Before Contacting Support

Please make sure to consider the following information before contacting VideoRay's Technical Support to report a problem. The following information should available:

• User name and contact information
• Name of the owner if not the same as the user
• System model
• Serial Number of the affected component(s)
• Accessories in use
• Detailed information about the issue:
  • Symptoms
  • Operating conditions that create the symptoms
  • Anything new or unusually about the system or operations

Once you have collected the recommended information, visit the "How to Get Help" page for contact information.

In addition, please review VideoRay's Support website for additional information about:

• Principles of Customer Interactions
• Customer Care Philosophy
• Technical Support Policy
• Third Party Accessory Support Statement
• Use of Non-VideoRay Supplied Computers

Convert .csv to .yml Quick Start

Installation

The program and necessary files are delivered as a zip file. These files can be downloaded and unzipped to the folder of your choice.

First Time Program Execution

To start the program:

Ubuntu on the Control Console

Open a terminal window and navigate to the folder where the program was installed. Enter:

python convert_csv_yml.py

Window on a PC / Laptop

The program requires Python be installed on your computer.

Open a DOS window and navigate to the folder where the program was installed. Enter:

python convert_csv_yml.py

When the program starts, click on the Show / Set Defaults button. Check and set the defaults according to your preference. See the Setting Defaults page for more information.

Addition information about the data format and defaults is provided in the remainder of this manual.

A sample .csv data file, mission.csv, is included as part of the installation for a test execution.

After the defaults are set as desired, save the defaults by clicking on Save Defaults to File button and then click on the Convert button.

Subsequent Program Executions

For future executions using data in the same format, you will only need to start the program, select the filenames and click on the Convert button.

Convert .csv to .yml Files and Formats

In addition to the program itself, convert .csv to .yml requires a configuration file (a .cfg file), and input file with data about the mission and waypoints in .csv format.

Additionally, two template files, one for the mission and one for the waypoints, are used in the background to create the .yml file.

When executed, it creates a Greensea mission file in .yml format for use in Greensea's Workspace ROV control program.The files will be described on the following pages, starting with the .yml mission file.

The .yml File Format and Information

Greensea mission files contain general information about the mission, such as its name, and a series of waypoints. Mission files are stored in a .yml files. The .yml file is in text format that is easy to read. An example mission file with two waypoints is shown here:

####################################################
### Greensea Workspace Waypoint Data
###  Created by VideoRay: 2021-05-23  20:21:09
##########################
mission_data:
  - id: "{2fa9aade-537d-494d-b260-c236e459ae7c}"
    name: mission
    color: "#00ffff"
    color_propagate: false
    locked: false
    waypoints:
      - id: "{b1cb7cc1-c655-4444-8bce-81cae366d76d}"
      - id: "{5541b691-276e-405c-bb68-ef5d1707fb55}"
waypoint_data:
  - id: "{b1cb7cc1-c655-4444-8bce-81cae366d76d}"
    mission_id: "{2fa9aade-537d-494d-b260-c236e459ae7c}"
    name: A
    color: "#ffff00"
    x: -75.5
    y: 41.5
    z: 0.9144000000000001
    tolerance: 1.8288000000000002
    z_alt: false
    z_matters: true
    speed: 0.1524
    use_speed: true
    effort: 70
    display_rb: false
    locked: false
    heading: 0
    heading_mode: NONE
  - id: "{5541b691-276e-405c-bb68-ef5d1707fb55}"
    mission_id: "{2fa9aade-537d-494d-b260-c236e459ae7c}"
    name: B
    color: "#ffff00"
    x: -75.08722666666667
    y: 41.36926166666667
    z: 0.6096
    tolerance: 1.8288000000000002
    z_alt: false
    z_matters: true
    speed: 0.1524
    use_speed: true
    effort: 70
    display_rb: false
    locked: false
    heading: 0
    heading_mode: NONE

You may notice that there are many parameters associated with the mission and each waypoint. The program allows you to set defaults for all of these values so you do not have to include these data elements in your file if you do not want to. Here is the full list of .yml data elements with descriptions. Additional information about each these parameters can be found on the CFG File page.

Mission Data

Mission ID (Auto generated by the program)

Mission Name (Text)

Mission Color (Hex RGB color value, range: #000000 - #9999FF; the program includes a graphic color picker.)

Mission Color Propagate (True / False)

Mission Locked (True / False)

List of Waypoint IDs (Auto generated by the program)

Waypoint Data

Waypoint ID (Auto generated by the program)

Waypoint name (Text)

Waypoint color (Hex RGB color value, range: #000000 - #FFFF00; the program includes a graphic color picker.)

