@datafire/waterlinked

Client library for The Water Linked Underwater GPS API

Installation and Usage

npm install --save @datafire/waterlinked

let waterlinked = require('@datafire/waterlinked').create();

.then(data => {
  console.log(data);
});

Description

API for the Water Linked Underwater GPS. For more details: http://www.waterlinked.com

Recommended approach for connecting to a Underwater GPS via the API is:

• If "GET /api/" times out, the Underwater GPS is not running (on this IP address)
• If "GET /api/" responds with 200 OK check that the api version returrned (eg "v1") is supported by the client (eg: also supports "v1").
• If the api version returned does not match what the client supports: give an error to the user and recommend upgrading. (Eg: response is "v2" while client only supports "v1")
• If "GET /api/" responds with 301 Moved permanently. "GET /api/v1/version" to check if the kit has a version earlier than 1.5.
• "GET /api/v1/version" will always respond with 200 OK on Underwater GPS earlier than 1.5 release.

Configuration API is is not considered stable and will potentially be changed

Actions

api.get

ApiVersion about

waterlinked.api.get(null, context)

Input

This action has no parameters

Output

• output WupdaterApiversion

api.v1.about.get

Get about information

waterlinked.api.v1.about.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedAbout

api.v1.about.factoryreset.post

Reset all settings on master electronics

waterlinked.api.v1.about.factoryreset.post(null, context)

Input

This action has no parameters

Output

• output WaterlinkedOperation_response

api.v1.about.led.get

Flash LED1 on master electronics

waterlinked.api.v1.about.led.get(null, context)

Input

This action has no parameters

Output

Output schema unknown

api.v1.about.status.get

Get current IMU and GPS status

waterlinked.api.v1.about.status.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedStatus

api.v1.about.temperature.get

Get board temperature

waterlinked.api.v1.about.temperature.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedTemperature

api.v1.config.antenna.get

Get Antenna configuration

waterlinked.api.v1.config.antenna.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedAntenna_config

api.v1.config.antenna.put

Modify Antenna configuration

waterlinked.api.v1.config.antenna.put({
  "payload": {
    "x": 0,
    "y": 0,
    "depth": 0,
    "antenna_rotation": 0
  }
}, context)

Input

• input object
  • payload required ModifyAntennaConfigConfigPayload

Output

• output WaterlinkedOperation_response

api.v1.config.generic.get

Get generic configuration

waterlinked.api.v1.config.generic.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedConfiguration

api.v1.config.generic.put

Modify generic configuration

waterlinked.api.v1.config.generic.put({
  "payload": {
    "channel": 0,
    "locator_type": "",
    "gps": "",
    "compass": "",
    "static_lat": 0,
    "static_lon": 0,
    "static_orientation": 0
  }
}, context)

Input

• input object
  • payload required ModifyConfigPayload

Output

• output WaterlinkedOperation_response

api.v1.config.ip.get

Get IP configuration

waterlinked.api.v1.config.ip.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedIp_config

api.v1.config.ip.put

Modify IP configuration

waterlinked.api.v1.config.ip.put({
  "payload": {
    "address": "",
    "gateway": "",
    "prefix": 0,
    "dns": "",
    "dhcp": true
  }
}, context)

Input

• input object
  • payload required ModifyIPConfigPayload

Output

• output WaterlinkedOperation_response

api.v1.config.receivers.get

(Re)Load current receiver settings and return them

waterlinked.api.v1.config.receivers.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedReceiverCollection

api.v1.config.receivers.ID.get

Get receiver configuration by id

waterlinked.api.v1.config.receivers.ID.get({
  "ID": 0
}, context)

Input

• input object
  • ID required integer: Identifier

Output

• output WaterlinkedReceiver

api.v1.config.receivers.ID.put

Modify receiver configuration, does not apply the change until generic modify is called. Calling list will discard changes

waterlinked.api.v1.config.receivers.ID.put({
  "ID": 0,
  "payload": {
    "id": 0,
    "x": 0,
    "y": 0,
    "z": 0
  }
}, context)

