm=0,
-    length_mm=0,
-    gain_index=-1,
-    msec_per_ping=-1,
-    pulse_len_usec=0,
-    report_id=0,
-    reserved=0,
-    chirp=1,
-    decimation=0
-    )
+    myS500.control_set_ping_params(report_id=0)
+    if myS500.iodev:
+        try:
+            myS500.iodev.close()
+        except Exception as e:
+            print(f"Failed to close socket: {e}")
     sys.exit(0)
 
 signal.signal(signal.SIGINT, signal_handler)
@@ -49,11 +44,17 @@ def signal_handler(sig, frame):
 elif args.udp is not None:
     (host, port) = args.udp.split(':')
     myS500.connect_udp(host, int(port))
+elif args.tcp is not None:
+    (host, port) = args.tcp.split(':')
+    myS500.connect_tcp(host, int(port))
 
 if myS500.initialize() is False:
     print("Failed to initialize S500!")
     exit(1)
 
+data1 = myS500.get_device_information()
+print("Device type: %s" % data1["device_type"])
+
 print("------------------------------------")
 print("Starting S500..")
 print("Press CTRL+C to exit")
@@ -64,15 +65,9 @@ def signal_handler(sig, frame):
 print("\n-------Distance2-------")
 # Tell S500 to send distance2 data
 myS500.control_set_ping_params(
-    start_mm=0,
-    length_mm=0,
-    gain_index=-1,
     msec_per_ping=0,
-    pulse_len_usec=0,
     report_id=definitions.S500_DISTANCE2,
-    reserved=0,
-    chirp=1,
-    decimation=0
+    chirp=1
 )
 
 # Read and print distance2 data
@@ -87,15 +82,9 @@ def signal_handler(sig, frame):
 print("\n-------Profile6-------")
 # Tell S500 to send profile6 data
 myS500.control_set_ping_params(
-    start_mm=0,
-    length_mm=0,
-    gain_index=-1,
-    msec_per_ping=100,
-    pulse_len_usec=0,
+    msec_per_ping=0,
     report_id=definitions.S500_PROFILE6_T,
-    reserved=0,
     chirp=1,
-    decimation=0
 )
 
 # Read and print profile6 data
@@ -120,16 +109,11 @@ def signal_handler(sig, frame):
 
 else:
     print("Failed to get profile6 data")
-    
+
 # Stop pinging
-myS500.control_set_ping_params(
-    start_mm=0,
-    length_mm=0,
-    gain_index=-1,
-    msec_per_ping=-1,
-    pulse_len_usec=0,
-    report_id=0,
-    reserved=0,
-    chirp=1,
-    decimation=0
-)
+myS500.control_set_ping_params(report_id=0)
+if myS500.iodev:
+    try:
+        myS500.iodev.close()
+    except Exception as e:
+        print(f"Failed to close socket: {e}")

examples/simpleSurveyor240Example.py

@@ -18,33 +18,17 @@
 parser = argparse.ArgumentParser(description="Ping python library example.")
 parser.add_argument('--device', action="store", required=False, type=str, help="Ping device port. E.g: /dev/ttyUSB0")
 parser.add_argument('--baudrate', action="store", type=int, default=115200, help="Ping device baudrate. E.g: 115200")
-parser.add_argument('--udp', action="store", required=False, type=str, help="Ping UDP server. E.g: 192.168.2.2:9090")
+parser.add_argument('--udp', action="store", required=False, type=str, help="Surveyor IP:Port. E.g: 192.168.2.86:62312")
+parser.add_argument('--tcp', action="store", required=False, type=str, help="Surveyor IP:Port. E.g: 192.168.2.86:62312")
 args = parser.parse_args()
-if args.device is None and args.udp is None:
+if args.device is None and args.udp is None and args.tcp is None:
     parser.print_help()
     exit(1)
 
