#pragma once #include "DataTypes.h" #ifdef GEMINI_COMMS_USE_STATIC #define PUB_GEMINI_COMMS #else #if defined WIN32 || defined __CYGWIN__ #ifdef BUILDING_GEMINI_COMMS #ifdef __GNUC__ #define PUB_GEMINI_COMMS __attribute__((dllexport)) #else #define PUB_GEMINI_COMMS extern "C" __declspec(dllexport) #endif #else #ifdef __GNUC__ #define PUB_GEMINI_COMMS __attribute__((dllimport)) #else #define PUB_GEMINI_COMMS extern "C" __declspec(dllimport) #endif #endif #else #if __GNUC__ >= 4 #define PUB_GEMINI_COMMS __attribute__((visibility("default"))) #else #define PUB_GEMINI_COMMS #endif #endif #endif /**************************************************************************************************/ /* NETWORK CONFIGURATION API */ /**************************************************************************************************/ /*************************************//** Purpose: Initialises the network interface ready to operate. Parameters: sonarID sonar ID Returns: 0:A failure occurred initialising the network interface. The most likely cause is that another piece of software using the Gemini library is already running, and so the port could not be opened 1: The network initialised correctly and is ready to communicate. ****************************************/ PUB_GEMINI_COMMS int GEM_StartGeminiNetworkWithResult(unsigned short sonarID); /*************************************//** Purpose: Set the library operating mode Parameters: softwareMode Evo: The Gemini library sends the data from the Gemini sonar head to the calling program unprocessed as CGemPingHead, CGemPingLine and CGemPingTailExtended messages using the callback function. EvoC: The Gemini library sends the data from the Gemini sonar head to the calling program unprocessed as CGemPingHead, CGemPingLine and CGemPingTailExtended messages using the callback function. The Gemini library makes use of the range compression feature of the sonar head firmware to ensure that the head does not return more range lines than is appropriate for the size and quality of the display being used by the calling program. SeaNet: The Gemini library processes the data and sends it to the calling program as CGemPingHead, CGemBearingData and CGemPingTailExtended messages using the callback function. SeaNetC: The Gemini library processes the data and sends it to the calling program as CGemPingHead, CGemBearingData and CGemPingTailExtended messages using the callback function. The Gemini library makes use of the range compression feature of the sonar head firmware to ensure that the head does not return 1500 or more range lines to the Seanet software. Returns: None ****************************************/ PUB_GEMINI_COMMS void GEM_SetGeminiSoftwareMode(char *softwareMode); /*************************************//** Purpose: The parent code install the callback function which will be used by the library to return data from the sonar head to the parent code. Parameters: FnPtr CALLBACK function Returns: None ****************************************/ PUB_GEMINI_COMMS void GEM_SetHandlerFunction(void (cdecl *FnPtr)(int eType, int len, char *dataBlock)); /*************************************//** Purpose: Resets internal counters held by the library. Returns: None ****************************************/ PUB_GEMINI_COMMS void GEM_ResetInternalCounters(void); /*************************************//** Purpose: Closes the network interface and stops the internal tasks running. Returns: None ****************************************/ PUB_GEMINI_COMMS void GEM_StopGeminiNetwork(void); /*************************************//** Purpose: Returns the maximum version of the data link protocol that the library can support. * Currently DLL link version is 2. Returns: DLL Link Version ****************************************/ PUB_GEMINI_COMMS unsigned char GEM_GetDLLLinkVersionNumber(void); /*************************************//** Purpose: Returns the length of the version string which identifies the library Returns: Length of version string ****************************************/ PUB_GEMINI_COMMS int GEM_GetVStringLen(void); /*************************************//** Purpose: Gets the copy of version string in the data buffer * e.g. 'Gemini Comms V2.0.0 Tritech International Ltd.' Parameters: data User specified buffer len Length of the data buffer Returns: None ****************************************/ PUB_GEMINI_COMMS void GEM_GetVString(char *data, int len); /*************************************//** Purpose: Returns the length of the version number string which identifies the library Returns: Length of version string ****************************************/ PUB_GEMINI_COMMS int GEM_GetVNumStringLen(void); /*************************************//** Purpose: Gets the copy of version number string in the data buffer * e.g. 