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......@@ -44,7 +44,7 @@ import matplotlib.pyplot as plt
import numpy as np
# Open a connection to the RTIS Device over the default serial port.
success_connect = rtisdev.open_connection(allowDebugMode=True)
success_connect = rtisdev.open_connection()
# Set the default recording settings with 163840 samples and a call sweep between 25 and 50 KHz.
success_settings_record = rtisdev.set_recording_settings(premade="default_25_50")
......@@ -72,7 +72,7 @@ processed_measurement = rtisdev.process_measurement(measurement)
new_processed_measurement = rtisdev.get_processed_measurement(True)
plt.imshow(np.transpose(new_processed_measurement.processedData), cmap="hot", interpolation='nearest')
# Plot the 2D energyscape of this processed measurement.
# Plot the 2D energyscape of this processed measurement using matplotlib.
plt.xlabel("Directions (degrees)")
plt.ylabel("Range (meters)")
indexes_x = np.arange(0, new_processed_measurement.processedData.shape[0], 20)
......@@ -179,6 +179,7 @@ Can be converted to a dictionary.
</table>
## **MeasureExternalTriggerQueueThread**
<p class="func-header">
......@@ -419,7 +420,7 @@ Main thread function to run continuously. Should not be used. Use `start()` inst
<i>def</i> <b>open_connection</b>(<i>port: string='/dev/ttyACM0', allowDebugMode: bool=False </i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L1921">[source]</a>
</p>
The function to connect to the port of the RTIS Hardware.
Connect to the port of the RTIS Hardware.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -454,7 +455,9 @@ The function to connect to the port of the RTIS Hardware.
<i>def</i> <b>close_connection</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L1982">[source]</a>
</p>
The public function to manually close the connection to the RTIS device.
Manually close the connection to the RTIS device.
Normally, when your script ends without exceptions the connection will automatically
be closed gracefully.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -475,10 +478,10 @@ The public function to manually close the connection to the RTIS device.
## **set_recording_settings**
<p class="func-header">
<i>def</i> <b>set_recording_settings</b>(<i>premade: str=None, jsonPath: str=None, callCustom: str=None, microphoneSamples: int=163840, microphoneSampleFrequency: int=4500000, callSampleFrequency: int=450000, callDuration: float=2.5, callMinimumFrequency: int=25000, callMaximumFrequency: int=50000, callEmissions: int=1, configName: str='' </i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2009">[source]</a>
<i>def</i> <b>set_recording_settings</b>(<i>premade: str=None, jsonPath: str=None, callCustom: str=None, microphoneSamples: int=163840, microphoneSampleFrequency: int=4500000, callSampleFrequency: int=450000, callDuration: float=2.5, callMinimumFrequency: int=25000, callMaximumFrequency: int=50000, callEmissions: int=1, configName: str='' </i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2011">[source]</a>
</p>
The function to set the recording settings. All parameters are optional and most have default values.
Set the recording settings. All parameters are optional and most have default values.
Please read their decription carefully.
<table class="docutils field-list field-table" frame="void" rules="none">
......@@ -608,10 +611,10 @@ rtisdev.set_processing_settings(callCustom="mycall.csv")
## **set_processing_settings**
<p class="func-header">
<i>def</i> <b>set_processing_settings</b>(<i>premade: str=None, jsonPath: str=None, customPath: str=None, microphoneLayout: str='eRTIS_v3D1', mode: int=1, directions: int=181, minRange: float=0.5, maxRange: float=5, microphoneSampleFrequency: int=4500000, pdmEnable: bool=True, matchedFilterEnable: bool=True, beamformingEnable: bool=True, enveloppeEnable: bool=True, cleanEnable: bool=True, preloadToggle: bool =True</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2191">[source]</a>
<i>def</i> <b>set_processing_settings</b>(<i>premade: str=None, jsonPath: str=None, customPath: str=None, microphoneLayout: str='eRTIS_v3D1', mode: int=1, directions: int=181, minRange: float=0.5, maxRange: float=5, microphoneSampleFrequency: int=4500000, pdmEnable: bool=True, matchedFilterEnable: bool=True, beamformingEnable: bool=True, enveloppeEnable: bool=True, cleanEnable: bool=True, preloadToggle: bool =True</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2193">[source]</a>
</p>
The function to set the processing settings. All parameters are optional and most have default values.
