/* ---------------------------------------------------------------------- */ /* SystemMessages.h */ /* ---------------------------------------------------------------------- */ /* */ /* Describes system level messages. */ /* */ /* ---------------------------------------------------------------------- */ /* */ /* (c) Copyright 2004 - 2009, 2010 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. */ /* */ /* ---------------------------------------------------------------------- */ #ifndef __SYSTEM_MESSAGES_H__ #define __SYSTEM_MESSAGES_H__ /* ---------------------------------------------------------------------- */ /* Includes */ /* ---------------------------------------------------------------------- */ #include "SonarMessages.h" /* ---------------------------------------------------------------------- */ /* sonarMessage field indicates the type of data to follow. */ /* ---------------------------------------------------------------------- */ typedef enum { /* -------------------------------------------------------------------- */ /* Subsystem should be set to 0 and channel set to 0. */ /* -------------------------------------------------------------------- */ /* This message is sent on the data socket (unsolicited) when the system*/ /* configuration setttings change, or can be queried with a GET on the */ /* command socket. The returned data structure is */ /* (SonarInformationType). */ /* This message provides both static (nonchangeable) configuration info */ /* (eg SBSS versus FSSB major configuration type) as well as current */ /* configuration (eg pulse selection) to aid in automatic topside */ /* configuration as well as post mission diagnostic analysis. */ SYSTEM_MESSAGE_SONAR_CONFIGURATION_OLDFORMAT = MESSAGE_OFFSET_SYSTEM, /* This message is saved in jsf data files and is not present in the */ /* real time sonar data stream. It might be present in a playback data */ /* stream. The returned data structure is (NavigationOffsetsType). */ /* The structure contains known fixed offsets to the navigation data. */ /* Navigation data is stored uncorrected, without the offsets applied. */ SYSTEM_MESSAGE_NAVIGATION_OFFSETS, /* This message is sent on the data socket (unsolicited) when the system*/ /* configuration setttings change, or can be queried with a GET on the */ /* command socket. The returned data structure is */ /* (SonarInformationType). */ /* This message provides both static (nonchangeable) configuration info */ /* (eg SBSS versus FSSB major configuration type) as well as current */ /* configuration (eg pulse selection) to aid in automatic topside */ /* configuration as well as post mission diagnostic analysis. */ SYSTEM_MESSAGE_SONAR_CONFIGURATION, } SystemMessageType; /* ---------------------------------------------------------------------- */ /* List of system types */ /* ---------------------------------------------------------------------- */ typedef enum { SYSTEM_TYPE_UNKNOWN = 0, /* 0 : Non-standard configuration */ SYSTEM_TYPE_SIB_SBSS, /* 1 : SIB SB SSL SSH */ SYSTEM_TYPE_FSIC_SBSS, /* 2 : FSIC SB SSL SSH */ SYSTEM_TYPE_FSIC_MPX, /* 3 : FSIC MPX */ SYSTEM_TYPE_SIB_MPX, /* 4 : SIB MPX */ SYSTEM_TYPE_ADC64_FSSB, /* 5 : ADC64 FSSB SB */ SYSTEM_TYPE_SIB_SAS, /* 6 : 12-Channel SAS */ SYSTEM_TYPE_SIB_FSSB, /* 7 : SIB FSSB SB */ SYSTEM_TYPE_SIB_SC, /* 8 : SIB Sed Class SB */ SYSTEM_TYPE_ADC64_SC, /* 9 : ADC64 Sed Class */ SYSTEM_TYPE_SIB_DIAG, /* 10 : Diagnostic mode for SIB Cards */ SYSTEM_TYPE_SIB_4200, /* 11 : 4200 Fish */ SYSTEM_TYPE_SIB_512W, /* 12 : 512 W Fish Finder System */ SYSTEM_TYPE_SIB_4500DF, /* 13 : 4500 Dynamic Focused System */ SYSTEM_TYPE_SIB_3100, /* 14 : GeoPortable Subbottom */ SYSTEM_TYPE_SIB_WHOISE, /* 15 : WHOI Special Eng 4 frequency */ SYSTEM_TYPE_SIB_SS, /* 16 : Dual frequency sidescan. */ SYSTEM_TYPE_SIB_4200A, /* 17 : 4200 w/ dual simultaneous mpx */ SYSTEM_TYPE_SIB_4700, /* 18 : 4700 Dynamic focus */ SYSTEM_TYPE_SIB_4150, /* 19 : 4150 Dual frequency sidescan. */ SYSTEM_TYPE_SIB_DUALNOSIMUL, /* 20 : Dual Frequency not simultan. */ SYSTEM_TYPE_SIB_2200MP, /* 21 : 2200-MP Dual MP SS w/ SB */ SYSTEM_TYPE_RESERVED0, /* 22 : Reserved for backward comp. */ SYSTEM_TYPE_SIB_4600, /* 23 : 4600 multipulse Bathymetry */ SYSTEM_TYPE_SIB_4200DF, /* 24 : Single Frequency Dyn Focus. */ SYSTEM_TYPE_SAIB_4125, /* 25 : SAIB 4125 Dual Frequency Sys */ SYSTEM_TYPE_SIB_SSHFDF, /* 26 : Dual SS with DF on HF. */ SYSTEM_TYPE_SIB_4600_MONO, /* 27 : 4600 monopulse Bathymetry */ SYSTEM_TYPE_SIB_SSHFDF3, /* 28 : Dual SS with DF 3 Chan HF. */ SYSTEM_TYPE_SIB_4700FLIP, /* 29 : Same as 4700, only DF freq */ /* lower in cf - to help discover*/ SYSTEM_TYPE_SIB_4200COUPLED, /* 30 : 4200 mpx but coupled in mp */ /* mode */ SYSTEM_TYPE_560A = 128, /* 128: 272 (560A) Fish */ SYSTEM_TYPE_560D, /* 129: DF100 (560D) Fish */ SYSTEM_TYPE_DSC_SB, /* 130: sub-bottom only */ SYSTEM_TYPE_DSC_SS, /* 131: sidescan only */ SYSTEM_TYPE_DSC_SSSB, /* 132: combined sidescan/sub-bottom */ SYSTEM_TYPE_DSC_MPX, /* 133: MP-X */ SYSTEM_TYPE_DSC_4200, /* 134: 4200 */ SYSTEM_TYPE_DSC_SAS, /* 135: SAS */ SYSTEM_TYPE_DSC_4150, /* 136: 4150 Dual frequency sidescan */ SYSTEM_TYPE_DSC_4125, /* 137: 4125 High frequency sidescan */ SYSTEM_TYPE_DSC_2200MP, /* 138: 2200-MP Dual MP SS w/ SB */ SYSTEM_TYPE_DSC_4700, /* 139: 4700 */ NUM_SYSTEM_TYPES, } SystemEnumType; /* ---------------------------------------------------------------------- */ /* SonarInformationType */ /* ---------------------------------------------------------------------- */ typedef struct { /* The system type configuration that the data was collected with. */ /* i.e. configurations are MPX, Subbottom, 4200. See SystemEnumType */ long systemType; /* Low rate io enabled option : 0 - disabled, not 0 - ???? */ long lowRateIOEnabled; /* The version number ot the software that generated the data */ long versionNumber; /* Number of subsystems present in this message. */ long numSubsystems; /* Number of serial port devices present in this message. */ long numSerialPorts; /* Serial number of system that collected the data */ unsigned long serialNumber; /* Flags and options */ /* Bit 0: Set if new SonarSubsystemInformationType follows, clear for */ /* SonarSubsystemInformationOldType follows. */ unsigned long flags; /* Reserved for future expansion. */ long reserved[9]; /* Sonar subsystem information record(s) follow: */ /* SonarSubsystemInformationType subInfo[numSubsystems]; */ /* or SonarSubsystemInformationOldType subInfo[numSubsystems]; */ /* Sonar serial information record(s) follow: */ /* SonarSerialInformationType serialInfo[numSerialPorts]; */ } SonarInformationType; /* ---------------------------------------------------------------------- */ /* Per subsystem information structure */ /* ---------------------------------------------------------------------- */ typedef struct { /* Subsystem number */ long subSystem; /* subsystem on 0 - disabled 1 - enabled */ long sonarOn; /* Window information for this subsystem for channel 0 */ /* There are two values for network and disk windows. These are the */ /* values for channel 0 only. */ /* Enables for data windows for up to the first 32 channels. */ SonarMessageWindowType networkWindowInfo; long networkWindowEnables; SonarMessageWindowType