Enot radar software API (2.4.0)

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This page contains the API documentation for Enot radar software. HTTP 1.1 and Websocket protocols are used for interacting with software. Websockets used for streaming of continuous time-synchronized data like trajectories, radar data and video.

HTTP Protocol specifics

Content-length header are required for POST requests.
identity and gzip are supported for Content-enconding header

Long polling requests

Requests with optional modified_since parameter (like Get configuration) support long-polling, allowing to get reply only if data was changed since last request. That allows to reduce number of requests and size of data transmitted over the network.

On first request client requesting instant response passing modified_since=null.
Server returns full response and last modification time in eTag http response header.
Next request performed with eTag from last response passed to modified_since parameter.
Server keeps connection without response until response data has changes. After response client repeat step #3.

APIs

Each application implements one or several apis:

API	Description	Service
Client To Server API	Client requests related to sources information, archive functionality, alarm zones and events	`radar_server`
Source To Server API	Internal requests used by sources	`enot_dsp`, `lynx_dsp`, `video_service`
Streaming API	Continuous data streaming using WebSockets	`radar_server`
Configuration API	Configuration requests	`radar_server`, `enot_dsp`, `lynx_dsp`
Enot Source API	Enot radar source requests	`enot_dsp`
Video Source API	Video source requests	`video_service`

Qt C++ SDK

Features:

OpenAPI models as C++ structures.
API's requests as C++ methods.
Serialization / deserialization with JSON and CBOR formats, GZIP compression support.
Streaming API implementation.
Examples.

Most of SDK sources generated based on this schema with OpenAPI generator project using custom generation templates. Generators for other languages are available.

More detailed SDK description available here.

Client To Server

Requests to radar_server used by client applications

Get server UTC time.

Responses

Response Schema: application/json

string <date-time> (Time)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

"2021-07-24T08:20:49.483Z"

Get possible target classes.

Responses

Response Schema: application/json

required

object

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"classes": {"drone": {"en-US": "Drone",
"ru-RU": "Квадрокоптер"
},
"birds": {"en-US": "Birds",
"ru-RU": "Птицы"
}
}
}

Delete or temporary disable source

query Parameters

source_id required	integer <int64> (Id) Example: source_id=2
disable required	boolean False - deleting source from the server with all archive data. True - temporary disabling source. It will be enabled on next registration request.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Get source telemetry for some period of time.

query Parameters

source_id required	integer <int64> (Id) Example: source_id=2
time_from required	string <date-time> (Time) Example: time_from=2021-07-24T08:20:49.483Z Response containing telemetry starting from this time.
time_to required	string <date-time> (Time) Example: time_to=2021-07-24T08:20:49.483Z Response containing telemetry until this time
columns required	string List of columns to return (comma separated)
rows_limit required	integer Limit for response rows count

Responses

Response Schema: application/json

time required	Array of strings <date-time> (Time)
required	object

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"time": ["2021-07-24T08:20:49.483Z"
],
"columns": {"property1": {"id": "string",
"locales": {"en-US": "String",
"ru-RU": "Строка"
},
"data": [0
]
},
"property2": {"id": "string",
"locales": {"en-US": "String",
"ru-RU": "Строка"
},
"data": [0
]
}
}
}

Get information about all sources.

query Parameters

modified_since

string <date-time> (Time)

Example: modified_since=2021-07-24T08:20:49.483Z

If the parameter is used, the server responds only when the data changes (see long polling requests).

Responses

Response Schema: application/json

all_sources	Array of integers <int64> (Id) unique All existed sources ids. Available when using long polling requests.
required	Array of objects (schemas) unique

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"all_sources": [2
],
"sources": [{"uuid": "a25009df-b197-420d-8824-546c80e006ba",
"name": "Roof radar",
"type": "enot_radar",
"address": "127.0.0.1",
"id": 2,
"disabled": true,
"state": "ok",
"port": 0
}
]
}

Clear archive.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Get archive range.

Responses

Response Schema: application/json

start required	string <date-time> (Time)
end required	string <date-time> (Time)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"start": "2021-07-24T08:20:49.483Z",
"end": "2021-07-24T08:20:49.483Z"
}

Get archive map.

query Parameters

time_from	string <date-time> (Time) Example: time_from=2021-07-24T08:20:49.483Z Response containing archive map starting from this time.
time_to	string <date-time> (Time) Example: time_to=2021-07-24T08:20:49.483Z Response containing archive map until this time

Responses

Response Schema: application/json

required	object (StreamsArchiveMap)
required	Array of objects (schemas) unique

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"server": {"streams": [{"stream_type": "stream_config",
"chunks": [{"chunk_id": 1,
"start": "2021-07-24T08:20:49.483Z",
"end": "2021-07-24T08:21:49.483Z"
},
{"chunk_id": 2,
"start": "2021-07-24T08:22:49.483Z",
"end": "2021-07-24T08:23:49.483Z"
}
]
}
]
},
"sources": [{"source_id": 2,
"streams": [{"stream_type": "stream_config",
"chunks": [{"chunk_id": 1,
"start": "2021-07-24T08:20:49.483Z",
"end": "2021-07-24T08:21:49.483Z"
},
{"chunk_id": 2,
"start": "2021-07-24T08:22:49.483Z",
"end": "2021-07-24T08:23:49.483Z"
}
]
}
]
}
]
}

Get video frame.

query Parameters

source_id required	integer <int64> (Id) Example: source_id=2
time required	string <date-time> (Time) Example: time=2021-07-24T08:20:49.483Z

Responses

Response Schema: image/png

string <binary>

Response Schema: text/plain

string

Get part of video frame with detection rect.

query Parameters

detection_id required	integer <int64> (Id) Example: detection_id=2
margin required	integer Margin in pixels from detection rect for output image.

Responses

Response Schema: image/png

string <binary>

Response Schema: text/plain

string

Get all alarm zones.

query Parameters

modified_since

string <date-time> (Time)

Example: modified_since=2021-07-24T08:20:49.483Z

If the parameter is used, the server responds only when the data changes (see long polling requests).

Responses

Response Schema: application/json

required

object

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"zones": {"property1": {"id": 2,
"name": "string",
"enabled": true,
"area": {"points": [{"latitude": 55.986697,
"longitude": 37.214795
}
],
"min_altitude": 0,
"max_altitude": 0
},
"camera_aim_rules": {"classes_priorities": [["string"
]
],
"min_track_length": 0
},
"jammer_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"alarm_rules": {"classes": ["string"
],
"min_track_length": 0,
"min_video_detections": 0
}
},
"property2": {"id": 2,
"name": "string",
"enabled": true,
"area": {"points": [{"latitude": 55.986697,
"longitude": 37.214795
}
],
"min_altitude": 0,
"max_altitude": 0
},
"camera_aim_rules": {"classes_priorities": [["string"
]
],
"min_track_length": 0
},
"jammer_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"alarm_rules": {"classes": ["string"
],
"min_track_length": 0,
"min_video_detections": 0
}
}
}
}

Get alarm zone.

query Parameters

zone_id

required

integer <int64> (Id)

Example: zone_id=2

Responses

Response Schema: application/json

id	integer <int64> (Id)
name required	string
enabled required	boolean
required	object (GeoArea)
required	object (CameraAimRules)
required	object (JammerRules)
required	object (AlarmRules)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"id": 2,
"name": "string",
"enabled": true,
"area": {"points": [{"latitude": 55.986697,
"longitude": 37.214795
}
],
"min_altitude": 0,
"max_altitude": 0
},
"camera_aim_rules": {"classes_priorities": [["string"
]
],
"min_track_length": 0
},
"jammer_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"alarm_rules": {"classes": ["string"
],
"min_track_length": 0,
"min_video_detections": 0
}
}

Create or update alarm zone.