Set the processing settings. All parameters are optional and most have default values.
Please read their decription carefully.
<table class="docutils field-list field-table" frame="void" rules="none">
......@@ -638,7 +641,7 @@ Please read their decription carefully.
</p>
<b>mode : <i>int (default = 1)</i></b>
<p class="attr">
Defines if using 3D or 2D processing. If set to 1 a 2D horizontal planedirection layout will be generated. When set to 0 a 3D equal distance direction layout will be generated.
Defines if using 3D or 2D processing. If set to 1 a 2D horizontal plane layout will be generated. When set to 0 a 3D equal distance layout will be generated for the frontal hemisphere of the sensor.
</p>
<b>directions : <i>int (default = 181)</i></b>
<p class="attr">
......@@ -738,7 +741,7 @@ Create settings from a json file with full processing settings on.
This expects a json to be available with a format such as seen below.
Here we use manually generated processing files.
They have to be available on these paths and have the right format.
An example of such custom processing files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/tree/master/config/premadeSettings/processing).
An example of such custom processing files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/processing/).
```json
{
......@@ -762,7 +765,7 @@ rtisdev.set_processing_settings(mode = 0, directions = 1337, minRange = 0.5, max
Load in manually generated processing files. This requires 3 files to exist in the given path:
delaymatrix.csv, directions.csv and ranges.csv.
An example of such custom processing files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/tree/master/config/premadeSettings/processing).
An example of such custom processing files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/processing/).
```python
rtisdev.set_processing_settings(customPath="mysettingsfolder")
......@@ -771,10 +774,10 @@ rtisdev.set_processing_settings(customPath="mysettingsfolder")
## **get_current_settings**
<p class="func-header">
<i>def</i> <b>get_current_settings</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2398">[source]</a>
<i>def</i> <b>get_current_settings</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2401">[source]</a>
</p>
The function returns the [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) object of the current settings for processing and recording.
Returns the [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) object of the current settings for processing and recording.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -795,10 +798,10 @@ The function returns the [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-so
## **clear_current_settings**
<p class="func-header">
<i>def</i> <b>clear_current_settings</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2415">[source]</a>
<i>def</i> <b>clear_current_settings</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2418">[source]</a>
</p>
The function to clear the current applied [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) configuration.
Clear the current applied [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) configuration.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -812,128 +815,16 @@ The function to clear the current applied [`RTISSettings`](https://cosysgit.uant
## **get_settings**
<p class="func-header">
<i>def</i> <b>get_settings</b>(<i>recordingPremade: str=None, recordingJsonPath: str=None, recordingCallCustom: str=None, processingPremade: str=None, processingJsonPath: str=None, processingCustomPath: str=None, microphoneSamples: int=163840, microphoneSampleFrequency: int=4500000, callSampleFrequency: int=450000, callDuration: float=2.5, callMinimumFrequency: int=25000, callMaximumFrequency: int=50000, callEmissions: int=1, microphoneLayout: str='eRTIS_v3D1', mode: int=1, directions: int=181, minRange: float=0.5, maxRange: float=5, pdmEnable: bool=True, matchedFilterEnable: bool=True, beamformingEnable: bool=True, enveloppeEnable: bool=True, cleanEnable: bool=True, preloadToggle: bool =True, configName: str=''</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2424">[source]</a>
<i>def</i> <b>get_settings</b>(<i>recordingPremade: str=None, recordingJsonPath: str=None, recordingCallCustom: str=None, processingPremade: str=None, processingJsonPath: str=None, processingCustomPath: str=None, microphoneSamples: int=163840, microphoneSampleFrequency: int=4500000, callSampleFrequency: int=450000, callDuration: float=2.5, callMinimumFrequency: int=25000, callMaximumFrequency: int=50000, callEmissions: int=1, microphoneLayout: str='eRTIS_v3D1', mode: int=1, directions: int=181, minRange: float=0.5, maxRange: float=5, pdmEnable: bool=True, matchedFilterEnable: bool=True, beamformingEnable: bool=True, enveloppeEnable: bool=True, cleanEnable: bool=True, preloadToggle: bool =True, configName: str=''</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2427">[source]</a>
</p>
The function returns a [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) object with all chosen recording and processing settings based on the
given arguments. It will not set these settings to the RTIS Device or activate processing. It only creates
the settings object.
