Protobuf Reference

The following section is auto-generated from the Protobuf files listed in the Sonardyne API GitHub Repo.

Algorithms

AHRS Algorithm

AhrsAlgorithmCommandReset sonardyne/api/algorithms/ahrs_algorithm/ahrs_algorithm_command_reset.proto

AhrsAlgorithmCommandReset resets the specified AHRS algorithm to its initial state. Use this command when re-initialisation or recovery is required after configuration changes, sensor faults, or other state disruptions.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.AhrsAlgorithmCommandReset()))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.AhrsAlgorithmCommandReset()))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.AhrsAlgorithmCommandReset()))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

AhrsAlgorithmConfiguration sonardyne/api/algorithms/ahrs_algorithm/ahrs_algorithm_configuration.proto

AhrsAlgorithmConfiguration provides coarse configuration parameters for an AHRS module. Used to supply approximate geographic context that can improve initialisation and algorithm performance.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.AhrsAlgorithmConfiguration(
        coarse_position_latitude_radians=0.1,
        coarse_position_longitude_radians=0.2
    )))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.AhrsAlgorithmConfiguration(
        coarse_position_latitude_radians=0.1,
        coarse_position_longitude_radians=0.2
    )))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.AhrsAlgorithmConfiguration(
        coarse_position_latitude_radians=0.1,
        coarse_position_longitude_radians=0.2
    )))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

AhrsAlgorithmStatus sonardyne/api/algorithms/ahrs_algorithm/ahrs_algorithm_status.proto

AhrsAlgorithmStatus contains data from the AHRS algorithm about its alignment progress.

DVL Algorithm

AdcpVelocityLimit sonardyne/api/algorithms/dvl_algorithm/adcp_velocity_limit.proto

AdcpVelocityLimit defines the selectable velocity limit mode for an ADCP and lists all valid options supported by the device.

AdcpVelocityLimit.AdcpVelocityLimitEnum sonardyne/api/algorithms/dvl_algorithm/adcp_velocity_limit.proto

Velocity limit enum internal to AdcpVelocityLimit.

DvlAdcpParameters sonardyne/api/algorithms/dvl_algorithm/dvl_adcp_parameters.proto

DvlAdcpParameters provides configuration for DVL and ADCP operation, including measurement cell settings, ping averaging, ADCP velocity limits, and DVL water track parameters.

DvlAlgorithmConfiguration sonardyne/api/algorithms/dvl_algorithm/dvl_algorithm_configuration.proto

DvlAlgorithmConfiguration provides configuration for a DVL algorithm, including update rate, Doppler mode, input trigger settings, and ADCP-related parameters.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.DvlAlgorithmConfiguration(
        dvl_rate=son.DvlRate(value=son.DvlRate.DvlRateEnum.DVL_RATE_ENUM_FIXED_5HZ),
        dvl_mode=son.DvlMode(value=son.DvlMode.DVL_MODE_ENUM_DVL),
        adcp_parameters=son.DvlAdcpParameters(
            number_of_cells=son.BoundedUInt32(value=100),
            preferred_cell_width_metres=son.BoundedDouble(value=0.1),
            pings_to_average=son.BoundedUInt32(value=10),
            dvl_adcp_ping_ratio=son.BoundedUInt32(value=10),
            velocity_limit=son.AdcpVelocityLimit(value=son.AdcpVelocityLimit.ADCP_VELOCITY_LIMIT_ENUM_STANDARD)
        ),
        input_trigger_parameters=son.DvlInputTriggerParameters(
            input_trigger_port=son.TriggerPortReference(set_uid=son.UniqueID(name="Trigger A1")),
            input_trigger_edge=son.TRIGGER_EDGE_RISING,
            input_trigger_delay_seconds=son.BoundedDouble(value=0.1)
        ),
        dvl_blanking_distance_metres=son.BoundedDouble(value=5.687)
    )))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.DvlAlgorithmConfiguration(
        dvl_rate=son.DvlRate(value=son.DvlRate.DvlRateEnum.DVL_RATE_ENUM_FIXED_5HZ),
        dvl_mode=son.DvlMode(value=son.DvlMode.DVL_MODE_ENUM_DVL),
        adcp_parameters=son.DvlAdcpParameters(
            number_of_cells=son.BoundedUInt32(value=100),
            preferred_cell_width_metres=son.BoundedDouble(value=0.1),
            pings_to_average=son.BoundedUInt32(value=10),
            dvl_adcp_ping_ratio=son.BoundedUInt32(value=10),
            velocity_limit=son.AdcpVelocityLimit(value=son.AdcpVelocityLimit.ADCP_VELOCITY_LIMIT_ENUM_STANDARD)
        ),
        input_trigger_parameters=son.DvlInputTriggerParameters(
            input_trigger_port=son.TriggerPortReference(set_uid=son.UniqueID(name="Trigger A1")),
            input_trigger_edge=son.TRIGGER_EDGE_RISING,
            input_trigger_delay_seconds=son.BoundedDouble(value=0.1)
        ),
        dvl_blanking_distance_metres=son.BoundedDouble(value=5.687)
    )))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.DvlAlgorithmConfiguration(
        dvl_rate=son.DvlRate(value=son.DvlRate.DvlRateEnum.DVL_RATE_ENUM_FIXED_5HZ),
        dvl_mode=son.DvlMode(value=son.DvlMode.DVL_MODE_ENUM_DVL),
        adcp_parameters=son.DvlAdcpParameters(
            number_of_cells=son.BoundedUInt32(value=100),
            preferred_cell_width_metres=son.BoundedDouble(value=0.1),
            pings_to_average=son.BoundedUInt32(value=10),
            dvl_adcp_ping_ratio=son.BoundedUInt32(value=10),
            velocity_limit=son.AdcpVelocityLimit(value=son.AdcpVelocityLimit.ADCP_VELOCITY_LIMIT_ENUM_STANDARD)
        ),
        input_trigger_parameters=son.DvlInputTriggerParameters(
            input_trigger_port=son.TriggerPortReference(set_uid=son.UniqueID(name="Trigger A1")),
            input_trigger_edge=son.TRIGGER_EDGE_RISING,
            input_trigger_delay_seconds=son.BoundedDouble(value=0.1)
        ),
        dvl_blanking_distance_metres=son.BoundedDouble(value=5.687)
    )))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

DvlInputTriggerParameters sonardyne/api/algorithms/dvl_algorithm/dvl_input_trigger_parameters.proto

DvlInputTriggerParameters provides configuration for the input trigger controlling DVL acoustic transmissions, including the trigger port and any transmission delay.

DvlMode sonardyne/api/algorithms/dvl_algorithm/dvl_mode.proto

DvlMode provides the configuration for the Doppler operating mode of the device.

DvlMode.DvlModeEnum sonardyne/api/algorithms/dvl_algorithm/dvl_mode.proto

DVL mode enum internal to DvlMode.

DvlRate sonardyne/api/algorithms/dvl_algorithm/dvl_rate.proto

DvlRate provides configuration for the DVL update rate, including the selected scheduling rate and all supported rate options.

DvlRate.DvlRateEnum sonardyne/api/algorithms/dvl_algorithm/dvl_rate.proto

DvlRate.DvlRateEnum defines a DVL rate.

DvlWaterTrackParameters sonardyne/api/algorithms/dvl_algorithm/dvl_water_track_parameters.proto

DvlWaterTrackParameters provides configuration for DVL water tracking, including the starting depth of the water track and the number of measurement cells.

DVL Filter Algorithm

DvlFilterAlgorithmObservation sonardyne/api/algorithms/dvl_filter_algorithm/dvl_filter_algorithm_observation.proto

DvlFilterAlgorithmObservation provides filtered measurement data from a DVL algorithm, including a unique identifier for the associated algorithm and the filtered DVL data.

DvlFilterBeamData sonardyne/api/algorithms/dvl_filter_algorithm/dvl_filter_beam_data.proto

DvlFilterBeamData provides detailed information for a single DVL beam measurement, including timestamp, velocity, uncertainty, range, correlation score, and any rejection reasons.

DvlFilterBeamRejectionReasons sonardyne/api/algorithms/dvl_filter_algorithm/dvl_filter_beam_rejection_reasons.proto

DvlFilterBeamRejectionReasons represents the reasons for a rejection of individual DVL beam data.

DvlFilterRejectionReasons sonardyne/api/algorithms/dvl_filter_algorithm/dvl_filter_rejection_reasons.proto

DvlFilterRejectionReasons represents the reasons for a rejection of DVL data.

FilteredDvlData sonardyne/api/algorithms/dvl_filter_algorithm/filtered_dvl_data.proto

FilteredDvlData provides processed DVL measurement data, including timestamps, altitude, sound velocity, ping status, individual beam data, and any rejection reasons.

FilteredDvlData.DvlPingStatus sonardyne/api/algorithms/dvl_filter_algorithm/filtered_dvl_data.proto

DvlPingStatus enumerates the possible statuses of a DVL ping, including bottom search, bottom ambiguity resolution, active bottom tracking, water column measurement, manual trigger, or no transmission.

GNSS Filter Algorithm

FilteredGnssData sonardyne/api/algorithms/gnss_filter_algorithm/filtered_gnss_data.proto

FilteredGnssData provides processed GNSS measurement data, including position, altitude, uncertainty, quality source, timestamps, and any rejection reasons.