Request Body schema: application/json

id	integer <int64> (Id)
name required	string
enabled required	boolean
required	object (GeoArea)
required	object (CameraAimRules)
required	object (JammerRules)
required	object (AlarmRules)

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"id": 2,
"name": "string",
"enabled": true,
"area": {"points": [{"latitude": 55.986697,
"longitude": 37.214795
}
],
"min_altitude": 0,
"max_altitude": 0
},
"camera_aim_rules": {"classes_priorities": [["string"
]
],
"min_track_length": 0
},
"jammer_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"alarm_rules": {"classes": ["string"
],
"min_track_length": 0,
"min_video_detections": 0
}
}

Delete alarm zone.

query Parameters

zone_id

required

integer <int64> (Id)

Example: zone_id=2

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Get all alarm events.

query Parameters

modified_since	string <date-time> (Time) Example: modified_since=2021-07-24T08:20:49.483Z If the parameter is used, the server responds only when the data changes (see long polling requests).
time_from	string <date-time> (Time) Example: time_from=2021-07-24T08:20:49.483Z Response containing events starting from this time.
time_to	string <date-time> (Time) Example: time_to=2021-07-24T08:20:49.483Z Response containing events until this time

Responses

Response Schema: application/json

required

object

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"events": {"property1": {"event_id": 2,
"zone_id": 2,
"start_time": "2021-07-24T08:20:49.483Z",
"end_time": "2021-07-24T08:20:49.483Z",
"decision": {"type": "friend",
"comment": "string"
},
"track_ids": [{"source_id": 2,
"track_id": 2
}
]
},
"property2": {"event_id": 2,
"zone_id": 2,
"start_time": "2021-07-24T08:20:49.483Z",
"end_time": "2021-07-24T08:20:49.483Z",
"decision": {"type": "friend",
"comment": "string"
},
"track_ids": [{"source_id": 2,
"track_id": 2
}
]
}
}
}

Delete alarm event.

query Parameters

event_id

required

integer <int64> (Id)

Example: event_id=2

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Set decision for alarm event.

Request Body schema: application/json

event_id required	integer <int64> (Id)
type required	string (AlarmEventDecisionType) Enum: "friend" "stranger" "threat" "false_alarm"
comment required	string

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"event_id": 2,
"type": "friend",
"comment": "string"
}

Close alarm event.

query Parameters

event_id

required

integer <int64> (Id)

Example: event_id=2

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Get alarm event tracks.

query Parameters

modified_since	string <date-time> (Time) Example: modified_since=2021-07-24T08:20:49.483Z
event_id	integer <int64> (Id) Example: event_id=2
time_from	string <date-time> (Time) Example: time_from=2021-07-24T08:20:49.483Z Response containing events starting from this time.
time_to	string <date-time> (Time) Example: time_to=2021-07-24T08:20:49.483Z Response containing events until this time

Responses

Response Schema: application/json

required

object

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"event_tracks": {"property1": {"event_id": 2,
"track_length": 0,
"start_time": "2021-07-24T08:20:49.483Z",
"end_time": "2021-07-24T08:20:49.483Z",
"track_id": {"source_id": 2,
"track_id": 2
},
"video_detections_ids": [2
]
},
"property2": {"event_id": 2,
"track_length": 0,
"start_time": "2021-07-24T08:20:49.483Z",
"end_time": "2021-07-24T08:20:49.483Z",
"track_id": {"source_id": 2,
"track_id": 2
},
"video_detections_ids": [2
]
}
}
}

Source To Server

Requests to radar_server used by sources

Get last track id for source

query Parameters

source_id

required

integer <int64> (Id)

Example: source_id=2

Responses

Response Schema: application/json

integer <int64> (Id)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

2

Get server UTC time.

Responses

Response Schema: application/json

string <date-time> (Time)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

"2021-07-24T08:20:49.483Z"

Append possible target classes.

Request Body schema: application/json

required

object

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"classes": {"drone": {"en-US": "Drone",
"ru-RU": "Квадрокоптер"
},
"birds": {"en-US": "Birds",
"ru-RU": "Птицы"
}
}
}

Register source on the server

Source must be registered with generated UUID before sending other requests.

Request Body schema: application/json

uuid required	string (UUID) Unique 128-bit resource identificator
name required	string (SourceName)
type required	string (SourceType) Enum: "enot_radar" "camera" "lynx_bearing" "dji"
address required	string (IPV4Address)

Responses

Response Schema: application/json

integer <int64> (Id)

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"uuid": "a25009df-b197-420d-8824-546c80e006ba",
"name": "Roof radar",
"type": "enot_radar",
"address": "127.0.0.1"
}

Response samples

200

Content type

application/json

2

Configuration

Configuration API provides flexible way of reading telemetry and reading/setting configuration. Format contains all information (item type, text translations, enum values, attributes) needed to generate configuration UI. List of supported configuration groups and properties depends on service type:

radar_server
enot_dsp
lynx_dsp

Get configuration.

query Parameters

modified_since

string <date-time> (Time)

Example: modified_since=2021-07-24T08:20:49.483Z

If the parameter is used, the server responds only when the data changes (see long polling request schema).

Responses

Response Schema: application/json

all_groups	Array of strings unique All existed groups ids. Available when using long polling requests.
required	Array of objects (ConfigurationItemsGroup)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"all_groups": ["string"
],
"groups": [{"id": "group_id",
"name": {"en-US": "String",
"ru-RU": "Строка"
},
"all_items": ["string"
],
"items": [{"id": "string",
"name": {"en-US": "String",
"ru-RU": "Строка"
},
"enum_items": [{"id": "string",
"name": {"en-US": "String",
"ru-RU": "Строка"
}
}
],
"value": {"type": "bool",
"data": "string"
},
"attributes": {"readonly": true,
"status": "ok",
"applying": true,
"min": 0,
"max": 0,
"step": 0,
"spin_step": 0,
"decimals": 0,
"echo_mode": true,
"regexp": "string",
"exclude_from_config": true,
"exclude_from_export": true,
"internal": true,
"hidden": true,
"log_to_db": true
}
}
]
}
]
}

Set configuration.

Validates and set configuration. Operation cancelled if validation of any property failed.

Request Body schema: application/json

Configuration values.

required

object

Key contains group id

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload
Qt C++ SDK

Content type

application/json

{"groups": {"property1": {"values": {"property1": {"type": "bool",
"data": "string"
},
"property2": {"type": "bool",
"data": "string"
}
}
},
"property2": {"values": {"property1": {"type": "bool",
"data": "string"
},
"property2": {"type": "bool",
"data": "string"
}
}
}
}
}

Radar server

Configuration groups for `radar_server`:

string (LogParameters)

Enum: "enabled_categories" "infos_enabled" "warnings_enabled" "errors_enabled"

"enabled_categories"

string (ServerArchiveParameters)

Enum: "enabled" "storage_depth_hours" "min_free_space_gb"

"enabled"

string (ServerCommonParameters)

Value: "tracks_merger"

"tracks_merger"

Merger configuration:

Configuration is used in generating of trajectory merger frames. Value of tracks_merger is a JSON string of MergerConfiguration format:

merged_sources required	Array of Array of integers (Id) unique Subsets of sources which tracks can be merged in one group.
lynx_intersections_merger_distance required	number <float> Merge distance for two lynx intersection areas.
point_merger_distance required	number <float> Merge distance for tracks with known coordiantes.