<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>Parameters:</b></td>
<td class="field-body" width="100%"><b>recordingPremade : <i>String (default = Not used)</i></b>
<p class="attr">
When using get_premade_recording_settings() you can get a set of premade configurations with a unique identifier as name. To use one of those use that identifier name with this argument.
</p>
<b>recordingJsonPath : <i>String (default = Not used)</i></b>
<p class="attr">
One can also store the recording settings in a json file. To load the recording settings from a json file, please use the absolute path to this json file with this argument. See the examples for more information.
</p>
<b>recordingCallCustom : <i>String (default = Not used)</i></b>
<p class="attr">
One can use a custom call pulse to emmit from the RTIS Device in active mode. To load the custom pulse, use the absolute path to the csv file with this argument. See the examples for more information.
</p>
<b>processingPremade : <i>String (default = Not used)</i></b>
<p class="attr">
When using get_premade_processing_settings() you can get a set of premade configurations with a unique identifier as name. To use one of those use that identifier name with this argument.
</p>
<b>processingJsonPath : <i>String (default = Not used)</i></b>
<p class="attr">
One can also store the processing settings in a json file. To load the processing settings from a json file, please use the absolute path to this json file with this argument. See the examples for more information.
</p>
<b>processingCustomPath : <i>String (default = Not used)</i></b>
<p class="attr">
One can use a custom set of processing files (delaymatrix.csv, directions.csv and ranges.csv). To load the custom files use the absolute path to the folder where these csvs are located. See the examples for more information.
</p>
<b>microphoneSamples : <i>int (default = 163840)</i></b>
<p class="attr">
The amount of microphone samples. Must be dividable by 32768.
</p>
<b>microphoneSampleFrequency : <i>int (default = 4500000)</i></b>
<p class="attr">
The microphone sample frequency (without subsampling of PDM). The frequency must be 4.5 MHz(ultrasound) or 1.125 MHz(audible) depending on the wanted mode.
</p>
<b>callSampleFrequency : <i>int (default = 450000)</i></b>
<p class="attr">
The chosen sample frequency of the call. Must by larger then 160 KHz and smaller then 2 MHz.
</p>
<b>callDuration : <i>float (default = 2.5)</i></b>
<p class="attr">
The duration in miliseconds of the call.
</p>
<b>callMinimumFrequency : <i>int (default = 25000)</i></b>
<p class="attr">
The minimum frequency in Hz of the call sweep used for generating the pulse.
</p>
<b>callMaximumFrequency : <i>int (default = 50000)</i></b>
<p class="attr">
The maximum frequency in Hz of the call sweep used for generating the pulse.
</p>
<b>callEmissions : <i>int (default = 1)</i></b>
<p class="attr">
The amount of times the pulse should be emitted during one measurement.
</p>
<b>microphoneLayout : <i>String (default = eRTIS_v3D1)</i></b>
<p class="attr">
Identifier of the microphone layout used for this configuration.
</p>
<b>mode : <i>int (default = 1)</i></b>
<p class="attr">
Defines if using 3D or 2D processing. If set to 1 a 2D horizontal planedirection layout will be generated. When set to 0 a 3D equal distance direction layout will be generated.
</p>
<b>directions : <i>int (default = 181)</i></b>
<p class="attr">
Defines how many directions the layout should generate.
</p>
<b>minRange : <i>float (default = 0.5)</i></b>
<p class="attr">
The minimum distance in meters of the energyscape to generate.
</p>
<b>maxRange : <i>float (default = 5)</i></b>
<p class="attr">
The maximum distance in meters of the energyscape to generate.
</p>
<b>pdmEnable : <i>bool (default = True)</i></b>
<p class="attr">
Toggle for PDM filtering part of the RTIS processing pipeline using RTIS CUDA.
</p>
<b>matchedFilterEnable : <i>bool (default = True)</i></b>
<p class="attr">
Toggle for matched filter part of the RTIS processing pipeline using RTIS CUDA.
</p>
<b>beamformingEnable : <i>bool (default = True)</i></b>
<p class="attr">
Toggle for beamforming part of the RTIS processing pipeline using RTIS CUDA.
</p>
<b>enveloppeEnable : <i>bool (default = True)</i></b>
<p class="attr">
Toggle for enveloppe part of the RTIS processing pipeline using RTIS CUDA.
</p>
<b>cleanEnable : <i>bool (default = True)</i></b>
<p class="attr">
Toggle for cleaning part of the RTIS processing pipeline using RTIS CUDA.
