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Welcome to the trst wiki!

This page is dedicated specifically to the TRST code base.

Architecture

The TRST project is an end to end solution for the control of an autonomous sailboat, preferably keeping the code as platform abstract as possible. While there are a few pieces that are boat/hardware specific. Below is an image detailing the overall software architecture we will be working with in v1.

Decoder

This module is responsible for getting sensor data to a database in a useable form. Currently we are only supporting a Airmar WX200 sensor, but many future additions are possible. The input to this module is then the output from the Airmar sensor in NMEA 2000 format (N2K). The N2K communication protocol is compatible with the much more common can-bus network platform. We therefore get airmar data in NMEA 2000 sentences. Sample below:

1F119 00FF7FFF7FFF7FFF
1F113 00FFFFFF7FFFFFFF
1F802 FFFFFFFFFFFFFFFF
1FD07 00C14380FF7FF803
1FD0A FF000024810F00FF
1FD02 00FFFFFFFFF8FFFF
1F809 FFFFFFFFFFFFFF7F
1F11A 00F5A93EFF7FFFFF
1F801 FFFFFF7FFFFFFF7F
1F805 01FFFFFFFFFFFFFF
1F805 02FF7FFFFFFFFFFF

This format is our personalized format, it is ascii, [PGN DATA].

##The Way Forward##

Phase 1: RC Boat on the water, Airmar sensor data capture Complete! Aug 20, 2015

Phase 2: RC Boat via laptop, Airmar sensor decoding Complete! Oct 19, 2015

Phase 3: Framework interfacing boat drivers