Enot radar software API (3.0.0)

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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`, `video_service`
Streaming API	Continuous data streaming using WebSockets	`radar_server`
Configuration API	Configuration requests	`radar_server`, `enot_dsp`
Enot Source API	Enot radar source requests	`enot_dsp`
Video camera Source API	Video camera 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 samples

200

Content type

application/json

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

Get possible target classes.

Responses

Response samples

200

Content type

application/json

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

Set identification for trajectory point.

query Parameters

required	object (SourceTrajectoryPointId)
identification required	string (TrackIdentification) Enum: "unknown" "friend" "foe"

Responses

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

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 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 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",
"archive_server": "127.0.0.1",
"id": 2,
"disabled": true,
"state": "ok",
"port": 0
}
]
}

Clear archive.

Responses

Get archive range.

Responses

Response samples

200

Content type

application/json

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

Get local archive range.

query Parameters

sources

required

Array of integers <int64> (Id) unique [ items <int64 > ]

Example: sources=2

Get range for specific sources

Responses

Response samples

200

Content type

application/json

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

Get archive map (local and remote archives).

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
merge_time_ms	integer Merge nearby chanks

Responses

Response samples

200

Content type

application/json

{"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 archive map (only local archive).

query Parameters

sources required	Array of integers <int64> (Id) unique [ items <int64 > ] Example: sources=2 Get map for specific sources
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
merge_time_ms	integer Merge nearby chanks

Responses

Response samples

200

Content type

application/json

{"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 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 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": {"radar_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"camera_rules": {"enabled": true,
"classes": ["string"
],
"min_lifetime": 0
},
"rule_type": "or"
}
},
"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": {"radar_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"camera_rules": {"enabled": true,
"classes": ["string"
],
"min_lifetime": 0
},
"rule_type": "or"
}
}
}
}

Get alarm zone.

query Parameters

zone_id

required

integer <int64> (Id)

Example: zone_id=2

Responses

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": {"radar_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"camera_rules": {"enabled": true,
"classes": ["string"
],
"min_lifetime": 0
},
"rule_type": "or"
}
}

Create or update alarm zone.

Request Body schema: application/json
required

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

Responses

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": {"radar_rules": {"enabled": true,
"classes": ["string"
],
"min_track_length": 0
},
"camera_rules": {"enabled": true,
"classes": ["string"
],
"min_lifetime": 0
},
"rule_type": "or"
}
}

Delete alarm zone.

query Parameters

zone_id

required

integer <int64> (Id)

Example: zone_id=2

Responses

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
limit	integer Limit response size

Responses

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"
}
},
"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"
}
}
}
}

Delete alarm event.

query Parameters

event_id

required

integer <int64> (Id)

Example: event_id=2

Responses

Set decision for alarm event.

Request Body schema: application/json
required

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

Responses

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

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
limit	integer Limit response size

Responses

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
}
},
"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
}
}
}
}

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 samples

200

Content type

application/json

2

Get server UTC time.

Responses

Response samples

200

Content type

application/json

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

Append possible target classes.

Request Body schema: application/json
required

required

object

Responses

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
required

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

Responses

Request samples

Payload

Content type

application/json

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

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 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
required

Configuration values.

required

object

Key contains group id

Responses

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"
}
}
}
}
}

Returns archive with full service configuration

Responses

Radar server

Configuration groups for `radar_server`:

string (LogParameters)

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

"enabled_categories"

string (ServerArchiveParameters)

Enum: "enabled" "storage_depth_hours" "min_free_space_gb" "telemetry_storage_depth_hours" "database_maintenance" "database_path"

"enabled"

string (ServerCommonParameters)

Enum: "data_directory" "tracks_merger"

"data_directory"

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 integers (Id) unique [ items <int64 > unique [ items <int64 > ] ] Subsets of sources which tracks can be merged in one group.
bearing_intersections_merger_distance required	number <float> Merge distance for two bearing intersection areas.
point_merger_distance required	number <float> Merge distance for tracks with known coordinates.