</p>
<b>preloadToggle : <i>bool (default = True)</i></b>
<p class="attr">
Toggle for using RTIS CUDA preloading
</p>
<b>configName : <i>String (default = "")</i></b>
<p class="attr">
String to identify these settings with. If set to empty (as it is by default), it will become the name set for recordingPremade. If no premade recording settings are used it will default to <em>RTISSettings</em>.
</p></td>
</tr>
<tr class="field">
<th class="field-name"><b>Returns:</b></td>
<td class="field-body" width="100%"><b>settings : <i>RTISSettings</i></b>
<p class="attr">
The complete class containing all RTIS settings for recording and processing. Returns 'None' or will raise an exception on failure.
</p></td>
</tr>
</tbody>
</table>
......@@ -941,11 +832,11 @@ the settings object.
## **set_settings_from_class**
<p class="func-header">
<i>def</i> <b>set_settings_from_class</b>(<i>settings: RTISSettings</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2624">[source]</a>
<i>def</i> <b>set_settings_from_class</b>(<i>settings: RTISSettings</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2629">[source]</a>
</p>
The high level function to set the wanted settings from an [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) object. These can be created
with the [`get_settings()`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#get_settings) functions.
Set the wanted settings from an [`RTISSettings`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtissettings) object. These can be created
with the [[`get_settings()`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#get_settings)](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#get_settings) or [`get_current_settings()`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#get_current_settings) methods.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -973,10 +864,10 @@ with the [`get_settings()`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev
## **get_premade_processing_settings_list**
<p class="func-header">
<i>def</i> <b>get_premade_processing_settings_list</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2653">[source]</a>
<i>def</i> <b>get_premade_processing_settings_list</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2658">[source]</a>
</p>
The function to get a list of names of all the available premade settings for processing.
Get a list of names of all the available premade settings for processing.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -997,10 +888,10 @@ The function to get a list of names of all the available premade settings for pr
## **get_premade_recording_settings_list**
<p class="func-header">
<i>def</i> <b>get_premade_recording_settings_list</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2668">[source]</a>
<i>def</i> <b>get_premade_recording_settings_list</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2673">[source]</a>
</p>
The function to get a list of names of all the available premade settings for recording.
Get a list of names of all the available premade settings for recording.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1021,11 +912,13 @@ The function to get a list of names of all the available premade settings for re
## **prepare_processing**
<p class="func-header">
<i>def</i> <b>prepare_processing</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2682">[source]</a>
<i>def</i> <b>prepare_processing</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2687">[source]</a>
</p>
The high level function to start the CUDA workers for looped measurements. Not required for processing.
But speeds up the workflow significantly if doing many measurements.
Start the CUDA workers for looped measurements with processing enabled.
It is not required to run this method for doing processing but it will speed up the workflow
significantly if doing many processed measurements at a high frequency.
Furthermore, if using the default settings for processing this is enabled already.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1046,10 +939,12 @@ But speeds up the workflow significantly if doing many measurements.
## **unload_processing**
<p class="func-header">
<i>def</i> <b>unload_processing</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2707">[source]</a>
<i>def</i> <b>unload_processing</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2714">[source]</a>
</p>
The high level function to stop the CUDA workers. Only required if actually using preloading of workers.
Stop all CUDA workers.
Only required if actually using preloading of CUDA workers. CUDA workers are also automatically
stopped when your script ends.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1070,10 +965,11 @@ The high level function to stop the CUDA workers. Only required if actually usin
## **get_raw_measurement**
<p class="func-header">
<i>def</i> <b>get_raw_measurement</b>(<i>behaviour: bool=False</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2720">[source]</a>
<i>def</i> <b>get_raw_measurement</b>(<i>behaviour: bool=False</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2729">[source]</a>
</p>
The high level function to start an RTIS sonar measurement and return the raw data in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
Start an RTIS sonar measurement and return the raw data in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
This means that it will only record and not perform any processing.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1083,7 +979,7 @@ The high level function to start an RTIS sonar measurement and return the raw da
<th class="field-name"><b>Parameters:</b></td>
<td class="field-body" width="100%"><b>behaviour : <i>bool</i></b>
<p class="attr">
A configuration toggle to read the required sonar behaviour (active or passive).
A configuration toggle to set the required sonar behaviour (active or passive).