Waypoint y [North] (Number - Degrees value)

Waypoint x [East] (Number - Degrees value)

Waypoint z [Depth / Altitude] (Number, meters)

Waypoint tolerance (Number)

Waypoint z_alt [Z is Altitude] (True / False)

Waypoint z_matters [Use Depth Lock] (True / False)

Waypoint speed (Number, speed in meters/second)

Waypoint use_speed [Use Speed Lock] (True / False)

Waypoint effort [% Effort] (Number, range: 1 - 100)

Waypoint display_rb (True / False)

Waypoint locked (True / False)

Waypoint heading (Number, range: 0 - 360)

Waypoint heading_mode (NONE / ALONG_LINE / FIXED)

Within the .yml, the Units Type is Meters and the Degrees Format is always Decimal Degrees. Your .csv file can contain units of feet and other degrees formats (Degrees Decimal Minutes or Degrees Minutes Seconds) by specifying these as default units to use.

The .cfg File Format and Information

The Configuration file is used to store default values for the program and can be modified to meet your data requirements. This table provides comprehensive information about the data and default values. An initial configuration file is provided as part of the installation and there are tools within the program to modify it.

This configuration file is provided with the initial installation:

showHelp=false
inFile=mission.csv
outFile=mission.yml
unitsType=feet
degreesFormat=ddm
autoIncrement=false
mission_name=mission
mission_color=#00ffff
mission_color_propagate=false
mission_locked=false
--You may change any of the =values in this file to set your own defaults, and you may change...
name=
y=
x=
z=
color=#ffff00
tolerance=6
z_alt=false
z_matters=true
speed=0.5
use_speed=true
effort=70
display_rb=false
locked=false
heading=0
heading_mode=NONE

The configuration file is named convert_csv_yml.cfg and is a text file. It can be edited using the Show / Set / Save Defaults feature provided within the program, or manually in a text editor. Either method can be used. You may use whichever is more comfortable for you.

The .csv File Format and Information

For the purposes of using the convert_csv_yml.py program, the data represents coordinates or waypoints with one waypoint per line. Here is a sample of a typical coordinate file in .csv format with a header row.

Name,Latitude,Longitude,Depth
A,41 30,-75 30,3.0
B,41 22.1557,-75 5.2336,2.0
C,41 11.0544,-75 4.2312,1.0

Commas are not allowed within a value, because they are used as the separator between values.

In addition to the list of coordinates/waypoints, the program requires that the first line of the .csv file provide information about the mission, and the header row either needs to be removed or identified as a comment by using a "#" as the first character. Lines with the "#" symbol as the first character on the line are considered comments. You can also use the "#" to exclude specific coordinates from the conversion.

Here is the required mission information:

Name,Color,Color Propagate,Locked,Units Type,Degrees Format,Auto Increment Waypoint Names

The sequence of the mission data elements must be in the order listed above, and this order cannot be modified like it can be for waypoint data elements.

My Mission,#00FFFF,False,False,Feet,DDM,False
#Name,Latitude,Longitude,Depth
A,41 30.2,-75 30,3.0
B,41 22.1557,-75 5.2336,2.0
C,41 11.0544,-75 4.2312,1.0

Mission Information

• Mission Name = My Mission
• Mission Color = #00FFFF (Blue, Default colors can be selected using a color picker.)
• Mission Color Propagate = False (Do not propagate mission color)
• Mission Locked = False (The mission is not locked)
• Units Type = Feet(the values are in feet)
• Degrees Format = DDM (The degrees format is Degrees, Decimal Minutes)
• Auto Increment = False (Do not add an auto incremented number to waypoint names)

Waypoint 1 Information

• Waypoint Name = A
• Waypoint Latitude = 41 degrees, 30.2 minutes (North)
• Waypoint Longitude = -75 degrees, 30 minutes (The - indicates West)
• Depth = 3.0 Feet

You may notice that this data does not include many of the .yml parameters. The program will insert the default values for any missing parameters. You can also omit entire columns as long as they are at the end of the rows.

For more information about data elements and their definitions, see the CFG File page.

A sample data set is included in the mission.csv file that is included as part of the installation. It uses a blank line as the first line - All mission data is defined by defaults and not the .csv file.

Convert .csv to .yml Template Files

The program uses template files to structure the .yml. These files should not be modified without training. They are presented here for your information.

