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# **RTIS Common Documentation - Table of Content** # **RTIS Common Documentation - Table of Content**
- [General Usage](#general-usage) - [General Usage](#general-usage)
- [Classes](#classes) - [Classes](#classes)
- [RTISClientObj](#rtisclientobj) - [RTISClientObj](#rtisclientobj)
- [Pose](#pose) - [Pose](#pose)
- [dspSettings](#dspsettings) - [dspSettings](#dspsettings)
- [Methods](#methods) - [Methods](#methods)
- [dsp_worker_process](#dsp_worker_process) - [dsp_worker_process](#dsp_worker_process)
- [get_server_config](#get_server_config) - [get_server_config](#get_server_config)
- [get_clients_and_configs](#get_clients_and_configs) - [get_clients_and_configs](#get_clients_and_configs)
- [get_client_pose](#get_client_pose) - [get_client_pose](#get_client_pose)
- [reload_config](#reload_config) - [reload_config](#reload_config)
- [prepare](#prepare) - [prepare](#prepare)
- [idle](#idle) - [idle](#idle)
- [stop](#stop) - [stop](#stop)
- [start](#start) - [start](#start)
- [set_counter](#set_counter) - [set_counter](#set_counter)
- [set_behaviour_active](#set_behaviour_active) - [set_behaviour_active](#set_behaviour_active)
- [set_behaviour_passive](#set_behaviour_passive) - [set_behaviour_passive](#set_behaviour_passive)
# **General Usage** # **General Usage**
...@@ -73,7 +91,7 @@ The `dataPackage` that the RTIS Network Server sends contains a tuple with the f ...@@ -73,7 +91,7 @@ The `dataPackage` that the RTIS Network Server sends contains a tuple with the f
## **RTISClientObj** ## **RTISClientObj**
<p class="func-header"> <p class="func-header">
<i>class</i> <b>RTISClientObj</b>(<i>client_id, client_ip, network_version, firmware_version, required, client_online=True</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L76">[source]</a> <i>class</i> <b>RTISClientObj</b>(<i>client_id, client_ip, network_version, firmware_version, required, config_name, client_online=True</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L76">[source]</a>
</p> </p>
Class describing a connected RTIS Client. Class describing a connected RTIS Client.
...@@ -151,7 +169,7 @@ Class describing a connected RTIS Client. ...@@ -151,7 +169,7 @@ Class describing a connected RTIS Client.
<p class="func-header"> <p class="func-header">
<i></i> <b>update_heartbeat</b>(<i>self, client_ip, client_configured, client_behaviour, client_inputDataQueueSize, client_outputDataQueueSize, client_internalCounter</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L183">[source]</a> <i></i> <b>update_heartbeat</b>(<i>self, client_ip, client_configured, client_behaviour, client_inputDataQueueSize, client_outputDataQueueSize, client_internalCounter</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L189">[source]</a>
</p> </p>
Method that is used by RTIS Server to update the status of a RTIS Client when a new heartbeat is received. Method that is used by RTIS Server to update the status of a RTIS Client when a new heartbeat is received.
...@@ -195,7 +213,7 @@ Method that is used by RTIS Server to update the status of a RTIS Client when a ...@@ -195,7 +213,7 @@ Method that is used by RTIS Server to update the status of a RTIS Client when a
<p class="func-header"> <p class="func-header">
<i></i> <b>check_heartbeat</b>(<i>self, maximum_delta=15</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L219">[source]</a> <i></i> <b>check_heartbeat</b>(<i>self, maximum_delta=15</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L225">[source]</a>
</p> </p>
Method to check if a RTIS Client has timed out based on a check if it is previous received heartbeat. Method to check if a RTIS Client has timed out based on a check if it is previous received heartbeat.