</p></td>
</tr>
<tr class="field">
......@@ -1109,11 +1005,13 @@ measurement = rtisdev.get_raw_measurement(True)
## **get_signal_measurement**
<p class="func-header">
<i>def</i> <b>get_signal_measurement</b>(<i>behaviour: bool=False</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2752">[source]</a>
<i>def</i> <b>get_signal_measurement</b>(<i>behaviour: bool=False</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2762">[source]</a>
</p>
The high level function to start an RTIS sonar measurement and process it with only PDM filtering
and subsampling to get the (microphone) signals return them in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
Start an RTIS sonar measurement and process it with only PDM filtering
and subsampling enabled to get the microphone signals returned in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
This means it will overwrite the enabled and disabled processing steps that the user might
have set. But will still use the other chosen recording and processing settings.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1123,7 +1021,7 @@ and subsampling to get the (microphone) signals return them in an [`RTISMeasurem
<th class="field-name"><b>Parameters:</b></td>
<td class="field-body" width="100%"><b>behaviour : <i>bool</i></b>
<p class="attr">
A configuration toggle to read the required sonar behaviour (active or passive).
A configuration toggle to set the required sonar behaviour (active or passive).
</p></td>
</tr>
<tr class="field">
......@@ -1150,11 +1048,11 @@ signal_measurement = rtisdev.get_signal_measurement(True)
## **get_processed_measurement**
<p class="func-header">
<i>def</i> <b>get_processed_measurement</b>(<i>behaviour: bool=False</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2790">[source]</a>
<i>def</i> <b>get_processed_measurement</b>(<i>behaviour: bool=False</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2802">[source]</a>
</p>
The high level function to start an RTIS sonar measurement and process it and return the raw and processed data
in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
Start an RTIS sonar measurement and process it and return the raw and processed data
in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object. This will use the chosen recording and processing settings.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1164,14 +1062,14 @@ in an [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-
<th class="field-name"><b>Parameters:</b></td>
<td class="field-body" width="100%"><b>behaviour : <i>bool</i></b>
<p class="attr">
A configuration toggle to read the required sonar behaviour (active or passive).
A configuration toggle to set the required sonar behaviour (active or passive).
</p></td>
</tr>
<tr class="field">
<th class="field-name"><b>Returns:</b></td>
<td class="field-body" width="100%"><b>measurement : <i>RTISMeasurement</i></b>
<p class="attr">
The data class holding the processed measurement of the RTIS device under <code>measurement.processedData</code> and the raw binary data under <code>measurement.rawData</code>.
The data class holding the processed measurement (the microphone signals) of the RTIS device under <code>measurement.processedData</code> and the raw binary data under <code>measurement.rawData</code>.
</p></td>
</tr>
</tbody>
......@@ -1191,11 +1089,11 @@ processed_measurement = rtisdev.get_processed_measurement(True)
## **process_measurement**
<p class="func-header">
<i>def</i> <b>process_measurement</b>(<i>measurement: RTISMeasurement</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2828">[source]</a>
<i>def</i> <b>process_measurement</b>(<i>measurement: RTISMeasurement</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2841">[source]</a>
</p>
The high level function to process a raw RTIS sonar measurement from a [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object
and return the raw and processed data in a new [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
Process a previously recorded raw RTIS sonar measurement from a [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object
and return same measurement with processed data in a new [`RTISMeasurement`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#rtismeasurement) object.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1210,7 +1108,7 @@ and return the raw and processed data in a new [`RTISMeasurement`](https://cosys
</tr>
<tr class="field">
<th class="field-name"><b>Returns:</b></td>
<td class="field-body" width="100%"><b>packageOut : <i>RTISMeasurement object</i></b>
<td class="field-body" width="100%"><b>measurement : <i>RTISMeasurement object</i></b>
<p class="attr">
The data class holding the processed measurement of the RTIS device under <code>measurement.processedData</code> and the raw binary data under <code>measurement.rawData</code>.
</p></td>
......@@ -1234,10 +1132,10 @@ processed_measurement = rtisdev.process_measurement(measurement)
## **set_counter**
<p class="func-header">
<i>def</i> <b>set_counter</b>(<i>newCount: int=0</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2867">[source]</a>
<i>def</i> <b>set_counter</b>(<i>newCount: int=0</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2880">[source]</a>
</p>
High level function to set the internal measurement counter of the sonar hardware.
