// 7k Data Format Definintions. // NF and DRF definitions are based on protocol version 4 // 22-July-04 - Add 7511 "Console Active" message definition // (moved from 7k_YS2000.h, where it used to be // the 7911 message. -JSK // 05 Nov 04 Update to 0.54 DFD PR #if !defined(DEFINITIONS7K) #define DEFINITIONS7K #define FILE_VERSION 54 // DFD 0.54 #define PROTOCOL_VERSION 5 // DFD 0.54 #define RECORDS_VERSION 1 // DFD 0.54 #define _7KINFO_MAX_RECORDTYPES 30 #define _7KINFO_MAX_DEVICES 10 #pragma pack(1) // Time message typedef struct tagTIME_7K { WORD year; // WORD day; // float seconds; // BYTE hours; // BYTE minutes; // } TIME_7K; // Data Record Frame - DRF typedef struct tagRECORD_FRAME { WORD version; // version of the frame protocol, 1, 2, 3, or 4 WORD offset; // offest in bytes from start of sync pattern to start of data section DWORD sync_pattern; // DWORD size; // DWORD offset_optional; // DWORD identifier_optional; // TIME_7K time_stamp; // WORD records_version; // DWORD record_type; // DWORD device_identifier; // WORD reserved2; // WORD system_enumerator; // DWORD record_count; // WORD flags; // WORD reserved3; // DWORD reserved4; // millisecond time stamp DWORD total_records; // total number of records in fragmented data record set, if appropriate flag is set DWORD fragment_number; // fragment number if appropriate flag is set } RECORD_FRAME; // Network Frame - NF typedef struct tagNETWORK_FRAME { WORD version; // WORD offset; // DWORD total_packets; // WORD total_records; // WORD transmission_identifier; // DWORD packet_size; // DWORD total_size; // DWORD sequence_number; // DWORD destination_device_identifier; // 0 Unspecified, 0xFFFFFFFF Not used, any other number is a valid address. WORD destination_system_enumerator; // Destination enumerator unless destination device identifier is unspecified or not used. WORD source_system_enumerator; // Source enumerator unless source device identifier is unspecified or not used. DWORD source_device_identifier; // 0 Unspecified, 0xFFFFFFFF Not used, any other number is a valid address. } NETWORK_FRAME; // Sensor offset position information typedef struct tagR1000 { float offset_x; float offset_y; float offset_z; float water_level; } R1000; typedef struct tagR1001 { float offset_x; float offset_y; float offset_z; float roll; float pitch; float yaw; } R1001; typedef struct tagR1002 // 1002 Calibrated Sensor Offset Position { float offset_x; float offset_y; float offset_z; float roll; float pitch; float yaw; } R1002; typedef struct tagR1003 // 1003 Position { DWORD datum_id; float latency; double latitude_northing; double longitude_easting; double height; BYTE position_type_flag; BYTE utm_zone; BYTE quality_flag; BYTE position_method; } R1003; typedef struct tagR1004 // 1004 Custom Attitude Information { BYTE field_mask; BYTE reserved; WORD samples; float frequency; } R1004; typedef struct tagR1005 // 1005 Tide { float tide; WORD source; BYTE flags; WORD gauge_id; DWORD datum_id; float latency; double latitude_northing; double longitude_easting; double height; BYTE position_type; BYTE utm_zone; } R1005; typedef struct tagR1006 // 1006 Altitude { float distance; } R1006; typedef struct tagR1007 // 1007 Motion Over Ground { BYTE field_mask; BYTE reserved; WORD number_fields; float frequency; } R1007; typedef struct tagR1008 // 1008 Depth { BYTE depth_descriptor; BYTE correction_flag; WORD reserved; float depth; } R1008; typedef struct tagR1009 // 1009 SVP { BYTE position_flag; BYTE reserved1; WORD reserved2; double latitude; double longitude; DWORD samples; } R1009; typedef struct tagR1009SVPDATA { float depth; float sound_velocity; } R1009SVPDATA; typedef struct tagR1010 // 1010 CTD { float frequency; BYTE sound_velocity_source_flag; BYTE sound_velocity_algorithm; BYTE