{"merged_sources": [[2
]
],
"bearing_intersections_merger_distance": 0.1,
"point_merger_distance": 0.1
}

Enot source

Configuration groups for `enot_dsp`.

string (LogParameters)

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

"enabled_categories"

string (SourceGeneralParameters)

Enum: "source_name" "server_address" "server_port" "host_address" "archive_server_address"

"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" "loss_history_length" "coherent_loss_threshold" "restart_period" "current_coherent_loss" "single_restart"

"adapter"

string (NetworkConnectionParameters)

Enum: "ip" "port" "retranslation" "retranslation_ip" "retranslation_port" "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" "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" "enable_target_spectrum" "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" "controllable_antenna_tilt" "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" "cfar_coefficient_1" "cfar_coefficient_2" "cfar_coefficient_3" "cfar_coefficient_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" "cpu_usage" "available_memory" "disk_read" "disk_write"

"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" "signal_window" "model_window" "coherent_window" "max_parsed_channels" "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 (BfosAntennaElevationParameters)

Enum: "current_angle" "set_angle" "run_calibration" "status" "down" "up" "driver_status"

"current_angle"

string (BfosTelemetryParameters)

Enum: "serial_number" "firmware_version" "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_shift" "if_tx" "rf_tx" "rf_rx" "tx_mdm_strobe" "rx_mdm_strobe" "tx_pa_strobe"

"heterodin_shift"

string (TransceiverTelemetryParameters)

Enum: "transceiver_state" "duty_cycle_error" "dld_state" "pll_state" "mdm_current" "mdm_temperature" "mdm_power" "pa_current" "pa_temperature" "pa_power"

"transceiver_state"

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"

"min_mdm_power"

string (StartupManagerParameters)

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

"state"

Enot Source

Requests for enot_dsp

Write parameters to radar onboard EPROM

Responses

Video Camera Source

Get state

Responses

Response samples

200

Content type

application/json

{"is_locked": true,
"platform": {"pan": 0,
"tilt": 0
},
"optical": {"zoom": 0,
"fov": 0,
"v_fov": 0,
"focus": 0,
"glass_wipper": true
},
"infared": {"zoom": 0,
"fov": 0,
"v_fov": 0,
"focus": 0,
"glass_wipper": true
},
"jammer_state": {"enabling_time": "2019-08-24T14:15:22Z",
"automatic_mode": true
},
"pkrv_state": {"algo_state": "ready",
"scan_zone": {"x": 0,
"y": 0,
"width": 0,
"height": 0
}
},
"target_speed": {"pan": 0,
"tilt": 0
},
"position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
}
}

Get capabilities

Responses

Response samples

200

Content type

application/json

{"platform": {"pan": {"max_coordinate_error": 0,
"max_speed": 0,
"range": {"min": 0,
"max": 0
}
},
"tilt": {"max_coordinate_error": 0,
"max_speed": 0,
"range": {"min": 0,
"max": 0
}
}
},
"optical": {"fov": {"max_coordinate_error": 0,
"max_speed": 0,
"range": {"min": 0,
"max": 0
}
},
"focus": {"max_coordinate_error": 0,
"max_speed": 0,
"range": {"min": 0,
"max": 0
}
},
"has_autofocus": true,
"has_manual_autofocus": true,
"has_glass_wipper": true
},
"infared": {"fov": {"max_coordinate_error": 0,
"max_speed": 0,
"range": {"min": 0,
"max": 0
}
},
"focus": {"max_coordinate_error": 0,
"max_speed": 0,
"range": {"min": 0,
"max": 0
}
},
"has_autofocus": true,
"has_manual_autofocus": true,
"has_glass_wipper": true
},
"has_reset": true
}

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

Responses

Execute camera command.

Request Body schema: application/json
required

jammer	boolean Is jammer available and activated
required	object (CameraHeadCommand)
required	object (CameraHeadCommand)
	object (PkrvCommand)

Responses

Request samples

Payload

Content type

application/json

{"jammer": true,
"optical": {"glass_wipper": true,
"autofocus": true,
"do_autofocus": true
},
"infared": {"glass_wipper": true,
"autofocus": true,
"do_autofocus": true
},
"pkrv": {"restart_device": true,
"set_combat_mode": true,
"cancel_target_designation": true,
"reset_scan": true,
"reset_state": true,
"follow": {"target_id": 0,
"action": "follow"
},
"follow_rect": {"stream_type": "stream_config",
"target_rect": {"x": 0,
"y": 0,
"width": 0,
"height": 0
},
"video_frame_time": "2019-08-24T14:15:22Z"
}
}
}

Move camera axes.

Request Body schema: application/json
required

required	object (CameraAxes) Camera axes coordinates without zoom with pan/tilt/fov in angles. Focus in normalized coordinates (-1..1)
required	object (CameraSpeeds) Camera axes speeds with pan/tilt in angles. Zoom/focus in normalized coordinates (-1..1)
	object (AimOptions) Additional settings for aim algorithms.

Responses

Request samples

Payload

Content type

application/json

{"angles": {"platform": {"pan": 0,
"tilt": 0
},
"optical": {"fov": 0,
"focus": 0
},
"infared": {"fov": 0,
"focus": 0
}
},
"speeds": {"platform": {"pan": 0,
"tilt": 0
},
"optical": {"fov": 0,
"focus": 0
},
"infared": {"fov": 0,
"focus": 0
}
},
"aim_options": {"target_distance": 0,
"target_diameter": 0,
"vertical_error": 0,
"horizontal_error": 0,
"target_speed": {"north": 0,
"east": 0,
"up": 0
},
"target_to_camera_relative_speed": {"pan": 0,
"tilt": 0
},
"is_new_target": true,
"capture_target": true
}
}

Relative move.

Request Body schema: application/json
required

required	object (CameraAxes) Camera axes coordinates without zoom with pan/tilt/fov in angles. Focus in normalized coordinates (-1..1)
required	object (CameraSpeeds) Camera axes speeds with pan/tilt in angles. Zoom/focus in normalized coordinates (-1..1)
	object (AimOptions) Additional settings for aim algorithms.

Responses

Request samples

Payload

Content type

application/json

{"angles": {"platform": {"pan": 0,
"tilt": 0
},
"optical": {"fov": 0,
"focus": 0
},
"infared": {"fov": 0,
"focus": 0
}
},
"speeds": {"platform": {"pan": 0,
"tilt": 0
},
"optical": {"fov": 0,
"focus": 0
},
"infared": {"fov": 0,
"focus": 0
}
},
"aim_options": {"target_distance": 0,
"target_diameter": 0,
"vertical_error": 0,
"horizontal_error": 0,
"target_speed": {"north": 0,
"east": 0,
"up": 0
},
"target_to_camera_relative_speed": {"pan": 0,
"tilt": 0
},
"is_new_target": true,
"capture_target": true
}
}

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

required	object (Point)
stream_type required	string (StreamType) Enum: "stream_config" "trajectories" "video" "video_metadata" "enot_detection_points" "enot_intensity_map" "enot_clutter_map" "enot_spectrum_map" "enot_spectrum_data" "infared_video" "infared_video_metadata" "enot_noise_map" "video_analyzer" "infared_video_analyzer" "trajectories_metadata" See stream type.

Responses

Request samples

Payload

Content type

application/json

{"position": {"x": 0,
"y": 0
},
"stream_type": "stream_config"
}

Move to geo coordinates

Request Body schema: application/json
required

required	object (GeoPosition)
required	object (CameraSpeeds) Camera axes speeds with pan/tilt in angles. Zoom/focus in normalized coordinates (-1..1)
	object (AimOptions) Additional settings for aim algorithms.

Responses

Request samples

Payload

Content type

application/json

{"target_position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
},
"speeds": {"platform": {"pan": 0,
"tilt": 0
},
"optical": {"fov": 0,
"focus": 0
},
"infared": {"fov": 0,
"focus": 0
}
},
"aim_options": {"target_distance": 0,
"target_diameter": 0,
"vertical_error": 0,
"horizontal_error": 0,
"target_speed": {"north": 0,
"east": 0,
"up": 0
},
"target_to_camera_relative_speed": {"pan": 0,
"tilt": 0
},
"is_new_target": true,
"capture_target": true
}
}

Move to home position.

