Add Cerulean Sonar

src/definitions/omniscan450.json

@@ -0,0 +1,160 @@
+{
+    "messages": {
+         "control": {
+            "os_ping_params": {
+                "id": 2197,
+                "payload": [
+                    {
+                        "name": "start_mm",
+                        "type": "u32"
+                    },
+                    {
+                        "name": "length_mm",
+                        "type": "u32"
+                    },
+                    {
+                        "name": "msec_per_ping",
+                        "type": "u32"
+                    },
+                    {
+                        "name": "reserved",
+                        "type": "float"
+                    },
+                    {
+                        "name": "reserved",
+                        "type": "float"
+                    },
+                    {
+                        "name": "pulse_len_percent",
+                        "type": "float"
+                    } ,
+                    {
+                        "name": "filter_duration_percent",
+                        "type": "float"
+                    },
+                    {
+                        "name": "gain_index",
+                        "type": "i16"
+                    },
+                    {
+                        "name": "num_results",
+                        "type": "u16"
+                    },
+                    {
+                        "name": "enable",
+                        "type": "u8"
+                    } ,
+                    {
+                        "name": "reserved",
+                        "type": "u8"
+                    }                                                                                                 
+                ]
+            },
+            "set_speed_of_sound": {
+                "id": 1002,
+                "description": "Set the speed of sound.",
+                "payload": [
+                    {
+                        "name": "speed_of_sound",
+                        "type": "u32",
+                        "description": "The speed of sound in the measurement medium. ~1,500,000 mm/s for water.",
+                        "units": "mm/s"
+                    }
+                ]
+            }
+         },
+        "get": {
+            "os_mono_profile": {
+                "id": 2198,
+                "description": "A profile produced from a single acoustic measurement. The data returned is an array of response strength, in dB, at even intervals across the scan region. The scan region is defined as the region between <scan_start> and <scan_start + scan_length> millimeters away from the transducer. Note that the amplitude of the results are in dB. This is just to keep high dynamic range in the u16 sized data elements. Normally these are converted back to linear power or signal levels.",
+                "payload": [
+                    {
+                        "name": "ping_number",
+                        "type": "u32",
+                        "description": "sequentially assigned from 0 at power up"
+                    },
+                    {
+                        "name": "start_mm",
+                        "type": "u32",
+                        "description": "The beginning of the scan region in mm from the transducer.",
+                        "units": "mm"
+                    },
+                    {
+                        "name": "length_mm",
+                        "type": "u32",
+                        "description": "The length of the scan region.",
+                        "units": "mm"
+                    },
+                    {
+                        "name": "timestamp_ms",
+                        "type": "u32",
+                        "description": "msec since power up at time of ping",
+                        "units": "ms"
+                    },    
+                    {
+                        "name": "ping_hz",
+                        "type": "u32",
+                        "description": "Frequency of acoustic signal",
+                        "units": "hz"
+                    },                                    
+                    {
+                        "name": "gain_index",
+                        "type": "u16",
+                        "description": "0-7"
+                    },
+                    {
+                        "name": "num_results",
+                        "type": "u16",
+                        "description": "length of pwr_results array"
+                    },
+                    {
+                        "name": "sos_dmps",
+                        "type": "u16",
+                        "description": "speed of sound, decimeters/sec"
+                    },
+                    {
+                        "name": "channel_number",
+                        "type": "u8"
+                    },
+                    {
+                        "name": "reserved",
+                        "type": "u8"
+                    },
+                    {
+                        "name": "pulse_duration_sec",
+                        "type": "float"
+                    },
+                    {
+                        "name": "analog_gain",
+                        "type": "float"
+                    },
+                    {
+                        "name": "max_pwr_db",
+                        "type": "float"
+                    },
+                    {
+                        "name": "min_pwr_db",
+                        "type": "float"
+                    },
+                    {
+                        "name": "transducer_heading_deg",
+                        "type": "float"
+                    },  
+                    {
+                        "name": "vehicle_heading_deg",
+                        "type": "float"
+                    },                                                                                                  
+                    {
+                        "name": "pwr_results",
+                        "type": "vector",
+                        "vector": {
+                            "datatype": "u16",
+                            "size": "dynamic"
+                        },
+                        "description": "An array of return strength measurements taken at regular intervals across the scan region. The first element is the closest measurement to the sensor, and the last element is the farthest measurement in the scanned range. power results scaled from min_pwr_db to max_pwr_db"
+                    }
+                ]
+            }
+        }
+    }
+}

src/generate-markdown.py

@@ -23,7 +23,8 @@
 
 definitions = [ "common",
                 "ping1d",
-                "ping360"]
+                "ping360",
+                "omniscan450"]
 
 for definition in definitions:
     definitionFile = "%s/%s.json" % (definitionPath, definition)