{"merged_sources": [[2
]
],
"lynx_intersections_merger_distance": 0,
"point_merger_distance": 0
}

Enot source

Configuration groups for `enot_dsp`.

string (LogParameters)

Enum: "enabled_categories" "infos_enabled" "warnings_enabled" "errors_enabled"

"enabled_categories"

string (SourceGeneralParameters)

Enum: "source_name" "server_url" "use_system_network_proxy" "handle_exceptions"

"source_name"

string (SourceDumpParameters)

Enum: "write_dump" "directory" "cache_size_mb" "write_speed" "cache" "write_time" "file_size"

"write_dump"

string (SourceLocationParameters)

Enum: "latitude" "longitude" "altitude" "azimuth"

"latitude"

string (AdapterRestartParameters)

Enum: "adapter_id" "loss_history_length" "coherent_loss_threshold" "restart_period" "current_coherent_loss"

"adapter_id"

string (NetworkConnectionParameters)

Enum: "ip" "port" "retranslation" "retranslation_ip" "retranslation_port" "protocol" "input_stream_mbit"

"ip"

string (EnotSegmentationParameters)

Enum: "range_spreading_losts" "max_power_difference" "union_range" "union_azimuth" "union_frequency" "min_points_count_1" "min_points_count_2" "min_points_count_3" "min_points_count_4" "filter_after_segmentation_1" "filter_after_segmentation_2" "filter_after_segmentation_3" "filter_after_segmentation_4" "use_noise_calibration" "noise_calibration" "use_near_range_power_correction" "near_range_power_coeff" "rcs_power_calculation_type"

"range_spreading_losts"

string (EnotRangeProfilesParameters)

Enum: "count" "start_2" "start_3" "start_4"

"count"

string (EnotVisualizationParameters)

Enum: "detection_point_power_min" "detection_point_power_max" "map_power_min" "map_power_max" "map_noise_min" "map_noise_max" "min_power_for_elevation" "spectrum_stream_enabled" "spectrum_stream_azimuth" "spectrum_stream_cache_size" "additional_target_spectrum_data" "target_spectrums_range_margin" "target_spectrums_for_all_azimuth"

"detection_point_power_min"

string (EnotClutterFilterParameters)

Enum: "enabled" "union_range" "union_frequency" "min_filtered_range"

"enabled"

string (EnotClutterMapParameters)

Enum: "history_size" "filter_percent" "union_range" "union_azimuth" "union_frequency" "extension_range" "extension_azimuth" "extension_frequency"

"history_size"

string (EnotTrackingParameters)

Enum: "lifetime_azimuth_1" "lifetime_azimuth_2" "lifetime_azimuth_3" "lifetime_azimuth_4" "delay_azimuth" "extrapolate" "position_penalty_coeff" "position_weakening_track_length" "position_weakening_1" "position_weakening_2" "position_weakening_3" "position_weakening_4" "doppler_speed_penalty_coeff" "track_radial_speed_penalty_coeff" "track_tangential_speed_penalty_coeff" "rcs_penalty_coeff" "max_penalty_1" "max_penalty_2" "max_penalty_3" "max_penalty_4" "kalman_coeff" "tracking_info_size" "track_rcs_history_length" "track_rcs_calculation_type"

"lifetime_azimuth_1"

string (EnotElevationParameters)

Enum: "enabled" "phase_shift" "phase_autofocus" "antenna_tilt"

"enabled"

string (EnotCompensationParameters)

Enum: "enabled" "threshold"

"enabled"

string (TerrainProviderParameters)

Enum: "surface_config" "surface_loaded" "altitude_config" "altitude_loaded"

"surface_config"

Value of surface_config is a JSON string of TerrainSurfaceConfig format:

url required	string Schematic surface tiles server with `[x]`, `[y]` and `[z]` substrings.
level required	integer Zoom level.
water_hue_min required	integer Min water color hue.
water_hue_max required	integer Max water color hue.

{"url": "http://my.server.com/tiles&x=[x]&y=[y]&z=[z]",
"level": 0,
"water_hue_min": 0,
"water_hue_max": 0
}

Value of altitude_config is a JSON string of TerrainAltitudeConfig format:

url required	string Altitude tiles server with `[x]`, `[y]` and `[z]` substrings. Altitude must be in mapbox format.
level required	integer Zoom level.

{"url": "http://my.server.com/tiles&x=[x]&y=[y]&z=[z]",
"level": 0
}

string (EnotClassificationParameters)

Enum: "enabled" "use_terrain_altitude" "max_ground_altitude" "enable_unknown_class" "enable_boat_class" "enable_plane_class" "max_noise_rcs" "max_birds_rcs" "max_drone_rcs" "max_human_rcs" "max_human_speed"

"enabled"

string (EnotReliableTracksParameters)

Enum: "min_track_length" "all_classes"

"min_track_length"

string (EnotDspParameters)

Enum: "distance_between_antennas" "vertical_antenna_pattern" "horizontal_antenna_pattern" "mean_compensation" "coherent_size" "central_band" "overlap" "training_freq" "guard_freq" "training_range" "guard_range" "box_error_probability_1" "box_error_probability_2" "box_error_probability_3" "box_error_probability_4" "processing_start_range" "processing_end_range" "processing_start_azimuth" "processing_end_azimuth" "adc_limit_using" "coherent_loss_filter" "zones_filter"

"distance_between_antennas"

Value of zones_filter is a JSON string of FilterAreas format:

required

Array of objects (FilterArea)

{"areas": [{"name": "string",
"enabled": true,
"area": {"points": [{"latitude": 55.986697,
"longitude": 37.214795
}
],
"min_altitude": 0,
"max_altitude": 0
}
}
]
}

string (EnotTelemetryParameters)

Enum: "processing_overflow" "time_since_processing_overflow" "matched_queue_size" "coherent_loss" "angle_sensor" "azimuth" "rotation_speed_from_data" "max_overflow_range" "radar_time_str" "radar_time_sec" "radar_date_time" "time_delta_sec" "time_delta_str" "time_since_last_sync_str" "time_since_last_sync_sec" "dsp_time_str" "dsp_time_sec" "cfar_points_total" "cfar_points_after_filter" "cfar_filter_percent" "clutter_cells_percent" "clutter_speeds_percent" "active_tracks" "elevation_error"

"processing_overflow"

string (EnotSystemSpecifications)

Enum: "frames_per_second" "pulses_per_second" "data_rate" "pulse_time" "pulse_period" "pulses_per_interval" "duty_cycle" "interval_energy_coeff" "sampling_freq" "processing_bandwidth" "pulse_spectrum_width" "pulse_sampling_start_freq" "pulse_sampling_end_freq" "pulse_sampling_max_freq" "pulse_int_avg_freq" "pulse_avg_freq" "rotation_speed" "min_range" "receiver_min_range" "max_range" "range_resolution" "weighted_range_resolution" "range_discrete" "unambiguity_range" "velocity_resolution" "velocity_min" "velocity_max" "optimal_guard_range" "optimal_guard_freq" "optimal_min_points_count"

