# README #

#### Description:

Test software for the Doc Ricketts LARS control system modifications.  These programs are based on the existing LARS interface to [navproc-dpkd](https://bitbucket.org/mbari/navproc-process/src/master/rov-uhs/)

#### Required software:

* [LCM](https://lcm-proj.github.io/lcm/)

* [C++11](https://en.cppreference.com/w/cpp/11)

* [pkg-config](https://packages.ubuntu.com/noble/pkg-config)

* [build essential](https://packages.ubuntu.com/noble/build-essential) or equivalent tools


#### Applications:

* lars_udp_sim - a process to simulate UDP datagrams from the LARS PLC.
* lars_lcm_pub - a process to receive UDP datagrams from the LARS PLC and publish them as LCM messages.


#### Data Structure Changes:

Perform the following steps to modify the contents of the data structure.

* Update the contents of data structure in lars_data.hpp
* Update the LCM message type definition in lars_data_t.lcm
* Update the LCM message update code in lars_lcm_pub.cpp and rebuild
* Rebuild and deploy the lcmtypes_lars_data.jar file