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Here is a small example that goes over most basic steps:
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```python
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>>> import rtisdev
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>>> import matplotlib.pyplot as plt
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>>> import numpy as np
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import rtisdev
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import matplotlib.pyplot as plt
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import numpy as np
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```
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Open a connection to the RTIS Device over the default serial port:
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```python
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>>> success_connect = rtisdev.open_connection()
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success_connect = rtisdev.open_connection()
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```
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Set the default recording settings with 163840 samples and a call sweep between 25 and 50 KHz:
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```python
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>>> success_settings_record = rtisdev.set_recording_settings(premade="default_25_50")
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success_settings_record = rtisdev.set_recording_settings(premade="default_25_50")
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```
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Enable all processing steps and preload them with RTIS CUDA. This will produce a 2D energyscape with 181 directions
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with a maximum distance of 5m:
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```python
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>>> success_settings_processing = rtisdev.set_processing_settings(premade="2D_5m_181")
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success_settings_processing = rtisdev.set_processing_settings(premade="2D_5m_181")
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```
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Get the used settings as a RTISSettings object:
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```python
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>>> settings = rtisdev.get_current_settings()
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settings = rtisdev.get_current_settings()
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```
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Get an ACTIVE measurement (protect your ears!) in raw data:
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```python
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>>> measurement = rtisdev.get_raw_measurement(True)
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measurement = rtisdev.get_raw_measurement(True)
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```
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Store the raw data of that measurement as a binary file. This can be opened in another application for further work:
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```python
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>>> raw_data_sonar = measurement.rawData.tobytes()
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>>> file_handle_data = open("test_measurement_" + str(measurement.index) + ".bin", "wb")
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>>> file_handle_data.write(raw_data_sonar)
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>>> file_handle_data.close()
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raw_data_sonar = measurement.rawData.tobytes()
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file_handle_data = open("test_measurement_" + str(measurement.index) + ".bin", "wb")
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file_handle_data.write(raw_data_sonar)
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file_handle_data.close()
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```
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Process that raw measurement to an energyscape using the configuration chosen earlier:
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```python
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>>> processed_measurement = rtisdev.process_measurement(measurement)
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processed_measurement = rtisdev.process_measurement(measurement)
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```
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Get a new ACTIVE measurement (protect your ears!) in both raw and processed data formats directly:
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```python
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>>> new_processed_measurement = rtisdev.get_processed_measurement(True)
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>>> plt.imshow(np.transpose(new_processed_measurement.processedData), cmap="hot", interpolation='nearest')
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new_processed_measurement = rtisdev.get_processed_measurement(True)
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plt.imshow(np.transpose(new_processed_measurement.processedData), cmap="hot", interpolation='nearest')
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```
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Plot the 2D energyscape of this processed measurement using matplotlib:
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```python
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>>> plt.xlabel("Directions (degrees)")
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>>> plt.ylabel("Range (meters)")
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>>> indexes_x = np.arange(0, new_processed_measurement.processedData.shape[0], 20)
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>>> labels_x = np.round(np.rad2deg(settings.directions[indexes_x, 0])).astype(int)
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>>> indexes_y = np.arange(0, new_processed_measurement.processedData.shape[1], 100)
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>>> labels_y = settings.ranges[indexes_y]
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>>> fmt_x = lambda x: "{:.0f}°".format(x)
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>>> fmt_y = lambda x: "{:.2f}m".format(x)
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>>> plt.xticks(indexes_x, [fmt_x(i) for i in labels_x])
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>>> plt.yticks(indexes_y, [fmt_y(i) for i in labels_y])
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>>> plt.title("RTIS Dev - 2D Energyscape Example")
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>>> ax = plt.gca()
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>>> ax.invert_yaxis()
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>>> ax.set_aspect("auto")
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>>> plt.show()
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plt.xlabel("Directions (degrees)")
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plt.ylabel("Range (meters)")
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indexes_x = np.arange(0, new_processed_measurement.processedData.shape[0], 20)