FilteredGnssData.GnssFilterQualitySource sonardyne/api/algorithms/gnss_filter_algorithm/filtered_gnss_data.proto

GnssFilterQualitySource enumerates the sources used to determine GNSS data quality, including none, GST messages, HDOP, or manual assignment.

GnssFilterAlgorithmObservation sonardyne/api/algorithms/gnss_filter_algorithm/gnss_filter_algorithm_observation.proto

GnssFilterAlgorithmObservation provides filtered GNSS data from a GNSS filter algorithm, including a unique algorithm identifier and the processed measurement data.

GnssFilterRejectionReasons sonardyne/api/algorithms/gnss_filter_algorithm/gnss_filter_rejection_reasons.proto

GnssFilterRejectionReasons defines one or more reasons for GNSS data being rejected by a filter.

INS Algorithm

InsAlgorithmCommandReset sonardyne/api/algorithms/ins_algorithm/ins_algorithm_command_reset.proto

InsAlgorithmCommandReset provides a command to reset an INS algorithm, identified by its unique ID.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.InsAlgorithmCommandReset()))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.InsAlgorithmCommandReset()))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.InsAlgorithmCommandReset()))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

InsAlgorithmConfiguration sonardyne/api/algorithms/ins_algorithm/ins_algorithm_configuration.proto

InsAlgorithmConfiguration provides configuration for an INS algorithm, including enabling or disabling aiding sources such as GNSS, SUSBL, and XPOS.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.InsAlgorithmConfiguration(
        is_gnss_enabled=True,
        is_xpos_enabled=False,
        is_external_depth_enabled=False,
        is_internal_depth_enabled=False,
        is_gnss_height_enabled=True
    )))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.InsAlgorithmConfiguration(
        is_gnss_enabled=True,
        is_xpos_enabled=False,
        is_external_depth_enabled=False,
        is_internal_depth_enabled=False,
        is_gnss_height_enabled=True
    )))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.InsAlgorithmConfiguration(
        is_gnss_enabled=True,
        is_xpos_enabled=False,
        is_external_depth_enabled=False,
        is_internal_depth_enabled=False,
        is_gnss_height_enabled=True
    )))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

InsAlgorithmLblFixStatus sonardyne/api/algorithms/ins_algorithm/ins_algorithm_lbl_fix_status.proto

InsAlgorithmLblFixStatus contains data from the INS algorithm about a running LBL Fix machine.

InsAlgorithmStatus sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status.proto

InsAlgorithmStatus contains data from the INS algorithm about the aiding used in a Kalman cycle.

InsAlgorithmStatusDvl sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_dvl.proto

InsAlgorithmStatusDvl contains data from the INS algorithm about the DVL aiding used in a Kalman cycle.

InsAlgorithmStatusDvl.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_dvl.proto

InsAlgorithmStatusDvl.ReasonsRejected defines one or more reasons for DVL data being rejected by an INS.

InsAlgorithmStatusFreeInertial sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_free_inertial.proto

InsAlgorithmStatusFreeInertial contains data from the INS algorithm about predicted free inertial performance: time for uncertainty to reach 1NM, CEP50.

InsAlgorithmStatusFreeInertial.FreeInertialStatus sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_free_inertial.proto

InsAlgorithmStatusFreeInertial.FreeInertialStatus provides classification fields for predicted free-inertial performance

InsAlgorithmStatusGnss sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_gnss.proto

InsAlgorithmStatusGnss contains data from the INS algorithm about the GNSS aiding used in a Kalman cycle.

InsAlgorithmStatusGnss.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_gnss.proto

InsAlgorithmStatusGnss.ReasonsRejected defines one or more reasons for GNSS data being rejected by an INS.

InsAlgorithmStatusLblBeacon sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_lbl_beacon.proto

InsAlgorithmStatusLblBeacon contains data from the INS algorithm about the LBL aiding from a single beacon used in a Kalman cycle.

InsAlgorithmStatusLblBeacon.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_lbl_beacon.proto

InsAlgorithmStatusLblBeacon.ReasonsRejected defines one or more reasons for LBL data being rejected by an INS.

InsAlgorithmStatusPressure sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_pressure.proto

InsAlgorithmStatusPressure contains data from the INS algorithm about the Pressure aiding used in a Kalman cycle.

InsAlgorithmStatusPressure.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_pressure.proto

InsAlgorithmStatusPressure.ReasonsRejected defines one or more reasons for pressure data being rejected by an INS.

InsAlgorithmStatusSusbl sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_susbl.proto

InsAlgorithmStatusSusbl contains data from the INS algorithm about the SUSBL aiding used in a Kalman cycle.

InsAlgorithmStatusSusbl.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_susbl.proto

InsAlgorithmStatusSusbl.ReasonsRejected defines one or more reasons for SUSBL data being rejected by an INS.

