/* ---------------------------------------------------------------------- */ /* SonarMessages.h */ /* ---------------------------------------------------------------------- */ /* */ /* Describes the standard sonar messages which can be sent between a */ /* topside and the EdgeTech Interface. Messages always consist of 2 */ /* parts: */ /* 1) A header which contains the message type and length */ /* 2) The actual data */ /* */ /* Note that two communications circuits (TCP sockets) are used. */ /* One socket is used for commands and the other socket is used for data. */ /* */ /* ---------------------------------------------------------------------- */ /* */ /* (c) Copyright 1998 - 2010, 2011 EdgeTech */ /* */ /* This file contains proprietary information, and trade secrets of */ /* EdgeTech, and may not be disclosed or reproduced without the prior */ /* written consent of EdgeTech. */ /* */ /* EdgeTech is not responsible for the consequences of the use or misuse */ /* of this software, even if they result from defects in it. */ /* */ /* This information may change without notice. */ /* ---------------------------------------------------------------------- */ #ifndef __SonarMessages_H__ #define __SonarMessages_H__ /* ---------------------------------------------------------------------- */ /* Includes */ /* ---------------------------------------------------------------------- */ #include #include "PublicMessageOffsets.h" /* ---------------------------------------------------------------------- */ /* Structure defines */ /* ---------------------------------------------------------------------- */ #define FILE_NAME_SIZE (80) #define SONAR_MESSAGE_SHORT_STRING_LENGTH (128) #define SONAR_MESSAGE_STRING_LENGTH (256) /* ---------------------------------------------------------------------- */ /* Message Header */ /* ---------------------------------------------------------------------- */ /* All messages are preceeded with a header which indicates the size of */ /* the message to follow in bytes and its type. The header is of type */ /* SonarMessageHeaderType. A version number is included to accomodate */ /* future changes / extensions in the protocol. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Marker for the start of header */ unsigned short int startOfMessage; /* The version of the protocol in use */ unsigned char version; /* Session Identifier */ unsigned char sessionID; /* The message format as per SonarMessageType */ unsigned short int sonarMessage; /* The action to perform as per SonarCommandType */ unsigned char sonarCommand; /* Indicates subsystem (0 is first) for a multi-system device. */ unsigned char subSystem; /* Indicates channel (0 is first) for a multi-channel subsystem. */ unsigned char channel; /* Sequence number of message. A reply to this message will contain */ /* this value. A topside can optionally use this field to track replys */ unsigned char sequence; /* Header space reserved for future use. */ unsigned char reservedHeader[2]; /* Size of message in bytes to follow */ long int byteCount; } SonarMessageHeaderType; /* ---------------------------------------------------------------------- */ /* Header defines */ /* ---------------------------------------------------------------------- */ /* Start of header word */ #define SONAR_MESSAGE_HEADER_START (0x1601) /* The version of the protocol in use */ #define SONAR_PROTOCOL_CURRENT_VERSION (0x0A) /* ---------------------------------------------------------------------- */ /* Command Types */ /* ---------------------------------------------------------------------- */ /* Command type(sonarCommand in header). A topside will send SET */ /* commands, which return no values, GET commands, which return the */ /* current parameter set. The bottom unit only sends REPLY messages in */ /* response to a GET or unsolicited data. */ /* ---------------------------------------------------------------------- */ typedef enum { /* Send a value or execute a command */ SONAR_COMMAND_SET = 0, /* Request current value / last value of item. All GETs can be sent */ /* with a byte count of 0. Some GET messages will accept parameters. */ /* See the individual message descriptions for details. */ SONAR_COMMAND_GET, /* Reply to a COMMAND_GET or unsolicited error msgs */ SONAR_COMMAND_REPLY, /* Error replay to a command. The command was not executed. */ /* In this case, the return value is the error (SonarMessageLongType) */ /* as defined by SonarMessageErrorType. */ SONAR_COMMAND_ERROR, /* Similar to a REPLY for the data socket, but is playback data. This */ /* will only occur when storage playback is enabled. */ SONAR_COMMAND_PLAYBACK, /* Similar to a REPLY for the data socket, but is QC data. This will */ /* only occur when QC data is enabled. */ SONAR_COMMAND_QUALITY, } SonarCommandType; /* ---------------------------------------------------------------------- */ /* Error codes that can