conductivity_flag; BYTE pressure_flag; BYTE position_flag; BYTE sample_content_validity; WORD reserved; double latitude; double longitude; float sample_rate; DWORD samples; } R1010; typedef struct tagR1010CTDDATA { float conductivity_salinity; float water_temp; float pressure_depth; float sound_velocity; float absorption; } R1010CTDDATA; typedef struct tagR1011 // 1011 Geodesy { BYTE spheroid_name[32]; double semi_major_axis; double inverse_flattening; BYTE reserved1[16]; BYTE datum_name[32]; DWORD data_calculation_method; BYTE parameter_transformation; double shift_x; double shift_y; double shift_z; double rotation_x; double rotation_y; double rotation_z; double scale; BYTE reserved2[35]; BYTE grid_name[32]; BYTE grid_distance_units; BYTE grid_angular_units; double latitude_of_origin; double central_meridian; double false_easting; double false_northing; double central_scale_factor; LONG custom_id; BYTE reserved3[50]; } R1011; typedef struct tagR1012 // 1012 Roll Pitch Heave { float roll; float pitch; float heave; } R1012; typedef struct tagR1013 // 1013 Heading { float heading; } R1013; typedef struct tagR1014 // 1014 Survey Line { WORD way_point; WORD position_type; float radius; BYTE line_name[64]; } R1014; typedef struct tagR1015 // 1015 Navigation { // WORD length_datum; // BYTE datum[256]; BYTE vertical_reference; double latitude; double longitude; float horz_accuracy; float vessel_height; float height_accuracy; float speed_over_ground; float course_over_ground; float heading; } R1015; typedef struct tagR1016 // 1016 Attitude { BYTE number_sets; } R1016; typedef struct tagR1016DATA { WORD time_difference; // milliseconds float roll; // radians float pitch; // " float heave; // " float heading; // " } R1016DATA; typedef struct R1050 { BYTE reserved[16]; } R1050; typedef struct tagR1200 // 1200 Generic Side Scan Sonar { DWORD ping_number; DWORD number_of_channels; DWORD total_bytes; DWORD data_type; } R1200; typedef struct tagR1200CH // 1200 Channel Header { BYTE channel_number; BYTE channel_type; BYTE data_type; BYTE polarity; BYTE bytes_sample; BYTE reserved1[3]; DWORD number_of_samples; DWORD start_time; DWORD sample_interval; float range; float voltage; BYTE channel_name[16]; WORD custom_descriptor; BYTE reserved2[18]; } R1200CH; typedef struct tagR2000 // 2000 XYZ Data { float heading; DWORD number_of_frames; } R2000; typedef struct tagR2000XYZDATA // 2000 XYZ Data { TIME_7K time; double x; double y; double z; float tide; float height; float heave; BYTE reserved[4]; } R2000XYZDATA; // Volatile data typedef struct tagR7000 { ULARGE_INTEGER serial_number; // DWORD ping_number; WORD multiping_sequence; float frequency; float sample_rate; float receiver_bandwidth; float pulse_width; DWORD pulse_type; DWORD pulse_envelope_type; float pulse_envelope_parameter; DWORD pulse_reserved; float max_ping_rate; float ping_period; float range; float power; float gain; DWORD control_flags; DWORD projector_magic_number; float projector_beam_steer_x; float projector_beam_steer_z; float projector_beam_width_x; float projector_beam_width_z; float projector_beam_focal_point; DWORD projector_beam_weighting_type; float projector_beam_weighting_parameter; DWORD transmit_flags; DWORD hydrophone_magic_number; DWORD hydrophone_beam_weighting_type; float hydrophone_beam_weighting_parameter; DWORD receive_flags; float receive_beam_width; float bottom_detection_info1; float bottom_detection_info2; float bottom_detection_info3; float bottom_detection_info4; float absorption; float sound_velocity; float spreading_loss; WORD reserved; } R7000; // Configuration typedef struct tagR7001 { ULARGE_INTEGER serial_number; // DWORD systems; } R7001; // Configuration typedef struct tagR7001MODULEINFO { DWORD unique_identifier; // BYTE