InsAlgorithmStatusXpos sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_xpos.proto

InsAlgorithmStatusXpos contains data from the INS algorithm about the XPOS aiding used in a Kalman cycle.

InsAlgorithmStatusXpos.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_xpos.proto

InsAlgorithmStatusXpos.ReasonsRejected defines one or more reasons for XPOS data being rejected by an INS.

InsAlgorithmStatusXvel sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_xvel.proto

InsAlgorithmStatusXvel contains data from the INS algorithm about the XVEL aiding used in a Kalman cycle.

InsAlgorithmStatusXvel.ReasonsRejected sonardyne/api/algorithms/ins_algorithm/ins_algorithm_status_xvel.proto

InsAlgorithmStatusXvel.ReasonsRejected defines one or more reasons for XVEL data being rejected by an INS.

Common

Bounded Values

BoundedDouble sonardyne/api/common/bounded_values/bounded_double.proto

BoundedDouble represents a double-precision floating-point value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedFixed32 sonardyne/api/common/bounded_values/bounded_fixed32.proto

BoundedFixed32 represents a fixed32 value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedFixed64 sonardyne/api/common/bounded_values/bounded_fixed64.proto

BoundedFixed64 represents a fixed64 value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedFloat sonardyne/api/common/bounded_values/bounded_float.proto

BoundedFloat represents a single-precision floating-point value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedInt32 sonardyne/api/common/bounded_values/bounded_int32.proto

BoundedInt32 represents a 32-bit integer value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedInt64 sonardyne/api/common/bounded_values/bounded_int64.proto

BoundedInt64 represents a 64-bit integer value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedSFixed32 sonardyne/api/common/bounded_values/bounded_sfixed32.proto

BoundedSFixed32 represents a signed 32-bit fixed-point value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedSFixed64 sonardyne/api/common/bounded_values/bounded_sfixed64.proto

BoundedSFixed64 represents a signed 64-bit fixed-point value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedSInt32 sonardyne/api/common/bounded_values/bounded_sint32.proto

BoundedSInt32 represents a signed 32-bit integer value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedSInt64 sonardyne/api/common/bounded_values/bounded_sint64.proto

BoundedSInt64 represents a signed 64-bit integer value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedUInt32 sonardyne/api/common/bounded_values/bounded_uint32.proto

BoundedUInt32 represents an unsigned 32-bit integer value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

BoundedUInt64 sonardyne/api/common/bounded_values/bounded_uint64.proto

BoundedUInt64 represents an unsigned 64-bit integer value with defined minimum and maximum bounds. The min and max fields are read-only and provide the allowed range for the value.

Data

DataDirection sonardyne/api/common/data/data_direction.proto

DataDirection enumerates the direction of data relative to a port or module. It indicates whether data is incoming, outgoing, or unspecified.

DataEncoding sonardyne/api/common/data/data_encoding.proto

DataEncoding represents a method of byte encoding.

DataQualitySource sonardyne/api/common/data/data_quality_source.proto

DataQualitySource enumerates the different modes for determining the quality of inbound data.

Envelope

RequestEnvelope sonardyne/api/common/envelope/request_envelope.proto

RequestEnvelope contains request messages. For each RequestEnvelope sent, a corresponding ResponseEnvelope will be returned. The corresponding ResponseEnvelope will contain an equal number of responses to the number of requests in the corresponding RequestEnvelope. These corresponding requests and responses will listed in the same order. Matching RequestEnvelope and ResponseEnvelope messages can be paired by their uid values.

ResponseEnvelope sonardyne/api/common/envelope/response_envelope.proto

ResponseEnvelope is returned as a response to sent RequestEnvelope messages. The ResponseEnvelope contains an equal number of responses to the number of requests in the corresponding RequestEnvelope. These corresponding requests and responses will listed in the same order. Matching RequestEnvelope and ResponseEnvelope messages can be paired by their uid values.

Installation

LeverArms sonardyne/api/common/installation/lever_arms.proto

LeverArms defines offsets from the central reference point along the forward, starboard, and down axes. All values are expressed in metres.

MountingAngles sonardyne/api/common/installation/mounting_angles.proto

MountingAngles defines the rotational offsets of a device relative to the vessel reference frame. All angles are in radians and follow a clockwise rotation convention about each axis (commonly known as right-hand rule). Rotation is applied using the Euler ZYX convention, where rotations are applied in the following order: 1. By the heading angle about the Z (or "down") axis of the reference frame. 2. By the pitch angle about the resulting Y (or "starboard") axis. 3. By the roll angle about the resulting X (or "forward") axis.

MatchingCriteria sonardyne/api/common/matching_criteria.proto

MatchingCriteria allows messages to be matched and filtered based on their type name and unique ID.

Maths

AngularVelocity sonardyne/api/common/maths/angular_velocity.proto

AngularVelocity represents rotational rates about each body axis. All values are expressed in radians per second. The angular velocities are measured in the body frame (intrinsic rotations) and follow the ZYX (Yaw-Pitch-Roll) Euler angle convention.

Quaternion sonardyne/api/common/maths/quaternion.proto

Quaternion represents orientation using a four-component unit quaternion. The quaternion consists of one scalar component (w) and a three-component vector part (x, y, z), suitable for expressing 3D rotations without gimbal lock.

Vector3d sonardyne/api/common/maths/vector_3d.proto

A three-element vector of doubles.

Navigation

GeographicCoordinates sonardyne/api/common/navigation/geographic_coordinates.proto

GeographicCoordinates represents a position on the Earth's surface. Both latitude and longitude are expressed in radians.

HorizontalPositionErrorEllipse sonardyne/api/common/navigation/horizontal_position_error_ellipse.proto

HorizontalPositionErrorEllipse describes the 2D dispersion of a horizontal position estimate using an error ellipse aligned to major and minor axes. The ellipse orientation is expressed counter-clockwise from north.

HorizontalResidual sonardyne/api/common/navigation/horizontal_residual.proto

HorizontalResidual defines a horizontal position residual in latitude & longitude radians.

HorizontalVelocityErrorEllipse sonardyne/api/common/navigation/horizontal_velocity_error_ellipse.proto

HorizontalVelocityErrorEllipse describes the 2D dispersion of a horizontal velocity estimate using an error ellipse aligned to major and minor axes. The ellipse orientation is expressed counter-clockwise from north.

NavigationData sonardyne/api/common/navigation/navigation_data.proto

NavigationData provides a complete snapshot of the navigation solution at a specific time, including position, velocity, orientation, and their associated uncertainties. It combines georeferenced coordinates, error metrics, kinematic quantities, and attitude information into a single structured dataset.

NorthEastDownAcceleration sonardyne/api/common/navigation/north_east_down_acceleration.proto

NorthEastDownAcceleration represents linear acceleration resolved in the local North-East-Down (NED) coordinate frame. Each component specifies acceleration along one of the orthogonal NED axes.

NorthEastDownVelocity sonardyne/api/common/navigation/north_east_down_velocity.proto

NorthEastDownVelocity represents linear velocity resolved in the local North-East-Down (NED) coordinate frame. Each component specifies velocity along one of the orthogonal NED axes.

NorthEastDownVelocityUncertainty sonardyne/api/common/navigation/north_east_down_velocity_uncertainty.proto

NorthEastDownVelocityUncertainty represents the uncertainty of a velocity resolved in the local North-East-Down (NED) coordinate frame. Each component specifies velocity uncertainty along one of the orthogonal NED axes.

RollPitchHeading sonardyne/api/common/navigation/roll_pitch_heading.proto

RollPitchHeading represents an orientation measurement using roll, pitch, and heading angles. All angles are expressed in radians.

Ports

DataPortComms sonardyne/api/common/ports/data_port_comms.proto

DataPortComms represents a communication event on a data port. It includes the unique ID of the port, the timestamp of the event, the direction of the data relative to the port, and the data payload.

DataPortReference sonardyne/api/common/ports/data_port_reference.proto

DataPortReference defines a reference to a data port, allowing selection from various types of ports using multiple options. The reference can select no port, a specific port by UniqueId, or any available port of a given type (Ethernet, Serial, or External Control). Read-only fields provide the actual referenced port information, if available.

Ethernet Port

EthernetPort sonardyne/api/common/ports/ethernet_port/ethernet_port.proto

EthernetPort defines the configuration of a single Ethernet port on the instrument. It includes a unique identifier, the source port number, a flag indicating whether COBS framing is enabled, and the port type, which can be a TCP server, TCP client, or UDP socket.

EthernetPortReference sonardyne/api/common/ports/ethernet_port/ethernet_port_reference.proto

EthernetPortReference defines a reference to an Ethernet port using one of several selection options. It can select any port (lowest UniqueId), no port, or a specific port by its unique ID. The readonly_reference field contains the actual referenced EthernetPort, if available.

TcpClientParameters sonardyne/api/common/ports/ethernet_port/tcp_client_parameters.proto

TcpClientParameters defines the configuration for a TCP client port. It includes the IP address of the TCP server to which the client will connect.

TcpServerParameters sonardyne/api/common/ports/ethernet_port/tcp_server_parameters.proto

TcpServerParameters defines the configuration for a TCP server port. It specifies the maximum number of simultaneous client connections allowed.

UdpSocketParameters sonardyne/api/common/ports/ethernet_port/udp_socket_parameters.proto

UdpSocketParameters defines the configuration for a UDP socket port. It specifies the destination IP address to which UDP packets will be sent.