be returned as SONAR_COMMAND_ERROR */ /* ---------------------------------------------------------------------- */ typedef enum { /* 0: No error */ SONAR_MESSAGE_ERROR_NONE, /* 1: General command failure indicator */ SONAR_MESSAGE_ERROR_FAILED, /* 2: Message size does not match expected size */ SONAR_MESSAGE_ERROR_DATA_SIZE, /* 3: Subsystem number is not present in this system */ SONAR_MESSAGE_ERROR_SUBSYSTEM, /* 4: Channel number is not present in this system */ SONAR_MESSAGE_ERROR_CHANNEL, /* 5: sonarMessage field contains an unknown command */ SONAR_MESSAGE_ERROR_UNKNOWN, /* 6: Pulse file error. Pulse not loaded */ SONAR_MESSAGE_ERROR_PULSE_FILE, /* 7: Session ID error. Command rejected */ SONAR_MESSAGE_ERROR_SESSION_ID, /* 8: Override required: Command rejected */ SONAR_MESSAGE_ERROR_OVERRIDE_REQUIRED, } SonarMessageErrorType; /* ---------------------------------------------------------------------- */ /* Message Types */ /* ---------------------------------------------------------------------- */ /* sonarMessage field indicates the type of data to follow. */ /* ---------------------------------------------------------------------- */ typedef enum { /* -------------------------------------------------------------------- */ /* Overall commands. */ /* For the following messages, the channel and subSystem should be 0. */ /* -------------------------------------------------------------------- */ /* Null message - can be used to test communications */ SONAR_MESSAGE_NONE = MESSAGE_OFFSET_STANDARD, /* Reset to default values (No Data) on set */ /* Note: The subsystem should be 255 to reset the entire system or */ /* the specific subsystem number. The channel must be 0. */ SONAR_MESSAGE_SYSTEM_RESET, /* Get or set the time (TimestampType) */ /* Note that because of the nagle algorithm on sockets, the actual */ /* message can be delayed. To set the time with greater accuracy, say, */ /* within 10 ms, the nagle algorithm should be disabled by the sender. */ /* Or a subsequent message bigger than the maximum network packet size */ /* should be sent following this message (usually about 1600 bytes). */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ /* NOTE: The SONAR_MESSAGE_NONE message can be any size desired. */ SONAR_MESSAGE_SYSTEM_TIME, /* Change the time by the delta in milliseconds (SonarMessageLongType) */ /* NOTE that in order to get accurate time sync, a delta must be set via*/ /* this message, and it must be based on the GetTickCount() function. */ /* The normal GetSystemTime() is only accurate to about 50 ms. */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ /* The value is the difference in time between the sonar's time and the */ /* topsides time. Therefore this value should be subtracted from the */ /* sonar's local time base. */ SONAR_MESSAGE_TIME_DELTA, /* Get the software version string (SonarMessageStringType) */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. The version string consists of an alphabetic string */ /* followed by a version number of the form N.M where N and M are both */ /* integers. */ SONAR_MESSAGE_SYSTEM_VERSION, /* Shutdown System */ /* Accepts a (SonarMessageLongType), which can have any of the */ /* following values: 0: Exit sonar program only, 1: Shutdown, 2: Reboot */ SONAR_MESSAGE_SYSTEM_SHUTDOWN, /* User defined message */ /* Accepts a (UserDefinedMessageHeaderType) followed by user data. */ SONAR_MESSAGE_USER_DEFINED, /* Status request / returned (SonarMessageStatusType) */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ SONAR_MESSAGE_SYSTEM_STATUS = MESSAGE_OFFSET_STATUS, /* Alive messages are echoed back on the same connection. This allows */ /* for the detection of lost connection links. Accepts a long parameter*/ /* (SonarMessageLongType) which is echoed back to the caller and is */ /* typically a sequence number. */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ SONAR_MESSAGE_ALIVE, /* Override data lockout caused by suspected system failure in the */ /* sonar system. Once an overrride message is sent, the sonar system */ /* will not stop the data flow because of potential data quality */ /* problems. */ SONAR_MESSAGE_OVERRIDE, /* Run all of the power on self test diagnostics. This will normally */ /* cause an audible chirp on the subbottom (if present) and side scan */ /* low (if present) and other internal diagnostics. This can either */ /* cause OR CLEAR a POST error code. If a post error code is detected */ /* sonar data WILL NOT be returned to the topside unless an override */ /* message is sent. The subsystem and channel should be set to 0 for */ /* this message. The sonarCommand field in the header should be set to */ /* SONAR_COMMAND_GET as this command returns the post status bit field */ /* as the lsb 8 bits of its return value (SonarMessageLongType). See */ /* the SonarMessageStatusType and the serviceNeeded field for a list */ /* of the possible return