Datastreams

The following resources and requests allow access to and configuration of the rc_dynamics interface data streams. These REST-API requests offer

  • showing available and currently running data streams, e.g.,

    curl -X GET http://<host>/api/v1/datastreams

  • starting a data stream to a destination, e.g.,

    curl -X PUT --header 'Content-Type: application/x-www-form-urlencoded' -d 'destination=<target-ip>:<target-port>' http://<host>/api/v1/datastreams/pose

  • and stopping data streams, e.g.,

    curl -X DELETE http://<host>/api/v1/datastreams/pose?destination=<target-ip>:<target-port>

The following list includes all REST-API requests associated with data streams:

GET /datastreams

Get list of available data streams.

Template request

GET /api/v2/datastreams HTTP/1.1

Sample response

HTTP/1.1 200 OK
Content-Type: application/json

[
  {
    "description": "Pose of left camera at VisualOdometry rate (~10Hz)",
    "destinations": [
      "192.168.1.13:30000"
    ],
    "name": "pose",
    "protobuf": "Frame",
    "protocol": "UDP"
  },
  {
    "description": "Pose of left camera (RealTime 200Hz)",
    "destinations": [
      "192.168.1.100:20000",
      "192.168.1.42:45000"
    ],
    "name": "pose_rt",
    "protobuf": "Frame",
    "protocol": "UDP"
  },
  {
    "description": "Raw IMU (InertialMeasurementUnit) values (RealTime 200Hz)",
    "destinations": [],
    "name": "imu",
    "protobuf": "Imu",
    "protocol": "UDP"
  },
  {
    "description": "Dynamics of sensor (pose, velocity, acceleration) (RealTime 200Hz)",
    "destinations": [
      "192.168.1.100:20001"
    ],
    "name": "dynamics",
    "protobuf": "Dynamics",
    "protocol": "UDP"
  }
]
Response Headers:
 
Status Codes:
  • 200 OK – successful operation (returns array of Stream)
Referenced Data Models:
 
GET /datastreams/{stream}

Get datastream configuration.

Template request

GET /api/v2/datastreams/<stream> HTTP/1.1

Sample response

HTTP/1.1 200 OK
Content-Type: application/json

{
  "description": "Pose of left camera at VisualOdometry rate (~10Hz)",
  "destinations": [
    "192.168.1.13:30000"
  ],
  "name": "pose",
  "protobuf": "Frame",
  "protocol": "UDP"
}
Parameters:
  • stream (string) – name of the stream (required)
Response Headers:
 
Status Codes:
Referenced Data Models:
 
PUT /datastreams/{stream}

Update a datastream configuration.

Template request

PUT /api/v2/datastreams/<stream> HTTP/1.1
Accept: application/x-www-form-urlencoded

Sample response

HTTP/1.1 200 OK
Content-Type: application/json

{
  "description": "Pose of left camera at VisualOdometry rate (~10Hz)",
  "destinations": [
    "192.168.1.13:30000",
    "192.168.1.25:40000"
  ],
  "name": "pose",
  "protobuf": "Frame",
  "protocol": "UDP"
}
Parameters:
  • stream (string) – name of the stream (required)
Form Parameters:
 
  • destination – destination (“IP:port”) to add (required)
Request Headers:
 
  • Accept – application/x-www-form-urlencoded
Response Headers:
 
Status Codes:
Referenced Data Models:
 
DELETE /datastreams/{stream}

Delete a destination from the datastream configuration.

Template request

DELETE /api/v2/datastreams/<stream>?destination=<destination> HTTP/1.1

Sample response

HTTP/1.1 200 OK
Content-Type: application/json

{
  "description": "Pose of left camera at VisualOdometry rate (~10Hz)",
  "destinations": [],
  "name": "pose",
  "protobuf": "Frame",
  "protocol": "UDP"
}
Parameters:
  • stream (string) – name of the stream (required)
Query Parameters:
 
  • destination (string) – destination IP:port to delete, if not specified all destinations are deleted (optional)
Response Headers:
 
Status Codes:
Referenced Data Models: