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Fix/transports internal msgs #264

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Fix/transports internal msgs #264

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9deb4e7
DUNE/Entities/BasicEntity: added the option to loopback messages.
Bernardo-Gabriel Jan 23, 2025
2f47cc4
DUNE/Tasks/Task: added the ability to loopback messages that arrive f…
Bernardo-Gabriel Jan 23, 2025
8d9847f
DUNE/Tasks/SimpleTransport: ignore messages from external sources, to…
Bernardo-Gabriel Jan 23, 2025
cc163a5
DUNE/Tasks/SimpleTransport: avoid creating an unecessary LogbookEntry.
Bernardo-Gabriel Jan 23, 2025
ccf6679
Transports/UDP: update trace parameter in Listener when task's trace_…
Bernardo-Gabriel Jan 23, 2025
39a5d9f
Transports/UDP: ignore messages from external sources, to avoid redir…
Bernardo-Gabriel Jan 23, 2025
838a7dc
Transport/UDP: similar behaviour to SimpleTransport.
Bernardo-Gabriel Jan 23, 2025
c5e49cb
Config: update Transports parameters that require new loopback parame…
Bernardo-Gabriel Jan 23, 2025
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4 changes: 4 additions & 0 deletions etc/auv/transports.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -131,6 +131,7 @@ Communication Range = 0
Underwater Communications = true
Always Transmitted Messages = Abort,
SimulatedState
Loopback Internal Messages = true

[Transports.Logging]
Enabled = Always
Expand Down Expand Up @@ -294,6 +295,7 @@ Transports = Abort,
WaterDensity,
WaterVelocity,
YoYo
Loopback Internal Messages = true

[Transports.TCP.Server/Console]
Enabled = Never
Expand Down Expand Up @@ -345,6 +347,7 @@ Transports = EntityParameters,
VehicleMedium,
LogBookEntry,
ManeuverDone
Loopback Internal Messages = true

[Transports.TCP.Server/BackSeat]
Enabled = Always
Expand Down Expand Up @@ -384,6 +387,7 @@ Transports = Announce,
VehicleMedium,
VehicleState
Filtered Entities = Temperature:CTD+OEMX+Water Quality Sensor+CTD Simulator
Loopback Internal Messages = true

[Transports.CommManager]
Enabled = Always
Expand Down
245 changes: 245 additions & 0 deletions etc/lauv-nemo-1-saved.ini
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@@ -0,0 +1,245 @@
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
; Generated by DUNE v2022.04.0 (fix/transports_internal_msgs,715638957,dirty);
;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;;
[Autonomy.TextActions]
Documentation URL = https://bit.ly/2LZ0EOc
Loopback Internal Messages = false
Reply timeout = 60
Valid Commands = abort,dislodge,dive,errors,info,force,go,help,phone,reboot,sk,start,surface

[Control.AUV.Allocator]
Fin effect Rpm minimum value = 200
Fin effect Velocity dependent = false
Fin effect Velocity dependent unit = RPM
Fin effect minimum Meter Per Second value = 0.2
Loopback Internal Messages = false
Roll not velocity dependent = false
k pitch = 1.0
k roll = 1.0
k yaw = 1.0

[Control.AUV.Attitude]
Altitude Control -- Enabled = false
Altitude Integral Limit = -1.0
Depth-to-pitch PID sampling rate relation = 1
Loopback Internal Messages = false

[Control.AUV.RemoteOperation]
Loopback Internal Messages = false

[Control.AUV.Speed]
Loopback Internal Messages = false

[Control.Path.VectorField]
Bottom Track -- FLS Entity Label = Echo Sounder
Bottom Track -- Minimum Depth = 0.0
Loopback Internal Messages = false
Maximum Track Length = 25000

[Maneuver.CommsRelay]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false

[Maneuver.CompassCalibration]
Loopback Internal Messages = false

[Maneuver.FollowReference.AUV]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
Vehicle Type = AUV