string[64]; ULARGE_INTEGER serial_number; DWORD info_length; } R7001MODULEINFO; // Match filter typedef struct tagR7002 { ULARGE_INTEGER serial_number; // DWORD ping_number; DWORD operation; float start_frequency; float stop_frequency; } R7002; // Volatile data typedef struct tagR7004 { ULARGE_INTEGER serial_number; // DWORD beams; } R7004; // Calibration data typedef struct tagR7005 { ULARGE_INTEGER serial_number; // WORD elements; } R7005; // Bathymetric data typedef struct tagR7006 { ULARGE_INTEGER serial_number; // DWORD ping_number; WORD multiping_sequence; DWORD beams; BYTE layer_compensation_flag; BYTE sound_velocity_flag; float sound_velocity; } R7006; // Imagery data typedef struct tagR7007 { ULARGE_INTEGER serial_number; // DWORD ping_number; WORD multiping_sequence; float beam_position; DWORD control; DWORD samples; float port_beam_width_y; float port_beam_width_z; float star_beam_width_y; float star_beam_width_z; float port_beam_steer_angle_y; float port_beam_steer_angle_z; float star_beam_steer_angle_y; float star_beam_steer_angle_z; WORD beams_per_side; WORD beam; char bytes_per_sample; char data_type; } R7007; // Beam data typedef struct tagR7008 { ULARGE_INTEGER serial_number; // DWORD ping_number; WORD multiping_sequence; WORD beams; WORD reserved1; DWORD samples; char subset_flag; char rowcolumn_flag; WORD sample_header_identifier; DWORD sample_type; } R7008; typedef struct tagR7009 // vertical depth { float frequency; DWORD ping_number; WORD multiping_sequence; double latitude; double longitude; float heading; float along_track_distance; float across_track_distance; float vertical_depth; } R7009; // Image data typedef struct tagR7011 { DWORD ping_number; WORD multiping_sequence; DWORD width; DWORD height; WORD color_depth; // In bytes. WORD rotation_flag; WORD compression_algorithm; // reserved for compression algorithms } R7011; typedef struct tagR7022 // 7KCenter version string { char version[32]; } R7022; typedef struct tagR7030 // sonar installation parameters { float frequency; WORD length_firmware; BYTE firmware_version[128]; WORD length_software; BYTE software_version[128]; WORD length_software7k; BYTE software7k_version[128]; WORD length_protocol; BYTE record_protocol[128]; float transmit_array_x; float transmit_array_y; float transmit_array_z; float transmit_array_roll; float transmit_array_pitch; float transmit_array_heading; float receive_array_x; float receive_array_y; float receive_array_z; float receive_array_roll; float receive_array_pitch; float receive_array_heading; float motion_sensor_x; float motion_sensor_y; float motion_sensor_z; float motion_roll_calibration; float motion_pitch_calibration; float motion_heading_calibration; WORD motion_sensor_delay; float position_sensor_x; float position_sensor_y; float position_sensor_z; WORD position_sensor_delay; float water_line_v_offset; } R7030; // System events typedef struct tagR7050 { ULARGE_INTEGER serial_number; // DWORD events; } R7050; typedef struct tagRD7050 { WORD event_type; WORD event_identifier; DWORD device_identifier; // WORD system_enumerator; // WORD message_length; TIME_7K time_stamp; } RD7050; // System message typedef struct tagR7051 { ULARGE_INTEGER serial_number; // sonar id, serial number WORD event_id; // 0 = success, 1 = info, 2 = warning, 3 = error WORD size; // message length in bytes WORD event_identifier; // should be 0, currently undefined } R7051; typedef struct tagR7060 // 7060 Target data { DWORD local_track_id; DWORD system_track_id; TIME_7K time_of_contact; WORD datum_id; float position_latency; double latitude_northing; double longitude_easting; BYTE utm_zone; double height; WORD position_type_flag; WORD classification_type; float bearing_to_target; DWORD bearing_flag; float range_to_target; float holding_time; DWORD