RTIS Common Documentation - Table of Content

• General Usage
• Classes
  • RTISClientObj
  • Pose
  • dspSettings
• Methods
  • dsp_worker_process
  • get_server_config
  • get_clients_and_configs
  • get_client_pose
  • reload_config
  • prepare
  • idle
  • stop
  • start
  • set_counter
  • set_behaviour_active
  • set_behaviour_passive

General Usage

Several functions are available to be used to gain information on the connected RTIS Clients and Server and prepare your application for their data.

All the available commands are explained in the source documentation or on the Wiki.

For receiving the measurement data one should set up a TCP socket server with the IP defined in the serversettings.json of the RTIS Server as "applicationIp" with port 65444.

For example:

import socket
import pickle
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serverSocket.bind(('applicationIp', 65444))
serverSocket.listen(10)
print("Started data listener.")
while True:
    try:
        conn, address = serverSocket.accept()
        data = []
        while True:
            packet = conn.recv(2048)
            if not packet:
                break
            data.append(packet)
        dataPackage = pickle.loads(b"".join(data))
        print("measurement #" + str(dataPackage[4]) + " from RTIS Client '" + dataPackage[0] + "' received!")
    except socket.error as ex:
        print("the RTIS Server aborted the data connection: " + str(ex))
    except pickle.UnpicklingError as ex:
        print("the RTIS Server aborted the data connection: " + str(ex))
    except EOFError as ex:
        print("The RTIS Server aborted the data connection: " + str(ex))
    except KeyboardInterrupt:
        print("Closing data listener...")
        serverSocket.close()

The dataPackage that the RTIS Network Server sends contains a tuple with the following elements in this order:

• ID: string: The RTIS Client ID.
• processedData: numpy ndarray: The data matrix holding the optionally processed data.
• rawData: numpy ndarray: The data matrix holding the raw recording data samples as uint32.
• timestamp: float: Epoch timestamp of when the measurement was taken on the RTIS Client.
• index: int: The measurement index of this measurement for this RTIS Client.
• behaviour: int (0 or 1): The behaviour of the RTIS Client sonar mode. 0 means passive, 1 means active.

Classes

RTISClientObj

class RTISClientObj(client_id, client_ip, network_version, firmware_version, required, config_name, client_online=True) [source]

Class describing a connected RTIS Client.

Methods

update_heartbeat(self, client_ip, client_configured, client_behaviour, client_inputDataQueueSize, client_outputDataQueueSize, client_internalCounter) [source]

Method that is used by RTIS Server to update the status of a RTIS Client when a new heartbeat is received.

check_heartbeat(self, maximum_delta=15) [source]

Method to check if a RTIS Client has timed out based on a check if it is previous received heartbeat.

check_stability(self) [source]

Method to check if a RTIS Client is in the 'ready' configuration state for at least 30 seconds to indicate it is fully ready and stable for operation.

Pose

class Pose(x, y, z, pitch, yaw, roll) [source]

Class describing a 3D pose using the right-handed coordinate system where x points forward, Y points to the left and Z point upwards. Rotations are around these axes also by the right-hand rule with roll being around the X-axis, pitch being around the Y-axis and yaw around the Z-axis. x, y and z are in meters. Pitch, yaw and roll in degrees.

dspSettings

class dspSettings(configName, dspFiles, workers, pdmEnable, preFilterEnable, matchedFilterEnable, beamformingEnable, postFilterEnable, enveloppeEnable, cleanEnable, version) [source]

Class describing all the recording and processing settings related to RTIS devices. Too many variables to describe here. Check the source-code for more information on which variables are available.

Can be converted to a dictionary.

Methods

dsp_worker_process

def dsp_worker_process(dspSettings, inputDataQueue, outputDataQueue, logger =None) [source]

The method to use als a multiprocessing.Process to perform a DSP pipeline on sonar measurements using the RTIS CUDA library. This will run continuously until closed. It will first prepare the DSP pipeline with the given settings. Afterwards it will process each measurement placed on the input data queue and place the result on the output data queue. This method should only be used the RTIS Server and not by applications.

The resulting data on the output data queue will be a tuple with the following content:

• ID: string: The RTIS Client ID.
• processedData: numpy ndarray: The data matrix holding the optionally processed data.
• rawData: numpy ndarray: The data matrix holding the raw recording data samples as uint32.
• timestamp: float: Epoch timestamp of when the measurement was taken on the RTIS Client.
• index: int: The measurement index of this measurement for this RTIS Client.
• behaviour: int (0 or 1): The behaviour of the RTIS Client sonar mode. 0 means passive, 1 means active.

get_server_config

def get_server_config(serverIp, logger=None) [source]

A method to connect to the RTIS Server and get the dspSettings currently used by the RTIS Server. Useful for connected applications.

get_clients_and_configs

def get_clients_and_configs(serverIp, logger=None) [source]

A method to connect to the RTIS Server and get all the active connected RTIS Clients with and their respective dspSettings. Useful for connected applications.

get_client_pose

def get_client_pose(serverIp, client_id, logger=None) [source]

A method to connect to the RTIS Server and get the Pose of a particular RTIS Client with. Useful for connected applications.

reload_config

def reload_config(serverIp, logger=None) [source]

Tell the RTIS Server to reload its serverconfig.json file and read in the new settings. Will also re-configure all connected RTIS Clients.

prepare

def prepare(serverIp, logger=None) [source]

Tell the RTIS Server and connected RTIS Clients to start all workers.

idle

def idle(serverIp, logger=None) [source]

Tell the RTIS Server and connected RTIS Clients to go idle and stop all measurements and kill all running workers.

stop

def stop(serverIp, logger=None) [source]

Tell the RTIS Server and connected RTIS Clients to stop any running measurements.

start

def start(serverIp, measurements=0, frequency=0, active='0', logger=None) [source]

Tell the RTIS Server and connected RTIS Clients to stop any running measurements.

set_counter

def set_counter(serverIp, index=0, logger=None) [source]

A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to active. Useful for connected applications.

set_behaviour_active

def set_behaviour_active(serverIp, logger=None) [source]

A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to active. Useful for connected applications.

set_behaviour_passive

def set_behaviour_passive(serverIp, logger=None) [source]

A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to passive. Useful for connected applications.