"frames_per_second"

string (BfosParserParameters)

Enum: "ignore_errors" "fdds" "fadc" "ffpga" "ffrrw" "heterodin" "thinning" "thinning_2" "model_window" "coherent_window" "max_frame_loss" "fps" "frame_loss"

"ignore_errors"

string (BfosConnectionParameters)

Enum: "send_ip" "send_port" "recv_ip" "recv_port" "timeout" "connected"

"send_ip"

string (BfosRetranslationParameters)

Enum: "enabled" "send_ip" "send_port" "recv_ip" "recv_port"

"enabled"

string (BfosControlParameters)

Enum: "transceiver" "rotator_speed" "lmk_reset" "adc_overflow_format"

"transceiver"

string (BfosTelemetryParameters)

Enum: "serial_number" "firmware_version" "transceiver_state" "motor_state" "azimuth" "time_str" "time_sec"

"serial_number"

string (BfosDisabledSectorsParameters)

Enum: "disable_sector_1" "start_sector_1" "end_sector_1" "disable_sector_2" "start_sector_2" "end_sector_2" "disable_sector_3" "start_sector_3" "end_sector_3" "disable_sector_4" "start_sector_4" "end_sector_4"

"disable_sector_1"

string (TransceiverParameters)

Enum: "heterodin_start" "heterodin" "if_tx" "rf_tx" "if_rx_1" "rf_rx_1" "if_rx_2" "rf_rx_2" "if_rx_3" "rf_rx_3" "if_rx_4" "rf_rx_4" "tx_mdm_strobe" "rx_mdm_strobe" "tx_pa_strobe" "power_sensor_strobe_delay"

"heterodin_start"

string (TransceiverTelemetryParameters)

Enum: "mdm_current" "mdm_temperature" "mdm_power" "pa_current" "pa_temperature" "pa_power" "pll_state"

"mdm_current"

string (EnotErrorRulesParameters)

Enum: "startup_state" "angle_sensor" "rotation_speed" "max_loss" "max_coherent_loss" "terrain_tiles"

"startup_state"

string (BfosErrorRulesParameters)

Enum: "min_mdm_power" "min_pa_power" "errors" "optimal_transceiver_errors"

"min_mdm_power"

string (StartupManagerParameters)

Enum: "state" "noise_deviation" "signal_deviation" "doppler_power" "start" "autostart" "startup_preset" "required_rotator_speed" "diagnostics" "max_noise_deviation" "max_signal_deviation" "max_doppler_power"

"state"

Lynx source

Configuration groups for `lynx_dsp`.

string (LogParameters)

Enum: "enabled_categories" "infos_enabled" "warnings_enabled" "errors_enabled"

"enabled_categories"

string (SourceGeneralParameters)

Enum: "source_name" "server_url" "use_system_network_proxy" "handle_exceptions"

"source_name"

string (SourceDumpParameters)

Enum: "write_dump" "directory" "cache_size_mb" "write_speed" "cache" "write_time" "file_size"

"write_dump"

string (SourceLocationParameters)

Enum: "latitude" "longitude" "altitude" "azimuth"

"latitude"

string (AdapterRestartParameters)

Enum: "adapter_id" "loss_history_length" "coherent_loss_threshold" "restart_period" "current_coherent_loss"

"adapter_id"

string (NetworkConnectionParameters)

Enum: "ip" "port" "retranslation" "retranslation_ip" "retranslation_port" "protocol" "input_stream_mbit"

"ip"

string (LynxDspParameters)

Enum: "ffadc" "ffpga" "frequency_start" "interval_size" "overlap" "training_freq" "guard_freq" "error_probability" "error_probability_accumulated" "coherent_loss_filter" "phase_shift" "channels_mode"

"ffadc"

string (LynxSegmentationParameters)

Enum: "max_object_azimuth_width" "min_detection_counts" "union_azimuth" "union_frequency" "max_azimuth_rms" "only_accumulated_detections" "antennas_distance"

"max_object_azimuth_width"

string (LynxTrackingParameters)

Enum: "track_lifetime" "union_azimuth" "union_frequency"

"track_lifetime"

string (LynxFakeTargetsGenerationParameters)

Enum: "enabled" "azimuth" "azimuth_offset" "sector" "sector_offset"

"enabled"

string (LynxClutterParameters)

Enum: "history" "filter_percent" "union_azimuth" "union_frequency" "extension_azimuth" "extension_frequency"

"history"

string (LynxTelemetryParameters)

Enum: "processing_overflow" "time_since_processing_overflow" "detection_queue_size" "interval_loss" "device_time_str" "device_time_sec" "device_date_time" "time_delta_sec" "time_delta_str" "time_since_last_sync_str" "time_since_last_sync_sec" "azimuth_error"

"processing_overflow"

string (LynxErrorRulesParameters)

Value: "max_interval_loss"

"max_interval_loss"

Enot Source

Requests for enot_dsp

Write parameters to radar onboard EPROM

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Video Source

Requests for video_service

Force PTZ to follow the trajectory. Stops following if argument is not set.

Request Body schema: application/json

source_id required	integer <int64> (Id)
track_id required	integer <int64> Trajectory id (unique for each source)

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"source_id": 2,
"track_id": 2
}

Get state

Responses

Response Schema: application/json

required	object (PTZCoords) Normalized PTZ coordinates.
	object Angles in local coordinates
	object Angles in geo coordinates
	object First camera head FOV
	object Second camera head FOV
focus	number [ 0 .. 1 ] Focus position
is_moving required	boolean Is camera moving
is_locked required	boolean Is camera locked
jammer_state	boolean Is jammer available and activated
glass_wipper_state	boolean Is glass wipper available and activated

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"coords": {"coords": {"pan": -1,
"tilt": -1
},
"zoom": 1
},
"angles": {"pan": -180,
"tilt": -90
},
"geo_angles": {"pan": -180,
"tilt": -90
},
"first_fov": {"h": 0,
"v": 0
},
"second_fov": {"h": 0,
"v": 0
},
"focus": 1,
"is_moving": true,
"is_locked": true,
"jammer_state": true,
"glass_wipper_state": true
}

Get limits

Responses

Response Schema: application/json

	object (Range)
	object (Range)
	object (PTZAngularSpeeds)

Response Schema: text/plain

string

Response samples

200

Content type

application/json

{"tilt": {"min": 0,
"max": 0
},
"h_fov": {"min": 0,
"max": 0
},
"max_speed": {"pan": 0,
"tilt": 0,
"zoom": 0
}
}

Unlock ptz after user action, so aim algorithms could take control.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Continuous move with normalized speeds.

Request Body schema: application/json

pan required	number [ -1 .. 1 ]
tilt required	number [ -1 .. 1 ]
zoom required	number [ -1 .. 1 ]

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"pan": -1,
"tilt": -1,
"zoom": -1
}

Continuous move with angular speeds.

Request Body schema: application/json

pan required	number Pan angular speed (degrees/sec).
tilt required	number Tilt angular speed (degrees/sec).
zoom required	number Zoom angular speed (degrees/sec).

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"pan": 0,
"tilt": 0,
"zoom": 0
}

Absolute move with normalized coordinates and speeds.

