#pragma once // This file contains basic Gemini SDK structure definitions /*****************************************************************************//** ************** Message types received in the callback function ******************* *********************************************************************************/ #define PING_HEAD 0 #define PING_DATA 1 #define PING_TAIL 2 #define GEM_STATUS 3 #define GEM_ACKNOWLEDGE 4 #define GEM_BEARING_DATA 7 #define PING_TAIL_EX 10 #define GEM_IP_CHANGED 11 #define GEM_UNKNOWN_DATA 12 /*****************************************************************************//** **************************** Supported Product ID's ***************************** *********************************************************************************/ #define GEM_HEADTYPE_720I 0x0 #define GEM_HEADTYPE_720ID 0x1 #define GEM_HEADTYPE_NBI 0x2 #define GEM_HEADTYPE_MK2_720IS 0x21 #define GEM_HEADTYPE_MK2_DUAL_720IK 0x1D #define GEM_HEADTYPE_MK2_720IK 0x1E #define GEM_HEADTYPE_720IM 0x1F #define GEM_HEADTYPE_720IC 0x20 /*****************************************************************************//** ********** Beam Spacing mode used in GEMX_GetBeamSpacing *********************** *********************************************************************************/ #define GEM_BEAMS_DEFAULT (-1) #define GEM_BEAMS_INVERSESINE 0 #define GEM_BEAMS_EQUIDISTANT 1 #define GEM_BEAMS_EQUIANGULAR 2 /*****************************************************************************//** ********** Serial Port ID's and maximum supported serial ports******************* ** 720is Maximum : 2 Serial ports. Serial port 'A' can switch betwen RS232/RS485 Serial port 'B' RS232 only ** 720ik Maximum : 1 Serial port. Serial port 'A' RS232 only *********************************************************************************/ // Serial ports #define SERIAL_PORT_A 0 #define SERIAL_PORT_B 1 #define MAX_SERIAL_PORTS 2 /*****************************************************************************//** ********** FPGA ID's ******************* ** MK1 1 FPGA with ID 0 ** MK2 Maximum of 4 FPGA's ** 720is Maximum of 2 FPGA's BEAMFORMER_FPGA, DATA_ACQ_FPGA_0 ** 720ik Maximum of 2 FPGA's BEAMFORMER_FPGA, DATA_ACQ_FPGA_0 *********************************************************************************/ // FPGA ID's #define BEAMFORMER_FPGA 2 // 0x02 #define DATA_ACQ_FPGA_0 4 // 0x04 #define DATA_ACQ_FPGA_1 8 // 0x08 #define DATA_ACQ_FPGA_2 16 // 0x10 #define ALL_FPGA BEAMFORMER_FPGA | DATA_ACQ_FPGA_0 | DATA_ACQ_FPGA_1 | DATA_ACQ_FPGA_2 /*****************************************************************************//** *********** Number of FPGA in a single sonar ******************* ** MK1 1 FPGA with number 0 ** MK2 Maximum of 4 FPGA's ** 720is, 720ik [0,1] *********************************************************************************/ // Number of FPGA in MK2 platform #define BEAMFORMER_FPGA_ENUM 0 #define DATA_ACQ_FPGA_0_ENUM 1 #define DATA_ACQ_FPGA_1_ENUM 2 #define DATA_ACQ_FPGA_2_ENUM 3 /*****************************************************************************//** *********** Header structure of each message ******************* *********************************************************************************/ #pragma pack (push,1) class CGemHdr { public: unsigned char m_type; unsigned char m_version; unsigned short m_deviceID; unsigned short m_packetLatency; /* ** First 8 bytes are source sub device id (Hardware) ** while 2nd 8 bytes are destinataions sub device ID (Software) ** because of endian, these should be declared otherway around */ unsigned char m_dst_sub_device_id; unsigned char m_src_sub_device_id; CGemHdr() { m_type = 0; m_version = 1; m_deviceID = 0; m_packetLatency = 0; m_src_sub_device_id = 1; /*software*/ m_dst_sub_device_id = 0; /*to be overwritten on a message by message basis*/ } }; class CGemNetMsg { public: CGemHdr m_head; }; #pragma pack (pop) #pragma pack (push,2) /*****************************************************************************//** ********************************* MK1 Status Message **************************** *********************************************************************************/ class CGemStatusPacket: public CGemNetMsg { public: unsigned short m_firmwareVer; unsigned short m_sonarId; unsigned int m_sonarFixIp; unsigned int m_sonarAltIp; unsigned int m_surfaceIp; unsigned short m_flags; unsigned short m_vccInt; unsigned short m_vccAux; unsigned short m_dcVolt; unsigned short m_dieTemp; unsigned short m_dipSwitch; /*Only for Mk2*/ unsigned short m_vga1aTemp; unsigned short m_vga1bTemp; unsigned short m_vga2aTemp; unsigned short m_vga2bTemp; unsigned short m_psu1Temp; unsigned short m_psu2Temp; unsigned int m_currentTimestampL; unsigned int m_currentTimestampH; unsigned short