Input

• input object
  • ID required integer: Identifier
  • payload required ModifyReceiverConfigPayload

Output

Output schema unknown

api.v1.config.wifi.get

Get WIFI configuration

waterlinked.api.v1.config.wifi.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedWifi_config

api.v1.config.wifi.put

Modify WIFI configuration

waterlinked.api.v1.config.wifi.put({
  "payload": {
    "ssid": "",
    "password": "",
    "mode": ""
  }
}, context)

Input

• input object
  • payload required ModifyWIFIConfigPayload

Output

• output WaterlinkedOperation_response

api.v1.external.depth.put

Set depth from external source. If Locator A1 is used, this is required to get a position

waterlinked.api.v1.external.depth.put({
  "payload": {
    "depth": 0,
    "temp": 0
  }
}, context)

Input

• input object
  • payload required SetDepthExternalPayload

Output

• output WaterlinkedOperation_response

api.v1.external.imu.get

Get rotation and acceleration of vehicle Locator is mounted on which was previously set

waterlinked.api.v1.external.imu.get(null, context)

Input

This action has no parameters

Output

• output WlExternalVehicleImu

api.v1.external.imu.put

Set rotation and acceleration of vehicle Locator is mounted on. This is used to improve positioning of vehicle

waterlinked.api.v1.external.imu.put({
  "payload": {
    "pitch": 0,
    "roll": 0,
    "yaw": 0,
    "x": 0,
    "y": 0,
    "z": 0
  }
}, context)

Input

• input object
  • payload required SetVehicleIMUExternalPayload

Output

• output WaterlinkedOperation_response

api.v1.external.master.put

Set current global position of master electronics from external source. Values are only used if GPS mode is set to use external GPS

waterlinked.api.v1.external.master.put({
  "payload": {
    "lat": 0,
    "lon": 0,
    "orientation": 0
  }
}, context)

Input

• input object
  • payload required SetMasterExternalPayload

Output

• output WaterlinkedOperation_response

api.v1.external.orientation.get

Get orientation of Vehicle/ROV/Locator set by SetOrientation

waterlinked.api.v1.external.orientation.get(null, context)

Input

This action has no parameters

Output

• output WlExternalLocatorOrientation

api.v1.external.orientation.put

Set orientation/compass heading of Vehicle/ROV/Locator. This is used only for visualization in GUI

waterlinked.api.v1.external.orientation.put({
  "payload": {
    "orientation": 0
  }
}, context)

Input

• input object
  • payload required SetOrientationExternalPayload

Output

• output WaterlinkedOperation_response

api.v1.imu.calibrate.get

Get IMU status and orientation

waterlinked.api.v1.imu.calibrate.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedImu

api.v1.imu.calibrate.post

Start calibration

waterlinked.api.v1.imu.calibrate.post({
  "payload": {
    "action": ""
  }
}, context)

Input

• input object
  • payload required CalibrateImuPayload

Output

Output schema unknown

api.v1.imu.resetgyros.post

Reset Gyro

waterlinked.api.v1.imu.resetgyros.post(null, context)

Input

This action has no parameters

Output

Output schema unknown

api.v1.imu.setnorth.post

Set north point

waterlinked.api.v1.imu.setnorth.post({
  "payload": {
    "action": ""
  }
}, context)

Input

• input object
  • payload required SetNorthImuPayload

Output

Output schema unknown

api.v1.poi.get

List all points of interest

waterlinked.api.v1.poi.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedPoiCollection

api.v1.poi.post

Create a new POI

waterlinked.api.v1.poi.post({
  "payload": {
    "name": "",
    "lat": 0,
    "lng": 0,
    "depth": 0,
    "icon": "",
    "visible": true
  }
}, context)

Input

• input object
  • payload required CreatePoiPayload

Output

Output schema unknown

api.v1.poi.ID.delete

Delete poi

waterlinked.api.v1.poi.ID.delete({
  "ID": 0
}, context)