Set the internal measurement counter of the sonar hardware.
<table class="docutils field-list field-table" frame="void" rules="none">
<col class="field-name" />
......@@ -1265,7 +1163,7 @@ High level function to set the internal measurement counter of the sonar hardwar
## **set_behaviour**
<p class="func-header">
<i>def</i> <b>set_behaviour</b>(<i>mode: bool</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2890">[source]</a>
<i>def</i> <b>set_behaviour</b>(<i>mode: bool</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2903">[source]</a>
</p>
Set the behaviour of the sonar hardware to passive or active. This is only necessary if using external
......@@ -1299,7 +1197,7 @@ argument to define the sonar behaviour.
## **get_firmware_version**
<p class="func-header">
<i>def</i> <b>get_firmware_version</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2915">[source]</a>
<i>def</i> <b>get_firmware_version</b>(<i></i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2928">[source]</a>
</p>
Get the firmware version of the internal RTIS firmware used on the device.
......@@ -1323,7 +1221,7 @@ Get the firmware version of the internal RTIS firmware used on the device.
## **create_measure_external_trigger_queue**
<p class="func-header">
<i>def</i> <b>create_measure_external_trigger_queue</b>(<i>dataQueue </i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2930">[source]</a>
<i>def</i> <b>create_measure_external_trigger_queue</b>(<i>dataQueue </i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2943">[source]</a>
</p>
This will create and return a Thread that will be waiting for an external trigger to measure from
......@@ -1368,7 +1266,7 @@ measure_thread.join()
## **create_measure_external_trigger_callback**
<p class="func-header">
<i>def</i> <b>create_measure_external_trigger_callback</b>(<i>callback: Callable[[ RTISMeasurement], any]</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2968">[source]</a>
<i>def</i> <b>create_measure_external_trigger_callback</b>(<i>callback: Callable[[ RTISMeasurement], any]</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L2981">[source]</a>
</p>
This will create and return a Thread that will be waiting for an external trigger to measure from
......@@ -1419,7 +1317,7 @@ measure_thread.join()
## **toggle_amplifier**
<p class="func-header">
<i>def</i> <b>toggle_amplifier</b>(<i>mode: bool</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3015">[source]</a>
<i>def</i> <b>toggle_amplifier</b>(<i>mode: bool</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3028">[source]</a>
</p>
Enable/disable the high voltage amplifier's step up controller.
......@@ -1451,7 +1349,7 @@ It is enabled by default so has to be manually disabled if wanted. This will sav
## **toggle_external_triggers**
<p class="func-header">
<i>def</i> <b>toggle_external_triggers</b>(<i>mode: bool</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3038">[source]</a>
<i>def</i> <b>toggle_external_triggers</b>(<i>mode: bool</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3051">[source]</a>
</p>
Enable/disable external triggers being able to start a measurement on the RTIS device.
......@@ -1483,7 +1381,7 @@ They are enabled by default so have to be manually disabled.
## **reset_device**
<p class="func-header">
<i>def</i> <b>reset_device</b>(<i>stm32pin: int=7</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3061">[source]</a>
<i>def</i> <b>reset_device</b>(<i>stm32pin: int=7</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3074">[source]</a>
</p>
The function to reset the RTIS device hardware.
......@@ -1514,7 +1412,7 @@ The function to reset the RTIS device hardware.
## **set_log_mode**
<p class="func-header">
<i>def</i> <b>set_log_mode</b>(<i>mode: int</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3109">[source]</a>
<i>def</i> <b>set_log_mode</b>(<i>mode: int</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3122">[source]</a>
</p>
The function to set the logging level of the RTIS Dev module.
......@@ -1538,7 +1436,7 @@ The function to set the logging level of the RTIS Dev module.
## **set_custom_logger**
<p class="func-header">
<i>def</i> <b>set_custom_logger</b>(<i>customLogger: logging.Logger</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3139">[source]</a>
<i>def</i> <b>set_custom_logger</b>(<i>customLogger: logging.Logger</i>) <a class="src-href" target="_blank" href="https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/rtisdev/RTISDev.py#L3152">[source]</a>
</p>
The function to set a custom logger to be used by RTIS Dev.
......@@ -1555,4 +1453,5 @@ The function to set a custom logger to be used by RTIS Dev.
</p></td>
</tr>
</tbody>
</table>
\ No newline at end of file
</table>