waterlinked::sonar Namespace Reference

Namespaces
namespace	rip

Classes
struct	About
	Device identity from GET /about. More...
struct	BitmapImageView
	8-bit greyscale image, displayable without further processing. More...
class	CurlTransport
	libcurl easy-interface transport: one handle, blocking, not thread-safe. More...
class	ForceSyncOngoingError
	force_sync_ntp() while another force-sync is running; the device answers HTTP 409. More...
struct	ForceSyncResult
	Outcome of a forced NTP sync. More...
class	HttpError
	Transport failure or non-2xx HTTP response. More...
class	HttpTransport
	Blocking HTTP transport. More...
struct	ImuBatchView
	Batch of approximately 100 Hz IMU samples sent while acoustics is enabled. More...
struct	MessageHeader
	Per-shot metadata shared by image message types. More...
class	ProtocolError
	Device answered with a body the client cannot interpret. More...
struct	Range
	Imaging range limits in meters. More...
struct	RangeImageView
	Per-pixel distance to the strongest reflection. More...
class	Receiver
	Owns the receive thread: reads datagrams from the injected socket, decodes them, and dispatches to the registered callbacks on that thread. More...
struct	ReceiverOptions
	Datagram filtering applied before decoding. More...
struct	ReceiverStats
	Snapshot of the receive thread's counters, cumulative since start(). More...
class	SonarClient
	Client for the Sonar 3D-15 integration API. More...
struct	Status
	Subsystem health from GET /status. More...
struct	StatusEntry
	One subsystem's health from GET /status. More...
class	TimeAlreadySynchronizedError
	set_time_manual() while the device is already NTP-synchronized; the device answers HTTP 409. More...
struct	TimeStatus
	Device clock state from GET /time/status. More...
struct	UdpConfig
	How the sonar streams data, from GET/POST /udp. More...
class	UdpSocket
	Receive-only UDP socket for the sonar's data stream. More...
struct	UdpSocketConfig
	Socket setup for the sonar's data stream. More...
class	VersionError
	Device firmware is older than the endpoint requires. More...

Typedefs
template<typename T >
using	Span = tcb::span< T >
	Non-owning view over a contiguous sequence.

Enumerations
enum class	BitmapImageType : std::uint8_t { SIGNAL_STRENGTH , SHADED }
	What a BitmapImageView shows. More...
enum class	AcousticsMode : std::uint8_t { LOW_FREQUENCY , HIGH_FREQUENCY }
	Imaging mode: low frequency gives a 90x40 degree field of view at 5 Hz, high frequency 40x40 degrees at 20 Hz. More...
enum class	Salinity : std::uint8_t { SALT , FRESH }
	Water salinity, used by the sonar's automatic speed of sound. More...

Functions
bool	range_image_to_distances (const RangeImageView &img, std::vector< float > &out)
	Converts a range image to per-pixel distances.
bool	range_image_to_points (const RangeImageView &img, std::vector< float > &out, bool organized)
	Converts a range image to XYZ float32 triples using the pixel-to-angle mapping from the Water Linked docs:
bool	bitmap_to_strength_linear (const BitmapImageView &img, std::vector< std::uint16_t > &out)
	Recovers linear 15-bit signal strength from a SIGNAL_STRENGTH bitmap, inverting the device's logarithmic mapping: pixel = 100 * log10(linear / 30).
std::optional< std::chrono::system_clock::time_point >	sntp_query (const std::string &server, std::chrono::milliseconds timeout, std::uint16_t port=123)
	Asks an NTP server for its current time with a single SNTP (RFC 4330) query.
const char *	to_string (AcousticsMode mode)
	Name used on the wire by the HTTP API: "low-frequency" or "high-frequency".
const char *	to_string (Salinity salinity)
	Name used on the wire by the HTTP API: "salt" or "fresh".
const char *	to_string (UdpConfig::Mode mode)
	Name used on the wire by the HTTP API: "multicast", "unicast" or "disabled".

Variables
constexpr const char *	DEFAULT_IP = "192.168.194.96"
	Factory default IP address of the sonar.
constexpr const char *	MULTICAST_GROUP = "224.0.0.96"
	Multicast group address for sonar data streams.
constexpr std::uint16_t	MULTICAST_PORT = 4747
	Multicast port for sonar data streams.
constexpr std::size_t	MAX_DATAGRAM_SIZE = 65507
	Largest UDP payload the sonar can send; receive buffers are sized to it.

Typedef Documentation

Span

template<typename T >

using waterlinked::sonar::Span = typedef tcb::span<T>

Non-owning view over a contiguous sequence.

API-compatible with C++20 std::span. Aliases the vendored tcb::span under every language standard so the library and its consumers agree on the type regardless of the standard each is compiled with.