Input

• input object
  • ID required integer

Output

Output schema unknown

api.v1.poi.ID.get

Get a POI

waterlinked.api.v1.poi.ID.get({
  "ID": 0
}, context)

Input

• input object
  • ID required integer

Output

• output WaterlinkedPoi

api.v1.poi.ID.patch

Update poi

waterlinked.api.v1.poi.ID.patch({
  "ID": 0,
  "payload": {
    "name": "",
    "lat": 0,
    "lng": 0,
    "depth": 0,
    "icon": "",
    "visible": true
  }
}, context)

Input

• input object
  • ID required integer
  • payload required UpdatePoiPayload

Output

Output schema unknown

api.v1.position.acoustic.filtered.get

Get current Kalman filtered acoustic position relative to master acoustics. Expected update frequency: 4 Hz

waterlinked.api.v1.position.acoustic.filtered.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedAccousticPosition

api.v1.position.acoustic.raw.get

Get current unfiltered acoustic position relative to master acoustics. Expected update frequency: 4 Hz

waterlinked.api.v1.position.acoustic.raw.get(null, context)

Input

This action has no parameters

Output

• output WaterlinkedAccousticPosition

api.v1.position.global.get

Get current global position of locator. Locator position is calculated from the current acoustic position and the global position of the master electronics. Expected update frequency: 4 Hz

waterlinked.api.v1.position.global.get(null, context)

Input

This action has no parameters

Output

• output WlSatellitePosition

api.v1.position.master.get

Get current global position of master electronics. Expected update frequency: 1 Hz

waterlinked.api.v1.position.master.get(null, context)

Input

This action has no parameters

Output

• output WlSatellitePosition

api.v1.status_report.get

Get list of status reports from all status groups

waterlinked.api.v1.status_report.get(null, context)

Input

This action has no parameters

Output

• output WlStatusGroupCollection

api.v1.warnings.get

[Deprecated] Get current list of messages

waterlinked.api.v1.warnings.get(null, context)

Input

This action has no parameters

Output

• output WlWarningCollection

Definitions

CalibrateImuPayload

• CalibrateImuPayload object: IMU calibration action
  • action required string (values: start, abort): IMU Calibration Action to use

CreatePoiPayload

• CreatePoiPayload object: A list of all POI
  • depth required number: Depth of POI
  • icon required string: Icon of POI
  • id integer: Unique POI id
  • lat required number: Latitude of POI
  • lng required number: Longitude of POI
  • name required string: Name of POI
  • visible required boolean: Visibility of POI

ModifyAntennaConfigConfigPayload

• ModifyAntennaConfigConfigPayload object: Configuration parameters for antenna set up
  • antenna_rotation required integer: Configured rotation of antenna relative to forward arrow on topside housing. Clockwise is positive direction (degrees)
  • depth required number: Configured depth relative to surface (meter)
  • x required number: Configured f position relative to master electronics (meter)
  • y required number: Configured Y position relative to master electronics (meter)

ModifyConfigPayload

• ModifyConfigPayload object: Configuration parameters
  • antenna_enabled boolean: Enable use of antenna
  • channel required integer: Channel to use
  • compass required string (values: onboard, static, external): Compass provider setting
  • environment string (values: reflective, openwater): [Deprecated] Environment setting
  • external_pps_enabled boolean: Enable external PPS input to master
  • gps required string (values: onboard, static, external): GPS provider setting
  • imu_vehicle_enabled boolean: [Deprecated] Enable IMU input from vehicle
  • locator_type required string (values: d1, a1, s2, p2, u1): Locator type in use
  • range_max_x number: [Deprecated] Max range (meters)
  • range_max_y number: [Deprecated] Max range (meters)
  • range_max_z number: [Deprecated] Max range (meters)
  • range_min_x number: [Deprecated] Max range (meters)
  • range_min_y number: [Deprecated] Max range (meters)
  • search_direction number: Direction of circular search area section
  • search_radius number: Radius of circular search area
  • search_sector number: Sector angle of circular search area
  • speed_of_sound integer: Speed of sound use by the system
  • static_lat required number: Latitude to use in static mode
  • static_lon required number: Longitude to use in static mode
  • static_orientation required number: Orientation/compass reading to use in static mode (degrees)

