diff --git a/docs/overview.rst b/docs/overview.rst
index 43a3c79247f56d8e98ed81277e53a44538bf0e4f..2cfce02759a5ec1f4996f21b4ca2221856c4410a 100644
--- a/docs/overview.rst
+++ b/docs/overview.rst
@@ -19,33 +19,6 @@ We're hoping to have it cleaned up soon. This section is basically a copy-paste
job from the old README file, and is out of date in places. The module
documentation is generally up-to-date, but may not be complete yet.
-
-Sections
-~~~~~~~~
-
-Node Overview — the node overview section breaks down the different
-nodes that comprise ros_acomms. Each node description includes a list of
-publishers, subscribers, and services used by the node along with a
-short description of the nodes purpose.
-
-Messages — the messages section breaks down each of the messages used by
-ros_acomms. Each message is listed along with the variables that
-comprise it
-
-Services — the services section breaks down each of the messages used by
-ros_acomms. Each service is listed along with the variables that
-comprise it in the same format as the messages section
-
-Codecs — the codecs section of this document explains the contents of a
-message config file along with all of the available ltcodecs.
-
-Modem Simulator Quick Start — the modem simulator quick start section of
-this document explains how to setup the ros_acomms modem simulator.
-
-Transferring Files — the transfering files section of this document
-explains how to transfer files using ros_acomms along with the locations
-of example scripts
-
ROS Message Transport Overview
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -90,6 +63,41 @@ On the receive side:
When using simulation, the *Acomms Driver Node* is replaced by the
*Modem Sim Node*, but the rest of the flow is the same.
+Media Access Controllers (MAC)
+------------------------------
+
+ros_acomms supports interchangeable MAC nodes. Currently, there are several
+nodes that support Time-Division-Multiple-Access (TDMA), which sends traffic
+during defined timeslots.
+
+The status of the TMDA nodes can be monitored by examining their corresponding status
+topics. (This is intended as an engineering and diagnostics tool... be cautious about
+using these topics to drive other behavior in the system).
+
+The "flavors" of TDMA MACs are:
+
+:mod:`tdma_node`
+ Basic TDMA node. This is useful for testing simple systems, and is used
+ as a base for more capable nodes. It only supporst sending comms packets,
+ not navigation (no pings).
+ This publishes status (:ros_message:`ros_acomms_msgs/TdmaStatus`) on `tdma_status`.
+:mod:`tdma_advanced_node`
+ Advanced TMDA node. This inherits from :mod:`tdma_node`, and offers a
+ superset of its functionality. It adds dynamic reconfigure parameters,
+ software-mute, and transponder/modem ping capability. This is generally the
+ one you want to use.
+ This publishes status (:ros_message:`ros_acomms_msgs/TdmaAdvancedStatus`) on `tdma_advanced_status`.
+ (This message includes the basic `TdmaStatus` as a field).
+:mod:`tdma_scripted_node`
+ Scriped TDMA node. This inherits from from :mod:`tdma_node`, and offers a
+ superset of its functionality. It adds the ability to use a yaml script file
+ to cycle through MAC settings. This is useful for comms testing.
+ This publishes status (:ros_message:`ros_acomms_msgs/TdmaScriptedStatus`) on `tdma_scripted_status`.
+ (This message includes the `TdmaAdvancedStatus` as a field).
+
+
+
+
Node Overview
-------------
@@ -195,29 +203,9 @@ acomms_driver_node:
- use_tdp: bool (force the use of TDP packets rather than TFP packets)
```
- fragmentation_tracker:
-
-- The fragmentation_tracker tracks the messages that are fragmented for
- transmission.
-
- ::
-
- ```
- Publishers:
- - fragmentation_status: FragmentationStatus
-
- Init Parameters:
- - sequence_num: int (starting sequence number to use)
- - fragment_src: int (default source for fragmented packets)
- - fragment_dest: int (default destination for fragmented packets)
- - unix_time: time (development feature: do not use)
- - payload_size_bits: int (sets maximum size of a fragmentation payload)
- - block_size_bits: int (sets block size used for fragmentation (default 8 bits))
- ```
-
modem_sensor_data_node:
-- The modem_sensor_data_node queries the modem for NMEA data.
+- The modem_sensor_data_node periodically queries the modem for sensor data and publishes it on modem_sensor_data (see the ModemSensorData message)
::
@@ -286,7 +274,7 @@ modem_sim_node:
sim_packet_performance:
-- The sim_packet_performance simulates package performance.
+- The sim_packet_performance simulates packet performance.
::
@@ -306,27 +294,6 @@ sim_transmission_loss_node:
Subscribers:
- sound_speed_profile: SoundSpeedProfile
- ssp_node:
-
-- The ssp_node simulates sound speed profiles.
-
- ::
-
- Subscribers:
- - ctd: ros_remus/Ctd
-
- Publishers:
- - sound_speed_profile: SoundSpeedProfile (Bin-averaged sound speed profile)
-
- xducer_safety_power_control_node:
-
-- The xducer_safety_power_control_node works as the power control of
- the xducer.
-
- ::
-
- Subscribers:
- - /status: ros_remus/Status
version_node:
@@ -346,12 +313,6 @@ each node they are used within in ros_acomms.
::
- CallStatus:
- This message is deprecated. Iridium functionality has moved to the ros_iridium package.
- - CALL_UP: int8
- - CALL_DOWN: int8
- - call_status: int8
-
CST (acomms_driver_node, packet_dispatch_node):
The CST message fields mirror the uModem2 CycleStats (CST) message fields. See the uModem2 User’s Guide for a description of these fields.
- version_number: int8
@@ -412,12 +373,6 @@ each node they are used within in ros_acomms.
- acked_end: uint16
- acked_sections: uint8
- IridiumPacket:
- This message is deprecated. Iridium functionality has moved to the ros_iridium package.
- - src: int16
- - dest: int16
- - packet_bytes: uint8[]
-
ModemSensorData (modem_sensor_data_node):
The ModemSensorData message is used to publish voltages and temperatures measured by the modem hardware.
- header: Header
@@ -455,9 +410,6 @@ each node they are used within in ros_acomms.
- queued_dest_addresses: int16[]
- summary_message_counts: SummaryMessageCount[]
- ReceivedIridiumPacket:
- This message is deprecated.
-
ReceivedPacket (modem_sim_node, packet_dispatch_node):
The ReceivedPacket message represents a received acoustic packet. It includes a Packet message with the packet data as well as metadata and packet statistics.
- header: Header
diff --git a/docs/ros_acomms/modules.rst b/docs/ros_acomms/modules.rst
index 2ee27d8f87ea9ff0c96590067c7d71947d92c171..9ed284df620c2816899b37202f05a6b26ff88b17 100644
--- a/docs/ros_acomms/modules.rst
+++ b/docs/ros_acomms/modules.rst
@@ -21,9 +21,9 @@ Nodes
message_queue_node
packet_dispatch_node
modem_sensor_data_node
- tdma_nav_header_node
tdma_node
- tdma_test_mac_node
+ tdma_advanced_node
+ tdma_scripted_node
version_node
Utilities