Mission Template

####################################################
### Greensea Workspace Waypoint Data
###  Created by VideoRay: <!--##creation_time##-->
##########################
mission_data:
  - id: "{<!--##mission_id##-->}"
    name: <!--##mission_name##-->
    color: "<!--##mission_color##-->"
    color_propagate: <!--##color_propagate##-->
    locked: <!--##mission_locked##-->
    waypoints:

Waypoint Template

  - id: "{<!--##waypoint_id##-->}"
    mission_id: "{<!--##mission_id##-->}"
    name: <!--##waypoint_name##-->
    color: "<!--##waypoint_color##-->"
    x: <!--##x##-->
    y: <!--##y##-->
    z: <!--##z##-->
    tolerance: <!--##tolerance##-->
    z_alt: <!--##z_alt##-->
    z_matters: <!--##z_matters##-->
    speed: <!--##speed##-->
    use_speed: <!--##use_speed##-->
    effort: <!--##effort##-->
    display_rb: <!--##display_rb##-->
    locked: <!--##locked##-->
    heading: <!--##heading##-->
    heading_mode: <!--##heading_mode##-->

Convert .csv to .yml Setting Defaults

The program includes tools to set or modify the defaults. To set the defaults, start the program and click on the Show / Set / Save Defaults button.

Enter or select the values for the defaults for each piece of information listed.

If you want to reorder the waypoint data elements or specify columns to ignore, click on the Reorder Waypoint Data button.

This will bring up a list of the waypoint data elements. You can select an element and use the Move Up or Move Down buttons to achieve the order that matches your data. Any data elements that you do not plan to include in your data should be moved to the bottom and the columns for these data elements do not need to be included in your .csv file.

If your data includes columns that are not required by the .yml file format, you can specify that these columns should be ignored or not used. To designate that a column should be ignored and not used click on the Insert Unused Column button and then move the "Unused" column marker to the correct position to match you data. For example, if your data has a date in the first column, insert an Unused column marker and move it to the top of the list. If you no longer want to use the Unused column marker, you can remove it by selecting it and clicking on the Remove Unused Column button.

When you are finished reordering the data elements, click on the Update Waypoint Column Order button. If you decide you do not want to reorder the columns, click on the Close without Updating button.

At this point, the default values are enabled, but not saved. If you execute the conversion, the defaults will be used as assigned. However, tif you want to save these defaults for future executions of the program, click on the Save Defaults to File button. If you only want to use the defaults this one time, click on the Close without Saving to File button.

Importing the .yml File

To import the .yml file into Greensea Workspace, navigate to the Missions tab and click on the Import button (or Load button depending on version). Select your .yml file and confirm your selection.

Greensea Workspace version 6.x

Greensea Workspace prior to version 6.x

Thin and Reformat an exported .csv File Quick Start

Installation

The program and necessary files are delivered as a zip file. These files can be downloaded and unzipped to the folder of your choice.

First Time Program Execution

To start the program:

Ubuntu on the Control Console

Open a terminal window and navigate to the folder where the program was installed. Enter:

python convert_gss_csv.py

Window on a PC / Laptop

Navigate to the installation folder and click on the convert_gss_csv.exe file.

When the program starts, select the input and output files and then select the desired settings.

Addition information about the data format and settings is provided in the remainder of this manual.

A sample input data file, input.csv, is included as part of the installation for a test execution.

After the settings have been selected, click on the Process button.

Subsequent Program Executions

You can set defaults for the settings in the configuration file. Information about the configuration file is provided later.

Thin and Reformat an exported .csv File

When a .csv file is exported, it contains data recorded at approximately 10 Hz. This can lead to large data files. If the ROV hovers in one place for a while, this will result in a lot of redundant and unnecessary data points. You can thin this data by weeding out these redundant data points based on a minimum distanced moved threshold.

Primary input is a GSS export in CSV format and information about which input columns to use for output and the output order. Input order is flexible - you defined which columns hold your X, Y and Z values. Column numbers start at 0 in the input file.

Output order is Longitude (East or X), Latitude (North or Y) and Z (Depth or Altitude) and any additional column(s) you select to include with the output. If you require a different order, see the tip below.

Z is not used for distance moved calculations.

Program input defaults can be changed by editing gss-3d.cfg

• Line 1: Input file to read from.
• Line 2: Output file to write to.
• Line 3: Coordinates Type - One of: [ 3 | 2 ]
          3 = 3-D; 2 = 2-D
• Line 4: Invert Z value - One of: [ - | (any other character) ]
        If set to \"-\" Z values are multiplied by minus one (-1) to invert the sign.