Enumeration Type Documentation

AcousticsMode

enum class waterlinked::sonar::AcousticsMode : std::uint8_t

strong

Imaging mode: low frequency gives a 90x40 degree field of view at 5 Hz, high frequency 40x40 degrees at 20 Hz.

Enumerator
LOW_FREQUENCY
HIGH_FREQUENCY

BitmapImageType

enum class waterlinked::sonar::BitmapImageType : std::uint8_t

strong

What a BitmapImageView shows.

Enumerator
SIGNAL_STRENGTH	Logarithmic strength of the strongest reflection per pixel. Computed as pixel = 100 * log10(linear / 30), where linear strength is 15-bit.
SHADED	Shaded rendering of the range image. Experimental on the device; may be removed by Water Linked.

Salinity

enum class waterlinked::sonar::Salinity : std::uint8_t

strong

Water salinity, used by the sonar's automatic speed of sound.

Enumerator
SALT
FRESH

Function Documentation

bitmap_to_strength_linear()

bool waterlinked::sonar::bitmap_to_strength_linear	(	const BitmapImageView &	img,
		std::vector< std::uint16_t > &	out
	)

Recovers linear 15-bit signal strength from a SIGNAL_STRENGTH bitmap, inverting the device's logarithmic mapping: pixel = 100 * log10(linear / 30).

Parameters

img	Image to convert.
out	Resized to width * height; 0 where the pixel has no data.

Returns

False when the pixel count does not equal width * height (out is left cleared); true otherwise.

range_image_to_distances()

bool waterlinked::sonar::range_image_to_distances	(	const RangeImageView &	img,
		std::vector< float > &	out
	)

Converts a range image to per-pixel distances.

Parameters

img	Image to convert.
out	Resized to width * height; out[i] = pixel[i] * image_pixel_scale in meters, 0.0 where the pixel has no data.

Returns

False when the pixel count does not equal width * height (out is left cleared); true otherwise.

range_image_to_points()

bool waterlinked::sonar::range_image_to_points	(	const RangeImageView &	img,
		std::vector< float > &	out,
		bool	organized
	)

Converts a range image to XYZ float32 triples using the pixel-to-angle mapping from the Water Linked docs:

• yaw = (px / (width - 1)) * fov_h - fov_h / 2
• pitch = (py / (height - 1)) * fov_v - fov_v / 2
• (x, y, z) = d * (cos p * cos y, cos p * sin y, -sin p)

Parameters

img	Image to convert.
out	Organized: width * height triples in row-major pixel order, NaN for pixels with no data. Unorganized: one triple per valid pixel.
organized	Selects the output layout.

Returns

False when width or height is less than 2 or the pixel count does not equal width * height (out is left cleared); true otherwise.

sntp_query()

std::optional< std::chrono::system_clock::time_point > waterlinked::sonar::sntp_query	(	const std::string &	server,
		std::chrono::milliseconds	timeout,
		std::uint16_t	port = 123
	)

Asks an NTP server for its current time with a single SNTP (RFC 4330) query.

Intended as a pre-flight check of a time source before configuring it on a device, not as a time synchronization mechanism.

Parameters

server	Hostname or IP address.
timeout	Maximum wait for the response.
port	NTP port.

Returns

The server's time, or nullopt if it does not answer within the timeout or answers with anything other than a valid, synchronized server response (mode 4, stratum 1-15, no alarm condition, non-zero transmit time).

to_string() [1/3]

const char * waterlinked::sonar::to_string

(

AcousticsMode

mode

)

Name used on the wire by the HTTP API: "low-frequency" or "high-frequency".

to_string() [2/3]

const char * waterlinked::sonar::to_string

(

Salinity

salinity

)

Name used on the wire by the HTTP API: "salt" or "fresh".

to_string() [3/3]

const char * waterlinked::sonar::to_string

(

UdpConfig::Mode

mode

)

Name used on the wire by the HTTP API: "multicast", "unicast" or "disabled".

Variable Documentation

DEFAULT_IP

constexpr const char* waterlinked::sonar::DEFAULT_IP = "192.168.194.96"

inlineconstexpr

Factory default IP address of the sonar.

MAX_DATAGRAM_SIZE

constexpr std::size_t waterlinked::sonar::MAX_DATAGRAM_SIZE = 65507

inlineconstexpr

Largest UDP payload the sonar can send; receive buffers are sized to it.

MULTICAST_GROUP

constexpr const char* waterlinked::sonar::MULTICAST_GROUP = "224.0.0.96"

inlineconstexpr

Multicast group address for sonar data streams.

MULTICAST_PORT

constexpr std::uint16_t waterlinked::sonar::MULTICAST_PORT = 4747

inlineconstexpr

Multicast port for sonar data streams.