ModifyIPConfigPayload

• ModifyIPConfigPayload object: Configuration parameters
  • address required string: IP address to use
  • dhcp required boolean: DHCP to use
  • dns required string: DNS to use
  • gateway required string: Gateway to use
  • prefix required integer: Prefix to use

ModifyReceiverConfigPayload

• ModifyReceiverConfigPayload object: A receiver configuration
  • id required integer: Unique receiver identifier
  • x required number: Configured X position relative to master electronics (meter)
  • y required number: Configured Y position relative to master electronics (meter)
  • z required number: Configured Z position relative to master electronics (meter)

ModifyWIFIConfigPayload

• ModifyWIFIConfigPayload object: Configuration parameters
  • mode required string (values: ap, client): Which mode should the WiFi be in?
  • password required string: Password to use for WiFi in Client mode
  • ssid required string: WIFI SSID to use for WiFi in Client mode

SetDepthExternalPayload

• SetDepthExternalPayload object: Current locator depth and temperature
  • depth required number: Curent depth (meter)
  • temp required number: Current water temperature (C)

SetMasterExternalPayload

• SetMasterExternalPayload object: Global master position from external source
  • cog number: Course over ground (degrees). -1 means no data.
  • fix_quality number: Fix quality. 0 if no data.
  • hdop number: Horizontal dilution of precision. -1 means no data.
  • lat required number: Current Latitude
  • lon required number: Current Longitude
  • numsats number: Number of satellites. -1 means no data.
  • orientation required number: Current orientation/compass heading (degrees)
  • sog number: Speed over ground (km/h). -1 means no data.

SetNorthImuPayload

• SetNorthImuPayload object: IMU set north
  • action required string (values: set, clear): IMU Set north action to use

SetOrientationExternalPayload

• SetOrientationExternalPayload object: Set current compass heading of ROV/locator
  • orientation required number: Current orientation/compass heading (degrees). -1 means no orientation set

SetVehicleIMUExternalPayload

• SetVehicleIMUExternalPayload object: Set current rotation and acceleration of vehicle
  • pitch required number: Current pitch of vehicle(degrees).
  • roll required number: Current roll of vehicle(degrees).
  • x required number: Current acceleration in x-axis of vehicle.
  • y required number: Current acceleration in y-axis of vehicle.
  • yaw required number: Current yaw of vehicle(degrees).
  • z required number: Current acceleration in z-axis of vehicle.

UpdatePoiPayload

• UpdatePoiPayload object: A list of all POI
  • depth required number: Depth of POI
  • icon required string: Icon of POI
  • id integer: Unique POI id
  • lat required number: Latitude of POI
  • lng required number: Longitude of POI
  • name required string: Name of POI
  • visible required boolean: Visibility of POI

WaterlinkedAbout

• Mediatype identifier: application/vnd.waterlinked.about+json; view=default object: About information (default view)
  • chipid required string: Chip identifier
  • variant required string: Software release variant
  • version required string: Detailed Web Server version string
  • version_short required string: Short Web Server version string

WaterlinkedAccousticPosition

• Mediatype identifier: application/vnd.waterlinked.accoustic.position+json; view=default object: Current relative Locator position (default view)
  • position_valid required boolean: Is current position valid or not
  • receiver_distance required array: Measured distance to the locator for each receiver
    • items number
  • receiver_nsd required array: Measured NSD for each receiver
    • items number
  • receiver_rssi required array: Measured RSSI for each receiver
    • items number
  • receiver_valid required array: Is signal valid or not for each receiver
    • items number
  • std required number: Current acoustic position accuracy (meter)
  • x required number: Current acoustic x position relative to master electronics (meter)
  • y required number: Current acoustic y position relative to master electronics (meter)
  • z required number: Current acoustic z position (depth) relative to master electronics (meter)