Responses

Make camera follow or cancel follow target.

Request Body schema: application/json
required

follow_type required	string (FollowTargetType) Enum: "next" "prev" "id"
	object (SourceTrajectoryId)

Responses

Request samples

Payload

Content type

application/json

{"follow_type": "next",
"id": {"source_id": 2,
"track_id": 2
}
}

Enable/disable autojammer.

Request Body schema: application/json
required

enable

required

boolean

Responses

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, dji,

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

2

video

camera

Frame type	Type
0	VideoFormat
1	VideoPacket

3

video_metadata

camera

Frame type	Type
1	VideoMetadataFrame

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

10

second_video

camera

For second camera head (infared).

Frame type	Type
0	VideoFormat
1	VideoPacket

11

second_video_metadata

camera

For second camera head (infared).

Frame type	Type
1	VideoMetadataFrame

12

enot_noise_map

enot_radar

Frame type	Type
0	EnotIntensityMapFormat
1	EnotIntensityMapFrame

13

video_analyzer

camera

Video analyzer results.

Frame type	Type
1	VideoAnalyzerFrame

14

second_video_analyzer

camera

Second camera head (infared) analyzer results.

Frame type	Type
1	VideoAnalyzerFrame

15

trajectories_metadata

enot_radar

Frame type	Type
1	Trajectory metadata frame

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_metadata" "enot_detection_points" "enot_intensity_map" "enot_clutter_map" "enot_spectrum_map" "enot_spectrum_data" "infared_video" "infared_video_metadata" "enot_noise_map" "video_analyzer" "infared_video_analyzer" "trajectories_metadata"

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_metadata" "enot_detection_points" "enot_intensity_map" "enot_clutter_map" "enot_spectrum_map" "enot_spectrum_data" "infared_video" "infared_video_metadata" "enot_noise_map" "video_analyzer" "infared_video_analyzer" "trajectories_metadata"

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:

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

{"time": "2021-07-24T08:20:49.483Z",
"azimuth": 360,
"points": [{"range": 0.1,
"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": 0.1,
"start_range": 0.1,
"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": 0.1,
"start_range": 0.1,
"speed_size": 0,
"speed_step": 0.1,
"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": 0.1,
"end_range": 0.1,
"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 (EnotSpectrumFormat)
min_incremental_azimuth required	integer <int64>
max_incremental_azimuth required	integer <int64>
power required	Array of numbers <float> [ items <float > ] Power (DB).
cfar_threshold	Array of numbers or null <float> [ items <float > ] Cfar threshold (DB).
compensation_power	Array of numbers <float> [ items <float > ] Compensation channel power (DB).
altitude	Array of numbers <float> [ items <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": 0.1,
"start_range": 0.1,
"speed_size": 0,
"speed_step": 0.1,
"azimuth": 0
},
"min_incremental_azimuth": 0,
"max_incremental_azimuth": 0,
"power": [0.1
],
"cfar_threshold": [0.1
],
"compensation_power": [0.1
],
"altitude": [0.1
],
"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.