Request Body schema: application/json

	object (PTCoords) Normalized PT coordinates.
zoom	number [ 0 .. 1 ]
required	object (PTZSpeeds) Normalized PTZ speeds.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"coords": {"pan": -1,
"tilt": -1
},
"zoom": 1,
"speeds": {"pan": -1,
"tilt": -1,
"zoom": -1
}
}

Absolute move to angles with angular speed.

Request Body schema: application/json

	object (PTAngles)
fov	number
required	object (PTZAngularSpeeds)

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"angles": {"pan": -180,
"tilt": -90
},
"fov": 0,
"speeds": {"pan": 0,
"tilt": 0,
"zoom": 0
}
}

Stop PTZ move.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Move to geo coordinates

Request Body schema: application/json

required	object (GeoPosition)
target_diameter required	number Diameter of target sphere (meters). Zoom is chosen so that the target occupies the entire horizontal field of view.
fov_scale	number Optional scale for FOV.
required	object (PTZAngularSpeeds)

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"target_position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
},
"target_diameter": 0,
"fov_scale": 0,
"speeds": {"pan": 0,
"tilt": 0,
"zoom": 0
}
}

Move to home position.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Move to position on video frame

Move camera, so its center will be looking on certain point of a video frame

Request Body schema: application/json

required	object (Point)
second_video	boolean True for moving relative to second video source

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"position": {"x": 0,
"y": 0
},
"second_video": true
}

Continuous focus move.

Request Body schema: application/json

speed

required

number [ -1 .. 1 ]

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"speed": -1
}

Absolute focus move.

Request Body schema: application/json

focus required	number [ 0 .. 1 ]
speed required	number [ -1 .. 1 ]

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"focus": 1,
"speed": -1
}

Stop focus move.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Do auto focus once.

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Enable/disable jammer.

Request Body schema: application/json

enable

required

boolean

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"enable": true
}

Enable/disable glass wipper.

Request Body schema: application/json

enable

required

boolean

Responses

Response Schema: text/plain

string

Response Schema: text/plain

string

Request samples

Payload

Content type

application/json

{"enable": true
}

Streaming API

Websockets used for transmitting continuous data streams. Each connection can transmit several stream types of one source. Client can request realtime or archive data. All streams inside one connection are synchronized by time.

Each websocket message received from the server, or sent by client contains:

Header: first 12 bytes.
Serialized frame body: other bytes.

Header structure:

byte 0: Stream type.
byte 1: Frame type.
byte 2: Serialization format
byte 3: If 1, frame body is compressed with GZIP.
bytes 4-11: Frame creation datetime as the number of milliseconds that have passed since 1970-01-01T00:00:00, UTC (signed 64-bit integer).

Serialization format:

Supported frame serialization formats:

Format	Value	Encoding details
json	0	Text serialization format. Enum filelds encoded as strings. Binary data encoded using Base64.
cbor	1	Binary serialization format based on JSON. [Overview] [Implementations]. Enum fields encoded as signed 64-bit integer. Date and date-time can be NULL (0xf6).

It is highly recommended not to use the JSON format for sent and received frames, because:

It forces server to transcode frames.
Has a lower serialization / deserialization speed.
Greatly increases the amount of data transmitted over the network, especially for binary data.

Anyway, JSON format is available for debug / fast integration purposes.

Frame type:

Message header byte, telling about type of frame (format or data) and data type that message body contains.

Frame Type	Description
0	Format frame (optional for some streams). Client must save and use format to decode/visualize data frames. Sent by the server when: Client initializes subscription to the stream. Format was chaned.
>= 1	Data frames. Possible frame types depends on stream type.

Stream type:

CBOR / header value JSON value Source type Header frame type and related message body types

0

stream_config

Any

Frame type	Type
1	ReadStreamRequests ReadStreamPlaybackState

1

trajectories

enot_radar, camera, lynx_bearing, dji

Frame type	Type
1	Trajectory changes frame
2	Trajectory interpolation frame
3	Trajectory metadata frame
4	Trajectory merger frame

2

video

camera

Frame type	Type
0	VideoFormat
1	VideoPacket

3

video_analyzer_metadata

camera

Frame type	Type
1	VideoMetadata

4

enot_detection_points

enot_radar

Frame type	Type
1	EnotDetectionPointsFrame

5

enot_intensity_map

enot_radar

Frame type	Type
0	EnotIntensityMapFormat
1	EnotIntensityMapFrame

6

enot_clutter_map

enot_radar

Frame type	Type
0	EnotClutterMapFormat
1	EnotClutterMapFrame

7

enot_spectrum_map

enot_radar

Frame type	Type
0	EnotSpectrumMapFormat
1	EnotSpectrumMapFrame

8

enot_spectrum_data

enot_radar

Frame type	Type
1	EnotSpectrumFrame

9

lynx_spectrum

lynx_bearing

Frame type	Type
1	LynxSpectrumFrame

10

second_video

camera

For second camera head (infared).

Frame type	Type
0	VideoFormat
1	VideoPacket

11

second_video_analyzer_metadata

camera

For second camera head (infared).

Frame type	Type
1	VideoMetadata

12

enot_noise_map

enot_radar

Frame type	Type
0	EnotIntensityMapFormat
1	EnotIntensityMapFrame

Subscription to streams:

Open websocket connection to "ws://'server_ip':'server_http_port'+1".
Make read requests to configure subscription and playback. Playback parameters can be changed independently any time (for example, playback time can be changed without changing streams and speed).
Deserialize incoming messages using header information. Server sends playback state messages and frames of requested streams.

Read stream requests:

	object (ReadConfig) Used by client for initializing WS connection for stream reading.
	Array of objects (ReadStreamConfig) unique Configuration of reading streams
seek_to	string <date-time> Playback seek time. Pass `null` for switch to realtime.
speed	number >= 0 Playback speed. Passing `0` causes stream to pause.

{"read_config": {"source_id": 2,
"serialization_format": "json",
"gzip_compression": true
},
"read_streams": [{"type": "stream_config",
"export_depth": 0
}
],
"seek_to": "2021-07-24T08:20:49.483Z",
"speed": 0
}

Read stream playback state:

end_of_export	string Enum: "stream_config" "trajectories" "video" "video_analyzer_metadata" "enot_detection_points" "enot_intensity_map" "enot_clutter_map" "enot_spectrum_map" "enot_spectrum_data" "lynx_spectrum" "second_video" "second_video_analyzer_metadata" "enot_noise_map" Indicates that the export of the specified stream has completed. See `export_depth` in `ReadStreamConfig`.
end_of_chunk	string Enum: "stream_config" "trajectories" "video" "video_analyzer_metadata" "enot_detection_points" "enot_intensity_map" "enot_clutter_map" "enot_spectrum_map" "enot_spectrum_data" "lynx_spectrum" "second_video" "second_video_analyzer_metadata" "enot_noise_map" Indicates that playback of the specified stream has reached the end of archive chunk.

