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added support for setting tdma slots by range, added modem commands to tdma scripted, bug fixes to tdma, tdma status updates, new ci tests and some in progress
Breaking Changes
-
tdma slots have a new expanded range!
int8
touint16
. Can now support up to 65535 slots. -
TdmaStatus
,TdmaScriptedStatus
,TdmaSlottedAlohaStatus
and,TdmaAdvancedStatus
have been updated:-
int8 current_slot
now:uint16
-
int8 num_slots
now:uint16
*does not apply toTdmaStatus
which does not have this field
-
-
TdmaAdvancedStatus
now has:-
string[] this_cycle_modem_commands
: list of modem commands send this test cycle -
string[] last_cycle_modem_commands
: list of modem commands sent last test cycle
-
New Features / Improvements
- modem sim node has a new ros param that lowers the log verbosity without changing the ros log level. There are a lot of messages that are overwhelming when you have more than 2 sims
-
tdma_scripted_node
now support modem commands.- add the optional key
modem_commands
to a test block entry and the modem commands in the list will be published tonmea_to_modem
before each transmit. - examples can be found in
ros_acomms_tests/launch/tdma_scripted_test_plan_modem_cmds.yaml
.
- add the optional key
-
active_slots
,comms_slots
,nav_slots
and,aloha_slots
can be set with a range string:- valid range formats:
start-slot-inclusive:end-slot-inclusive(:optional-step)
- valid ranges/step values CANNOT be negative.
- valid range seperators:
":|;|-"
- example range strings
-
"::"
converts to:"0:{num_slots - 1}:1"
-
":5:"
converts to:"0:5:1"
-
"90:5:2"
converts to:"0:5:2,90:{num_slots - 1}:2"
(wrap around case)
-
- valid range formats:
Bugfixes
- adding support for more slots means making all slot data types uniform uint16. I think I've hit them all..
- fixed bug in aloha slots and nav slots overlap that I had not hit in the non-extreme test
Edited by Caileigh Fitzgerald