External Control Port

ExternalControlPort sonardyne/api/common/ports/external_control_port/external_control_port.proto

ExternalControlPort defines a single external control port on the instrument. It includes a unique identifier assigned by the system.

Power Pass Port

PowerPassPort sonardyne/api/common/ports/power_pass_port/power_pass_port.proto

PowerPassPort defines a single power pass port on the instrument. It includes a unique identifier assigned by the system and the current state of the port (enabled, disabled, or tripped).

PowerPassPort.PowerPassState sonardyne/api/common/ports/power_pass_port/power_pass_port.proto

PowerPassPort.PowerPassState enumerates the possible states of a power pass port. It indicates whether the port is enabled, disabled, tripped, or unspecified.

Serial Port

SerialPort sonardyne/api/common/ports/serial_port/serial_port.proto

SerialPort represents a physical serial port on the device.

SerialPort.BaudRate sonardyne/api/common/ports/serial_port/serial_port.proto

SerialPort.BaudRate enumerates the serial communication baud rates. It specifies the speed at which data is transmitted over a serial port.

SerialPortReference sonardyne/api/common/ports/serial_port/serial_port_reference.proto

SerialPortReference defines a reference to a serial port using one of several selection options. It can select any port (lowest UniqueId), no port, or a specific port by its unique ID. The readonly_reference field contains the actual referenced SerialPort, if available.

Trigger Port

TriggerEdge sonardyne/api/common/ports/trigger_port/trigger_edge.proto

TriggerEdge enumerates the types of signal edges that can trigger an event. It indicates whether the trigger occurs on a rising edge, falling edge, both edges, or is unspecified.

TriggerPort sonardyne/api/common/ports/trigger_port/trigger_port.proto

TriggerPort defines a single trigger port on the instrument. It includes a unique identifier. Rising and falling trigger edges may be specified in messages containing a TriggerPortReference. This allows one trigger to cause different actions on rising and falling edges.

TriggerPortComms sonardyne/api/common/ports/trigger_port/trigger_port_comms.proto

TriggerPortComms represents a communication event on a trigger port. It includes the unique ID of the port, the timestamp of the event, the direction of the trigger relative to the port, and the type of trigger edge.

TriggerPortObservation sonardyne/api/common/ports/trigger_port/trigger_port_observation.proto

TriggerPortObservation represents an observation of a trigger port event. It includes the unique ID of the port, the timestamp of the event, and the type of trigger edge that occurred.

TriggerPortReference sonardyne/api/common/ports/trigger_port/trigger_port_reference.proto

TriggerPortReference defines a reference to a trigger port using one of several selection options. It can select any available port (lowest UniqueId), no port, or a specific port by its unique ID. The readonly_reference field contains the actual referenced TriggerPort, if available.

Remote Points

RemotePoint sonardyne/api/common/remote_points/remote_point.proto

RemotePoint represents a remote reference point on the vessel. It includes a unique identifier and the lever arms from the vessel's central reference point to this remote point.

RemotePointReference sonardyne/api/common/remote_points/remote_point_reference.proto

RemotePointReference defines a reference to a remote point using one of several selection options. It can select any available remote point (lowest UniqueId), the Common Reference Point (CRP), or a specific remote point by its unique ID. The readonly_reference field contains the actual referenced RemotePoint, if available.

RemotePointsList sonardyne/api/common/remote_points/remote_points_list.proto

RemotePointsList represents a collection of remote reference points on the vessel. Each entry in the list is a RemotePoint, providing unique identification and lever arms.

Result sonardyne/api/common/result.proto

Result represents the outcome of an operation, including its status and an optional descriptive message. The Outcome enum specifies whether the operation succeeded, failed, was invalid, or restricted.

Result.Outcome sonardyne/api/common/result.proto

Outcome of a particular sent command or set configuration.

Telegrams

GgaTelegram sonardyne/api/common/telegrams/gga_telegram.proto

GgaTelegram represents a GNSS-derived position fix at a specific time. Includes latitude, longitude, altitude, geoid separation, and fix quality metrics.

GgaTelegram.FixQuality sonardyne/api/common/telegrams/gga_telegram.proto

GgaTelegram.FixQuality indicates the quality, accuracy, or reliability of data in the GgaTelegram based on the type of technique or signal used to derive the location.

GstTelegram sonardyne/api/common/telegrams/gst_telegram.proto

GstTelegram represents the uncertainty associated with GNSS measurements, including RMS pseudorange residuals, horizontal position error ellipse, and 1σ uncertainties for latitude, longitude, and altitude.