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 [ items <int64 > ] 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": 0.1,
"azimuth_width": 0.1,
"cfar_points_count": 0.1,
"central_band_power": 0.1,
"main_interval_sum_power": 0.1,
"power_max": 0.1,
"power_sum": 0.1,
"all_intervals_sum_of_max_power": 0.1,
"power_offset": 0.1,
"near_range_power_correction": 0.1,
"cfar_noise": 0.1,
"min_cfar_coefficient": 0.1,
"median_noise": 0.1,
"ratio_to_compensation": 0.1
},
"position": {"position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
},
"range": 0.1,
"radar_azimuth": 0.1,
"gps_azimuth": 0.1,
"elevation": 0.1,
"elevation_rmse": 0.1,
"altitude": 0.1,
"kalman_offset": 0.1,
"altitude_rmse": 0.1,
"source_terrain_altitude": 0.1,
"terrain_altitude": 0.1,
"altitude_above_sea": 0.1,
"altitude_above_terrain": 0.1,
"radial_speed": 0.1,
"track_radial_speed": 0.1,
"track_tangential_speed": 0.1,
"track_speed": 0.1,
"course": 0.1
},
"tracking": {"antenna_turnover": 0,
"rcs": 0.1,
"debug_rcs": {"main_iterval_sum": 0.1,
"main_iterval_max": 0.1,
"all_intervals_sum": 0.1,
"all_intervals_sum_of_max": 0.1
},
"track_avg_rcs": 0.1,
"debug_track_rcs": {"avg": 0.1,
"median": 0.1,
"median_avg": 0.1
},
"class_name": "string",
"penalty": [{"point": {"track_id": 2,
"point_id": 2
},
"total": 0.1,
"position": 0.1,
"position_weakening": 0.1,
"doppler_speed": 0.1,
"track_radial_speed": 0.1,
"track_tangential_speed": 0.1,
"rcs": 0.1
}
]
},
"spectrum": {"azimutal_segments": [{"format": {"azimuth_size": 0,
"range_size": 0,
"range_step": 0.1,
"start_range": 0.1,
"speed_size": 0,
"speed_step": 0.1,
"azimuth": 0
},
"min_incremental_azimuth": 0,
"max_incremental_azimuth": 0,
"power": [0.1
],
"cfar_threshold": [0.1
],
"compensation_power": [0.1
],
"altitude": [0.1
],
"mask": "string"
}
],
"max_power_segment_index": 0
},
"unreliable": true
},
"bearing_target": {"geometry": {"source_position": {"latitude": 55.986697,
"longitude": 37.214795
},
"range": 0.1,
"azimuth": {"value": 0.1,
"standard_deviation": 0.1
}
},
"frequency": 0.1
},
"coordinate_target": {"position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
},
"dji_server_target": {"info": "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 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 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 [ items <int64 > ] 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 (BearingMergerMetadata)

{"new_groups": [{"id": 2,
"unreliable": true,
"tracks": [{"source_id": 2,
"track_id": 2
}
],
"main_track": {"source_id": 2,
"track_id": 2
},
"bearing_intersections": [[{"source_id": 2,
"track_id": 2
}
]
]
}
],
"removed_groups": [2
],
"remove_all": true,
"bearing_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": 0.1
},
"avg_frequency_todo": "string"
}
]
}

Trajectories metadata stream

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 [ items <int64 > ]
identification	string (TrackIdentification) Enum: "unknown" "friend" "foe"

{"point_id": {"track_id": 2,
"point_id": 2
},
"alarm_events": [2
],
"identification": "unknown"
}

Video stream

Video stream can be decoded using ffmpeg library.

Video format:

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

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

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

std::shared_ptr<AVCodecParameters> AvCodecParamsFromOapi(const oapi::VideoFormat& video_format)
{
    auto av_codec_params_ptr = std::shared_ptr<AVCodecParameters>(
        avcodec_parameters_alloc(), [](AVCodecParameters* v) { avcodec_parameters_free(&v); });
    auto& av_codec_params = *av_codec_params_ptr;

    av_codec_params.codec_type = AVMediaType::AVMEDIA_TYPE_VIDEO;
    av_codec_params.format = static_cast<AVPixelFormat>(video_format.pixel_format);
    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.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());

    return av_codec_params_ptr;
}

Video packet:

key_frame required	boolean
data required	string <binary>
pts required	integer <int64>
dts required	integer <int64>
required	object (VideoStreamTime)

{"key_frame": true,
"data": "string",
"pts": 0,
"dts": 0,
"stream_time": {"time_num": 0,
"time_den": 0,
"start_pts": 0,
"start_utc": "2019-08-24T14:15:22Z"
}
}

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

std::shared_ptr<AVPacket> AvPacketFromOapi(const oapi::VideoPacket& packet)
{
    auto av_packet =
        std::shared_ptr<AVPacket>(av_packet_alloc(), [](AVPacket* p) { av_packet_free(&p); });

    if (!av_packet)
    {
        return nullptr;
    }

    // ffmpeg требует AV_INPUT_BUFFER_PADDING_SIZE байт после данных заполенный нулями.
    const size_t buffer_size = packet.data.size() + AV_INPUT_BUFFER_PADDING_SIZE;
    // reference-counted буфер для данных
    // Это позволяет безопасно освобождать исходные данные после avcodec_send_packet
    AVBufferRef* buf = av_buffer_alloc(buffer_size);
    if (!buf)
    {
        return nullptr;
    }

    memcpy(buf->data, packet.data.data(), packet.data.size());
    memset(buf->data + packet.data.size(), 0, AV_INPUT_BUFFER_PADDING_SIZE);

