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# **RTIS Common Documentation - Table of Content**
- [General Usage](#general-usage)
- [Classes](#classes)
- [RTISClientObj](#rtisclientobj)
- [Pose](#pose)
- [dspSettings](#dspsettings)
- [Methods](#methods)
- [dsp_worker_process](#dsp_worker_process)
- [get_server_config](#get_server_config)
- [get_clients_and_configs](#get_clients_and_configs)
- [get_client_pose](#get_client_pose)
- [reload_config](#reload_config)
- [prepare](#prepare)
- [idle](#idle)
- [stop](#stop)
- [start](#start)
- [set_counter](#set_counter)
- [set_behaviour_active](#set_behaviour_active)
- [set_behaviour_passive](#set_behaviour_passive)
# **General Usage**
Several functions are available to be used to gain information on the connected
......@@ -73,7 +91,7 @@ The `dataPackage` that the RTIS Network Server sends contains a tuple with the f
## **RTISClientObj**
<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>
Class describing a connected RTIS Client.
......@@ -151,7 +169,7 @@ Class describing a connected RTIS Client.
<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>
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
<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>
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
<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>
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.
## **Pose**
<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>
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.
## **dspSettings**
<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>
Class describing all the recording and processing settings related to RTIS devices.
......@@ -324,7 +342,7 @@ Can be converted to a dictionary.
## **dsp_worker_process**
<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>
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
## **get_server_config**
<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>
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.
## **get_clients_and_configs**
<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>
A method to connect to the RTIS Server and get all the active connected RTIS Clients
......@@ -445,7 +463,7 @@ Useful for connected applications.
## **get_client_pose**
<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>
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.
## **reload_config**
<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>
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.
## **prepare**
<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>
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**
<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>
Tell the RTIS Server and connected RTIS Clients to go idle
......@@ -571,7 +589,7 @@ and stop all measurements and kill all running workers.
## **stop**
<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>
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**
<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>
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**
<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>
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.
## **set_behaviour_active**
<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>
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.
## **set_behaviour_passive**
<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>
A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to passive.
......