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labels_x = np.round(np.rad2deg(settings.directions[indexes_x, 0])).astype(int)
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indexes_y = np.arange(0, new_processed_measurement.processedData.shape[1], 100)
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labels_y = settings.ranges[indexes_y]
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fmt_x = lambda x: "{:.0f}°".format(x)
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fmt_y = lambda x: "{:.2f}m".format(x)
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plt.xticks(indexes_x, [fmt_x(i) for i in labels_x])
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plt.yticks(indexes_y, [fmt_y(i) for i in labels_y])
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plt.title("RTIS Dev - 2D Energyscape Example")
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ax = plt.gca()
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ax.invert_yaxis()
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ax.set_aspect("auto")
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plt.show()
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```
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Get a new ACTIVE measurement (protect your ears!) in both raw and microphone signal format directly:
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```python
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>>> signal_measurement = rtisdev.get_signal_measurement(True)
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signal_measurement = rtisdev.get_signal_measurement(True)
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```
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Plot the microphone signals of this measurement:
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```python
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>>> fig, axs = plt.subplots(8, 4, figsize=(10,16), constrained_layout = True)
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>>> for microphone_index_i in range(0, 8):
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... for microphone_index_j in range(0, 4):
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... axs[microphone_index_i, microphone_index_j].set_title(str(microphone_index_j+(microphone_index_i*4)+1))
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... axs[microphone_index_i, microphone_index_j].plot(signal_measurement.processedData[microphone_index_j+(microphone_index_i*4),:])
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... if microphone_index_j != 0:
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... plt.setp(axs[microphone_index_i, microphone_index_j], yticklabels=[])
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... if microphone_index_i != 7:
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... plt.setp(axs[microphone_index_i, microphone_index_j], xticklabels=[])
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... if microphone_index_i == 7:
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... axs[microphone_index_i, microphone_index_j].set_xlabel("Time (Samples)")
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... if microphone_index_j == 0:
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... axs[microphone_index_i, microphone_index_j].set_ylabel("Amplitude")
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>>> plt.show()
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>>> fig.suptitle("RTIS Dev - Microphone Signals")
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fig, axs = plt.subplots(8, 4, figsize=(10,16), constrained_layout = True)
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for microphone_index_i in range(0, 8):
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for microphone_index_j in range(0, 4):
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axs[microphone_index_i, microphone_index_j].set_title(str(microphone_index_j+(microphone_index_i*4)+1))
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axs[microphone_index_i, microphone_index_j].plot(signal_measurement.processedData[microphone_index_j+(microphone_index_i*4),:])
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if microphone_index_j != 0:
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plt.setp(axs[microphone_index_i, microphone_index_j], yticklabels=[])
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if microphone_index_i != 7:
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plt.setp(axs[microphone_index_i, microphone_index_j], xticklabels=[])
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if microphone_index_i == 7:
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axs[microphone_index_i, microphone_index_j].set_xlabel("Time (Samples)")
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if microphone_index_j == 0:
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axs[microphone_index_i, microphone_index_j].set_ylabel("Amplitude")
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plt.show()
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fig.suptitle("RTIS Dev - Microphone Signals")
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```
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# **Classes**
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| ... | ... | @@ -393,7 +393,7 @@ Please read their decription carefully. |
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You can get the available premade settings with [`get_premade_recording_settings_list()`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#get_premade_processing_settings_list).
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Create settings from a premade setup:
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```python
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>>> rtisdev.set_recording_settings(premade="short_20_80")
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rtisdev.set_recording_settings(premade="short_20_80")
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```
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Create settings from a json file.
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More examples can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/recording/).
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An example json:
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```json
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{
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"microphoneSamples" : 294912,
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"microphoneSampleFrequency" : 4500000,
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"callMaximumFrequency" : 50000,
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"callEmissions": 1
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}
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```
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```python
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>>> rtisdev.set_recording_settings(jsonPath="./myrecordingsettings.json")
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rtisdev.set_recording_settings(jsonPath="./myrecordingsettings.json")
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```
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Create settings from a json file.
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It has to be available on the given path and have the right format.