values. */ SONAR_MESSAGE_RUN_POST_DIAGNOSTICS, /* Get the type of system (SonarMessageLongType). Where: */ /* 0 - No Acquisition */ /* 1 - single frequency multi-pulse sidescan */ /* 2 - single frequency sidescan - 560A - 272 towfish */ /* 3 - simultaneous dual frequency sidescan - 560D - DF1000 towfish */ /* 4 - simultaneous dual frequency sidescan */ /* 5 - sub-bottom sonar */ /* 6 - combined sub-bottom and dual frequency sidescan */ /* 7 - single frequency synthetic aperature sidescan */ /* 8 - single frequency sidescan */ /* 9 - simultaneous dual frequency multi-pulse sidescan */ /* 10 - 4125 ultra portable sidescan - two disparate configurations */ /* 11 - one frequency focused sidescan, one frequency standard */ /* 12 - single frequency multipulse Bathymetric system */ /* 13 - single frequency monopulse Bathymetric system */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ SONAR_MESSAGE_SYSTEM_TYPE, /* Get the operational status of the system (SonarMessageLongType). */ /* Where: 0 - Operational, 1 - Not operational. */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ SONAR_MESSAGE_SYSTEM_OPERATIONAL, /* Time sync status request / returned (SonarMessageTimesyncStatusType) */ /* Note: This is a system command, the subsystem and channel numbers */ /* must be 0. */ SONAR_MESSAGE_TIMESYNC_STATUS, /* -------------------------------------------------------------------- */ /* Sonar Return Data */ /* -------------------------------------------------------------------- */ /* Subbottom data returned to topside (JSFDataType) */ /* This is returned from the sonar and is not a command message. */ SONAR_MESSAGE_DATA = MESSAGE_OFFSET_DATA, /* Window for data transmission (SonarMessageWindowType) */ /* Subsystem and channel must be valid. */ SONAR_MESSAGE_DATA_NETWORK_WINDOW, /* Sidescan data returned to topside (SidescanHeaderType) */ /* This is returned from the sonar and is not a command message. */ SONAR_MESSAGE_DATA_SIDESCAN, /* Activate / Deactivate return data type. The data for the subsystem */ /* / channel specified in the header is activated / deactivated */ /* (0 - deactivate : 1 - activate) (SonarMessageLongType) */ /* Subsystem and channel must be valid. */ SONAR_MESSAGE_DATA_ACTIVE, /* -------------------------------------------------------------------- */ /* Compressed header data messages */ /* -------------------------------------------------------------------- */ /* Subbottom data returned to topside (CompactSonarHeaderType) */ /* This is returned from the sonar and is not a command message. */ /* The compression library will unpack this and replace with */ /* a SONAR_MESSAGE_DATA message. */ SONAR_MESSAGE_DATA_COMPACTHEADER, /* Sidescan data returned to topside (CompactSonarHeaderType) */ /* This is returned from the sonar and is not a command message. */ /* The compression library will unpack this and replace with */ /* a SONAR_MESSAGE_DATA_SIDESCAN message */ SONAR_MESSAGE_DATA_SIDESCAN_COMPACTHEADER, /* -------------------------------------------------------------------- */ /* SAS data messages */ /* -------------------------------------------------------------------- */ /* SAS data output for processing (SASDataType) */ /* this is returned from the SAS processor and is not a command message.*/ SONAR_MESSAGE_DATA_SAS, /* -------------------------------------------------------------------- */ /* Quality data messages */ /* -------------------------------------------------------------------- */ /* QC data parameters (SonarMessageQCParametersType) */ /* Subsystem must be valid. */ SONAR_MESSAGE_QC_PARAMETERS, /* -------------------------------------------------------------------- */ /* Processing of data */ /* -------------------------------------------------------------------- */ /* Window for processing optimization (SonarMessageWindowType) */ /* Subsystem and channel must be valid. */ SONAR_MESSAGE_PROCESSING_ENHANCE_WINDOW = MESSAGE_OFFSET_PROCESS, /* Samples to ignore due to direct path on AGC, normalization */ /* algorithms (SonarMessageLongType) */ /* Subsystem and channel must be valid. */ /* If this value is positive the units are output samples. If 0 or -1 */ /* agc processing starts at time 0 (and does not exclude the transmit */ /* pulse length. If less than -1, the units are considered to be micro */ /* seconds after the transmit pulse, so for example to exclude a return */ /* at the 3 ms point in the acoustic record use the value -3000. */ SONAR_MESSAGE_PROCESSING_DIRECT_PATH, /* -------------------------------------------------------------------- */ /* Management of pulses */ /* -------------------------------------------------------------------- */ /* Enable/disable ping: 0 => disable, 1=>enable (SonarMessageLongType) */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING = MESSAGE_OFFSET_PULSES, /* 1000.0 * DAC gain to scale outgoing pulse by (SonarMessageLongType) */ /* Subsystem and channel