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Update home authored by Wouter Jansen's avatar Wouter Jansen
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......@@ -25,7 +25,7 @@ RTIS Clients and Server and prepare your application for their data.
All the available commands are explained below.
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:
......@@ -34,7 +34,7 @@ import socket
import pickle
serverSocket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
serverSocket.bind(('applicationIP', 65444))
serverSocket.bind(('applicationIp', 65444))
serverSocket.listen(10)
print("Started data listener.")
while True:
......@@ -71,7 +71,7 @@ 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, 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>
Class describing a connected RTIS Client.
......@@ -106,6 +106,18 @@ Class describing a connected RTIS Client.
<p class="attr">
The state of the sonar behaviour of an RTIS Client. 0 = passive | 1 = active
</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>
<p class="attr">
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.
<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>
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
<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>
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
<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**
<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>
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.
## **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/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>
Class describing all the recording and processing settings related to RTIS devices.
......@@ -285,7 +322,7 @@ 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/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>
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
## **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/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>
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.
## **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/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>
A method to connect to the RTIS Server and get all the active connected RTIS Clients
......@@ -406,7 +443,7 @@ Usefull 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/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>
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.
## **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/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>
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.
## **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/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>
A method to connect to the RTIS Server tell all connected RTIS Clients to set their sonar behaviour to passive.
......@@ -498,4 +535,3 @@ Usefull for connected applications.
</tr>
</tbody>
</table>
\ No newline at end of file