WaterlinkedAntenna_config

• Mediatype identifier: application/vnd.waterlinked.antenna_config+json; view=default object: Configuration parameters for antenna set up (default view)
  • antenna_rotation required integer: Configured rotation of antenna relative to forward arrow on topside housing. Clockwise is positive direction (degrees)
  • depth required number: Configured depth relative to surface (meter)
  • x required number: Configured f position relative to master electronics (meter)
  • y required number: Configured Y position relative to master electronics (meter)

WaterlinkedConfiguration

• Mediatype identifier: application/vnd.waterlinked.configuration+json; view=default object: Configuration parameters (default view)
  • antenna_enabled boolean: Enable use of antenna
  • channel required integer: Channel to use
  • compass required string (values: onboard, static, external): Compass provider setting
  • environment string (values: reflective, openwater): [Deprecated] Environment setting
  • external_pps_enabled boolean: Enable external PPS input to master
  • gps required string (values: onboard, static, external): GPS provider setting
  • imu_vehicle_enabled boolean: [Deprecated] Enable IMU input from vehicle
  • locator_type required string (values: d1, a1, s2, p2, u1): Locator type in use
  • range_max_x number: [Deprecated] Max range (meters)
  • range_max_y number: [Deprecated] Max range (meters)
  • range_max_z number: [Deprecated] Max range (meters)
  • range_min_x number: [Deprecated] Max range (meters)
  • range_min_y number: [Deprecated] Max range (meters)
  • search_direction number: Direction of circular search area section
  • search_radius number: Radius of circular search area
  • search_sector number: Sector angle of circular search area
  • speed_of_sound integer: Speed of sound use by the system
  • static_lat required number: Latitude to use in static mode
  • static_lon required number: Longitude to use in static mode
  • static_orientation required number: Orientation/compass reading to use in static mode (degrees)

WaterlinkedImu

• Mediatype identifier: application/vnd.waterlinked.imu+json; view=default object: IMU status and orientation information (default view)
  • pitch required number: Pitch
  • progress required integer: Calibration progress
  • roll required number: Roll
  • state required integer: IMU calibration state. 0=running, 1=calibrating
  • yaw required number: Yaw

WaterlinkedIp_config

• Mediatype identifier: application/vnd.waterlinked.ip_config+json; view=default object: Configuration parameters (default view)
  • address required string: IP address to use
  • dhcp required boolean: DHCP to use
  • dns required string: DNS to use
  • gateway required string: Gateway to use
  • prefix required integer: Prefix to use

WaterlinkedOperation_response

• Mediatype identifier: application/vnd.waterlinked.operation_response+json; view=default object: Response from server on operations performed (default view)
  • error string: Error if it occurs
  • success required boolean: Status of operation

WaterlinkedPoi

• Mediatype identifier: application/vnd.waterlinked.poi+json; view=default object: A list of all POI (default view)
  • depth required number: Depth of POI
  • icon required string: Icon of POI
  • id integer: Unique POI id
  • lat required number: Latitude of POI
  • lng required number: Longitude of POI
  • name required string: Name of POI
  • visible required boolean: Visibility of POI

WaterlinkedPoiCollection

• Mediatype identifier: application/vnd.waterlinked.poi+json; type=collection; view=default array: WaterlinkedPoiCollection is the media type for an array of WaterlinkedPoi (default view)
  • items WaterlinkedPoi

WaterlinkedReceiver

• Mediatype identifier: application/vnd.waterlinked.receiver+json; view=default object: A receiver configuration (default view)
  • id required integer: Unique receiver identifier
  • x required number: Configured X position relative to master electronics (meter)
  • y required number: Configured Y position relative to master electronics (meter)
  • z required number: Configured Z position relative to master electronics (meter)