must be valid. */ /* A value of 1000 will apply full power (the maximum amount aka 100%) */ SONAR_MESSAGE_PING_GAIN, /* A set message takes no parameters. A set message resets the list of */ /* pulse records so that the next get message will return the first */ /* record in the list. */ /* A get message with a (SonarMessageLongType) parameter, returns up to */ /* the specified number of pulse records as an array of */ /* (SonarMessagePingType) values, up to a maximum of 30. */ /* Note that the maximum pulses supported is 30, so requesting 30 will */ /* provide all possible pulses in one message. */ /* A get message can also be sent with no parameters, in this case it */ /* returns a single (SonarMessagePingType) structure. */ /* The pulse record following the last valid pulse record will have a */ /* NULL pulse name field. */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_LIST, /* Select an outgoing set of pulses, and matched filters. */ /* (SonarMessageStringType) */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_SELECT, /* Number of pings pers second required * 1000 */ /* (SonarMessageLongType) */ /* Actual ping rate may be slightly lower (2048 sample granuality) */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_RATE, /* Set trigger for internal(0), external(1), coupled(2), or gated(3) */ /* (SonarMessageLongType). Coupled mode causes a system to be triggered*/ /* by another one (eg Sidescan triggered by Subbottom) */ /* See SONAR_MESSAGE_PING_COUPLING_PARAMETERS message. In gated mode */ /* the external trigger is used as a trigger inhibit, and the inhibit */ /* time is based on the coupling parameter delay. */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_TRIGGER, /* Set delay for external trigger in ms (SonarMessageLongType). This */ /* message applies only to the soft trigger. A soft trigger uses the */ /* ethernet to transmit trigger requests to an underwater electronics */ /* bottle and is not present in an FS-SB standard system. See the */ /* SONAR_MESSAGE_PING_COUPLING_PARAMETERS message for a hardwired */ /* trigger delay. */ /* Note: This is a subsystem command, the channel number must be 0. */ /* */ /* WARNING: THIS MESSAGE IS NO LONGER SUPPORTED */ SONAR_MESSAGE_PING_DELAY, /* A get message takes a parameter that is 1000 * the ping rate in Hz. */ /* (SonarMessageLongType) and returns a (SonarMessageLongType) with the */ /* maximum number of samples that can be received for that ping rate. */ /* A get message can also be sent with no parameters, in this case it */ /* returns the maximum number of samples for the current ping rate. */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_MAX_SAMPLES, /* Set the ping rate for sidescan systems. Sets the ping rate based */ /* on the range in millimeters. (SonarMessageLongType) */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_RANGE, /* Set the coupling parameters for this system when in trigger mode */ /* coupled, and the hardware trigger delay in external trigger modes. */ /* (SonarMessageCouplingParametersType) */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_COUPLING_PARAMETERS, /* Get the list of human readable strings and fish IDs. Only a */ /* SONAR_COMMAND_GET message is meaningful. Returns an array of */ /* (SonarMessageFishType) records. The number of records can be */ /* determined by the size of the return message. */ /* This message should be used to get the available EdgeTech fish to */ /* present to the end user. The user should first select the fish */ /* which is attached to the sonar processing system, and should then */ /* select a pulse only from the subset of the selected fish. */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_FISH_LIST, /* Sets the (multi-ping) operating mode (SonarMessageLongType) */ /* Value 0 => Standard operating mode, 1 => Multiple ping mode */ /* This is a subsystem command and the channel should be set to 0. */ /* */ /* This message has a different effect on sub-bottom and sidescan */ /* systems. */ /* */ /* For sidescan systems: This message is handled by the Discover */ /* external topside interface, and switches the mode of the specified */ /* subsystem. Only one subsystem at a time may currently be in multiple*/ /* ping mode. If a subsystem is in multiple ping mode it is the only */ /* subsystem that may have pinging enabled. These restrictions may be */ /* altered in the future. */ /* */ /* For Sub-bottom systems: A value of 0, multiple pings are disabled, */ /* and data is referenced to the ping time. If the data window requires*/ /* more data than can be provided for the specified ping rate, then the */ /* ping rate will be reduced. */ /* A value of 1, multiple pings are enabled, and the data window will */ /* NOT effect the ping rate. In this case, the initialSkip parameter */ /* of the data window determines which ping time in the history buffer */ /* to reference when delivering