'V2.0.0' Parameters: data User specified buffer len Length of the data buffer Returns: None ****************************************/ PUB_GEMINI_COMMS void GEM_GetVNumString(char *data, int len); /**************************************************************************************************/ /* INITIALISATION API's */ /**************************************************************************************************/ /*************************************//** Purpose: Sets the compression factor in EVOC mode so that less than number of range lines are returned in each mode. Parameters: sonarID sonar ID evoQualitySetting Quality Settings : [0-7] [7] = 4096; [6] = 2048; [5] = 1024; [4] = 512; [3] = 256; [2] = 128; [1] = 64; [0] = 32; Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetGeminiEvoQuality(unsigned short sonarID, unsigned char evoQualitySetting); /*************************************//** Purpose: This is required at the start of initialisation to configure the library for the correct sonar head type. Parameters: sonarID sonar ID headType One of the head type GEM_HEADTYPE_720I GEM_HEADTYPE_720ID GEM_HEADTYPE_NBI GEM_HEADTYPE_MK2_720IS GEM_HEADTYPE_MK2_720IK Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetHeadType(unsigned short sonarID, int headType); /*************************************//** Purpose: Gets the alternate IP address and subnet mask of the Gemini Sonar. e.g. IP address : 192.168.2.201, Subnet : 255.255.255.0 Parameters: sonarID Sonar ID a1 a1 = 192 a2 a2 = 168 a3 a3 = 2 a4 a4 = 201 s1 s1 = 255 s2 s2 = 255 s3 s3 = 255 s4 s4 = 0 Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_GetAltSonarIPAddress(unsigned short sonarID, unsigned char *a1, unsigned char *a2, unsigned char *a3, unsigned char *a4, unsigned char *s1, unsigned char *s2, unsigned char *s3, unsigned char *s4); /*************************************//** Purpose: Sets the new alternate IP address and subnet mask on the Gemini Sonar head. e.g. IP address : 192.168.2.201, Subnet : 255.255.255.0 Parameters: sonarID Sonar ID a1 a1 = 192 a2 a2 = 168 a3 a3 = 2 a4 a4 = 201 s1 s1 = 255 s2 s2 = 255 s3 s3 = 255 s4 s4 = 0 Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetAltSonarIPAddress(unsigned short sonarID, unsigned char a1, unsigned char a2, unsigned char a3, unsigned char a4, unsigned char s1, unsigned char s2, unsigned char s3, unsigned char s4); /*************************************//** Purpose: Uses the alternate IP address and subnet mask of the Gemini Sonar for communication. e.g. IP address : 192.168.2.201, Subnet : 255.255.255.0 Parameters: sonarID Sonar ID a1 a1 = 192 a2 a2 = 168 a3 a3 = 2 a4 a4 = 201 s1 s1 = 255 s2 s2 = 255 s3 s3 = 255 s4 s4 = 0 Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_UseAltSonarIPAddress(unsigned short sonarID, unsigned char a1, unsigned char a2, unsigned char a3, unsigned char a4, unsigned char s1, unsigned char s2, unsigned char s3, unsigned char s4); /*************************************//** Purpose: Use alternate or fixed IP address for communication with sonar Parameters: sonarID Sonar ID useAltIPAddress 0: Use fixed IP address 1: Use alternate IP address Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_TxToAltIPAddress(unsigned short sonarID, int useAltIPAddress); /**************************************************************************************************/ /* END OF INITIALISATION */ /**************************************************************************************************/ /**************************************************************************************************/ /* PING CONFIGURATION */ /**************************************************************************************************/ /*************************************//** Purpose: Reset ping configuration to the factory defaults Parameters: sonarID sonar ID Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetPingToDefaults(unsigned short sonarID); /*************************************//** Purpose: Configure ping parameters ( only for MK1 products ) Parameters: sonarID Sonar ID range Range in meters ( 0.1 to 150 )m percentGain Percentage Gain sos Speed of sound (in m/s) Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_AutoPingConfig( unsigned short sonarID, float range, unsigned short percentGain, float sos ); /*************************************//** Purpose: Configure ping parameters ( only for MK2 products ) Parameters: sonarID Sonar ID range Range in meters ( 0.1 to 150 )m softwareGain Software Gain sos Speed of sound (in m/s) Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_AutoPingConfig2( unsigned short sonarID, float range, unsigned int softwareGain, float sos ); /*************************************//** Purpose: Negotiate a VDSL adaption rate Parameters: sonarID Sonar ID level 0: Normal electrical noise environment 1: Medium electrical noise environment 2: High electrical noise environment Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetVDSLSetting(unsigned short sonarID, unsigned short level); /*************************************//** Purpose: Returns last negotiated VDSL adaption level Parameters: sonarID Sonar ID Returns: Level : ( 0 - 2 ) ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetVDSLSetting(unsigned short sonarID ); /*************************************//** Purpose: Returns the compression factor applied when a ping was requested in EvoC mode. Parameters: sonarID Sonar ID Returns: Compression Factor : ( 1, 2, 4, 8, 16 ) ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetRequestedCompressionFactor(unsigned short sonarID); /*************************************//** Purpose: Configure the ping mode Parameters: sonarID Sonar ID pingMethod 0: Ping once on receipt of ping configuration message 1: Ping repeatedly at interval fixed by