• Line 5: Units Type - One of: [ M | F ]
          M = Meters; F = Feet
• Line 6: Degrees Format - One of: [ DD | DDM | DMS ]
          DD = Decimal Degrees; DDM = Degrees Decimal Minutes; DMS = Degrees Minutes Seconds
• Line 7: Minimum Distance Threshold.
          Amount the vehicle has to move from a previous point to add a new point.
• Line 8: Column number of the East or X column of the input file to use in output.
• Line 9: Column number of the North or Y column of the input file to use in output.
• Line 10: Column number of the Z column of the input file to use in output (not used for 2D).
• Additional lines can be added for additional columns desired in the output.

To be completely generic, you can select any input column to be output in column 1, any other input column to be output in column 2 and so on. However, the distance traveled is calculated based on output columns 1 and 2. If you want a different order output, this technique can work:

1. Run the program choosing the columns you want setting the X (East) to the first column and the Y North) to the second Column and the distance threshold to the value of your choice.
2. Rerun the program using your output as the input and specify the column order you want and set the distance threshold to 0.
3. For this second run you can specify any column order, such as Y (North)in the first column and X (East) in the second column.
4. The output will be thinned correctly and in the column order of your preference.

The program is available in the downloads section.

Real Time Import into Greensea Workspace

Real Time Import requires an application that can export NMEA sentences in real time via a computer port, and the use of gss_nmea2gss.

Real Time Import Example

    - client_name: videoray
      uuid: USER_CREATED_NAME
      process_name: /home/videoray/USER_CREATED_SHELL_SCRIPT_NAME.sh
      arguments:
        - ~
      process_cmd: keep_alive
      publish_console: 0
      keep_alive_ms: 1000

Real Time Export from Greensea Workspace

Real Time Export requires an application that can receive NMEA sentences in real time via a computer port, and the use of gss_gss2nmea.

Real Time Export Example

    - client_name: videoray
      uuid: USER_CREATED_NAME
      process_name: /home/videoray/USER_CREATED_SHELL_SCRIPT_NAME.sh
      arguments:
        - ~
      process_cmd: keep_alive
      publish_console: 0
      keep_alive_ms: 1000

CSV File Format Primer

Example address book in .csv file format with a header (or title) row:

Name,Street Address,City,State,Zip Code
John Video,10 Main Street,Springfield,PA,19331
Mary Ray,18 Oak Lane,Lincoln,WA,92231

Downloads

Download the "Convert a .csv file to a .yml" program files

Download convert_csv_yml.zip

Download the "Thin a .csv file" program files

Download convert_gss_csv.zip

After downloading either of these zip files, unzip the file to the folder of your choice. Follow the instructions in the quick start for each program.

Import/Export Helper Programs

Help is available for each helper program using the syntax below.

For gss_nmea2gss

gss_nmea2gss help=true

View the gss_nmea2gss help information.

For gss_gss2nmea

gss_gss2nmea help=true

View the gss_gss2nmea help information.

gss_nmea2gss Help

NMEA2GSS Device Interface Application version r1002000005
Developed by Greensea Systems, Inc. using OpenSEA
Greensea Systems, Inc. ::www.greenseainc.com

Usage gss_nmea2gss [options]:
Available options (must not contain spaces)

gss_gss2nmea Help

Gss_lcm_transport Interface Application
Developed by Greensea Systems, Inc. using openSEA
Greensea Systems, Inc. :: www.greenseainc.com

Usage gss_gss2nmea [options]:
Available options (must not contain spaces)

Device Integration

When integrating devices for real time import or export, you may need to modify the Communications Module port settings, or create virtual ports to pass data between different protocols. Each device will have setup and configuration requirements that are unique, and you will need to be familiar with your device and its specific requirements. The following sections are presented as examples of setting up a Cygnus Instruments Ultrasonic Thickness gauge, but your device's requirements may be different.

For reference, the Cygnus UT is an RS-485 device that uses it's own interface program (CygLink) to display the measurement results from the gauge. Typically, this device is connected to a computer using a standard RS-485 serial port and the port is configured as follows:

CygLink is a Windows based program and a second computer running Windows is generally the preferred method. The external computer and the Operator Control Console are connected using an Ethernet cable. Windows emulation is possible to allow CygLink to run on the Operator Control Console, but VideoRay has not validated this approach, and screen space is limited while Greensea Workspace is running.

For integration purposes, the Communications Module port settings need to be modified and a virtual port needs to be set up to convert from Ethernet to an RS-485 port on the external computer.

