Software Setup

Detailed software configuration and system setup guide.

Software Architecture

┌─────────────────────────────────────────┐
│    Application Layer                    │
│  ┌──────────┐  ┌──────────┐            │
│  │ Web      │  │ Mobile   │            │
│  │ Console  │  │ App      │            │
│  └─────┬────┘  └────┬─────┘            │
├────────┼─────────────┼──────────────────┤
│    Service Layer                        │
│  ┌─────▼──────────────▼─────┐          │
│  │    API Gateway             │          │
│  └──────┬───────────┬─────────┘         │
│  ┌──────▼───┐  ┌────▼────┐             │
│  │Mission   │  │Data     │             │
│  │Manager   │  │Service  │             │
│  └──────────┘  └─────────┘             │
├─────────────────────────────────────────┤
│    Core Layer                           │
│  ┌──────────┐  ┌──────────┐            │
│  │Navigation│  │Sensor    │            │
│  │Control   │  │Fusion    │            │
│  └──────────┘  └──────────┘            │
├─────────────────────────────────────────┤
│    Driver Layer                         │
│  ┌──────────┐  ┌──────────┐            │
│  │Hardware  │  │Comm      │            │
│  │Driver    │  │Driver    │            │
│  └──────────┘  └──────────┘            │
└─────────────────────────────────────────┘

System Configuration

Main Configuration File

Location: ~/.jhusv/config.yaml

# System Basic Configuration
system:
  name: "my-usv"
  version: "1.0.0"
  log_level: "INFO"        # DEBUG, INFO, WARNING, ERROR
  data_path: "~/jhusv/data"

# Network Configuration
network:
  api:
    host: "0.0.0.0"
    port: 8080
    ssl: false

  websocket:
    port: 8081
    max_connections: 10

  mqtt:
    broker: "mqtt.jhusv.com"
    port: 1883
    use_tls: true

# Database Configuration
database:
  type: "sqlite"           # sqlite, postgresql, mysql
  path: "~/jhusv/data/db.sqlite"
  # host: "localhost"      # for postgresql/mysql
  # port: 5432
  # username: "jhusv"
  # password: "password"

# Logging Configuration
logging:
  file: "~/jhusv/logs/system.log"
  max_size: "100MB"
  backup_count: 10
  format: "%(asctime)s - %(name)s - %(levelname)s - %(message)s"

USV Device Configuration

Location: ~/.jhusv/devices/[device_id].yaml

device:
  id: "USV-2024-001"
  model: "JH-USV-300"
  name: "Ocean Explorer 1"

  # Hardware Specifications
  specs:
    length: 3.0              # meters
    width: 1.2
    max_speed: 10            # knots
    max_payload: 50          # kg
    battery_capacity: 20000  # mAh

# Navigation Configuration
navigation:
  mode: "auto"               # auto, manual, waypoint

  gps:
    type: "RTK"              # Standard, RTK
    update_rate: 10          # Hz
    min_satellites: 6

  imu:
    update_rate: 200         # Hz
    calibration_interval: 86400  # seconds

  control:
    pid_p: 1.0
    pid_i: 0.1
    pid_d: 0.05
    max_turn_rate: 30        # degrees/second

# Sensor Configuration
sensors:
  water_quality:
    enabled: true
    sample_rate: 1           # Hz
    parameters: ["ph", "do", "temp", "conductivity"]

  camera:
    enabled: true
    resolution: [1920, 1080]
    fps: 30
    encoding: "h264"

  sonar:
    enabled: false
    range: 100               # meters
    resolution: 0.1          # meters

# Safety Configuration
safety:
  geofence:
    enabled: true
    type: "polygon"          # polygon, circle
    coordinates:
      - [31.2304, 121.4737]
      - [31.2354, 121.4787]
      - [31.2404, 121.4837]
      - [31.2354, 121.4887]

  limits:
    max_distance: 5000       # meters
    max_depth: 50            # meters (if applicable)
    min_battery: 20          # %

  emergency:
    low_battery_action: "return_home"
    lost_connection_timeout: 60     # seconds
    lost_connection_action: "hold_position"

Web Console Configuration

Start Console

jhusv web start

Access: http://localhost:8080

Feature Modules

1. Real-time Monitoring

   • Map display
   • Real-time data
   • Video stream

2. Mission Management

   • Create missions
   • Mission scheduling
   • History records

3. Data Analysis

   • Data visualization
   • Report generation
   • Data export

4. System Settings

   • Device management
   • User management
   • System configuration

API Configuration

REST API

Endpoint: http://localhost:8080/api/v1

Authentication configuration:

api:
  authentication:
    type: "jwt"              # jwt, basic, apikey
    secret: "your-secret-key"
    expiration: 86400        # seconds

  rate_limit:
    enabled: true
    requests_per_minute: 60

WebSocket API

Endpoint: ws://localhost:8081

websocket:
  authentication: true
  heartbeat_interval: 30    # seconds
  max_message_size: 1048576 # bytes

Data Storage Configuration

Local Storage

storage:
  local:
    path: "~/jhusv/data"

    # Data Retention Policy
    retention:
      logs: 30               # days
      telemetry: 90
      sensor_data: 180
      videos: 30

    # Auto Cleanup
    auto_cleanup: true
    cleanup_schedule: "0 2 * * *"  # 2 AM daily

Cloud Storage

storage:
  cloud:
    enabled: true
    provider: "aws"          # aws, aliyun, tencent

    aws:
      region: "us-west-2"
      bucket: "jhusv-data"
      access_key: "YOUR_ACCESS_KEY"
      secret_key: "YOUR_SECRET_KEY"

    sync:
      auto: true
      interval: 3600         # seconds
      compress: true

Firmware Update

Check Updates

jhusv firmware check

Update Firmware

jhusv firmware update

:::warning Note Do not disconnect or power off during firmware update. :::

Rollback Firmware

jhusv firmware rollback

Backup and Restore

Backup Configuration

# Backup all configurations
jhusv backup create --output ~/backup.tar.gz

# Backup specific configuration only
jhusv backup create --config --output ~/config-backup.tar.gz

Restore Configuration

jhusv backup restore ~/backup.tar.gz

Next Steps

• 🎯 Learn mission planning
• 📊 Understand data management
• 🔌 Explore API interfaces