    // av_packet_free автоматически вызовет av_buffer_unref для buf
    av_packet->buf = buf;
    av_packet->data = buf->data;
    av_packet->size = packet.data.size();
    av_packet->flags = packet.key_frame ? AV_PKT_FLAG_KEY : 0;
    av_packet->pts = packet.pts;
    av_packet->dts = packet.dts;

    return av_packet;
}

Video Metadata Frame:

video_frame_time_utc_ms required	integer <int64> Time of related video frame
	object (CameraState)
	object (SourceTrajectoryPointId) Trajectory point at which camera was aimed

{"video_frame_time_utc_ms": 0,
"camera_state": {"is_locked": true,
"platform": {"pan": 0,
"tilt": 0
},
"optical": {"zoom": 0,
"fov": 0,
"v_fov": 0,
"focus": 0,
"glass_wipper": true
},
"infared": {"zoom": 0,
"fov": 0,
"v_fov": 0,
"focus": 0,
"glass_wipper": true
},
"jammer_state": {"enabling_time": "2019-08-24T14:15:22Z",
"automatic_mode": true
},
"pkrv_state": {"algo_state": "ready",
"scan_zone": {"x": 0,
"y": 0,
"width": 0,
"height": 0
}
},
"target_speed": {"pan": 0,
"tilt": 0
},
"position": {"latitude": 55.986697,
"longitude": 37.214795,
"altitude": 23.52
}
},
"aimed_trajectory": {"source_id": 2,
"track_id": 2,
"point_id": 2
}
}

Video Analyzer Result:

date required	string <date-time> Time of analyzed video frame
required	Array of objects (VideoAnalyzerObject)

{"date": "2019-08-24T14:15:22Z",
"objects": [{"id": 0,
"rect": {"x": 0,
"y": 0,
"width": 0,
"height": 0
},
"type": "string",
"follow": {"mode": "none",
"keep_in_frame_center": true
},
"tv_detected": true,
"tpv_detected": true,
"in_ignore_zone": true,
"creation_time": "2019-08-24T14:15:22Z",
"life_time_ms": 0,
"size_meters": 0,
"geo_angles": {"pan": 0,
"tilt": 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);
    });

Enot radar software API (3.0.0)

HTTP Protocol specifics

Long polling requests

APIs

Qt C++ SDK

Client To Server

Get server UTC time.

Responses

Response samples

Get possible target classes.

Responses

Response samples

Set identification for trajectory point.

query Parameters

Responses

Delete or temporary disable source

query Parameters

Responses

Get source telemetry for some period of time.

query Parameters

Responses

Response samples

Get information about all sources.

query Parameters

Responses

Response samples

Clear archive.

Responses

Get archive range.

Responses

Response samples

Get local archive range.

query Parameters

Responses

Response samples

Get archive map (local and remote archives).

query Parameters

Responses

Response samples

Get archive map (only local archive).

query Parameters

Responses

Response samples

Get all alarm zones.

query Parameters

Responses

Response samples

Get alarm zone.

query Parameters

Responses

Response samples

Create or update alarm zone.

Request Body schema: application/jsonrequired

Responses

Request samples

Delete alarm zone.

query Parameters

Responses

Get all alarm events.

query Parameters

Responses

Response samples

Delete alarm event.

query Parameters

Responses

Set decision for alarm event.

Request Body schema: application/jsonrequired

Responses

Request samples

Close alarm event.

query Parameters

Responses

Get alarm event tracks.

query Parameters

Responses

Response samples

Source To Server

Get last track id for source

query Parameters

Responses

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Configuration groups for `radar_server`:

Configuration groups for `enot_dsp`.

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required

Request Body schema: application/json
required