Acoustic comms refactoring

lrauv_description/models/tethys_equipped/model.sdf

@@ -374,14 +374,10 @@
       </plugin>
 
       <plugin
-        filename="AcousticCommsPlugin"
-        name="tethys::AcousticCommsPlugin">
+        filename="gz-sim-comms-endpoint-system"
+        name="gz::sim::systems::CommsEndpoint">
         <address>1</address>
-        <model_plugin_file>simple_acoustic_model</model_plugin_file>
-        <model_name>tethys::SimpleAcousticModel</model_name>
-        <link_name>acoustic_transponder</link_name>
-        <max_range>2500</max_range>
-        <speed_of_sound>1500</speed_of_sound>
+        <topic>1/rx</topic>
       </plugin>
 
       <plugin

lrauv_ignition_plugins/CMakeLists.txt

@@ -151,12 +151,6 @@ endfunction()
 
 add_subdirectory(src/comms/)
 
-add_lrauv_plugin(AcousticCommsPlugin
-  PROTO
-    lrauv_acoustic_message
-    lrauv_internal_comms
-  PRIVATE_LINK_LIBS
-    acoustic_comms_support)
 add_lrauv_plugin(ControlPanelPlugin GUI
   PROTO
     lrauv_command

lrauv_ignition_plugins/include/lrauv_ignition_plugins/comms/CommsClient.hh

@@ -25,13 +25,23 @@
 
 #include <functional>
 
+#include <gz/msgs.hh>
 #include <gz/transport/Node.hh>
 
-#include "CommsPacket.hh"
-#include "TopicDefinitions.hh"
+/* #include "CommsPacket.hh" */
 
 #include "lrauv_ignition_plugins/lrauv_acoustic_message.pb.h"
 
+using LRAUVAcousticMessage =
+    lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+using MessageType = LRAUVAcousticMessage::MessageType;
+static constexpr auto LRAUVAcousticMessageType =
+    MessageType::LRAUVAcousticMessage_MessageType_Other;
+auto RangeRequest =
+    MessageType::LRAUVAcousticMessage_MessageType_RangeRequest;
+auto RangeResponse =
+    MessageType::LRAUVAcousticMessage_MessageType_RangeResponse;
+
 namespace tethys
 {
 //////////////////////////////////////////////////
@@ -47,16 +57,13 @@ using Callback = std::function<void(const CommsMsg&)>;
 /// \param[in] _commsPrefix - Optional. Use if your public interface to acoustic
 /// comms is different. 
 public: CommsClient(uint32_t _address,
-  Callback _callback,
-  std::string _commsPrefix=EXTERNAL_COMMS_BUS) :
+  Callback _callback) :
   address(_address), callback(std::move(_callback))
 {
   this->transmitter =
-    this->node.Advertise<CommsMsg>(
-      _commsPrefix + "/" + std::to_string(address) + "/tx");
+    this->node.Advertise<gz::msgs::Dataframe>("/broker/msgs");
 
-  this->node.Subscribe(
-    _commsPrefix + "/" + std::to_string(address) + "/rx",
+  this->node.Subscribe(std::to_string(address) + "/rx",
     &CommsClient::ReceivedPacket,
     this
   );
@@ -67,15 +74,58 @@ public: CommsClient(uint32_t _address,
 /// \param[in] _msg - Comms message to be sent
 public: void SendPacket(const CommsMsg& _msg)
 {
-  this->transmitter.Publish(_msg);
+  // Populate a Dataframe msg based on the
+  // CommsMsg content.
+  gz::msgs::Dataframe message;
+  message.set_src_address(
+      std::to_string(_msg.from()));
+  message.set_dst_address(
+      std::to_string(_msg.to()));
+  message.set_data(_msg.data());
+
+  // Set message type
+  auto *frame = message.mutable_header()->add_data();
+  frame->set_key("msg_type");
+  if (_msg.type() == LRAUVAcousticMessageType)
+    frame->add_value("LRAUVAcousticMessageType");
+  else if (_msg.type() == RangeRequest)
+    frame->add_value("RangeRequest");
+  else if (_msg.type() == RangeResponse)
+    frame->add_value("RangeResponse");
+
+  // Publish the Dataframe message
+  this->transmitter.Publish(message);
 }
 
 //////////////////////////////////////////////////
 /// \brief Callback handler
 /// \param[in] _msg - message received
-private: void ReceivedPacket(const CommsMsg& _msg)
+private: void ReceivedPacket(const gz::msgs::Dataframe& _msg)
 {
-  this->callback(_msg);
+  // Construct a CommsMsg from the received Dataframe msg.
+  CommsMsg message;
+  message.set_from(
+      std::stoi(_msg.src_address()));
+  message.set_to(
+      std::stoi(_msg.dst_address()));
+  message.set_data(_msg.data());
+
+  // Set message type.
+  for (int i = 0; i < _msg.header().data_size(); i++)
+  {
+    if (_msg.header().data(i).key() == "msg_type")
+    {
+      auto type = _msg.header().data(i).value().Get(0);
+      if (type == "LRAUVAcousticMessageType")
+        message.set_type(LRAUVAcousticMessageType);
+      else if (type == "RangeResponse")
+        message.set_type(RangeResponse);
+      else if (type == "RangeRequest")
+        message.set_type(RangeRequest);
+    }
+  }
+
+  this->callback(message);
 }
 
 /// \brief Address which the client binds to