# Dashboard Help Index

Bluefin Dashboard Main Window

Welcome to the Bluefin Robotics, Inc. Dashboard application. This application is intended to enable easy operator control of Bluefin AUV’s from a topside computer.

The Bluefin Dashboard is written with sequential operation in mind. That is to say, each main operation within the application is only to be performed if all the previous operations have been successful. Thus, in the main dialog screen, you will see the following list of numbered buttons:
1.	Comms
2.	Devices
3.	Files
4.	Mission
5.	Data
6.	Messages
It is expected that you will only proceed to the next operation when the previous has been completed successfully. Red/green indicator lights next to each button show whether that particular step has been successfully completed (if there's no indicator next to a step, it's safe to continue to the next step at anytime).

To exit the Bluefin Dashboard, close the main window (titled ‘Bluefin Dashboard’) or press the ‘Exit’ button.

For more information on a particular operation, choose from the list below:
Comms – Communication Setup
Devices – Verification and Diagnostics
Files – Managing Files with the Dashboard
Missions – Monitoring Missions
Missions – Monitoring and Editting Behaviors and Attributes
Messages – Monitoring Communications

# Communications: Guide to setting up Communications in the Dashboard

Communications Setup Dialog

The Bluefin Dashboard application is used by vehicle operators to control the behavior of Bluefin AUV’s. Hence, the computer running the Dashboard needs to be set up to communicate with the AUV during each phase of a mission. The Dashboard also can be used to send and receive tracking information with the vehicle.

Communications Overview

When the Dashboard application is used to control AUV operations, it communicates with the AUV through one of two channels – either TCP/IP communications or serial communications. There is a corresponding program running on the main vehicle computer (MVC) listening to the appropriate communications channel.

Communications in the Dashboard are prioritized – TCP/IP communications are faster and more reliable than acoustic comms; thus the Dashboard attempts to use them before acoustic comms. When the Dashboard is communicating to the vehicle, at least one of the three indicators in the ‘Vehicle’ portion of the Communications Setup Dialog will be green, as will the indicator next to the ‘Comms’ button on the main Dashboard Dialog.

TCP/IP Communications

Generally, Bluefin AUV’s are set up to have two IP addresses – one is used when the vehicle is connected to the local area network via the shore cable and the other used to communicate via the radio frequency modem. Enter the two IP addresses in the boxes labeled ‘Socket1’ and ‘Socket2’. If you only know one IP address, enter it into the ‘Socket1’ box. For each IP address you enter, press the red light switch button to enable the connection (the switch will turn green).

Acoustic/Serial Communications

Acoustic communications (via an acoustic modem) are serial based – that is to say the vehicle- and topside modems are each connected to serial ports on the respective computers.

The communications setup dialog box in the Dashboard allows you to specify which serial port (COM1, COM2, etc.) on your topside computer is connected to the acoustic modem, and also allows you to specify the speed. When you have set the port and speed as you like, press the red light switch button to enable the connection (the switch will turn green).

Note that even though the serial port may be set for a high baud rate, acoustic comms are much slower than TCP/IP and the actual data transmission rate can be much slower than the baud rate of the serial port.

 # Devices

Dashboard Device Dialog

This, too, would be a test.

 # Managing Files

Dashboard File Manager Dialog

The Bluefin Dashboard File Manager dialog allows you to keep track of mission and configuration files both on the topside computer and on the main vehicle computer (MVC).

Notice the two tabs at the top of the window labeled ‘Missions’ and ‘Config’ – they display screens to manage mission and configuration files, respectively.

Mission Files

Local (Topside) Files

Files displayed in the ‘Topside (Local) Files’ list are files that reside on the topside computer.

After selecting a file from the Local File List, you can use the buttons to the left of the list to modify the file. The ‘Raw Edit’ button should only be used by experienced users familiar with the mission file format. For most users, the ‘Attrib Edit’ button should provide all the necessary functionality required to edit mission files. To delete a mission file, select it from the list and press the ‘Delete File’ button.

Using the right arrow button (), you can transfer local files to the MVC. Changes made to local files are not automatically synchronized to the MVC – this must be done manually for each file.

Pressing the ‘Add File’ button will allow you to select any file on your local (topside) computer for inclusion in the local files list. Note that the Dashboard will make a copy of this file, so if you make any changes to the original, you will need to use the ‘Add File’ button to add it to the list again.

Remote (Vehicle) Files
Files displayed in the ‘Vehicle (Remote) Files’ list are files that reside on the MVC.

After selecting a file from the Remote File List, you can use the buttons to the right of the list to change the behavior of the vehicle. Use the ‘Set Abort’ button to set the default abort plan for the vehicle, and use the ‘Start Mission’ button to begin the selected mission plan (a confirmation dialog will appear first).

Pressing the ‘Change Mission’ or ‘Change Abort’ buttons while a mission is running will change the behavior of the vehicle. Changing to a new mission with the ‘Change Mission’ button is effective immediately (after confirmation). The ‘Change Abort’ button changes the behavior of the vehicle when an abort occurs.

To delete a mission file, select it from the list and press the ‘Delete File’ button.

Using the left arrow button (), you can transfer local files to the MVC.

Pressing the ‘Connection Properties’ button brings up a small dialog that allows you to specify the location of the mission files on the MVC. Once you have changed the connection properties, you will need to use the ‘Reload Remote’ button to refresh the list of files on the MVC.

Configuration Files

The Configuration File Manager dialog provides similar functionality to the Mission File Manager dialog, but for configuration files instead – editing local files and transferring . Note that most remote file functionality (starting and changing mission and abort files) is not applicable for configuration files and is therefore not available.

 # Monitoring Missions

Dashboard Mission Control Dialog

The Mission Control dialog displays relevant information about the vehicle as a mission proceeds. This window is opened automatically when you start a mission from the File Manager window.

As well as monitoring battery voltages, vehicle position and orientation, you can execute emergency operations on the vehicle.

Aborting a Mission

Pressing the ‘Abort’ button on the Mission Control dialog sends a message via the currently active communication channel to the vehicle indicating it should end the current mission and begin executing the previously loaded abort behavior. Note that this abort command does not stop the AUV software from controlling the vehicle – an acoustic abort (special hardware required) is necessary to do that.

Emergency Dropweight

Pressing the ‘Emergency Dropweight’ button on the Mission Control dialog sends a message via the currently active communication channel to the vehicle indicating it should release the drop weight. Note that this command does not stop the currently running mission – it only releases the drop weight.

# Monitoring Communications

Communications Monitoring Dialog

Use this dialog to display and modify preferences for when & how individual update messages are sent.

# Vehicle Behavior Monitoring and Editting

Bluefin Dashboard Attribute Edit Dialog

The Bluefin Dashboard Attribute Edit Dialog can be used to view and edit mission scripts at any time. During a mission, the dialog can be used to change mission parameters or monitor "behaviors" on the vehicle. Outside of a running mission, the Attribute Edit dialog can be used to create or edit mission scripts.