GEMX_SetInterPingPeriod Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetPingMode(unsigned short sonarID, unsigned short pingMethod); /*************************************//** Purpose: Returns the ping mode. Parameters: sonarID Sonar ID Returns: Ping Mode [ 0 - 1 ] ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetPingMode(unsigned short sonarID); /*************************************//** Purpose: Request number of end range lines in the ping configuration Parameters: sonarID Sonar ID rangeInLines Range in lines Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetEndRange(unsigned short sonarID, unsigned short rangeInLines); /*************************************//** Purpose: Returns the last configured end range lines Parameters: sonarID Sonar ID Returns: Range lines ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetEndRange(unsigned short sonarID); /*************************************//** Purpose: Sets the time delay between start of the one ping and start of the next ping Parameters: sonarID Sonar ID periodInMicroSeconds Time delay ( In Micro seconds ) Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetInterPingPeriod(unsigned short sonarID, unsigned int periodInMicroSeconds); /*************************************//** Purpose: Returns the time delay between two pings Parameters: sonarID Sonar ID Returns: Time delay in micro-seconds ****************************************/ PUB_GEMINI_COMMS unsigned int GEMX_GetInterPingPeriod(unsigned short sonarID); /*************************************//** Purpose: Sets the optimum transmit pulse length for a given range, GEMX_SetTXLength is an alternative to this API Parameters: sonarID Sonar ID range Range( In meters ) Returns: Returns the length of the transmit pulse in cycles ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_AutoTXLength(unsigned short sonarID, float range); /*************************************//** Purpose: Sets the length of the transmit pulse, use GEMX_AutoTXLength instead to set the optimum transmit pulse length for a given range Parameters: sonarID Sonar ID txLength The length of the transmit pulse in cycles Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetTXLength(unsigned short sonarID, unsigned short txLength); // /*************************************//** Purpose: Returns the length of the transmit pulse in cycles Parameters: sonarID Sonar ID Returns: the length of the transmit pulse in cycles ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetTXLength(unsigned short sonarID); /*************************************//** Purpose: Sets the out of water override flag in the ping configuration which will be sent to the sonar when ping is requested. Parameters: sonarID Sonar ID outOfWaterOverride 0 : Do not ping when out of water 1 : Ping regardless of out of water indicator Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetExtModeOutOfWaterOverride(unsigned short sonarID, unsigned short outOfWaterOverride); /*************************************//** Purpose: Sets the time delay beamforming Parameters: sonarID Sonar ID tdbFlag Time delay beamforming 0: Enable Time delay beamforming 1: Disable time delay beamforming Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetExtModeTDBFlag(unsigned short sonarID, unsigned short tdbFlag); /*************************************//** Purpose: Sets the main gain in percentage.Use 'GEMX_AutoPingConfig'API to set the optimum value Parameters: sonarID Sonar ID perCentGain Gain required in percentage. Gain[12-100] Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetMainGainPerCent(unsigned short sonarID, unsigned short perCentGain); /*************************************//** Purpose: Returns the current main gain in percentage Parameters: sonarID Sonar ID Returns: Gain in percentage ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetMainGainPerCent(unsigned short sonarID); /*************************************//** Purpose: Sets the gain and velocimeter mode in the ping configuration Parameters: sonarID Sonar ID gainMode 0: Auto gain 1 : Manual gain outputMode 0: Use velocimeter calculated speed of sound 1: Use speed of sound specified in this ping configuration message Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetVelocimeterMode( unsigned short sonarID, unsigned short gainMode, unsigned short outputMode ); /*************************************//** Purpose: Sets the Range compression level and compression type *For MK2 Chirp operation, it is recommended that peak compressionType (=1) be used for better results Parameters: sonarID Sonar ID compressionLevel 0: No range compression 1: 2 * range compression 2: 4 * range compression 3: 8 * range compression 4: 16 * range compression compressionType 0: Use average compression 1: Use peak compression Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetRangeCompression( unsigned short sonarID, unsigned short compressionLevel, unsigned short compressionType ); /*************************************//** Purpose: Gets the active range compression level and compression type Parameters: sonarID Sonar ID compressionLevel Active compression level compressionType Active compression type Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_GetRangeCompression( unsigned short sonarID, unsigned short *compressionLevel, unsigned short *compressionType ); /*************************************//** Purpose: May reduce the bandwidth required to get the data from the Gemini sonar head to the hardware running the calling software Parameters: sonarID Sonar ID threshold 0: No run length encoding 1: Not available for use, will be increased to 3 2: Not available for use, will be increased to 3 3: ... 