[Maneuver.FollowTrajectory]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false

[Maneuver.Multiplexer]
Drop -- Servo Id = 2
Drop -- Servo Value = 3.14159
Entity Label -- Drop = Drop Maneuver
Entity Label -- Sample = Sample Maneuver
Entity Label -- ScheduledGoto = ScheduledGoto Maneuver
Entity Label -- StationKeepingExtended = StationKeepingExtended Maneuver
Loopback Internal Messages = false
Sample -- Execution Tolerance = 30
Sample -- Servo Close Value = 1.57079
Sample -- Servo Open Value = 3.14159
Sample -- Syringe 0 Id = 0
Sample -- Syringe 1 Id = 1
Sample -- Syringe 2 Id = 2
ScheduledGoto -- Maximum Speed = 1.6
ScheduledGoto -- Minimum Speed = 0.7
StationKeepingExtended -- Minimum Radius = 10.0

[Maneuver.RowsCoverage]
Activation Time = 0
Altitude Moving Average Samples = 40
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
Minimum Altitude Value = 0.3

[Maneuver.Teleoperation]
Loopback Internal Messages = false

[Monitors.Entities]
Loopback Internal Messages = false

[Monitors.Medium]
Ground Speed Threshold = 2.0
Loopback Internal Messages = false
Vehicle Medium = Auto

[Monitors.OperationalLimits]
Loopback Internal Messages = false

[Monitors.Servos]
Loopback Internal Messages = false

[Navigation.AUV.Navigation]
Activate speed to rpm estimation limit = false
Disable GPS for debug = false
Heading alignment sensor diff = 15
Heading buffer value = 200
Loopback Internal Messages = false
Rpm to speed estimation = true
USBL Filter -- Maximum Deviation Factor = 2
USBL Filter -- Moving Average Samples = 5
speed to rpm estimation percentage limit = 15

[Navigation.AUV.Ranger]
Activation Time = 0
Active = false
Active - Scope = maneuver
Active - Visibility = user
Deactivation Time = 0
Execution Priority = 10
Loopback Internal Messages = false

[Plan.DB]
Loopback Internal Messages = false

[Plan.Engine]
Loopback Internal Messages = false

[Plan.Generator]
Loopback Internal Messages = false

[Sensors.DataStore]
Activation Time = 0
CTD Entity Name = CTD
CTD Sample Period = -1
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
Sonar Sample Period = -1
Telemetry Sample Period = -1

[Simulators.DepthSensor]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
PRNG Seed = -1
PRNG Type = fsr256

[Simulators.GPS]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false

[Simulators.IMU/AHRS]
Activation Control = false
Activation Time = 0
Active = true
Active - Scope = idle
Active - Visibility = user
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
Measures Euler Angles = true
Output Deltas = false
PRNG Seed = -1
PRNG Type = fsr256

[Supervisors.Vehicle]
Loopback Internal Messages = false

[Transports.Announce]
Loopback Internal Messages = false

[Transports.Cache]
Loopback Internal Messages = false

[Transports.CommManager]
Activation Time = 0
Deactivation Time = 0
Execution Priority = 10
GSM Address Section = GSM Addresses
Loopback Internal Messages = false
Process AcousticOperation Messages = true
Send Iridium plain texts = 1

[Transports.DataStore]
Activation Time = 0
Any Mean Forward Period = 30
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Iridium Upload Period = 0
Loopback Internal Messages = false
Variable priorities = true
WiFi Forward Period = 30

[Transports.Discovery]
Loopback Internal Messages = false

[Transports.FTP]
Loopback Internal Messages = false

[Transports.Fragments]
Loopback Internal Messages = false

[Transports.HTTP]
Loopback Internal Messages = false

[Transports.LogBook]
Loopback Internal Messages = false

[Transports.TCPOnDemand]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
Maximum Number of Tries = 3
Time Between Tries = 5