{"end_of_export": "stream_config",
"end_of_chunk": "stream_config"
}

Enot radar detection points stream

Enot detection points frame:

azimuth required	number <float> [ 0 .. 360 ] Current antenna azimuth (degrees).
required	Array of objects (EnotDetectionPoint) >= 0 items

{"azimuth": 360,
"points": [{"range": 0,
"azimuth": 360,
"elevation": -90,
"normalized_power": 1,
"normalized_speed": 1,
"mask": "string"
}
]
}

Enot radar intensity and noise map streams

Enot intensity map format:

range_step required	number <float> Size of one ray element (meters)
start_range required	number <float> First ray element range (meters)
range_size required	integer <int32> Number of ray elements
azimuth_size required	integer <int32> Number of azimutal elements

{"range_step": 0,
"start_range": 0,
"range_size": 0,
"azimuth_size": 0
}

Enot intensity map frame:

azimuth

required

integer <int32>

Current ray azimuth [ 0 .. EnotIntensityMapFormat.azimuth_size ]

ray_data

required

string <binary>

Buffer, contiaing EnotIntensityMapFormat.range_size elements.

Each unsigned byte encodes coloring mode and intensity. Values 0..192 are colored intensity and the rest 192..255 are grayscaled intensity.

//GLSL code for intensity and coloring mode decompression
//'value' is normalized float (0..1)
bool coloring = value < (192.0 / 256.0);
if (coloring)
    intensity = (value * 256.0 / 192.0);
else
    intensity = ((value * 256.0 - 192.0) / 64.0);

{"azimuth": 0,
"ray_data": "string"
}

Enot radar clutter map stream

Enot clutter map format:

azimuth_size required	integer <int32> Number of azimutal elements
range_size required	integer <int32> Number of ray elements
range_step required	number <float> Size of one ray element (meters)
start_range required	number <float> First ray element range (meters)
speed_size required	integer <int32> Number of speed elements
speed_step required	number <float> Size of one speed element (msec)
threshold required	integer <int32_t> Number of detections needed to filter out cell.

{"azimuth_size": 0,
"range_size": 0,
"range_step": 0,
"start_range": 0,
"speed_size": 0,
"speed_step": 0,
"threshold": 0
}

Enot clutter map frame:

azimuth required	integer <int32> Current ray azimuth `[ 0 .. EnotClutterMapFormat.azimuth_size ]`
mask required	string <binary> Buffer size is `EnotClutterMapFormat.range_size` * `EnotClutterMapFormat.speed_size`. Each byte contains EnotClutterMask for specific range and speed.
detections required	string <binary> Buffer size is `EnotClutterMapFormat.range_size` * `EnotClutterMapFormat.speed_size`. Each byte contains total detections count for specific range and speed.

{"azimuth": 0,
"mask": "string",
"detections": "string"
}

Enot clutter mask:

string (EnotClutterMask)

Enum: "empty" "extended_clutter" "clutter"

"empty"

Enot radar spectrum map stream

Enot spectrum map format:

start_range required	number <float> Start range (meters)
end_range required	number <float> End range (meters)
azimuth_size required	integer <int32> Number of azimutal elements

{"start_range": 0,
"end_range": 0,
"azimuth_size": 0
}

Enot spectrum map frame:

azimuths

required

string <binary>

Buffer size is EnotSpectrumMapFormat.azimuth_size. Each unsigned byte contains intensity of specific azimuth [ 0 .. 255 ].

{"azimuths": "string"
}

Enot radar spectrum data stream

Enot spectrum frame:

required	object (schemas)
min_incremental_azimuth required	integer <int64>
max_incremental_azimuth required	integer <int64>
power required	Array of numbers <float> Power (DB).
cfar_threshold	Array of numbers <float> Cfar threshold (DB).
compensation_power	Array of numbers <float> Compensation channel power (DB).
altitude	Array of numbers <float> Altitude (meters).
mask required	string <binary> Buffer size is `EnotSpectrumFormat.range_size` * `EnotSpectrumFormat.speed_size`. Each byte contains EnotSpectrumMask for specific range and speed.

{"format": {"azimuth_size": 0,
"range_size": 0,
"range_step": 0,
"start_range": 0,
"speed_size": 0,
"speed_step": 0,
"azimuth": 0
},
"min_incremental_azimuth": 0,
"max_incremental_azimuth": 0,
"power": [0
],
"cfar_threshold": [0
],
"compensation_power": [0
],
"altitude": [0
],
"mask": "string"
}

Enot spectrum mask:

8-bit mask, containing detection and filtering algorithms flags.

bit	description
0	Analog to digital converter overflow. False or missing CFAR detections possible.
1	Is point passed CFAR detection filter. The meaning of the remaining bits depends on this value.

If CFAR detection filter not passed (bit 1 is 0):

bit	description
2	Point removed by central band filter.
3	Point removed by central band power filter.

If CFAR detection filter passed (bit 1 is 1):

bit	description
2	Point filtered by compensaton channel filter.
3	Point filtered by clutter filter.
4	Point filtered by clutter map filter.
5	Point filtered by zones filter.
6	Point became part of the target.
7	Point became most intense part of the target.

Lynx spectrum data stream

Lynx spectrum frame:

frequency_start required	integer Begin of device frequency band (MHz)
frequency_end required	integer End of device frequency band (MHz)
power required	Array of numbers <float> Power for each frequency (DB).
threshold required	Array of numbers <float> Threshold for each frequency (DB).
mask required	string <binary> One byte with LynxSpectrumMask for each frequency.

{"frequency_start": 0,
"frequency_end": 0,
"power": [0
],
"threshold": [0
],
"mask": "string"
}

Enot spectrum mask:

8-bit mask, containing detection and filtering algorithms flags.

bit	description
0	Analog to digital converter overflow. False or missing CFAR detections possible.
1	Is point passed CFAR detection filter.
2	Point is removed by clutter filter.
3	Point is removed by interval filter.
4	Point became part of the target.
5	Point became most intense part of the target.

Trajectories stream

Client should store trajectory data and append/update/remove it when new stream frames received.

Trajectory changes frame:

time required	string <date-time> Changes time.
required	Array of objects (TrajectoryPoint) New/appended trajectory points.
removed_tracks required	Array of integers <int64> (Id) unique Array of removed trajectories. There will be no more updates of these trajectories.
remove_all	boolean If `true`, indicating that there will be no more updates for any previous tracks.