data. A data window is not permitted to*/ /* cross ping boundaries, and if the initial skip plus the number of */ /* samples desired (suitably decimated) cases the window to either cross*/ /* ping boundaries or deliver "invalid" data at the end of a ping */ /* (equivelent to the pulse length) then the amount of data delivered */ /* will be reduced. On some systems, or in external trigger mode this */ /* can cause the amount of data delivered to vary from ping to ping. */ /* When multiple pings are enabled, a history buffer of prior pings is */ /* maintained. Since this history is 8 entrys deep, the maximum number */ /* of pings in the water is 8. This value may change in the future. */ SONAR_MESSAGE_PING_MODE, /* A set message takes no parameters. A set message resets the list of */ /* pulse records so that the next get message will return the first */ /* record in the list. */ /* A get message with a (SonarMessageLongType) parameter, returns up to */ /* the specified number of pulse records as an array of */ /* (SonarMessagePingEnhancedType) values, up to a maximum of 30. */ /* Note that the maximum pulses supported is 30, so requesting 30 will */ /* provide all possible pulses in one message. */ /* A get message can also be sent with no parameters, in this case it */ /* returns a single (SonarMessagePingEnhancedType) structure. */ /* The pulse record following the last valid pulse record will have a */ /* NULL pulse name field. */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_PING_LIST_ENHANCED, /* Set the pulse auto select mode. When non-zero, auto pulse selection */ /* is enabled. When enabled, pulses cannot be selected via PING_SELECT */ /* messages, but are determined by the operating ping rate or range. */ /* The parameter passed (SonarMessageLongType) is the maximum number of */ /* pulses in the water for a Multiping sidescan type system. Set this */ /* to 1 to disable multiping but enable auto mode. The presently */ /* supported values are 0 through 4. This is a subsystem level command */ /* and the channel number should be set to 0. */ SONAR_MESSAGE_PING_AUTOSELECTMODE, /* -------------------------------------------------------------------- */ /* ADC Control */ /* -------------------------------------------------------------------- */ /* Set gain factor for ADC when AGC disabled (SonarMessageLongType) */ /* Value is * 1000.0 (only 1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, */ /* and 2048 supported) */ /* Subsystem and channel must be valid. Ignored on sidescan systems. */ SONAR_MESSAGE_ADC_GAIN = MESSAGE_OFFSET_ADC, /* 0=> disable, 1=> enable (Automatic Gain Control) */ /* (SonarMessageLongType) */ /* Subsystem and channel must be valid. Ignored on sidescan systems. */ SONAR_MESSAGE_ADC_AGC, /* ADC rate in Hz * 1000. This is a read only value and changes with */ /* the pulse selected (SonarMessageLongType) */ /* Note: This is a subsystem command, the channel number must be 0. */ SONAR_MESSAGE_ADC_RATE, } SonarMessageType; /* ---------------------------------------------------------------------- */ /* Message Data Structures */ /* ---------------------------------------------------------------------- */ /* The data component of the messages varies with the sonarMessage as */ /* defined by the structures below. */ /* ---------------------------------------------------------------------- */ /* ---------------------------------------------------------------------- */ /* Timestamp structure */ /* ---------------------------------------------------------------------- */ typedef struct { /* Time in seconds since the dawn of time */ long time; // time_t time; /* Milliseconds supplement to time */ long int milliseconds; } TimestampType; /* ---------------------------------------------------------------------- */ /* General integer parameter */ /* ---------------------------------------------------------------------- */ typedef struct { long value; /* Value for message */ } SonarMessageLongType; /* ---------------------------------------------------------------------- */ /* General purpose string argument. */ /* ---------------------------------------------------------------------- */ typedef struct { char name[SONAR_MESSAGE_STRING_LENGTH]; /* String parameter */ } SonarMessageStringType; /* ---------------------------------------------------------------------- */ /* General purpose string argument. */ /* ---------------------------------------------------------------------- */ typedef struct { char name[SONAR_MESSAGE_SHORT_STRING_LENGTH]; /* Short String parameter*/ } SonarMessageShortStringType; /* ---------------------------------------------------------------------- */ /* SONAR_MESSAGE_STATUS parameters */ /* ---------------------------------------------------------------------- */ typedef struct { /* Incremented each time a ping is dropped. */ unsigned long overflowCount; /* The current error count. */ unsigned