[Transports.UAN]
Activation Time = 0
Deactivation Time = 0
Debug Level = None
Execution Priority = 10
Loopback Internal Messages = false
USBL Modem -- Announce Service = false
USBL Modem -- Max Waiting Time = 10.0
USBL Node -- Absolute Fix = false
USBL Node -- Enabled = false
USBL Node -- Inverted = false
USBL Node -- Period = 60.0
USBL Node -- Quick, No Range = false

1 change: 1 addition & 0 deletions etc/lauv-noptilus-2-cpu-cam.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ Transports = EntityState,
LogBookEntry,
LoggingControl,
Temperature
Loopback Internal Messages = true

[Transports.HTTP]
Enabled = Always
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-noptilus-3-cpu-cam.ini
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Expand Up @@ -37,3 +37,4 @@ Camera IPv4 Address = 10.0.10.106

[Transports.TCP.Client]
Server - Address = 10.0.10.100
Loopback Internal Messages = true
1 change: 1 addition & 0 deletions etc/lauv-seacon-1-aux.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,7 @@ Transports = Heartbeat,
EntityState,
EntityActivationState,
EntityInfo
Loopback Internal Messages = true

[Transports.FTP]
Enabled = Always
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-seacon-2-aux.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ Transports = DevDataText,
PulseDetectionControl,
SonarData,
Temperature
Loopback Internal Messages = true

[Sensors.DeepVisionOSM2]
Output Data Format = IMC+DVS
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-seacon-2-cpu-cam.ini
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Expand Up @@ -89,6 +89,7 @@ Transports = EntityState,
LogBookEntry,
LoggingControl,
Temperature
Loopback Internal Messages = true

[Transports.HTTP]
Enabled = Always
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-seacon-3-aux.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,7 @@ Transports = DevDataText,
PulseDetectionControl,
SonarData,
Temperature
Loopback Internal Messages = true

[Sensors.Klein3500]
Debug Level = None
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-seacon-3-cpu-cam.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -89,6 +89,7 @@ Transports = EntityState,
LogBookEntry,
LoggingControl,
Temperature
Loopback Internal Messages = true

[Transports.HTTP]
Enabled = Always
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-xplore-4-aux.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -44,6 +44,7 @@ Entity Label = TCP to Master
Server - Address = 10.0.10.150
Server - Port = 9999
Transports = RSSI
Loopback Internal Messages = true

[Sensors.WifiRSSI]
Enabled = Hardware
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-xtreme-2-aux.ini
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Expand Up @@ -61,6 +61,7 @@ Transports = EntityState,
PulseDetectionControl,
SonarData,
Temperature
Loopback Internal Messages = true

[Sensors.Klein3500]
Debug Level = None
Expand Down
1 change: 1 addition & 0 deletions etc/lauv-xtreme-2-cpu-cam.ini
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Original file line number Diff line number Diff line change
Expand Up @@ -88,6 +88,7 @@ Transports = EntityState,
LogBookEntry,
LoggingControl,
Temperature
Loopback Internal Messages = true

[Transports.HTTP]
Enabled = Always
Expand Down
1 change: 1 addition & 0 deletions etc/otter-aux.ini
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Expand Up @@ -54,6 +54,7 @@ Transports = EntityState,
PowerChannelState,
Temperature,
VehicleState
Loopback Internal Messages = true

[Transports.FTP]
Enabled = Always
Expand Down
6 changes: 3 additions & 3 deletions src/DUNE/Entities/BasicEntity.cpp
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Expand Up @@ -77,10 +77,10 @@ namespace DUNE
if ((flags & DF_KEEP_TIME) == 0)
msg->setTimeStamp();

if ((flags & DF_LOOP_BACK) == 0)
m_ctx.mbus.dispatch(msg, m_owner);
else
if ((flags & DF_LOOP_BACK) || m_loopback)
m_ctx.mbus.dispatch(msg);
else
m_ctx.mbus.dispatch(msg, m_owner);
}

}
Expand Down
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