Tags

Bugfixes
========
- Fixed calculation of ping OWTT in modem simulator (!188)

Bugfixes
========
- Fix simulated ping OWTT (!186)
- Fix modem sim logging (!186)

Breaking Changes
================
- `LinkStatsFeeback` message: added `receiver_src` field, fixed name of `median_noise_dB` field (!184)
- Removed `epoch_end` from time fields in default `LinkStatsFeedback` codec (!184)

New Features / Improvements
===========================
- Added `LinkStatsSummary` message to publish aggregated `LinkStatsFeedback` (!184)

Bugfixes
========
- Removed `epoch_end` from time fields in default `LinkStatsFeedback` codec (it was saturating in January 2025) (!184)
- Fixed regression in name of `LinkStatsFeeback` `median_noise_dB` field (it briefly had a lowercase "b") (!184)

Includes important bug fix to `tdma_slotted_aloha` #52

Bugfixes
========
- Fix handing of the dynamic queue cache when using packet codecs that break a packet into multiple sections.  Previously, a dynamic queue could be ignored due to invalid cache when the number of available bits increased over the course of a packet. (!171)

Documentation Improvements
==========================
- Significant additions to documentation (!168)
- Improved documentation formatting (!168)
- Removed out-of-date information (!168)

Bugfixes
========
- Fix a bug in the modem sim that would zero-pad bad frames when partial packets were received. (!165)

Breaking Changes
================
- `GetNextQueuedMessageResponse` (part of `GetNextQueuedMessage.srv`) has a new field: `string[] msg_tags`. (!160)
- `PingModem.srv` and `PingTransponders.srv` timeout field is now that same: `timeout_sec` and logic has been updated across package (!158)
- `Tdma*Status.msg` has the following fields added to support QoS tags (!158):
  - `minimum_priority`: will be value set in tag for [this] slot
  - `time_to_next_dedicated_slot`: time to next un-tagged / un-restricted slot where you are guarenteed to TX if you have _any_ data.

New Features / Improvements
===========================
- `GetNextQueuedMessageResponse` new field: `string[] msg_tags`. (!160)
  - `string[] msg_tags` are the tags for the message returned in the response.
  - since dynamic_queues are not handled by the `message_queue_node` directly, we now use this field to validate responses, and invalid responses are ignored.
- added `deserialize_anymsg()` to `mac_utils.py` (!160)
- changed `toggle_software_mute()` in `tdma_advanced_node` to a switch of type `std_msgs/Bool` and updated logic in `mac_switcher. (!158)
- `tdma*` can now calculate `time_to_next_dedicated_slot` (!158)

Bugfixes
========
- `TagConfig` was not setting `self.exclude_queue_ids`. it was setting `set.exclude_list` (typo!) and no other nodes were using that attr.
- Fixes to message queue (!160):
  - dynamic queue response tag validation
  - was not setting `minimum_priority` when creating `tag_config` instance.
  - was not passing `minimum_priority` to dynamic_queue_query call.
- set software_mute correctly in `tdma_advanced` (!161, #46)

New Features / Improvements
===========================
- `tdma_advanced_node` can now pass an empty list for `~comms_slots`. When empty, (`comms_slots=""`) this tells `tdma_advanced_node` not to send comms packets in _any_ slots. Useful for a ping only tdma MAC config

Bugfixes
========
- `acomms_driver_node`: changed minimum ping_reply_timeout from 5 seconds to 1.
- `modem_sim_node`: changed minimum ping_reply_timeout from 5 seconds to 1.
- `tdma_advanced_node` bug fix for empty `~comms_slots`.

Breaking Changes
================
- Removed legacy link-layer fragmentation (!142)
  - This functionality is now provided by `ros_acomms_net`, or by using dynamic queues to implement a new transport layer
  - Removes `EncodedAck` and `FragmentationStatus` messages
  - Removes associated unit tests
  - Removes the `allow_fragmentation` parameter from message codecs

New Features / Improvements
===========================
- Add acoustic range features, including node that publishes acoustic range automatically for pings (with sim and hardware support) (!144)
  - New message `AcousticRange.msg`
  - New node `acoustic_range_node.py`: Generates a range for every ping reply (modem ping OR remus transponder ping) using OWTT and `~sound_speed`.  Publishes `AcousticRange.msg` on `~acoustic_range_topic` (`default=acoustic_range`).
- Logging improvements (!144)
  - Lowered the log verbosity for `tdma_advanced`
  - Added mechanism to `tdma_node` for caching the rosnode log level during init (then available to subclasses)
- New `mac_switcher` node to handle switching among multiple MAC nodes using software mute (!145, !146, !147)
  - New node `MacSwitcherNode`
  - New message `MacSwitcherStatus.msg`
  - Includes "dead man switch" to revert control to "default" MAC node (!146)
  - Example launch file: `ros_acomms/ros_acomms_tests/launch/test_mac_switcher.launch`.

Bugfixes
========
- `modem_sim_node.py`: modem location topic name now uses the rosparam `~modem_location_topic`. It was hard coded to `location`. (!144)

New Features / Improvements
===========================
- `tdma_node.py` manual_transmit feature can now take a list of modem commands (newline delimited string).  (!136)
  - when a message is published on `tdma/nmea_to_modem` and data looks like: `"$CCCFG,BND,0\n$CCCMD,RLS,2,1,0,0,\n"`, the manual transmit object will split the nmea sentences (on newlines) and publish each of them (allows users to send config commands ahead of a transmitting command)
- Add a service to query SRC address from modem (or modem sim). (!133)
  - Use this in `message_queue_node` to get the modem SRC address if it isn't passed as a parameter.  (The SRC address may be used by packet codec plugins when encoding messages).
- Adds `query_modem_param` service to `AcommsDriverNode` that queries uModem for any single config parameter or group of config parameters.  (!134, !135)

Bugfixes
========
- Fix a bug where missing SST values occasionally broke LinkLayerFeedback messaging (hotfix to 10.0.1 in !141, !132)
- Fix conditions where packet codec is given more bits than it asked for (hotfix to 10.0.1 in !140, !139)
  - Add error handling when a dynamic queue returns more bits than we asked for, so it no longer breaks the packet codec
  - Improved logging.  
  - Fixed a bug in `link_layer_feedback_node.py` that returned messages larger than requested.
  - Fixed a (probably) harmless bug with a mutable default argument in `message_queue_node.py`
- `get_remaining_time_to_slot()` now correctly handles case when `{slot}` passed is wrapped around the cycle from the `current_slot`. (!138)
- CI testing: 
  - `test_tdma_extended.py` now `test_always_send_test_data_with_miniframes()` allows 1 packet (and it must be the first packet) to not fail the test if it's all zeros. (!137)

Bugfixes
========
- Backport: Fix a bug where missing SST values occasionally broke LinkLayerFeedback messaging (!141, !132)
- Backport: Fix conditions where packet codec is given more bits than it asked for (!140, !139)
  - Add error handling when a dynamic queue returns more bits than we asked for, so it no longer breaks the packet codec
  - Improved logging.  
  - Fixed a bug in `link_layer_feedback_node.py` that returned messages larger than requested.
  - Fixed a (probably) harmless bug with a mutable default argument in `message_queue_node.py`