cu-ryuw122

Initiator-side Copper range source for the REYAX RYUW122 UWB modem.

This source runs on the modem that uses the REYAX vendor ANCHOR role. That is the side that can issue AT+ANCHOR_SEND and receive +ANCHOR_RCV=... lines with distance over UART.

In robotics localization terms, this modem is typically mounted on the moving robot. The fixed anchors in the space usually run the vendor TAG role and respond to the robot's initiator requests.

Use it when you want:

• a robot-side distance feed to fixed anchors
• a generic UWB range source for downstream estimation tasks
• a clean Copper boundary between modem I/O and localization logic

This source does not solve 2D or 3D position itself. It only emits single-anchor range observations. Snapshotting, safety decisions, and multilateration belong in downstream Copper tasks.

Behavior

The source runs one outstanding initiator request at a time:

• send AT+ANCHOR_SEND for the current anchor
• watch later runtime cycles for the matching +ANCHOR_RCV
• emit a PeerRangeObservation when a response arrives
• immediately move on to the next anchor
• if an anchor stays silent, advance on timeout and continue polling

This keeps the driver non-blocking and suitable for regular Copper source execution.

Current assumptions

• the modem that runs this source is already configured in REYAX vendor ANCHOR mode
• network id, address, and CPIN are already set appropriately
• the serial resource timeout is kept low enough for runtime use

Output

The source emits:

• cu_sensor_payloads::PeerRangeObservation

Each observation contains:

• peer_id: fixed-capacity identifier for the responding anchor
• distance: meters
• rssi_dbm: optional RSSI when the modem is configured to include it

Configuration

The task binds a single serial resource and expects these config keys:

• anchor_ids: list of fixed anchor addresses to poll
• poll_payload: ASCII payload sent with each AT+ANCHOR_SEND
• response_timeout_ms: timeout before the source advances to the next anchor
• read_buffer_bytes: serial read scratch size
• max_pending_observations: queue depth for parsed observations

anchor_ids and poll_payload must be ASCII. RYUW122 modem addresses are 8 bytes max, and the poll payload is 12 bytes max.

Example

On Linux, bind the source through cu_linux_resources::LinuxResources:

(
    resources: [
        (
            id: "linux",
            provider: "cu_linux_resources::LinuxResources",
            config: {
                "serial3_dev": "/dev/ttyACM0",
                "serial3_baudrate": 115200,
                "serial3_timeout_ms": 20,
            },
        ),
    ],
    tasks: [
        (
            id: "uwb_ranges",
            type: "cu_ryuw122::Ryuw122InitiatorSource",
            resources: {
                "serial": "linux.serial3",
            },
            config: {
                "anchor_ids": ["ANCH0001", "ANCH0002"],
                "poll_payload": "PING",
                "response_timeout_ms": 250,
                "read_buffer_bytes": 512,
                "max_pending_observations": 32,
            },
        ),
    ],
)

Downstream usage

Typical next steps are:

• threshold the output for safety logic
• accumulate the most recent ranges by anchor id
• feed those snapshots into a separate multilateration task