...@@ -226,7 +244,7 @@ Method to check if a RTIS Client has timed out based on a check if it is previou ...@@ -226,7 +244,7 @@ Method to check if a RTIS Client has timed out based on a check if it is previou
<p class="func-header"> <p class="func-header">
<i></i> <b>check_stability</b>(<i>self</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L242">[source]</a> <i></i> <b>check_stability</b>(<i>self</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L248">[source]</a>
</p> </p>
Method to check if a RTIS Client is in the 'ready' configuration state for at least 30 seconds Method to check if a RTIS Client is in the 'ready' configuration state for at least 30 seconds
...@@ -251,7 +269,7 @@ to indicate it is fully ready and stable for operation. ...@@ -251,7 +269,7 @@ to indicate it is fully ready and stable for operation.
## **Pose** ## **Pose**
<p class="func-header"> <p class="func-header">
<i>class</i> <b>Pose</b>(<i>x, y, z, pitch, yaw, roll</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L271">[source]</a> <i>class</i> <b>Pose</b>(<i>x, y, z, pitch, yaw, roll</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L277">[source]</a>
</p> </p>
Class describing a 3D pose using the right-handed coordinate system where x points forward, Y points to the left Class describing a 3D pose using the right-handed coordinate system where x points forward, Y points to the left
...@@ -300,7 +318,7 @@ x, y and z are in meters. Pitch, yaw and roll in degrees. ...@@ -300,7 +318,7 @@ x, y and z are in meters. Pitch, yaw and roll in degrees.
## **dspSettings** ## **dspSettings**
<p class="func-header"> <p class="func-header">
<i>class</i> <b>dspSettings</b>(<i>configName, dspFiles, workers, pdmEnable, matchedFilterEnable, beamformingEnable, enveloppeEnable, cleanEnable, version</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L341">[source]</a> <i>class</i> <b>dspSettings</b>(<i>configName, dspFiles, workers, pdmEnable, matchedFilterEnable, beamformingEnable, postFilterEnable, enveloppeEnable, cleanEnable, version</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L347">[source]</a>
</p> </p>
Class describing all the recording and processing settings related to RTIS devices. Class describing all the recording and processing settings related to RTIS devices.
...@@ -324,7 +342,7 @@ Can be converted to a dictionary. ...@@ -324,7 +342,7 @@ Can be converted to a dictionary.
## **dsp_worker_process** ## **dsp_worker_process**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>dsp_worker_process</b>(<i>dspSettings, inputDataQueue, outputDataQueue, logger =None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L503">[source]</a> <i>def</i> <b>dsp_worker_process</b>(<i>dspSettings, inputDataQueue, outputDataQueue, logger =None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L515">[source]</a>
</p> </p>
The method to use als a `multiprocessing.Process` to perform a DSP pipeline on sonar measurements The method to use als a `multiprocessing.Process` to perform a DSP pipeline on sonar measurements
...@@ -372,7 +390,7 @@ The resulting data on the output data queue will be a tuple with the following c ...@@ -372,7 +390,7 @@ The resulting data on the output data queue will be a tuple with the following c
## **get_server_config** ## **get_server_config**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>get_server_config</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L602">[source]</a> <i>def</i> <b>get_server_config</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L614">[source]</a>
</p> </p>
A method to connect to the RTIS Server and get the [`dspSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/wikis/home#dspsettings) currently used by the RTIS Server. A method to connect to the RTIS Server and get the [`dspSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/wikis/home#dspsettings) currently used by the RTIS Server.
...@@ -408,7 +426,7 @@ Useful for connected applications. ...@@ -408,7 +426,7 @@ Useful for connected applications.
## **get_clients_and_configs** ## **get_clients_and_configs**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>get_clients_and_configs</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L679">[source]</a> <i>def</i> <b>get_clients_and_configs</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L691">[source]</a>
</p> </p>
A method to connect to the RTIS Server and get all the active connected RTIS Clients A method to connect to the RTIS Server and get all the active connected RTIS Clients
...@@ -445,7 +463,7 @@ Useful for connected applications. ...@@ -445,7 +463,7 @@ Useful for connected applications.
## **get_client_pose** ## **get_client_pose**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>get_client_pose</b>(<i>serverIp, client_id, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L776">[source]</a> <i>def</i> <b>get_client_pose</b>(<i>serverIp, client_id, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L788">[source]</a>
</p> </p>
A method to connect to the RTIS Server and get the [`Pose`](https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/wikis/home#pose) of a particular RTIS Client with. A method to connect to the RTIS Server and get the [`Pose`](https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/wikis/home#pose) of a particular RTIS Client with.