m_transducerFrequency; unsigned int m_subnetMask; unsigned short m_TX1Temp; unsigned short m_TX2Temp; unsigned short m_TX3Temp; unsigned int m_BOOTSTSRegister; unsigned short m_shutdownStatus; unsigned short m_dieOverTemp; unsigned short m_vga1aShutdownTemp; unsigned short m_vga1bShutdownTemp; unsigned short m_vga2aShutdownTemp; unsigned short m_vga2bShutdownTemp; unsigned short m_psu1ShutdownTemp; unsigned short m_psu2ShutdownTemp; unsigned short m_TX1ShutdownTemp; unsigned short m_TX2ShutdownTemp; unsigned short m_TX3ShutdownTemp; unsigned short m_linkType; unsigned short m_VDSLDownstreamSpeed1; unsigned short m_VDSLDownstreamSpeed2; unsigned short m_macAddress1; unsigned short m_macAddress2; unsigned short m_macAddress3; unsigned short m_VDSLUpstreamSpeed1; unsigned short m_VDSLUpstreamSpeed2; CGemStatusPacket() { m_head.m_type = 0x40; } }; /*****************************************************************************//** ********************** MK2 Beamformer Status Message **************************** *********************************************************************************/ class CGemMk2BFStatusPacket: public CGemNetMsg { public: unsigned short m_firmwareVer; unsigned short m_sonarId; unsigned int m_sonarFixIp; unsigned int m_sonarAltIp; unsigned int m_surfaceIp; unsigned short m_flags; unsigned short m_vccInt; unsigned short m_vccAux; unsigned short m_unused0; unsigned short m_dieTemp; unsigned short m_dipSwitch; /*Only for Mk2*/; unsigned short m_pcbTemp; unsigned short m_commsTemp; unsigned short m_txTemp; unsigned short m_unused2; unsigned short m_psuTemp; unsigned short m_unused3; unsigned int m_currentTimestampL; unsigned int m_currentTimestampH; unsigned short m_transducerFrequency; unsigned int m_subnetMask; unsigned short m_unused4; unsigned short m_unused5; unsigned short m_unused6; unsigned int m_BOOTSTSRegister; unsigned short m_shutdownStatus; unsigned short m_dieOverTemp; unsigned short m_pcbShutdownTemp; unsigned short m_commsShutdownTemp; unsigned short m_txShutdownTemp; unsigned short m_unused7; unsigned short m_psuShutdownTemp; unsigned short m_unused8; unsigned short m_unused9; unsigned short m_unused10; unsigned short m_unused11; unsigned short m_linkType; unsigned short m_VDSLDownstreamSpeed1; unsigned short m_VDSLDownstreamSpeed2; unsigned short m_macAddress1; unsigned short m_macAddress2; unsigned short m_macAddress3; unsigned short m_VDSLUpstreamSpeed1; unsigned short m_VDSLUpstreamSpeed2; CGemMk2BFStatusPacket() { m_head.m_type = 0x40; } }; /*****************************************************************************//** ********************** MK2 Data Acqusition Status Message *********************** *********************************************************************************/ class CGemMk2DAStatusPacket: public CGemNetMsg { public: unsigned short m_firmwareVer; unsigned short m_unused0; unsigned int m_unused1; unsigned int m_unused2; unsigned int m_unused3; unsigned short m_unused4; unsigned short m_unused5; unsigned short m_unused6; unsigned short m_unused7; unsigned short m_unused8; unsigned short m_dipSwitch; /*Only for Mk2*/; unsigned short m_pcbTemp; unsigned short m_afe0TopTemp; unsigned short m_afe0BotTemp; unsigned short m_afe1TopTemp; unsigned short m_afe1BotTemp; unsigned short m_afe2TopTemp; unsigned int m_unused10; unsigned int m_unused11; unsigned short m_unused12; unsigned int m_unused13; unsigned short m_afe2BotTemp; unsigned short m_afe3TopTemp; unsigned short m_afe3BotTemp; unsigned int m_BOOTSTSRegister; unsigned short m_unused15; unsigned short m_unused16; unsigned short m_pcbShutdownTemp; unsigned short m_afe0topShutdownTemp; unsigned short m_afe0botShutdownTemp; unsigned short m_afe1topShutdownTemp; unsigned short m_afe1botShutdownTemp; unsigned short m_afe2topShutdownTemp; unsigned short m_afe2botShutdownTemp; unsigned short m_afe3topShutdownTemp; unsigned short m_afe3botShutdownTemp; unsigned short m_unused17; unsigned short m_unused18; unsigned short m_unused19; unsigned short m_unused20; unsigned short m_unused21; unsigned short m_unused22; unsigned short m_unused23; unsigned short m_unused24; CGemMk2DAStatusPacket() { m_head.m_type = 0x40; } }; #pragma pack (pop) /*****************************************************************************//** *************** Ping Head structure received against the ping command ************ *********************************************************************************/ class CGemPingHead: public CGemNetMsg { public: unsigned short m_pingID; unsigned short m_extMode; unsigned int m_transmitTimestampL; unsigned int m_transmitTimestampH; unsigned short m_startRange; unsigned short m_endRange; unsigned int m_lineTime; unsigned short m_numBeams; unsigned short m_numChans; unsigned char m_sampChan; unsigned char m_baseGain; unsigned