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An example of such a custom call can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/recording/flutter.csv):
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```json
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{
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"microphoneSamples" : 16777216,
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"microphoneSampleFrequency" : 4500000,
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"callCustom": "mycall.csv",
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"callEmissions": 1
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}
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```
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```python
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>>> rtisdev.set_recording_settings(jsonPath="./myrecordingsettings.json")
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rtisdev.set_recording_settings(jsonPath="./myrecordingsettings.json")
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```
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Create full custom settings with the arguments. All arguments that aren't filled in will use default values:
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```python
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>>> rtisdev.set_processing_settings(microphoneSamples=294912, callDuration=3, callMinimumFrequency=25000, callMaximumFrequency=80000)
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rtisdev.set_processing_settings(microphoneSamples=294912, callDuration=3, callMinimumFrequency=25000, callMaximumFrequency=80000)
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```
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Load in manually generated call. This requires the file to exist on the path and have the right format.
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An example of such a custom call can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/recording/flutter.csv):
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```python
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>>> rtisdev.set_processing_settings(callCustom="mycall.csv")
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rtisdev.set_processing_settings(callCustom="mycall.csv")
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```
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## **set_processing_settings**
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Create settings from a premade setup with all processing steps on:
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```python
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>>> rtisdev.set_processing_settings(premade="3D_5m_3000", pdmEnable=True, matchedFilterEnable=True, beamformingEnable=True, enveloppeEnable=True, cleanEnable=True, preloadToggle=True)
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rtisdev.set_processing_settings(premade="3D_5m_3000", pdmEnable=True, matchedFilterEnable=True, beamformingEnable=True, enveloppeEnable=True, cleanEnable=True, preloadToggle=True)
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```
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You don't have to define all the processing steps, as they are all on by default:
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```python
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>>> rtisdev.set_processing_settings(premade="3D_5m_3000")
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rtisdev.set_processing_settings(premade="3D_5m_3000")
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```
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Create settings from a premade setup with only part of the processing steps enabled and no preloading.
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You can get the available premade settings with [`get_premade_recording_settings_list()`](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/wikis/home#get_premade_processing_settings_list):
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```python
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>>> rtisdev.set_processing_settingsde="2D_5m_181", pdmEnable=True, matchedFilterEnable=True, beamformingEnable=False, enveloppeEnable=False, cleanEnable=False)
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rtisdev.set_processing_settingsde="2D_5m_181", pdmEnable=True, matchedFilterEnable=True, beamformingEnable=False, enveloppeEnable=False, cleanEnable=False)
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```
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Create settings from a json file with full processing settings on.
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An example of such json files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/processing/).
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Here we use auto-generated processing files:
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```json
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{
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"microphoneLayout" : "eRTIS_v3D1",
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"minRange" : 0.5,
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"directions": 181,
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"2D": 1
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}
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```
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```python