long errorCount; /* Error ids of last 10 errors. */ short int lastError[10]; /* Disk space available for sonar data storage in kb. */ unsigned long freeDiskSpace; /* Indicates that data is being received (increments over time). */ unsigned long dataAcquisitionActivityIndicator; /* General service warning message */ /* This is a bit map with one bit for each power on self test status. */ /* A non-zero bit indicates a POST test failure. */ /* Bit 0 : SB Power Amp feedback on channel 0 test failed. */ /* Bit 1 : SB Power Amp feedback on secondary channel (1) test failed. */ /* Bit 2 : Interface Card diagnostic failed. */ /* Bit 3 : Health Monitor Sensors (formerly the 48 Volt Power Check) */ /* Bit 4 : Ambient Temperature Sensor Check Failed */ /* Bit 5 : Internal Configuration Error (Missing Pulse File, etc) */ /* Bit 6 : Reserved */ /* Bit 7 : Temperature sensor failure suspected */ unsigned char serviceNeeded; /* Ambient Temperature out of range flags. */ /* Bit 0 : Temperature is out of range. */ unsigned char temperatureFlags; /* Humidity out of range indicator */ /* Bit 0 : Humidity reading outside of expected range */ unsigned char humidityFlags; /* Storage subsystem flags */ /* Bit 0 : Disk storage is enabled (should be set when on). */ /* Bit 1 : Disk primary drive error detected. Operator needs to reset. */ /* Bit 2 : Disk write error on drive - all storage disabled. */ /* Bit 7 : Disk playback is enabled. */ unsigned char storageFlags; /* Ambient Temperature status. */ /* 0 : Temperature is OK */ /* 1 : Temperature is in error - below minimum possible value. */ /* 2 : Temperature is below recommended value. */ /* 3 : Temperature is above recommended value. */ /* 4 : Temperature is too high - PINGING IS DISABLED. */ /* 5 : Temperature is in error - above maximum possible value. */ unsigned char temperatureStatus; /* Status of time synchronization. */ /* Bits 0-3 : Source for time sync. This can be any of: */ /* 0 : No time sync active. */ /* 1 : CPU (CPUS RTC - (assumes an NTP server is active) */ /* 2 : Network time sync active. */ /* 3 : ZDA time sync active. */ /* 4 : RMC time sync active. */ /* 5 : GGA time sync active. */ /* 6 : GLL time sync active. */ /* Others : Reserved. */ /* Bits 4-6 : Status of time sync. This can be any of: */ /* 0 : Good sync (within 50 ms) */ /* 1 : Fair sync (within 300 ms) */ /* 2 : Marginal sync (within 1 second) */ /* 7 : Failed time sync (no source or large erros) */ /* Bit 7 : If set a PPS is enabled but either not active or not at the */ /* expected pulse per second rate. */ unsigned char timeStatus; /* Internal resets to date. */ unsigned short resetCount; /* Bottle temperature in Degrees C * 1000. */ long int bottleTemperature; /* Ambient temperature in Degrees C * 1000. */ long int ambientTemperature; /* Check of 48 Volt Power in milli-Volts. */ long int power48Volts; /* Humidity sensor reading in % (0 to 100) */ long int humidity; /* Low rate misc io analog values. */ short int lowRateIO[4]; /* Serial Port Summary Status. There are 4 bits for each of up to 16 */ /* ports. Each 4 bit value indicates the state of the port, which can */ /* be any of the following: */ /* 0 : Port is not configured for io (inactive). */ /* 1 : Active and normal operation. */ /* 2 : Authorization failure. */ /* 3 : Port error (eg open failed - physical port does not exist) */ /* 4 : Port inactive (eg no connected device or wrong baud rate) */ /* 5 : No valid data - bytes are being received buy does not parse. */ /* 6 : Too much data - perhaps the port has been configurated for too */ /* low of a baud rate (does not meet MinIdlePercent keyword value. */ unsigned char serialPortState[8]; /* Runtime alert bits. This is a bit mask with the following bits: */ /* 0 : Cannot find sonar acquisition device */ /* 1 : No network connection. */ /* 2 : Password expired. */ /* 3 : Data recording file error. */ /* 4 : Serial port error. */ /* 5 : Time sync not active. */ /* 6 : System is out of the water, ping rate limits being applied. */ /* 7 : One PPS Trigger In Event not active or at wrong rate. */ /* 8 : Container Message received with non-recent time stamp. */ /* 9 : Power Amp Fault Detected (eg overcurrent or other event). */ /*10 : CRC Fault */ int runtimeAlerts; /* Reserved for future expansion. */ int reserved[5]; } SonarMessageStatusType; /* ---------------------------------------------------------------------- */ /* SONAR_MESSAGE_STATUS parameters */ /* ---------------------------------------------------------------------- */ typedef struct { /* 0 - 3 : Time since 1/1/1970 in seconds (time() value) */ unsigned long secondsSince1970; /* 4 - 7 : Nanosecond supplement to time */ unsigned long nanoseconds; /* 8 - 11 : Estimated time delta in microseconds */ long estimatedTimeDelta; /* 12 - 12 : Time Sync Status: */ /* 0 - Time Sync Current */ /* 1 - No Time Sync */ /* 2 - No Time Source */ unsigned char