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...@@ -25,7 +25,7 @@ RTIS Clients and Server and prepare your application for their data. ...@@ -25,7 +25,7 @@ RTIS Clients and Server and prepare your application for their data.
All the available commands are explained below. All the available commands are explained below.
For receiving the measurement data one should set up a TCP socket server with the For receiving the measurement data one should set up a TCP socket server with the
IP defined in the [serversettings.json](Config/serversettings.json) as _applicationIP_ with port `65444`. IP defined in the [serversettings.json](Config/serversettings.json) as _applicationIp_ with port `65444`.
For example: For example:
...@@ -34,7 +34,7 @@ import socket ...@@ -34,7 +34,7 @@ import socket
import pickle import pickle
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serverSocket.bind(('applicationIP', 65444)) serverSocket.bind(('applicationIp', 65444))
serverSocket.listen(10) serverSocket.listen(10)
print("Started data listener.") print("Started data listener.")
while True: while True:
...@@ -71,7 +71,7 @@ The `dataPackage` that the RTIS Network Server sends contains a tuple with the f ...@@ -71,7 +71,7 @@ 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, client_online=True</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L83">[source]</a> <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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L83">[source]</a>
</p> </p>
Class describing a connected RTIS Client. Class describing a connected RTIS Client.
...@@ -106,6 +106,18 @@ Class describing a connected RTIS Client. ...@@ -106,6 +106,18 @@ Class describing a connected RTIS Client.
<p class="attr"> <p class="attr">
The state of the sonar behaviour of an RTIS Client. 0 = passive | 1 = active The state of the sonar behaviour of an RTIS Client. 0 = passive | 1 = active
</p> </p>
<b>required : <i>int</i></b>
<p class="attr">
A toggle to state if the sensor is required to be online and stable before measurements can be started. 0 = not required | 1 = required
</p>
<b>stable : <i>int</i></b>
<p class="attr">
A state indicator to know if the sensor has been in the 'Ready' state for at least 1 minute to indicate it is fully ready and stable for operation. 0 = not stable yet | 1 = stable
</p>
<b>startStableTimestamp : <i>datetime datetime</i></b>
<p class="attr">
The datetime object telling the start time the RTIS Client was in the 'Ready' state.
</p>
<b>inputDataQueueSize : <i>int</i></b> <b>inputDataQueueSize : <i>int</i></b>
<p class="attr"> <p class="attr">
The amount of data packages currently in the incoming data queue of the RTIS Client. The amount of data packages currently in the incoming data queue of the RTIS Client.
...@@ -137,7 +149,7 @@ Class describing a connected RTIS Client. ...@@ -137,7 +149,7 @@ 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L167">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L190">[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.
...@@ -181,7 +193,7 @@ Method that is used by RTIS Server to update the status of a RTIS Client when a ...@@ -181,7 +193,7 @@ 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L205">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L226">[source]</a>
</p> </p>
Method to check if a RTIS Client has timed out based on a check of it's previous received heartbeat. Method to check if a RTIS Client has timed out based on a check of it's previous received heartbeat.
...@@ -209,10 +221,35 @@ Method to check if a RTIS Client has timed out based on a check of it's previous ...@@ -209,10 +221,35 @@ Method to check if a RTIS Client has timed out based on a check of it's previous
<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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L249">[source]</a>
</p>
Method to check if a RTIS Client is in the 'ready' configuration state for at least 1 minute
to indicate it is fully ready and stable for operation.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
<col class="field-body" />
<tbody valign="top">
<tr class="field">
<th class="field-name"><b>Returns:</b></td>
<td class="field-body" width="100%"><b>state : <i>bool</i></b>
<p class="attr">
returns <code>True</code> if stable for at least 1 minute, returns <code>False</code> if the RTIS Client is not yet stable.
</p></td>
</tr>
</tbody>
</table>
## **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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L229">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L278">[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
...@@ -261,7 +298,7 @@ x, y and z are in meters. Pitch, yaw and roll in degrees. ...@@ -261,7 +298,7 @@ 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L299">[source]</a> <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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L348">[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.
...@@ -285,7 +322,7 @@ Can be converted to a dictionary. ...@@ -285,7 +322,7 @@ 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L458">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L507">[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
...@@ -333,7 +370,7 @@ The resulting data on the output data queue will be a tuple with the following c ...@@ -333,7 +370,7 @@ 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L526">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L575">[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.
...@@ -369,7 +406,7 @@ Usefull for connected applications. ...@@ -369,7 +406,7 @@ Usefull 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L602">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L651">[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
...@@ -406,7 +443,7 @@ Usefull for connected applications. ...@@ -406,7 +443,7 @@ Usefull 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L698">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L747">[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.
...@@ -446,7 +483,7 @@ Usefull for connected applications. ...@@ -446,7 +483,7 @@ Usefull 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L747">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L796">[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.
...@@ -475,7 +512,7 @@ Usefull for connected applications. ...@@ -475,7 +512,7 @@ Usefull 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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L774">[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/rtisdev/-/blob/master/rtiscommon/RTISCommon2.py#L823">[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.
...@@ -497,5 +534,4 @@ Usefull for connected applications. ...@@ -497,5 +534,4 @@ Usefull for connected applications.
</p></td> </p></td>
</tr> </tr>
</tbody> </tbody>
</table> </table>
\ No newline at end of file