PsimssbTelegram sonardyne/api/common/telegrams/psimssb_telegram.proto

PsimssbTelegram represents a measurement from a Short Baseline (SUSBL) acoustic positioning system. It includes the position, orientation, depth, and any additional information from the transponder. The coordinates, orientation, and additional info fields are interpreted according to the specified coordinate system and SUSBL configuration.

PsimssbTelegram.PsimssbAdditionalInfo sonardyne/api/common/telegrams/psimssb_telegram.proto

PsimssbTelegram.PsimssbAdditionalInfo represents the type of supplementary information available from a SUSBL (Short Baseline) measurement, such as compass, inclinometer, depth, or timing data from the transponder.

PsimssbTelegram.PsimssbCoordinateSystem sonardyne/api/common/telegrams/psimssb_telegram.proto

PsimssbTelegram.PsimssbCoordinateSystem represents the coordinate system used for PSIMSSB (Short Baseline) measurements. It can be Cartesian, Polar, UTM, or expressed in radians, depending on the measurement context.

PsimssbTelegram.PsimssbOrientation sonardyne/api/common/telegrams/psimssb_telegram.proto

PsimssbTelegram.PsimssbOrientation enumerates the reference frame used for the orientation of a PSIMSSB measurement. It indicates whether the reported orientation is relative to the vessel, true north, east, or unknown.

PsimssbTelegram.PsimssbSoftwareFilter sonardyne/api/common/telegrams/psimssb_telegram.proto

PsimssbTelegram.PsimssbSoftwareFilter specifies the type of software processing applied to PSIMSSB measurements. It indicates whether the values are raw, filtered, or predicted by the system.

Timestamp sonardyne/api/common/timestamp.proto

Timestamp represents a point in time with two different time bases: common_time_seconds indicates the absolute time since the UNIX epoch (01/01/1970) in seconds, including fractional seconds. instrument_time_seconds indicates the instrument's internal monotonic time in seconds, which increases monotonically.

UniqueID sonardyne/api/common/unique_id.proto

UniqueID represents a unique identifier for an entity, along with an optional human-readable name that can be populated in responses.

UserLevel sonardyne/api/common/user_level.proto

UserLevel enumerates the different user levels for a device. It defines the permissions and access capabilities associated with each level.

Version

GetVersionRequest sonardyne/api/common/version/get_version_request.proto

GetVersionRequest is a request message used to retrieve the system or service version. The timestamp field indicates when the request was created.

GetVersionResponse sonardyne/api/common/version/get_version_response.proto

GetVersionResponse is the response message for a GetVersionRequest. It contains the timestamp when the response was generated and the version of the API supported by the device.

Version sonardyne/api/common/version/version.proto

Version represents a version number following the semantic versioning MAJOR.MINOR.PATCH format, with an optional build number for additional build-specific information.

Modules

Battery Module

BatteryModuleConfiguration sonardyne/api/modules/battery_module/battery_module_configuration.proto

BatteryModuleConfiguration defines the configuration settings for a battery module. It includes a unique identifier for the physical installation and an optional flag indicating whether battery charging is allowed.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.BatteryModuleConfiguration(
        is_battery_charging_enabled=False
    )))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.BatteryModuleConfiguration(
        is_battery_charging_enabled=False
    )))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.BatteryModuleConfiguration(
        is_battery_charging_enabled=False
    )))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

Device Installation Module

DeviceInstallationModuleConfiguration sonardyne/api/modules/device_installation_module/device_installation_module_configuration.proto

DeviceInstallationModuleConfiguration defines the physical installation parameters for a device module. It includes a unique identifier, optional lever arms relative to the vessel's central reference point, and optional mounting angles in the vessel frame.

Device Module

DeviceModuleCommandFactoryReset sonardyne/api/modules/device_module/device_module_command_factory_reset.proto

DeviceModuleCommandFactoryReset represents a command to perform a factory reset on a specific device module. The command targets the device identified by its unique ID.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.DeviceModuleCommandFactoryReset()))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.DeviceModuleCommandFactoryReset()))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.DeviceModuleCommandFactoryReset()))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

DeviceModuleCommandShutdown sonardyne/api/modules/device_module/device_module_command_shutdown.proto

DeviceModuleCommandShutdown represents a command to shut down a specific device module. The command targets the device identified by its unique ID.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.DeviceModuleCommandShutdown()))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.DeviceModuleCommandShutdown()))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.send_command(son.DeviceModuleCommandShutdown()))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

DeviceModuleConfiguration sonardyne/api/modules/device_module/device_module_configuration.proto

DeviceModuleConfiguration defines the configuration for a device.