WaterlinkedReceiverCollection

• Mediatype identifier: application/vnd.waterlinked.receiver+json; type=collection; view=default array: WaterlinkedReceiverCollection is the media type for an array of WaterlinkedReceiver (default view)
  • items WaterlinkedReceiver

WaterlinkedStatus

• Mediatype identifier: application/vnd.waterlinked.status+json; view=default object: Status information (default view)
  • battery required integer: Locator battery level in percent. -1 if not available or applicable
  • gps required integer: GPS lock status
  • imu required integer: IMU calibration status

WaterlinkedTemperature

• Mediatype identifier: application/vnd.waterlinked.temperature+json; view=default object: Temperature information (default view)
  • board required number: Board temperature (C)
  • water required number: Water temperature (C)

WaterlinkedWifi_config

• Mediatype identifier: application/vnd.waterlinked.wifi_config+json; view=default object: Configuration parameters (default view)
  • mode required string (values: ap, client): Which mode should the WiFi be in?
  • password required string: Password to use for WiFi in Client mode
  • ssid required string: WIFI SSID to use for WiFi in Client mode

WlExternalLocatorOrientation

• Mediatype identifier: application/vnd.wl.external.locator.orientation+json; view=default object: Set current compass heading of ROV/locator (default view)
  • orientation required number: Current orientation/compass heading (degrees). -1 means no orientation set

WlExternalVehicleImu

• Mediatype identifier: application/vnd.wl.external.vehicle.imu+json; view=default object: Set current rotation and acceleration of vehicle (default view)
  • pitch required number: Current pitch of vehicle(degrees).
  • roll required number: Current roll of vehicle(degrees).
  • x required number: Current acceleration in x-axis of vehicle.
  • y required number: Current acceleration in y-axis of vehicle.
  • yaw required number: Current yaw of vehicle(degrees).
  • z required number: Current acceleration in z-axis of vehicle.

WlSatellitePosition

• Mediatype identifier: application/vnd.wl.satellite.position+json; view=default object: GPS and IMU position (default view)
  • cog required number: Course over ground (degrees). -1 means no data.
  • fix_quality required number: Fix quality. 0 if no data.
  • hdop required number: Horizontal dilution of precision. -1 means no data.
  • lat required number: Current Latitude
  • lon required number: Current Longitude
  • numsats required number: Number of satellites. -1 means no data.
  • orientation required number: Current orientation/compass heading (degrees). -1 means no data.
  • sog required number: Speed over ground (km/h). -1 means no data.

WlStatusGroup

• Mediatype identifier: application/vnd.wl.status.group+json; view=default object: Current status from one specific status group (default view)
  • error_ids required array: Identifiers for warnings/errors
    • items string
  • message required string: Message
  • status required string (values: ok, warning, error): Status
  • status_group required string: Status group friendly name
  • status_group_id required string: Status group identifier

WlStatusGroupCollection

• Mediatype identifier: application/vnd.wl.status.group+json; type=collection; view=default array: WlStatusGroupCollection is the media type for an array of WlStatusGroup (default view)
  • items WlStatusGroup

WlWarning

• Mediatype identifier: application/vnd.wl.warning+json; view=default object: Warning message (default view)
  • id required string: Identifier
  • message required string: Message
  • severity required string: Severity

WlWarningCollection

• Mediatype identifier: application/vnd.wl.warning+json; type=collection; view=default array: WlWarningCollection is the media type for an array of WlWarning (default view)
  • items WlWarning

WupdaterApiversion

• Mediatype identifier: application/vnd.wupdater.apiversion; view=default object: Returns supported api versions (default view)
  • versions required array: Supported api versions
    • items string

error

• Mediatype identifier: application/vnd.goa.error; view=default object: Error response media type (default view)
  • code string: an application-specific error code, expressed as a string value.
  • detail string: a human-readable explanation specific to this occurrence of the problem.
  • id string: a unique identifier for this particular occurrence of the problem.
  • meta object: a meta object containing non-standard meta-information about the error.
  • status string: the HTTP status code applicable to this problem, expressed as a string value.