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>>> rtisdev.set_processing_settings(jsonPath="./myprocessingsettings.json")
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rtisdev.set_processing_settings(jsonPath="./myprocessingsettings.json")
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```
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Create settings from a json file with full processing settings on.
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They have to be available on these paths and have the right format.
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An example of such custom processing files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/processing/) as well:
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```json
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{
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"microphoneLayout" : "eRTIS_v3D1",
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"directionsCustom": "./directions.csv",
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"delayMatrixCustom": ".premade/delaymatrix.csv",
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"rangesCustom": ".premade/ranges.csv"
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}
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```
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```python
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>>> rtisdev.set_processing_settings(jsonPath="./myprocessingsettings.json")
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rtisdev.set_processing_settings(jsonPath="./myprocessingsettings.json")
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```
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Create full custom settings with the arguments. All arguments that aren't filled in will use default values:
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```python
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>>> rtisdev.set_processing_settings(mode = 0, directions = 1337, minRange = 0.5, maxRange = 10)
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rtisdev.set_processing_settings(mode = 0, directions = 1337, minRange = 0.5, maxRange = 10)
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```
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Load in manually generated processing files. This requires 3 files to exist in the given path:
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| ... | ... | @@ -597,7 +605,7 @@ microphoneSampleFrequency values correctly as these are absent in these csv file |
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An example of such custom processing files can be found [here](https://cosysgit.uantwerpen.be/rtis-software/rtisdev/-/blob/master/config/premadeSettings/processing/):
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```python
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>>> rtisdev.set_processing_settings(customPath="mysettingsfolder")
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rtisdev.set_processing_settings(customPath="mysettingsfolder")
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```
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## **get_current_settings**
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| ... | ... | @@ -967,10 +975,10 @@ This means that it will only record and not perform any processing. |
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Create a connection, set recording settings and make a raw measurement with passive behaviour:
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```python
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>>> import rtisdev
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>>> rtisdev.open_connection()
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>>> rtisdev.set_recording_settings(premade="default_25_50")
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>>> measurement = rtisdev.get_raw_measurement(True)
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import rtisdev
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rtisdev.open_connection()
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rtisdev.set_recording_settings(premade="default_25_50")
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measurement = rtisdev.get_raw_measurement(True)
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```
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## **get_signal_measurement**
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| ... | ... | @@ -1010,11 +1018,11 @@ have set. But will still use the other chosen recording and processing settings. |
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Create a connection, set recording and processing settings and make a signal measurement with active behaviour:
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```python
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>>> import rtisdev
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>>> rtisdev.open_connection()
|
|
|
|
>>> rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
>>> rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
>>> signal_measurement = rtisdev.get_signal_measurement(True)
|
|
|
|
import rtisdev
|
|
|
|
rtisdev.open_connection()
|
|
|
|
rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
signal_measurement = rtisdev.get_signal_measurement(True)
|
|
|
|
```
|
|
|
|
|
|
|
|
## **get_processed_measurement**
|
| ... | ... | @@ -1053,11 +1061,11 @@ Create a connection, set recording and processing settings and make |
|
|
|
a processed measurement with active behaviour:
|
|
|
|
|
|
|
|
```python
|
|
|
|
>>> import rtisdev
|
|
|
|
>>> rtisdev.open_connection()
|
|
|
|
>>> rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
>>> rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
>>> processed_measurement = rtisdev.get_processed_measurement(True)
|
|
|
|
import rtisdev
|
|
|
|
rtisdev.open_connection()
|
|
|
|
rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
processed_measurement = rtisdev.get_processed_measurement(True)
|
|
|
|
```
|
|
|
|
|
|
|
|
## **process_measurement**
|
| ... | ... | @@ -1096,12 +1104,12 @@ Create a connection, set recording and processing settings and make a raw measur |
|
|
|
Then afterwards process it:
|
|
|
|
|
|
|
|
```python
|
|
|
|
>>> import rtisdev
|
|
|
|
>>> rtisdev.open_connection()
|
|
|
|
>>> rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
>>> rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
>>> measurement = rtisdev.get_raw_measurement(True)
|
|
|
|
>>> processed_measurement = rtisdev.process_measurement(measurement)
|
|
|
|
import rtisdev
|
|
|
|
rtisdev.open_connection()
|
|
|
|
rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
measurement = rtisdev.get_raw_measurement(True)
|
|
|
|
processed_measurement = rtisdev.process_measurement(measurement)
|
|
|
|
```
|
|
|
|
|
|
|
|
## **set_counter**
|
| ... | ... | @@ -1229,16 +1237,16 @@ the RTIS Device and afterwards put this measurement on a data queue. |
|
|
|
Create a queue to save the measurement to and assign it to the process:
|
|
|
|
|
|
|
|
```python
|
|
|
|
>>> from multiprocessing import Manager
|
|
|
|
>>> import rtisdev
|
|
|
|
>>> rtisdev.open_connection()
|
|
|
|
>>> rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
>>> rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
>>> manager = Manager()
|
|
|
|
>>> dataQueue = manager.Queue()
|
|
|
|
>>> measure_thread = rtisdev.create_measure_external_trigger_queue(dataQueue)
|
|
|
|
>>> measure_thread.start()
|
|
|
|
>>> measure_thread.join()
|
|
|
|
from multiprocessing import Manager
|
|
|
|
import rtisdev
|
|
|
|
rtisdev.open_connection()
|
|
|
|
rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
manager = Manager()
|
|
|
|
dataQueue = manager.Queue()
|
|
|
|
measure_thread = rtisdev.create_measure_external_trigger_queue(dataQueue)
|
|
|
|
measure_thread.start()
|
|
|
|
measure_thread.join()
|
|
|
|
```
|
|
|
|
|
|
|
|
## **create_measure_external_trigger_callback**
|
| ... | ... | @@ -1277,22 +1285,22 @@ the RTIS Device and afterwards put this measurement on a data queue. |
|
|
|
Create a callback to save the measurement to disk:
|
|
|
|
|
|
|
|
```python
|
|
|
|
>>> import rtisdev
|
|
|
|
>>> rtisdev.open_connection()
|
|
|
|
>>> rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
>>> rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
>>> index = 0
|
|
|
|
>>> def save_callback(measurement=None):
|
|
|
|
... if measurement is not None :
|
|
|
|
... if measurement.rawData is not None:
|
|
|
|
... data_sonar = measurement.rawData.tobytes()
|
|
|
|
... file_handle_data = open(str(index) + ".bin","wb")
|
|
|
|
... file_handle_data.write(data_sonar)
|
|
|
|
... file_handle_data.close()
|
|
|
|
... index = index + 1
|
|
|
|
>>> measure_thread = rtisdev.create_measure_external_trigger_callback(save_callback)
|
|
|
|
>>> measure_thread.start()
|
|
|
|
>>> measure_thread.join()
|
|
|
|
import rtisdev
|
|
|
|
rtisdev.open_connection()
|
|
|
|
rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
index = 0
|
|
|
|
def save_callback(measurement=None):
|
|
|
|
if measurement is not None :
|
|
|
|
if measurement.rawData is not None:
|
|
|
|
data_sonar = measurement.rawData.tobytes()
|
|
|
|
file_handle_data = open(str(index) + ".bin","wb")
|
|
|
|
file_handle_data.write(data_sonar)
|
|
|
|
file_handle_data.close()
|
|
|
|
index = index + 1
|
|
|
|
measure_thread = rtisdev.create_measure_external_trigger_callback(save_callback)
|
|
|
|
measure_thread.start()
|
|
|
|
measure_thread.join()
|
|
|
|
```
|
|
|
|
|
|
|
|
## **create_processing_workers**
|
| ... | ... | @@ -1345,21 +1353,21 @@ all these measurements by getting them from the output queue. |
|
|
|
Once the work is done, terminate the workers gracefully:
|
|
|
|
|
|
|
|
```python
|
|
|
|
>>> from multiprocessing import Manager
|
|
|
|
>>> import rtisdev
|
|
|
|
>>> rtisdev.open_connection()
|
|
|
|
>>> rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
>>> rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
>>> manager = Manager()
|
|
|
|
>>> inputQueue = manager.Queue()
|
|
|
|
>>> outputQueue = manager.Queue()
|
|
|
|
>>> workersPool = rtisdev.create_processing_workers(4, inputQueue, outputQueue)
|
|
|
|
>>> for measurement_index in range(0, 30):
|
|
|
|
... measurement = rtisdev.get_raw_measurement()
|
|
|
|
... inputQueue.put(measurement)
|
|
|
|
>>> for measurement_index in range(0, 30):
|
|
|
|
... measurement = outputQueue.get()
|
|
|
|
>>> workersPool.terminate()
|
|
|
|
from multiprocessing import Manager
|
|
|
|
import rtisdev
|
|
|
|
rtisdev.open_connection()
|
|
|
|
rtisdev.set_recording_settings(premade="default_25_50")
|
|
|
|
rtisdev.set_processing_settings(premade="2D_5m_181")
|
|
|
|
manager = Manager()
|
|
|
|
inputQueue = manager.Queue()
|
|
|
|
outputQueue = manager.Queue()
|
|
|
|
workersPool = rtisdev.create_processing_workers(4, inputQueue, outputQueue)
|
|
|
|
for measurement_index in range(0, 30):
|
|
|
|
measurement = rtisdev.get_raw_measurement()
|
|
|
|
inputQueue.put(measurement)
|
|
|
|
for measurement_index in range(0, 30):
|
|
|
|
measurement = outputQueue.get()
|
|
|
|
workersPool.terminate()
|
|
|
|
```
|
|
|
|
|
|
|
|
## **toggle_amplifier**
|
| ... | ... | |
