2022: The TS7970 has been replaced with a RaspberryPi for better compatibility with ROS2. There is a Waveshare isolated CAN hat attached to the RaspberryPi. The cellular modem and wifi router have been replaced with a Sierra Wireless MP70 and now uses Verizon’s network. The radar has been changed from a Simrad to Garmin 24xHD
2020: We replaced the beaglebone with a TS-7970 from Technologic Systems, and have installed a simple wifi router for low-power download and diagnostics.
2019: We have more tools available for controlling processes on the beaglebone, see Appendix B
2018: We have implemented a VPN tunnel between the buoy and the MBARI network. This allows for an encrypted connection and flat network traversal of all components on the buoy. As a reset, ports are no long routed through the Moxa gateway.
| Item | IP Address | DNS Entry | Active Ports |
|---|---|---|---|
| Cell Gateway | 134.89.92.1 | ||
| RaspberryPi | 134.89.92.15 | torque.shore.mbari.org | 22, 20, 21, 5001 |
| WebRelay | 134.89.92.2 | buoy-relay.shore.mbari.org | 80 |
| IFCB | 134.89.92.7 | buoy-ifcb.shore.mbari.org | 80 |
| GarminRadar | 172.16.2.0\20 |
Since the installation of the VPN Tunnel, you can ssh to the controller SBC through network address translation. If you are outside the institute, VPN in first.
ssh -p 22 buoy@torque.shore.mbari.org,ftp -P 21 buoy@torque.shore.mbari.orgWith VPN access you can reach this page. Enter user/pass (admin:PowerBuoy) in order to login.
WARNING: Meddling with the modem during at-sea operations carries the risk of losing remote communication with the buoy if configured incorrectly. You should expect certificate warning from your webbrowser when connected.
When logging in you will see this message, and can be reprinted to
the shell via cat ~/helpful.txt
Some helpful commands and tips:
pbcmd - See a list of commands to the buoy controllers
llogs - alias for 'tail -f /logs/latest/latest'
doorwatch - Monitor important trefoil controller data
battwatch - Monitor important battery controller data
springwatch - Monitor important spring controller data
powerwatch - Monitor important power controller data
ispbcon - Check process list for pbcon, aka automator (one match)
ispbcon - Check process list for pbcon, aka automator (one match)
isahrs - Check process list for ahrs server (one match)
isdog - Check process list for watchdog timers (2 matches)
pblogrestart - Use systemctl to restart pblog.service
pblogstart - Use systemctl to start pblog.service
pblogstop - Use systemctl to stop pblog.service
pblogenable - Use systemctl to enable pblog.service
pblogdisable - Use systemctl to disable pblog.service
ahrsrestart - Use systemctl to restart ahrs_server.service
ahrsstart - Use systemctl to start ahrs_server.service
ahrsstop - Use systemctl to stop ahrs_server.service
ahrsenable - Use systemctl to enable ahrs_server.service
ahrsdisable - Use systemctl to disable ahrs_server.service
introhelp - Show this listThese commands do not persist through reboots (pblog will be started when you reboot):
pblogstop- stop the service, Linux will not attempt to auto-restart
pblogstart- start the service after a stop, Linux will attempt auto-restarts if the service unexpectedly stops
pblogrestart- stop then restart the service with auto-restarts (use this when pblog is running, but not all output seems to be written to the log)
These commands persist through reboots:
pblogdisable- stop the service from running at boot, Linux will not attempt to auto-restartpblogdenable- have the service run at boot, Linux will attempt to auto-restart