If you are unable to integrate your device using the information provided on the following pages as guidance, contact VideoRay Support at support@videoray.com for assistance.

Communications Module Configuration Setup

Configuring ports on the Communications Module is done through the vr_debug_putty.py program.

The required changes include:

1. Changing the Communications Module Port 6 Baud rate to 2400.

2. Setting the destination address for the Cygnus UT gauge data to the IP address of the external computer running the CygLink software. This computer would be connected using an Ethernet cable from the Operator Control Console Ethernet port to the external computer.

Step by Step Configuration Procedures

The following steps show how to the configure Communications Port 6 for the Cygnus UT.

1. Connect the system and power on the ROV, but do not start Greensea Workspace.
   • If Greensea Workspace was running, reboot the Operator Control Console

2. Open a Terminal window on the Operator Control Console.

3. Type cd flighthack followed by the [Enter] key. Commands are case senstive.

4. Type ./vr_debug_putty.py 2 followed by the [Enter] key. The VR debug window will open.
   • If the VR debug window does not respond, close the window and try again.
   • You might need to type the + several times immediately after typing the ./vr_debug_putty 2 command in order for the communications to synchronize.

5. Type c in the VR debug window to enter the configuration mode.
• Typing a ? will display a list of all available option while in debug mode, including the configuration mode.
6. For this example, we will use Port 6.

   Make a note of the current settings displayed for Port 6, so you can revert back to them if necessary for when you are not using the Cygnus UT gauge.

7. To make the changes required to support the Cygnus UT:
   1. Type 31 followed by the [Enter] key to indicate you want to change parameter 31.

   2. Type 2400 followed by the [Enter] key to specify the new value for parameter 31.

   3. Type 33 followed by the [Enter] key.

   4. Type 192.168.1.3 followed by the [Enter] key.

8. You should see the Port 6 settings as shown below. (highlighted at the bottom)

   

9. Press the s key followed by the [Enter] key to save the configuration.

10. Press the x key followed by the [Enter] key to exit the configuration menu.

11. Press the x key again to exit diagnostic mode. You do not need to press [Enter].

12. Close the diagnostic window.

13. Close the terminal window.

The Communications Module Port 6 is now configure as required for the Cygnus UT gauge.

Virtual Port Setup

A Virtual Port may be required to connect an external computer to the Operator Control Console for device integration communications requirements.

Setting up a virtual port requires software on the host compture. VideoRay uses Eltima's, Serial over Ethernet software. The following instructions explain the setup of the Virtual Port to integrate a Cygnus UT gauge. The Virtual Port is installed on the external computer to convert the data from the device (via the ROV and Operator Control Console) over Ethernet to a serial port that can be accessed by the CygLink Software.

The IP address of the external computer running the CygLink software is manually set to 192.168.1.3 (VideoRay's default IP address for integration purposes).

1. Connect the ROV system and turn it on, but do not start Greensea Workspace.

2. Make sure the vehicle has power/communication (use a terminal window and ping 192.168.1.64), then turn off power to the ROV so it does not overheat while performing the rest of the setup.

3. Connect an Ethernet cable from the Operator Control Console to the external computer. Verify that the external computer recognizes the connection.

4. Install the Eltima software onto the external computer.

5. Open up the Eltima software and click on "UDP connection."

   

6. Type Cygnus in the "Connection Name" field.

   

7. In Select serial port, click on the down arrow and click on "COM13" (any serial port can be used).

   

8. Type localhost in the "Remote Host Name" field.

   

9. type 7449 in the "Port" field (This is the default port number assigned to Port 6 on the Operator Control Console).

   

10. Click on "Advanced Settings" and make sure it matches the image below. Note the baud rate does not matter at this point.

    

11. Click on "Apply Changes" to save the Connection.

    

Windows Firewall Setup

Sometimes the Windows Firewall on the external computer can block packets of information from being accepted. To get around this, you can create an inbound rule to pass UDP from port 7449 (port 6 in our Cygnus UT example).

Follow these steps to allow messages to pass through the Firewall:

1. Open Windows Firewall (In the Windows search box, type in Windows Firewall and click on Window Defender Firewall.)

2. Click on "Advanced Settings."

   

3. Click on "Inbound Rules".

   

4. Click on "New Rule."

   

5. Click on "Port."

   

6. Click on "UDP."

   

7. Type 7449 in the Specific local ports field and click on "Next."

   

8. Click on "Allow the Connection" and click "Next."

   

9. Check all the boxes and click "Next."

   

10. Type in a Name and Description of your choice and click "Finish."

    

11. Check to see if the Rule showed up.