timeSyncStatus; /* 13 - 13 : Time Sync Method: */ /* 0 - No Time Sync */ /* 1 - Automatic - (ZDA / Posisition Source / Client) */ /* 2 - ZDA only */ /* 3 - ZDA or Position Source */ /* 4 - Client only */ unsigned char timeSyncMethod; /* 14 - 14 : Source of current time sync: */ /* 0 - No Time Sync */ /* 1 - ZDA */ /* 2 - Position Source */ /* 3 - Client */ unsigned char timeSyncSource; /* 15 - 15 : Port for time sync input */ unsigned char timeSyncPort; } SonarMessageTimesyncStatusType; /* ---------------------------------------------------------------------- */ /* Ping First / Next data files */ /* ---------------------------------------------------------------------- */ typedef struct { /* Name used to identify this pulse for selection. */ char fileName[FILE_NAME_SIZE]; /* Type of pulse. */ /* If non-zero, bits 4 and up should encode the MPX number which is 1 */ /* for non-multiping pulses and 2 for mpx 2 pulses. */ unsigned short pulseType; /* approximate maximum ping rate in Hz. */ unsigned char maxPingRate; /* approximate data sample rate in kHz. */ unsigned char dataRate; /* Minimum frequency in Hz. */ unsigned long fMin; /* Maximum frequency in Hz. */ unsigned long fMax; /* Pulse duration in milliSeconds */ unsigned long time; /* Unique pulse identifier */ unsigned short pulseID; /* Unused field - round to long boundary. */ unsigned short reserved; /* Pulse description - null terminated ASCII string */ char description[SONAR_MESSAGE_STRING_LENGTH]; /* Type of sonar pulse was designed for. */ unsigned long systemType; } SonarMessagePingType; /* ---------------------------------------------------------------------- */ /* Ping First / Next data files with enhanced details */ /* Added to support multiping and its variants */ /* ---------------------------------------------------------------------- */ /* Maximum pulses per pulsefile (for multiping support) */ #define MAX_PULSES_PER_PULSEFILE (8) typedef struct { /* Name used to identify this pulse for selection. */ char fileName[FILE_NAME_SIZE]; /* Type of pulse. */ unsigned short pulseType; /* Number of pulses for multiping */ unsigned short numberOfPulses; /* approximate maximum ping rate in Hz. */ float maxPingRate; /* approximate data sample rate in kHz. */ /* For processed data */ float dataRate; /* Minimum frequency in Hz. */ /* Index 0 : Port or single channel */ /* Index 1 : Stbd if present */ float fMin[2][MAX_PULSES_PER_PULSEFILE]; /* Maximum frequency in Hz. */ /* Index 0 : Port or single channel */ /* Index 1 : Stbd if present */ float fMax[2][MAX_PULSES_PER_PULSEFILE]; /* Pulse duration in milliSeconds */ float time[2][MAX_PULSES_PER_PULSEFILE]; /* Unique pulse identifier */ unsigned short pulseID; /* Unused field - round to long boundary. */ unsigned short reserved; /* Pulse description - null terminated ASCII string */ char description[SONAR_MESSAGE_STRING_LENGTH]; /* Type of sonar pulse was designed for. */ unsigned long systemType; /* Option bits */ /* Bit 0: When set data is basebanded. When clear data is decimated */ /* This option effects where the data is in the frequency space. */ long flags; /* Reserved for future use */ long reserved2[16]; } SonarMessagePingEnhancedType; /* ---------------------------------------------------------------------- */ /* List of supported towfish (systemType) and their human readable text. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Type of sonar. Each pulse, as specified in the SonarMessagePingType */ /* message is for a specific type of sonar towfish. This is the unique */ /* identifier for that sonar towfish. */ unsigned long systemType; /* Human readable text description of this system. This string should */ /* be presented to an end user to select a fish type. Only pulses for */ /* a selected fish should be presented to an end user for selection. */ char systemName[20]; } SonarMessageFishType; /* ---------------------------------------------------------------------- */ /* Window for network data */ /* ---------------------------------------------------------------------- */ typedef struct { /* Ping decimation factor */ /* A value of N returns 1 pings worth of data for every actual N pings */ /* in the water. The minimum and recommended value for most */ /* applications is 1. */ unsigned short frameDecimation; /* Pixel decimation factor */ /* This value determines the effective sample rate of data received. */ /* The minimum value of 1 returns data at the maximum sample rate */ /* (SRMAX), where as a value of N returns data at a sample rate of */ /* (SRMAX) / N. The sample rate reduction is achieved by grouping data */ /* into N sample blocks and selecting only the maximum sample from each */ /* block. A value greater than 1 may result in aliasing of the data */ /* The sampleInterval field of each returned data record will change */ /* with this value. */ unsigned short decimation; /* Samples to skip. This parameter is