detection_method; float snr; float target_strength; DWORD confidence; float altitude; float depth; float speed; float heading; BYTE reserved[16]; DWORD target_text_size; } R7060; // File header typedef struct tagR7200 { BYTE file_identifier[16]; WORD version_number; WORD reserved; BYTE session_identifier[16]; DWORD rd_size; DWORD subsystems; BYTE recording_name[64]; BYTE recording_program_version[16]; BYTE user_name[64]; BYTE notes[128]; } R7200; typedef struct tagR7200DEVICE { DWORD device_id; WORD system_enumerator; } R7200DEVICE; typedef struct tagR7200_OD { DWORD dwSize; LARGE_INTEGER liOffset; } R7200_OD; typedef struct tagR7300 { DWORD dwSize; WORD wVersion; DWORD dwNumRecords; DWORD dwReserved; } R7300; typedef struct tagR7300DATA { DWORD dwSize; LARGE_INTEGER liOffset; WORD record_type; // these five member names' are identical WORD device_identifier; // to the correpsonding members in the WORD system_enumerator; // RECORD_FRAME structure TIME_7K time_stamp; DWORD record_count; WORD ReservedWords[8]; } R7300DATA; // Time message typedef struct tagR7400 { char leap_second; BYTE pulse_flag; WORD port_identifier; DWORD reserved1; ULARGE_INTEGER reserved2; } R7400; // Remote control typedef struct tagR7500 { DWORD rc_id; DWORD ticket; ULARGE_INTEGER tracking_number[2]; } R7500; // Remote Control Ack typedef struct tagR7501 { DWORD ticket; ULARGE_INTEGER tracking_number[2]; } R7501; // Remote Control Nack typedef struct tagR7502 { DWORD ticket; ULARGE_INTEGER tracking_number[2]; DWORD error_code; } R7502; // Remote control settings. // MODIFIED 7-July-05 - added equi-angle and more reserved fields. typedef struct tagR7503 { ULARGE_INTEGER serial_number; DWORD ping_number; float frequency; float sample_rate; float receiver_bandwidth; float pulse_width; DWORD pulse_type; DWORD pulse_envelope_type; float pulse_envelope_parameter; DWORD pulse_reserved; float max_ping_rate; float ping_period; float range; float power; float gain; DWORD control_flags; DWORD projector_magic_number; float projector_beam_steer_x; float projector_beam_steer_z; float projector_beam_width_x; float projector_beam_width_z; float projector_beam_focal_point; DWORD projector_beam_weighting_type; float projector_beam_weighting_parameter; DWORD transmit_flags; DWORD hydrophone_magic_number; DWORD hydrophone_beam_weighting_type; float hydrophone_beam_weighting_parameter; DWORD receive_flags; float bottom_detection_info1; float bottom_detection_info2; float bottom_detection_info3; float bottom_detection_info4; float absorption; float sound_velocity; float spreading_loss; WORD reserved; float tx_array_offset_x; float tx_array_offset_y; float tx_array_offset_z; float head_tilt_x; float head_tilt_y; float head_tilt_z; DWORD ping_on_off_state; // 0 == off, 1 == on WORD equi_distant_mode; // 0 = equi-angle, 1 = equi-distant DWORD dwReserved[20]; // filled with 0xFB in build function } R7503; // Generic 7-P settings typedef struct tagR7504 { float roll; float pitch; float heave; float yaw; float heading; float sound_velocity; float absorption; float spreading_loss; DWORD sequencer_control; } R7504; // Console active / not active // --------------------------- typedef struct tagR7511 { WORD console_active; // 0 == not active } R7511; typedef struct tagR7600 { float roll; } R7600; // radians typedef struct tagR7601 { float pitch; // radians } R7601; // Sound Velocity typedef struct tagR7610 { float sound_velocity; // m/s } R7610; // Absorption typedef struct tagR7611 { float absorption; // dB / km } R7611; // Spreading loss typedef struct tagR7612 { float spreading_loss; // dB } R7612; typedef struct tagR8100 // Embedded 8100 Series Sonar Data { BYTE type; BYTE flags; WORD data_size; WORD packets; BYTE reserved[10]; } R8100; #pragma pack() #endif