...@@ -485,7 +503,7 @@ Useful for connected applications. ...@@ -485,7 +503,7 @@ Useful for connected applications.
## **reload_config** ## **reload_config**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>reload_config</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L825">[source]</a> <i>def</i> <b>reload_config</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L837">[source]</a>
</p> </p>
Tell the RTIS Server to reload its serverconfig.json file and read in the new settings. Tell the RTIS Server to reload its serverconfig.json file and read in the new settings.
...@@ -514,7 +532,7 @@ Will also re-configure all connected RTIS Clients. ...@@ -514,7 +532,7 @@ Will also re-configure all connected RTIS Clients.
## **prepare** ## **prepare**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>prepare</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L852">[source]</a> <i>def</i> <b>prepare</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L864">[source]</a>
</p> </p>
Tell the RTIS Server and connected RTIS Clients to start all workers. Tell the RTIS Server and connected RTIS Clients to start all workers.
...@@ -542,7 +560,7 @@ Tell the RTIS Server and connected RTIS Clients to start all workers. ...@@ -542,7 +560,7 @@ Tell the RTIS Server and connected RTIS Clients to start all workers.
## **idle** ## **idle**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>idle</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L890">[source]</a> <i>def</i> <b>idle</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L902">[source]</a>
</p> </p>
Tell the RTIS Server and connected RTIS Clients to go idle Tell the RTIS Server and connected RTIS Clients to go idle
...@@ -571,7 +589,7 @@ and stop all measurements and kill all running workers. ...@@ -571,7 +589,7 @@ and stop all measurements and kill all running workers.
## **stop** ## **stop**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>stop</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L917">[source]</a> <i>def</i> <b>stop</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L929">[source]</a>
</p> </p>
Tell the RTIS Server and connected RTIS Clients to stop any running measurements. Tell the RTIS Server and connected RTIS Clients to stop any running measurements.
...@@ -599,7 +617,7 @@ Tell the RTIS Server and connected RTIS Clients to stop any running measurements ...@@ -599,7 +617,7 @@ Tell the RTIS Server and connected RTIS Clients to stop any running measurements
## **start** ## **start**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>start</b>(<i>serverIp, measurements=0, frequency=0, active='0', logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L943">[source]</a> <i>def</i> <b>start</b>(<i>serverIp, measurements=0, frequency=0, active='0', logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L955">[source]</a>
</p> </p>
Tell the RTIS Server and connected RTIS Clients to stop any running measurements. Tell the RTIS Server and connected RTIS Clients to stop any running measurements.
...@@ -639,7 +657,7 @@ Tell the RTIS Server and connected RTIS Clients to stop any running measurements ...@@ -639,7 +657,7 @@ Tell the RTIS Server and connected RTIS Clients to stop any running measurements
## **set_counter** ## **set_counter**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>set_counter</b>(<i>serverIp, index=0, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L1051">[source]</a> <i>def</i> <b>set_counter</b>(<i>serverIp, index=0, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L1063">[source]</a>
</p> </p>
A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to active. A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to active.
...@@ -672,7 +690,7 @@ Useful for connected applications. ...@@ -672,7 +690,7 @@ Useful for connected applications.
## **set_behaviour_active** ## **set_behaviour_active**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>set_behaviour_active</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L1081">[source]</a> <i>def</i> <b>set_behaviour_active</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L1093">[source]</a>
</p> </p>
A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to active. A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to active.
...@@ -701,7 +719,7 @@ Useful for connected applications. ...@@ -701,7 +719,7 @@ Useful for connected applications.
## **set_behaviour_passive** ## **set_behaviour_passive**
<p class="func-header"> <p class="func-header">
<i>def</i> <b>set_behaviour_passive</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L1108">[source]</a> <i>def</i> <b>set_behaviour_passive</b>(<i>serverIp, logger=None</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtiscommon/-/blob/master/RTISCommon.py#L1120">[source]</a>
</p> </p>
A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to passive. A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to passive.
......