used to discard data in the */ /* water column. The samples to skip are AFTER decimation */ unsigned long initialSkip; /* Total samples to return */ /* If this value is set to zero, the maximum amount of data possible */ /* using the current ping rate or range will be sent. */ /* SEG-Y limits the number of samples per packet to an unsigned short. */ /* If larger sample sizes are required multiple packets must be used. */ /* Important note: If the trigger mode (for this subsystem) is not */ /* "coupled" and not configured for hullmount mode (multiping) then a */ /* large value for (initialSkip + totalSamples) will cause the ping */ /* rate to slow down so that the requested amount of data can be */ /* provided. A value of 0 will NOT cause the ping rate to slow down */ unsigned long totalSamples; /* Packet size in samples */ /* Due to buffer limitations the current system retricts this to under */ /* 512KB. */ /* For most applications, this value should be set to a large number */ /* to avoid multiple packets of data per ping (eg 250000) */ unsigned long maxPacketSize; } SonarMessageWindowType; /* ---------------------------------------------------------------------- */ /* Coupling Parameters data structure. */ /* ---------------------------------------------------------------------- */ typedef struct { /* Subsystem number to trigger this subsystem on */ long subSystem; /* Trigger on every Nth event (minimum value of 1). */ long triggerDivisor; /* Trigger delay in micro-seconds for external or coupled modes. */ /* Trigger inhibit time for gated mode. (minimum value of 0) */ long triggerDelay; } SonarMessageCouplingParametersType; /* ---------------------------------------------------------------------- */ /* Compact Sonar Data Header Structure */ /* ---------------------------------------------------------------------- */ typedef struct { /* 0 - 1 : Ping number (increments with ping) */ unsigned short int pingNum; /* 2 - 3 : starting Depth (window offset) in samples */ unsigned short int startDepth; /* 4 - 5 : Maximum absolute value for ADC samples for this packet */ unsigned short ADCMax; /* 6 - 6 : -- defined as 2 -N volts for lsb */ char weightingFactor; /* 7 - 7 : Data format */ /* 0 = 1 short per sample - envelope data */ /* 1 = 2 shorts per sample - stored as real(1), imag(1), */ /* 2 = 1 short per sample - before matched filter (raw) */ /* 3 = 1 short per sample - real part analytic signal */ /* NOTE: For type = 1, the total number of bytes of data to follow is */ /* 4 * samples. For all other types the total bytes is 2 * samples. */ unsigned char dataFormat; /* 8 - 11 : Sample interval in ns of stored data */ unsigned long int sampleInterval; /* 12 - 13 : Milliecond Counter */ unsigned short int millisecondCounter; /* 14 - 14 : aproximate applied gain = 2 ** (N / 16.0) */ unsigned char appliedGain; /* 15 - 15 : Reserved */ unsigned char reserved; /* Sonar data should follow the header. The number of samples can be */ /* computed from the byteCount in the SonarMessageHeaderType that */ /* preceeds this header (eg: for envelope data */ /* samples = (byteCount - sizeof(CompactSonarHeaderType))/2 */ } CompactSonarHeaderType; /* ---------------------------------------------------------------------- */ /* QC Parameters data structure. */ /* ---------------------------------------------------------------------- */ typedef struct { /* 0 - 1 : QC data source, 0 - None, 1 - Network, 2 - Disk */ unsigned short int source; /* 2 - 3 : subsampleing method, 0 - Max, 1 - Avg, 2 - None, */ unsigned short int subsampleMethod; /* 4 - 5 : long track subsample rate, 1 of N */ unsigned short int longTrackSubSampling; /* 6 - 7 : cross track subsample rate, 1 of N */ unsigned short int crossTrackSubSampling; /* 8 - 9 : channel blending mask */ /* bit mask of channels to blend per side for multi-channel data. */ unsigned short int blendingMask; } SonarMessageQCParametersType; /* ---------------------------------------------------------------------- */ /* User Defined Message Header */ /* ---------------------------------------------------------------------- */ typedef struct { /* 0 - 3 : ID assigned to the user defining these messages. */ /* EdgeTech assigned unique user ID. */ /* -------------------------------------------------------------------- */ /* User ID */ /* EdgeTech 1 - 1000 */ /* Kongsberg 1001 - 1100 */ /* -------------------------------------------------------------------- */ unsigned long int userID; /* 4 - 7 : User defined message type */ unsigned long int messageType; /* 8 - 15 : Timestamp */ TimestampType timestamp; } UserDefinedMessageHeaderType; /* ---------------------------------------------------------------------- */ #endif /* Not __SonarMessages_H__ */ /* ---------------------------------------------------------------------- */ /* end SonarMessages.h */ /* ---------------------------------------------------------------------- */