 # Signal handler to stop pinging on the Surveyor240
 def signal_handler(sig, frame):
     print("Stopping pinging on Surveyor240...")
-    mySurveyor240.control_set_ping_parameters(
-    start_mm = 5,
-    end_mm = 0,
-    sos_mps = 1500,
-    gain_index = -1,
-    msec_per_ping = 100,
-    deprecated=0,
-    diagnostic_injected_signal = 0,
-    ping_enable = False,
-    enable_channel_data = False,
-    reserved_for_raw_data = False,
-    enable_yz_point_data = True,
-    enable_atof_data = True,
-    target_ping_hz=240000,
-    n_range_steps = 400,
-    reserved = 0,
-    pulse_len_steps = 1.5
-    )
+    mySurveyor240.control_set_ping_parameters(ping_enable = False)
     # Close socket if open
     if mySurveyor240.iodev:
         try:
@@ -63,6 +47,9 @@ def signal_handler(sig, frame):
 elif args.udp is not None:
     (host, port) = args.udp.split(':')
     mySurveyor240.connect_udp(host, int(port))
+elif args.tcp is not None:
+    (host, port) = args.tcp.split(':')
+    mySurveyor240.connect_tcp(host, int(port))
 
 if mySurveyor240.initialize() is False:
     print("Failed to initialize Surveyor240!")
@@ -79,24 +66,12 @@ def signal_handler(sig, frame):
 input("Press Enter to continue...")
 
 mySurveyor240.control_set_ping_parameters(
-    start_mm = 0,
-    end_mm = 0,
-    sos_mps = 1500,
-    gain_index = -1,
-    msec_per_ping = 100,
-    deprecated=0,
-    diagnostic_injected_signal = 0,
     ping_enable = True,
-    enable_channel_data = False,
-    reserved_for_raw_data = False,
     enable_yz_point_data = True,
     enable_atof_data = True,
-    target_ping_hz=240000,
-    n_range_steps = 400,
-    reserved = 0,
-    pulse_len_steps = 1.5
 )
 
+print("\n---------Attitude Report---------")
 while True:
     data = mySurveyor240.wait_message([definitions.SURVEYOR240_ATTITUDE_REPORT])
     if data:
@@ -109,21 +84,25 @@ def signal_handler(sig, frame):
         print("Failed to get attitude report")
     time.sleep(0.1)
 
+print("\n---------ATOF Point Data---------")
 while True:
     data = mySurveyor240.wait_message([definitions.SURVEYOR240_ATOF_POINT_DATA])
     if data:
         # Use create_atof_list to get formatted atof_t[num_points] list
         atof_data = Surveyor240.create_atof_list(data)
-        for i in range(len(atof_data)):
-            distance = 0.5 * data.sos_mps * atof_data[i].tof
-            y = distance * math.sin(atof_data[i].angle)
-            z = -distance * math.cos(atof_data[i].angle)
-            print(f"{i}.\tDistance: {distance:.3f} meters\tY: {y:.3f}\tZ: {z:.3f}\t{atof_data[i]}")
-        break
-
+        if len(atof_data) == 0:
+            continue
+        else:
+            for i in range(len(atof_data)):
+                distance = 0.5 * data.sos_mps * atof_data[i].tof
+                y = distance * math.sin(atof_data[i].angle)
+                z = -distance * math.cos(atof_data[i].angle)
+                print(f"{i}.\tDistance: {distance:.3f} meters\tY: {y:.3f}\tZ: {z:.3f}\t{atof_data[i]}")
+            break
     else:
-        print("Failed to get attitude report")
+        print("Failed to get atof point data")
 
+print("\n---------YZ Point Data---------")
 while True:
     data = mySurveyor240.wait_message([definitions.SURVEYOR240_YZ_POINT_DATA])
     if data:
@@ -134,24 +113,12 @@ def signal_handler(sig, frame):
             print(f"{i//2}\t{yz_data[i]:.2f}\t{yz_data[i+1]:.2f}")
         break
     else:
-        print("Failed to get attitude report")
+        print("Failed to get yz point data")
 
 # Stop pinging from Surveyor
-mySurveyor240.control_set_ping_parameters(
-    start_mm = 5,
-    end_mm = 0,
-    sos_mps = 1500,
-    gain_index = -1,
-    msec_per_ping = 100,
-    deprecated=0,
-    diagnostic_injected_signal = 0,
-    ping_enable = False,
-    enable_channel_data = False,
-    reserved_for_raw_data = False,
-    enable_yz_point_data = True,
-    enable_atof_data = True,
-    target_ping_hz=240000,
-    n_range_steps = 400,
-    reserved = 0,
-    pulse_len_steps = 1.5
-    )
+mySurveyor240.control_set_ping_parameters(ping_enable = False)
+if mySurveyor240.iodev:
+    try:
+        mySurveyor240.iodev.close()
+    except Exception as e:
+        print(f"Failed to close socket: {e}")