255: Maximum run length encoding Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetRLEThreshold(unsigned short sonarID, unsigned short threshold); /*************************************//** Purpose: Set the starting beam number of the data to be returned when the ping completes Parameters: sonarID Sonar ID startBeam Start of beam [ 0 - 255 ] Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetStartBeam(unsigned short sonarID, unsigned short startBeam); /*************************************//** Purpose: Set the end beam number of the data to be returned when the ping completes Parameters: sonarID Sonar ID endBeam end of beam [ 0 - 255 ] Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetEndBeam(unsigned short sonarID, unsigned short endBeam); /*************************************//** Purpose: Returns the number of beams (nBeams) that the Gemini will form. * If pBrgTbl is not NULL, then GEMX_GetGeminiBeams will write a table of the bearings in radians for each beam at this address Parameters: sonarID Sonar ID pBrgTbl User allocated buffer [ 256 / 512 ] Returns: Number of beams ****************************************/ PUB_GEMINI_COMMS int GEMX_GetGeminiBeams(unsigned short sonarID, float *pBrgTbl ); /*************************************//** Purpose: Sets the number of beams (nBeams) that the Gemini will form. * Only supported for the MK2 platform Parameters: sonarID Sonar ID nBeams Beams [256/512] default: 256 Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SetGeminiBeams(unsigned short sonarID, unsigned short nBeams); /*************************************//** Purpose: Send ping configuration command to the sonar Parameters: sonarID Sonar ID Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SendGeminiPingConfig(unsigned short sonarID); /**************************************************************************************************/ /* Sonar Specific */ /**************************************************************************************************/ /*************************************//** Purpose: Build a list of sonars and return the number sof sonars Parameters: pList List of sonars Returns: Number of sonars in the list ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_GetSonars(unsigned short *pList); /*************************************//** Purpose: Delete the sonar from the list, if sonar ID is specified as 0 then all sonars gets deleted Parameters: sonarID sonar ID Returns: Number of sonars deleted from the internal list ****************************************/ PUB_GEMINI_COMMS unsigned short GEMX_DeleteSonarID(unsigned short sonarID); /*************************************//** Purpose: Copies a null-terminated ASCII string name for the device into pBuf. Parameters: sonarID sonar ID pBuf User specified buffer len Length of the pBuf Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_GetDeviceName(unsigned short sonarID, char* pBuf, unsigned int len); /*************************************//** Purpose: Returns the version of the data link protocol Parameters: sonarID Sonar ID Returns: Version of the data link protocol ****************************************/ PUB_GEMINI_COMMS unsigned char GEMX_GetSonarLinkVersionNumber(unsigned short sonarID); /*************************************//** Purpose: Returns the operating frequency of the sonar in Hz. Parameters: sonarID Sonar ID Returns: Frequency in Hz ****************************************/ PUB_GEMINI_COMMS int GEMX_GetGeminiFrequency(unsigned short sonarID); /*************************************//** Purpose: Returns the modulation frequency in conjustion with the speed of sound Parameters: sonarID Sonar ID Returns: The modulation frequency in Hz. ****************************************/ PUB_GEMINI_COMMS int GEMX_GetGeminiModFrequency(unsigned short sonarID); /*************************************//** Purpose: Keep the communication alive between PC and Sonar Parameters: sonarID Sonar ID Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_SendGeminiStayAlive(unsigned short sonarID); /*************************************//** Purpose: Reboot sonar Parameters: sonarID Sonar ID Returns: None ****************************************/ PUB_GEMINI_COMMS void GEMX_RebootSonar(unsigned short sonarID); /*************************************//** Purpose: Configure main port (Only for 720im) Parameters: sonarID Sonar ID negotiate true: reset baudrate to 115200 then goes up, false: used fixed baudrate specified by the user rs232 true: RS232, false: RS485 baudRate baudrate: 115200, 230400, 460800, 921600 Returns: 0: failed, 1: success ****************************************/ PUB_GEMINI_COMMS bool GEMX_ConfigureMainPort(unsigned short sonarID, bool negotiate, bool rs232, unsigned int baudRate ); /**************************************************************************************************/ /* END */ /**************************************************************************************************/