diskWindowInfo; long diskWindowEnables; /* Post processor mode mode */ /* For an MPX subsystem, this is 0 for disabled, 1 for fore arrays, 2 */ /* for aft arrays and 3 for blended (focussed) */ long postProcessorMode; /* Data type for channel 0. */ /* 0 for envelope, 1 for analytic and 2 for raw data. */ long dataType; /* Bit flags */ /* Bit 0 : Set if not all channels have the same network window */ /* Bit 1 : Set if not all channels have the same disk window. */ /* Bit 2 : Set if not all channels have the same data type. */ /* Bit 3 : Set if agc is disabled */ /* Bit 4 : Set if the rateOrRange is a range. Clear for a rate */ /* Bit 5 : Set if the sonar data is basebanded. Clear if decimated */ long flags; /* Ping rate in 1000 * hz or range in mM */ long pingRateOrRange; /* Coupling parameters for external and coupled modes */ SonarMessageCouplingParametersType couplingInfo; /* Trigger mode */ /* 0 for internal, 1 for external, 2 for coupled. */ long triggerMode; /* Direct path removal value. This is used to remove the average direct*/ /* path value before processing. */ /* 0 for disabled, positive value in ms, -1 for pulse length, -2 for */ /* pulse length if multipulse or disabled otherwise. */ long dcRemoval; /* Direct path value used for signal meter calculation */ /* Value is in samples, or -1 for pulse length, -N for N ms. */ long directPathValue; /* Transmit pulse gains for the first 4 transducers : this is the gain */ /* that can be set by an operator */ /* A value of 1000 indicated maximum (full power). */ long transmitGains[4]; /* Total transmit gains for the first 4 transducers : this is the */ /* composite of all gains (eg includes pulsecal values) */ /* A value of 1000 indicated maximum (full power). */ long totalTransmitGains[4]; /* Adc gain value for up to 4 channels */ long adcGain[4]; /* Currently selected pulse information */ SonarMessagePingType pulseInfo; /* Reserved for future expansion */ long reserved[10]; } SonarSubsystemInformationOldType; /* ---------------------------------------------------------------------- */ /* Per subsystem information structure */ /* ---------------------------------------------------------------------- */ typedef struct { /* Subsystem number */ long subSystem; /* subsystem on 0 - disabled 1 - enabled */ long sonarOn; /* Window information for this subsystem for channel 0 */ /* There are two values for network and disk windows. These are the */ /* values for channel 0 only. */ /* Enables for data windows for up to the first 32 channels. */ SonarMessageWindowType networkWindowInfo; long networkWindowEnables; SonarMessageWindowType diskWindowInfo; long diskWindowEnables; /* Post processor mode mode */ /* For an MPX subsystem, this is 0 for disabled, 1 for fore arrays, 2 */ /* for aft arrays and 3 for blended (focussed) */ long postProcessorMode; /* Data type for channel 0. */ /* 0 for envelope, 1 for analytic and 2 for raw data. */ long dataType; /* Bit flags */ /* Bit 0 : Set if not all channels have the same network window */ /* Bit 1 : Set if not all channels have the same disk window. */ /* Bit 2 : Set if not all channels have the same data type. */ /* Bit 3 : Set if agc is disabled */ /* Bit 4 : Set if the rateOrRange is a range. Clear for a rate */ long flags; /* Ping rate in 1000 * hz or range in mM */ long pingRateOrRange; /* Coupling parameters for external and coupled modes */ SonarMessageCouplingParametersType couplingInfo; /* Trigger mode */ /* 0 for internal, 1 for external, 2 for coupled. */ long triggerMode; /* Direct path removal value. This is used to remove the average direct*/ /* path value before processing. */ /* 0 for disabled, positive value in ms, -1 for pulse length, -2 for */ /* pulse length if multipulse or disabled otherwise. */ long dcRemoval; /* Direct path value used for signal meter calculation */ /* Value is in samples, or -1 for pulse length, -N for N ms. */ long directPathValue; /* Transmit pulse gains for the first 4 transducers : this is the gain */ /* that can be set by an operator */ /* A value of 1000 indicated maximum (full power). */ long transmitGains[4]; /* Total transmit gains for the first 4 transducers : this is the */ /* composite of all gains (eg includes pulsecal values) */ /* A value of 1000 indicated maximum (full power). */ long totalTransmitGains[4]; /* Adc gain value for up to 4 channels */ long adcGain[4]; /* Currently selected pulse information */ SonarMessagePingEnhancedType pulseInfo; /* Reserved for future expansion */ long reserved[10]; } SonarSubsystemInformationType; /* ---------------------------------------------------------------------- */ /* Per serial port information structure */ /* ---------------------------------------------------------------------- */ typedef struct { /* Logical channel for serial port */ long serialChannel; /* Actual local com port for channel */ long portNumber; /* Baud rate */ long baudRate; /* Parser algorithm */ /* 0: None - read and send up any data. */ /* 1: Pitch/Roll in Simrad EM1000 format - This consists of 5 16-bit */ /* words with values */ /* 2: Paroscientific Pressure Meter */ /* 3: Pitch/Roll in Simrad EM1000 format - Parser for TSS unit */ /* (continuous transmission). */ /* 4: Parse NMEA and send specific messages. Messages parsed are: */ /* $SDDBT : Altitude from Simrad Mesotech 1007 or compatible */ /* $PTNTHPR,x.x,a,x.x,a,x.x,a : Heading, Pitch, Roll from Honeywell */ /* HMR3000 */ /* Note the x.x in above must be setup in units of degrees */ /* 5: Parse and send generic NMEA Strings */ /* 6: RD Instruments Dopler Velocity Log (DVL) parsing */ /* (Model WH-N-nnnKHZ) */ /* 7: Octans Motion Sensor */ /* 8: Applied Microsystems Smart CTD */ /* 9: Valeport MiniSVS */ /* 10: Seabird SBE50 */ /* 11: Seabird SBE49 */ /* 12: Falmouth Pressure Sensor */ long parser; /* Enable flags */ /* Bit 0: send raw data */ /* Bit 1: send parsed data */ long enabled; /* Reserved for future expansion. */ long reserved[11]; } SonarSerialInformationType; /* ---------------------------------------------------------------------- */ /* NavigationOffsetsType definition */ /* ---------------------------------------------------------------------- */ typedef struct { /* X Offset in meters */ float XOffset; /* Y Offset in meters */ float YOffset; /* Latitude Offset in degrees */ float LatOffset; /* Longitude Offset in degrees */ float LonOffset; /* Aft Offset in meters fore is negative */ float AftOffset; /* Starboard Offset in meters port is negative */ float StarboardOffset; /* Depth Offset in meters up is negative */ float DepthOffset; /* Altitude Offset in meters down is negative */ float AltitudeOffset; /* Heading Offset in degrees */ float HeadingOffset; /* Pitch Offset in degrees Nose up is positive */ float PitchOffset; /* Roll Offset in degrees Port side up is positive */ float RollOffset; /* Yaw Offset in degrees Toward Port is negative */ float YawOffset; /* tow point elevation offset up is positive */ float HeightOffset; /* reserved */ float Reserved[3]; } NavigationOffsetsType; #endif /* ---------------------------------------------------------------------- */ /* end SystemMessages.h */ /* ---------------------------------------------------------------------- */