short m_spdSndVel; unsigned short m_velEchoTime; unsigned short m_velEntries; unsigned short m_velGain; unsigned short m_sosUsed; unsigned char m_RLEThresholdUsed; unsigned char m_rangeCompressionUsed; unsigned char m_decimation; CGemPingHead() { m_head.m_type = 0x41; m_pingID = 0xff; m_extMode = 0; m_transmitTimestampL = 0; m_transmitTimestampH = 0; m_startRange = 0; m_endRange = 0; m_lineTime = 0; m_numBeams = 0; m_numChans = 0; m_sampChan = 0; m_baseGain = 0; m_spdSndVel = 0; m_velEchoTime = 0; m_velEntries = 0; m_velGain = 0; m_sosUsed = 0; m_RLEThresholdUsed = 0; m_rangeCompressionUsed = 0; m_decimation = 0; } }; /*****************************************************************************//** *************** Ping Line structure received against the ping command ************ *********************************************************************************/ class CGemPingLine: public CGemNetMsg { public: unsigned char m_gain; unsigned char m_pingID; unsigned short m_lineID; unsigned short m_scale; unsigned short m_lineInfo; unsigned char m_startOfData; CGemPingLine() { m_head.m_type = 0x42; m_gain = 0; m_pingID = 0xff; m_lineID = 0; m_scale = 0; m_lineInfo = 0; m_startOfData = 0; } int GetLineWidth( ) const { return ( ( ( m_lineInfo & 0xff80) >> 7 ) * 4 ); } }; /*****************************************************************************//** *************** Ping Tail structure received against the ping command ************ *********************************************************************************/ class CGemPingTail: public CGemNetMsg { public: unsigned char m_pingID; unsigned char m_flags; unsigned short m_spare; CGemPingTail() { m_head.m_type = 0x43; m_flags = 0; m_spare = 0; } CGemPingTail& operator = ( const CGemPingTail& pingTail ) { m_head = pingTail.m_head; m_pingID = pingTail.m_pingID; m_flags = pingTail.m_flags; m_spare = pingTail.m_spare; return *this; } }; /*****************************************************************************//** ********** Ping Tail extended structure received against the ping command ******* *********************************************************************************/ class CGemPingTailExtended: public CGemPingTail { public: unsigned short m_firstPassRetries; unsigned short m_secondPassRetries; unsigned short m_tailRetries; unsigned short m_interMessageGap; unsigned long m_packetCount; unsigned long m_recvErrorCount; unsigned long m_linesLostThisPing; unsigned long m_generalCount; CGemPingTailExtended() { m_head.m_type = 0x61; m_firstPassRetries = 0; m_secondPassRetries = 0; m_tailRetries = 0; m_interMessageGap = 0; m_packetCount = 0; m_recvErrorCount = 0; m_linesLostThisPing = 0; m_generalCount = 0; } CGemPingTailExtended& operator = ( const CGemPingTailExtended& exTail ) { CGemPingTail::operator = ( exTail ); m_head.m_type = 0x61; m_firstPassRetries = exTail.m_firstPassRetries ; m_secondPassRetries = exTail.m_secondPassRetries; m_tailRetries = exTail.m_tailRetries ; m_interMessageGap = exTail.m_interMessageGap ; m_packetCount = exTail.m_packetCount ; m_recvErrorCount = exTail.m_recvErrorCount ; m_linesLostThisPing = exTail.m_linesLostThisPing; m_generalCount = exTail.m_generalCount ; return *this; } CGemPingTailExtended& operator += ( const CGemPingTailExtended& exTail ) { CGemPingTail::operator = ( exTail ); m_head.m_type = 0x61; m_firstPassRetries += exTail.m_firstPassRetries ; m_secondPassRetries += exTail.m_secondPassRetries; m_tailRetries += exTail.m_tailRetries ; m_interMessageGap += exTail.m_interMessageGap ; m_packetCount += exTail.m_packetCount ; m_recvErrorCount += exTail.m_recvErrorCount ; m_linesLostThisPing += exTail.m_linesLostThisPing; m_generalCount += exTail.m_generalCount ; return *this; } }; /*****************************************************************************//** **************************** TimeStamp acknowledge ****************************** *********************************************************************************/ class CGemAcknowledge: public CGemNetMsg { public: unsigned int m_receiptTimestampL; unsigned int m_receiptTimestampH; unsigned int m_replyTimestampL; unsigned int m_replyTimestampH; CGemAcknowledge() { m_head.m_type = 0x49; m_receiptTimestampL = 0; m_receiptTimestampH = 0; m_replyTimestampL = 0; m_replyTimestampH = 0; } }; /*****************************************************************************//** **************************** Bearing Structure**** ****************************** *********************************************************************************/ class CGemBearingData : public CGemNetMsg { public: unsigned short m_bearingLineNo; unsigned short m_noSamples; unsigned char *m_pData; CGemBearingData() { m_head.m_type = 0x60; m_bearingLineNo = 0; m_noSamples = 0; m_pData = nullptr; } };