Build & Run: libauv_stationary_sim

zig build run -- \
    ./zig-out/lib/libauv_stationary_sim.so \
    prequalify_coco \
    ./auvs/stationary_sim/auv.json

Build & Run: teleop mission

Build the sender and simulator:

zig build teleop-sender
zig build

Run the teleop mission:

zig build run -- \
    ./zig-out/lib/libauv_stationary_sim.so \
    teleop \
    ./auvs/stationary_sim/auv.json

In another terminal, start the sender:

./zig-out/bin/teleop_sender 8080

Build & Run: viewer

The viewer needs the ZED SDK and CUDA. CMake fetches raylib.

cmake -S tools/viewer -B tools/viewer/build
cmake --build tools/viewer/build
./tools/viewer/build/viewer

It listens for binary telemetry on UDP 5600. The ZED H264 stream at 127.0.0.1:5610 is optional: pass none to follow simulation telemetry without a camera. With the window focused, it sends the teleop command to 127.0.0.1:8080.

./tools/viewer/build/viewer [telemetry_port] [video] [teleop_port]
./tools/viewer/build/viewer 5600 none

Hold keys to command a body translation direction: W/S surge, A/D sway, R/F heave. Left/Right yaws about world +Z; Up/Down pitches about body X; I/K rolls about body +Y. Each packet is 28 bytes: three little-endian floats of body translation, then a world orientation quaternion x, y, z, w. Identity is level with the camera along body +Y. Releasing the translation keys leaves translation uncommanded. The orientation keys still apply.

Build & Run: libauv_stonefish_sim

zig build -Dstonefish run -- \
    ./zig-out/lib/libauv_stonefish_sim.so  \
    prequalify_robosub \
    ./auvs/stonefish_sim/auv.json

Build & Run: Proteus hardware (ZED 2i + Arduino)

zig build -Dzed
zig build -Dzed run -- \
    ./zig-out/lib/libauv_proteus_hwd.so \
    prequalify_coco \
    ./auvs/proteus_hwd/auv.json