DeviceModuleStatus sonardyne/api/modules/device_module/device_module_status.proto

DeviceModuleStatus represents the overall status of the device.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    status_stream = wrapper.open_status_stream(
        son.StatusSubscriptionRequest(status_subscriptions=[
            son.StatusSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="DeviceModuleStatus"))
        ])
    )
    print("\n(listening to status stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in status_stream.recv():
                print(type(message), message)
                print("(listening to status stream) press ctrl-c to stop stream")
    except KeyboardInterrupt:
        pass

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    status_stream = wrapper.open_status_stream(
        son.StatusSubscriptionRequest(status_subscriptions=[
            son.StatusSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="DeviceModuleStatus"))
        ])
    )
    print("\n(listening to status stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in status_stream.recv():
                print(type(message), message)
                print("(listening to status stream) press ctrl-c to stop stream")
    except KeyboardInterrupt:
        pass

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    status_stream = wrapper.open_status_stream(
        son.StatusSubscriptionRequest(status_subscriptions=[
            son.StatusSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="DeviceModuleStatus"))
        ])
    )
    print("\n(listening to status stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in status_stream.recv():
                print(type(message), message)
                print("(listening to status stream) press ctrl-c to stop stream")
    except KeyboardInterrupt:
        pass

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))
while True:
    if data := socket.recv(10240):
        print(data.decode())

DeviceModuleStatus.OverallStatus sonardyne/api/modules/device_module/device_module_status.proto

DeviceModuleStatus.OverallStatus represents the overall status of the device.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    status_stream = wrapper.open_status_stream(
        son.StatusSubscriptionRequest(status_subscriptions=[
            son.StatusSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="DeviceModuleStatus"))
        ])
    )
    print("\n(listening to status stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in status_stream.recv():
                print(type(message), message)
                print("(listening to status stream) press ctrl-c to stop stream")
    except KeyboardInterrupt:
        pass

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    status_stream = wrapper.open_status_stream(
        son.StatusSubscriptionRequest(status_subscriptions=[
            son.StatusSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="DeviceModuleStatus"))
        ])
    )
    print("\n(listening to status stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in status_stream.recv():
                print(type(message), message)
                print("(listening to status stream) press ctrl-c to stop stream")
    except KeyboardInterrupt:
        pass

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    status_stream = wrapper.open_status_stream(
        son.StatusSubscriptionRequest(status_subscriptions=[
            son.StatusSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="DeviceModuleStatus"))
        ])
    )
    print("\n(listening to status stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in status_stream.recv():
                print(type(message), message)
                print("(listening to status stream) press ctrl-c to stop stream")
    except KeyboardInterrupt:
        pass

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))
while True:
    if data := socket.recv(10240):
        print(data.decode())

External Logging Module

ExternalLoggingModuleConfiguration sonardyne/api/modules/external_logging_module/external_logging_module_configuration.proto

ExternalLoggingModuleConfiguration defines the configuration settings for an external logging module. It includes a unique identifier and an optional Ethernet logging port configuration. The Ethernet port can be cleared by setting ethernet_logging_port_unset to true, or configured using ethernet_logging_port.

import sonardyne_api as son

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.ExternalLoggingModuleConfiguration(
        ethernet_logging_port=son.EthernetPort(
            source_port=8105,
            tcp_server=son.TcpServerParameters()
        )
    )))

import sonardyne_api as son

with son.WrapperFramedTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.ExternalLoggingModuleConfiguration(
        ethernet_logging_port=son.EthernetPort(
            source_port=8105,
            tcp_server=son.TcpServerParameters()
        )
    )))

import sonardyne_api as son

with son.WrapperJsonTcp('0.0.0.0', 8103) as wrapper:  
    print(wrapper.set_configuration(son.ExternalLoggingModuleConfiguration(
        ethernet_logging_port=son.EthernetPort(
            source_port=8105,
            tcp_server=son.TcpServerParameters()
        )
    )))

import json, socket

socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
socket.connect(('0.0.0.0', 8103))

Navigation Module

NavigationModuleObservation sonardyne/api/modules/navigation_module/navigation_module_observation.proto

NavigationModuleObservation represents an observation from the navigation module. It contains a multitude of navigation data including position, orientation, velocity, and acceleration with associated errors. The navigation data in this observation is in earth frame and is valid for the measurement source.

import sonardyne_api as son
import time

with son.WrapperGrpc('0.0.0.0', 8103) as wrapper:  
    observation_stream = wrapper.open_observation_stream(
        son.ObservationSubscriptionRequest(
            observation_subscriptions=[
                son.ObservationSubscription(matching_criteria=son.MatchingCriteria(match_type_name_suffix="NavigationModuleObservation"))
            ]
        )
    )
    print("\n(listening to observation stream) press ctrl-c to stop stream")
    try:
        while True:
            for message in observation_stream.recv():
                print(type(message), message)
                print("(listening to observation stream) press ctrl-c to stop stream")
                print(time.time())
    except KeyboardInterrupt:
        pass