{"time": "2021-07-24T08:20:49.483Z",
"new_points": [{"id": {"track_id": 2,
"point_id": 2
},
"detection_time": {"realtime": "2021-07-24T08:20:49.483Z",
"archive": "2021-07-24T08:20:49.483Z"
},
"enot_data": {"detection": {"speed_width": 0,
"azimuth_width": 0,
"cfar_points_count": 0,
"central_band_power": 0,
"main_interval_sum_power": 0,
"power_max": 0,
"power_sum": 0,
"all_intervals_sum_of_max_power": 0,
"power_offset": 0,
"near_range_power_correction": 0,
"cfar_noise": 0,
"median_noise": 0,
"ratio_to_compensation": 0
},
"position": {"position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
},
"range": 0,
"radar_azimuth": 0,
"gps_azimuth": 0,
"elevation": 0,
"elevation_rmse": 0,
"altitude": 0,
"kalman_offset": 0,
"altitude_rmse": 0,
"source_terrain_altitude": 0,
"terrain_altitude": 0,
"altitude_above_sea": 0,
"altitude_above_terrain": 0,
"radial_speed": 0,
"track_radial_speed": 0,
"track_tangential_speed": 0,
"track_speed": 0,
"course": 0
},
"tracking": {"antenna_turnover": 0,
"rcs": 0,
"debug_rcs": {"main_iterval_sum": 0,
"main_iterval_max": 0,
"all_intervals_sum": 0,
"all_intervals_sum_of_max": 0
},
"track_avg_rcs": 0,
"debug_track_rcs": {"avg": 0,
"median": 0,
"median_avg": 0
},
"class_name": "string",
"penalty": [{"point": {"track_id": 2,
"point_id": 2
},
"total": 0,
"position": 0,
"position_weakening": 0,
"doppler_speed": 0,
"track_radial_speed": 0,
"track_tangential_speed": 0,
"rcs": 0
}
]
},
"spectrum": {"azimutal_segments": [{"format": {"azimuth_size": 0,
"range_size": 0,
"range_step": 0,
"start_range": 0,
"speed_size": 0,
"speed_step": 0,
"azimuth": 0
},
"min_incremental_azimuth": 0,
"max_incremental_azimuth": 0,
"power": [0
],
"cfar_threshold": [0
],
"compensation_power": [0
],
"altitude": [0
],
"mask": "string"
}
],
"max_power_segment_index": 0
},
"unreliable": true
},
"dji_data": {"position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
},
"info": "string"
},
"lynx_data": {"source_position": {"latitude": 55.986697,
"longitude": 37.214795
},
"sector": {"azimuth": {"value": 0,
"standard_deviation": 0
},
"range": 0
},
"frequency": {"value": 0,
"standard_deviation": 0
},
"power": 0,
"snr": 0,
"doa": [0
],
"spectrum": {"frequency_start": 0,
"frequency_end": 0,
"power": [0
],
"threshold": [0
],
"mask": "string"
}
}
}
],
"removed_tracks": [2
],
"remove_all": true
}

Trajectory interpolation frame:

Interpolated positions, related to specific trajectory point. Interpolated positions appended or replaced when new points added to trajectory.

required

Array of objects non-empty

{"interpolation": [{"id": {"track_id": 2,
"point_id": 2
},
"rewrite": true,
"positions": [{"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
}
]
}
]
}

Trajectory metadata frame:

Additional information, related to specific trajectory point. Generated by the server, can arrive with delay after trajectory point.

required	object (TrajectoryPointId)
alarm_events	Array of integers <int64> (Id) unique
video_detections	Array of integers <int64> (Id) unique

{"point_id": {"track_id": 2,
"point_id": 2
},
"alarm_events": [2
],
"video_detections": [2
]
}

Trajectory merger frame:

Tracks from different sources caused by one real target are placed into one group according to merger configuration. Client can display only main track in each group, to avoid trajectories duplication. Merger frame also includes geometry information about Lynx bearing intersections. Merger frames are generated by the server. To get them client must subscribe radar_server trajectories stream by passing empty source_id in ReadConfig when initializing reading stream.

required	Array of objects (TrajectoryMergerGroup) non-empty unique New/updated merger groups.
removed_groups required	Array of integers <int64> (Id) unique Array of removed merger groups. There will be no more updates of these groups.
remove_all required	boolean If `true`, indicating that there will be no more updates for any previous groups.
required	Array of objects (LynxMergerMetadata)

{"new_groups": [{"id": 2,
"unreliable": true,
"tracks": [{"source_id": 2,
"track_id": 2
}
],
"main_track": {"source_id": 2,
"track_id": 2
},
"lynx_intersections": [[{"source_id": 2,
"track_id": 2
}
]
]
}
],
"removed_groups": [2
],
"remove_all": true,
"lynx_metadata": [{"intersection_pairs": [[{"source_id": 2,
"track_id": 2
}
]
],
"merged_position": {"area": [{"latitude": 55.986697,
"longitude": 37.214795
}
],
"position": {"latitude": 55.986697,
"longitude": 37.214795
},
"radius": 0
},
"avg_frequency_todo": "string"
}
]
}

Video stream

Video stream can be decoded using ffmpeg library.

Video format:

codec_id required	integer <int32>
width required	integer <int32>
height required	integer <int32>
data required	string <binary> Contains AVCodecParameters::extradata

{"codec_id": 0,
"width": 0,
"height": 0,
"data": "string"
}

Equals to AVCodecParameters in ffmpeg library. Example of codec initialization from a VideoFormat structure:

std::optional<Codec> AvCodecFromVideoFormat(const oapi::VideoFormat& video_format)
{
    AVCodecParameters* av_codec_params_ptr = avcodec_parameters_alloc();
    auto& av_codec_params = *av_codec_params_ptr;

    av_codec_params.codec_type = AVMediaType::AVMEDIA_TYPE_VIDEO;
    av_codec_params.codec_id = static_cast<AVCodecID>(video_format.codec_id);
    av_codec_params.width = video_format.width;
    av_codec_params.height = video_format.height;

    av_codec_params.format = AVPixelFormat::AV_PIX_FMT_YUV420P;

    av_codec_params.extradata = reinterpret_cast<uint8_t*>(
        av_malloc(video_format.data.size() + AV_INPUT_BUFFER_PADDING_SIZE));
    av_codec_params.extradata_size = video_format.data.size();
    memcpy(av_codec_params.extradata, video_format.data.data(), video_format.data.size());

    Codec codec;
    codec.av_codec = avcodec_find_decoder(av_codec_params.codec_id);
    if (!codec.av_codec)
    {
        avcodec_parameters_free(&av_codec_params_ptr);
        return std::nullopt;
    }

    codec.av_codec_ctx = avcodec_alloc_context3(codec.av_codec);
    if (!codec.av_codec_ctx)
    {
        avcodec_parameters_free(&av_codec_params_ptr);
        return std::nullopt;
    }

    auto res = avcodec_parameters_to_context(codec.av_codec_ctx, av_codec_params_ptr);
    if (res < 0)
    {
        avcodec_parameters_free(&av_codec_params_ptr);
        avcodec_close(codec.av_codec_ctx);
        return std::nullopt;
    }

    // Open codec
    res = avcodec_open2(codec.av_codec_ctx, codec.av_codec, nullptr);
    if (res < 0)
    {
        avcodec_parameters_free(&av_codec_params_ptr);
        avcodec_close(codec.av_codec_ctx);
        return std::nullopt;
    }

    avcodec_parameters_free(&av_codec_params_ptr);

    return codec;
}

Video packet:

key_frame required	boolean
time required	string <date-time> (Time)
data required	string <binary>

{"key_frame": true,
"time": "2021-07-24T08:20:49.483Z",
"data": "string"
}

Equals to AVPacket in ffmpeg library. Example of packet initialization from a VideoPacket structure:

AVPacket AvPacketFromFrame(oapi::VideoPacket& packet)
{
    AVPacket av_packet;
    av_init_packet(&av_packet);
    av_packet.data = reinterpret_cast<uint8_t*>(packet.data.data());
    av_packet.size = packet.data.size();
    av_packet.flags = packet.key_frame ? AV_PKT_FLAG_KEY : 0;
    return av_packet;
}

Video Metadata:

video_frame_time_utc_ms required	integer <int64> Time of decoded video frame which metadata is related with
	object (PTZState)
	object Trajectory point at which camera was aimed
	object Analyzer output, if it was enabled

