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Measurement Sequence

The outer measurement sequence is implemented in server/zmq_orchestrator.py.

Per cycle:

orchestrator
  -> MOVE to rover
  <- MOVE_DONE
  -> capture one Qualisys position sample
  -> START_MEAS to acoustic client
  <- MEAS_DONE
  -> START_MEAS to RF orchestrator
  <- MEAS_DONE

Important interpretation details:

  • the position sample is taken after the rover has reached the commanded waypoint
  • the acoustic and RF measurements are then performed while the rig remains at that location
  • the RF cycle contains its own internal synchronization with the tile workers

Per START_MEAS to server/record/RF-orchestrator.py:

  1. wait for rf_sync.num_subscribers ALIVE messages
  2. wait rf_sync.pre_sync_delay_s
  3. publish one SYNC message with payload <cycle_id> <experiment_id>
  4. wait for rf_sync.num_subscribers DONE messages
  5. append a measurement entry to server/record/data/exp-<experiment_id>.yml

This is the core meaning of one orchestrator cycle_id: one rover pose followed by one acoustic and one RF acquisition pair.