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Talk-16: DCCL4 in MOOS

Dr. Toby Schneider / GobySoft, LLC / Falmouth, MA, USA

The Dynamic Compact Control Language (DCCL) is a flexible and powerful way to define message formats and compression for data to be transmitted over various "slow" marine links: acoustic, satellite, long-range radio, etc. These types of links are commonly seen in multi-robot or robot-to-operator scenarios in ocean or remote deployments.

In MOOS, DCCL is used by the pAcommsHandler application (from the Goby3 project) to help provide a full solution for vehicle-to-vehicle communications over slow links. After a brief introduction to DCCL for new users, this talk will focus on the new features in the latest DCCL major release (version 4; https://libdccl.org/4.0) and how they can be used by MOOS-IvP practioners via pAcommsHandler.

These new features include "dynamic conditions," which are runtime conditional encoding rules using the Lua scripting language (for example, one can omit a particular field if a previous field is set to a given value). Additionally, DCCL4 provides support and efficient encoding for the "oneof" construct which allows grouping several message fields where at most one will ever be set. Finally, DCCL4 allows users to automatically hash the message schema and thereby detect incompatible message versions between sender and receiver at compile time or runtime.

https://github.com/GobySoft/moos-dawg-24

Categories:

  • MOOS
  • AComms
  • DCCL
  • Communications