{"video_frame_time_utc_ms": 0,
"ptz_state": {"coords": {"coords": {"pan": -1,
"tilt": -1
},
"zoom": 1
},
"angles": {"pan": -180,
"tilt": -90
},
"geo_angles": {"pan": -180,
"tilt": -90
},
"first_fov": {"h": 0,
"v": 0
},
"second_fov": {"h": 0,
"v": 0
},
"focus": 1,
"is_moving": true,
"is_locked": true,
"jammer_state": true,
"glass_wipper_state": true
},
"aimed_trajectory": {"source_id": 2,
"track_id": 2,
"point_id": 2
},
"video_analyzer": {"error": true,
"detections": [{"l": 0,
"t": 0,
"r": 0,
"b": 0
}
]
}
}

SDK overview

Requirements

C++ 17
CMake 3.x
Qt 5.15
zlib

Structure

├───libs
│   ├───utils         - helper classes and functions
│   ├───http_types    - base HTTP types
│   ├───http_client   - HTTP client library
│   ├───oapi_models   - Generated OpenAPI structures, serialization / deserialization
│   ├───oapi_client   - Generated API's for client implementation
│   └───streaming_api - WebSockets stream, message header, frame creation and parsing
└───examples
    ├───1_single_request
    ├───2_polling_subscription
    ├───3_long_polling_subscription
    ├───4_source_configuration
    ├───5_reading_radar_streams
    ├───6_archive_export
    └───7_serialization_format_comparison

Code examples below based on SDK examples.

Models and serialization

Model:

Each model represented with oapi::<name> structure.

Non required fields represented with std::optional<T>
Arrays represented with std::vector
Arrays with unique items represented with std::set<T>
Maps represented with std::map<QString, T>
Enums represented with enum class
Serialization is avaialble for all OpenAPI models.

Serialization:

oapi::ReadStreamRequests request;
request.seek_to = QDateTime::currentDateTimeUtc().addSecs(-30);
request.speed = 0.5;

// default serialization
QByteArray cbor_gzip_buffer =
    streaming_api::Serialize(request,
                             Header(oapi::StreamType::E_STREAM_CONFIG,
                                    utils::to_underlying(oapi::CommonFrameType::E_DATA)));

// manually set time, format & compression
QByteArray json_buffer =
    streaming_api::Serialize(request,
                             Header(oapi::StreamType::E_STREAM_CONFIG,
                                    utils::to_underlying(oapi::CommonFrameType::E_DATA),
                                    QDateTime::currentDateTimeUtc().toMSecsSinceEpoch(),
                                    false,  // disable gzip compression
                                    oapi::SerializationFormat::E_JSON));

Deserialization:

QByteArray buffer = ...;
oapi::TrajectoryChangesFrame traj;
std::optional<Error> error = streaming_api::Deserialize(traj, buffer);
if (error)
{
    qDebug() << *error;
    return;
}
qDebug() << traj.time.toString(Qt::ISODateWithMs);

Streaming API

Stream subscription:

streaming_api::Stream class provides websocket stream with easy configuration and reconnect handling.

...

auto stream = new streaming_api::Stream(owner);

// Open connection
stream->open(streams_address);

// Set handler for incoming stream frames & playback state
QObject::connect(stream, &streaming_api::Stream::onMessage, owner, &ProcessMessage);

//Configure as reading stream with default format and compression
stream->initRead({source_id, std::nullopt, std::nullopt});

//Load 60 seconds of trajectories archive to restore scene before starting a playback
const int kExportDepthSecs = 60;

//Set requested streams & their configurations
stream->readStreams({{oapi::StreamType::E_TRAJECTORIES, kExportDepthSecs},
                     {oapi::StreamType::E_ENOT_INTENSITY_MAP, std::nullopt}});

//Configure playback
stream->playback()->setSpeed(0.5);
stream->playback()->seek(QDateTime::currentDateTimeUtc().addSecs(-60));
//for switch back to realtime: stream->playback()->seekToRealtime();

...

void ProcessMessage(const QByteArray& message)
{
    //Parse frame depending on StreamType and FrameType
    const streaming_api::Header* header = streaming_api::GetHeader(message);
    switch (header->stream_type)
    {
    case oapi::StreamType::E_TRAJECTORIES:
    {
        if (header->frame_type == utils::to_underlying(oapi::TrajectoryFrameType::E_CHANGES))
        {
            oapi::TrajectoryChangesFrame frame;
            auto error = streaming_api::Deserialize(frame, message);
            if (error)
            {
                qDebug() << "TrajectoryChangesFrame deserialization error:" << *error;
                return;
            }

            if (frame.new_points)
            {
                for (auto& p : *frame.new_points)
                {
                    qDebug() << "Trajectory" << p.id.track_id << "updated, position:" << toJson(p.position);
                }
            }
        }
        //handle other frame types
        ...
    }
    //handle other stream types
    ...

Requests and subscriptions

API class:

Each API represented with oapi::<name>API class:

#include <oapi_client/ClientToServerApi.h>

...
auto server_api = QSharedPointer<oapi::ClientToServerApi>::create();
server_api->setHttpConnectionSettings(utils::NetworkAddress
                              {
                                  QHostAddress("127.0.0.1"),
                                  3000
                              });

Calling single asynchronious request:

server_api->getTargetClasses(this, [] (RequestResult<oapi::TargetClasses> result,
                   http_client::NetworkReplyData /*network_reply_data*/)
{
    if (result.error)
    {
        qDebug() << result.error->description;
        return;
    }

    const oapi::TargetClasses& classes = *result.result;

    for (const auto& c: classes.classes)
    {
        qDebug() << "Class: id" << c.first;

        for (const auto& locale : c.second.locales)
        {
            qDebug() << "language id: " << locale.first
                      << "text: " << locale.second;
        }

        qDebug() << "";
    }
});

Subscriptions:

Subscription classes <name>Subscription generated for all api requests:

Polling (periodical) subscription example:

auto subscription =
    QSharedPointer<oapi::GetSourcesInfoSubscription>(new oapi::GetSourcesInfoSubscription());

QObject::connect(subscription.get(),
                 &oapi::GetSourcesInfoSubscription::onResponse,
                 this,
                 [s = subscription.get()]()
                 {
                     if (s->error())
                     {
                         qDebug() << s->error()->description;
                         return;
                     }

                     const oapi::SourcesInfo& sources = *s->response();
                     qDebug() << oapi::toJsonString(sources);
                 });

const int kRequestTimeoutMs = 1000;
const int kRequestPeriodMs = 1000;
subscription->setRequest(
    [api = server_api.get(), kRequestTimeoutMs](QObject* owner, auto on_response)
    { api->getSourcesInfo(std::nullopt, owner, on_response, kRequestTimeoutMs); },
    kRequestPeriodMs);

Long polling subscription example (server reply only when data chanes):

auto subscription =
    QSharedPointer<oapi::GetSourcesInfoSubscription>(new oapi::GetSourcesInfoSubscription());

QObject::connect(subscription.get(),
                 &oapi::GetSourcesInfoSubscription::onResponse,
                 [s = subscription.get()]()
                 {
                     if (s->error())
                     {
                         qDebug() << s->error()->description;
                         return;
                     }

                     const oapi::SourcesInfo& sources = *s->response();
                     qDebug() << oapi::toJsonString(sources);
                 });

subscription->setRequest(
    [api = server_api.get(), s = subscription.get()](QObject* owner, auto on_response) {
        api->getSourcesInfo(
            s->lastModifiedTime(), owner, on_response, http_client::kLongPollTimeout);
    });