//========================================================================= // Summary : Main file for Reson 6046 // Filename : Reson6046Driver.cc // Author : Reed Christenson // Project : Reson 6046 Driver // Revision : 0.0 // Created : 2002.02.26 // Modified : 2002.02.26 // $Id: Reson6046Driver.cc,v 1.72 2011/11/08 16:05:06 hthomas Exp $ //========================================================================= // Description : Reson 6046 Driver //========================================================================= #include "stdafx.h" #include #include #include "Reson7K.h" #define POSITION_MSG 1003 #define ATTITUDE_MSG 1004 // #define ALTITUDE_MSG 1006 // #define MOTION_MSG 1007 // #define DEPTH_MSG 1008 // #define CTD_MSG 1010 Reson7K::Reson7K(char *address) { SOCKET sock; // Create another instance of a simple socket for sending bluefin data frames _mbDataSocket = NULL; _mbDataSocket = new SimpleSocket(); // Make a data socket connection for Multibeam remote control while(!_mbDataSocket->ready()) { sock = // port 7000 - according to Reson tester _mbDataSocket->createBroadcastDatagramSend(7000, address); if(!_mbDataSocket->ready()) { Sleep(1000); } } } /// Reson 6046 Driver Destructor. Reson7K::~Reson7K(void) { if (_mbDataSocket) { _mbDataSocket->destroy(); } } // Build and send a 7K Remote Command to the 7K multibeam // Parameters have default value of 0.0 // int Reson7K::MB_RemoteCommand(int cmdIn, char *recordData) { int data_size = 0; int rc_id, rth; rc_id = -1; rth = cmdIn; switch (cmdIn) { case Reson6046Command::Position : //1003 data_size += sizeof(U32) + sizeof(F32) + 3*sizeof(F64) + 5*sizeof(U8); break; case Reson6046Command::Altitude : //1006 data_size += sizeof(F32); break; case Reson6046Command::Depth : //1008 data_size += 2*sizeof(U8) + sizeof(U16) + sizeof(F32); break; case Reson6046Command::RollPitchHeave : //1012 data_size += 3*sizeof(F32); break; case Reson6046Command::Heading : //1013 data_size += sizeof(F32); break; default : return -1; } //Build message network frame // unsigned drf_size; if (rth == 7500) { drf_size = sizeof(Reson6046DataRecordFrame) + sizeof(MBRemoteControl) + data_size; } else { drf_size = sizeof(Reson6046DataRecordFrame) + data_size; } unsigned totalSize = sizeof(struct Reson6046NetworkFrame) + drf_size; char *buf = new char[totalSize]; struct Reson6046NetworkFrame *nf = (struct Reson6046NetworkFrame*)buf; nf->version = MB7K_PROTOCOL_VERSION; nf->offset = sizeof(struct Reson6046NetworkFrame); nf->totalPackets = 1; nf->totalRecords = 1; nf->transmissionIdentifier = 0; nf->packetSize = totalSize; nf->totalSize = drf_size; nf->sequenceNumber = 0; nf->destDeviceIdentifier = 0; nf->destEnumerator = 0; nf->srcEnumerator = 0; nf->srcDeviceIdentifier = 0; // Build Data Record Frame // struct Reson6046DataRecordFrame *drf = (struct Reson6046DataRecordFrame*) (buf + sizeof(struct Reson6046NetworkFrame)); drf->offset = sizeof(Reson6046DataRecordFrame) - 2*sizeof(U16) - sizeof(U32); drf->syncPattern = 0x0000FFFF; drf->size = drf_size; drf->optionalDataOffset = 0; drf->optionalDataIdentifier = 0; //set time time_t sec = 0; time(&sec); struct tm *fullTime = gmtime(&sec); struct timeb tmb; ftime(&tmb); drf->time7k.year = fullTime->tm_year + 1900; drf->time7k.day = fullTime->tm_yday + 1; drf->time7k.seconds = (float)fullTime->tm_sec + (float)tmb.millitm/1000.; drf->time7k.minutes = fullTime->tm_min; drf->time7k.hours = fullTime->tm_hour; drf->recordVersion = MB7K_RECORD_VERSION; drf->recordTypeIdentifier = rth; drf->deviceIdentifier = 7125; //drf->reserved1 = 0; drf->systemEnumerator = 0; drf->sequentialRecordCounter = 0; drf->flags = 0; drf->reserved2 = 0; drf->reserved3 = rc_id; drf->totalRecords = 0; drf->fragmentNumber = 0; drf->version = MB7K_PROTOCOL_VERSION; // Place remote control info in meesage buffer // if (rth == 7500) { MBRemoteControl *pRC = (MBRemoteControl*) (buf + sizeof(struct Reson6046NetworkFrame) + sizeof(struct Reson6046DataRecordFrame) - sizeof(U32)); pRC->rc_id = rc_id; pRC->ticket = 0; memcpy((char*)(pRC) + sizeof(MBRemoteControl), recordData, data_size); // For debug purposes use #if 1, otherwise use #if 0 #if 0 printf("Dumping MB record of size %u, drf size of %u...\n", totalSize, drf_size); for (int ii = 0; ii < totalSize;) { printf("%02X:", buf[ii++]); if ((ii % 8) == 0) printf("\n"); } printf("\n"); #endif } else { memcpy((char*)(buf + sizeof(struct Reson6046NetworkFrame) + sizeof(struct Reson6046DataRecordFrame)-sizeof(U32)), recordData, data_size); // Syslog::write("sending speed of sound of %f\n", *((float *)recordData)); } int bytesSent = _mbDataSocket->broadcast(buf, totalSize); delete buf; return 0; } int Reson7K::MB_RemoteCommand(int cmdIn, float cmdParam, float cmdParam1, float cmdParam2, float cmdParam3, int iParam) { F32 param = cmdParam; F32 param1 = cmdParam1; F32 param2 = cmdParam2; F32 param3 = cmdParam3; U32 iparam = iParam; // Determine which command and build the Remote Control message section char recordData[512]; char *ptrToData = recordData; char *ptrs = ptrToData; int data_size = 0; int rc_id, rth; switch (cmdIn) { case Reson6046Command::MBStopPing : // No params rc_id = 1101; rth = 7500; break; case Reson6046Command::MBStartPing : rc_id = 1100; rth = 7500; break; case Reson6046Command::SetMBRange : // Single params rc_id = 1003; rth = 7500; data_size += sizeof(F32); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBPingRate : rc_id = 1004; rth = 7500; data_size += sizeof(F32); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBTxPower : rc_id = 1005; rth = 7500; data_size += sizeof(F32); // Syslog::write("setting multibeam transmit power\n"); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBRxGain : rc_id = 1008; rth = 7500; data_size += sizeof(F32); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBPulseWidth : rc_id = 1006; rth = 7500; data_size += sizeof(F32); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBSoundVelocity : if (param > -0.01 && param < 0.01) // param is effectively zero { // float sos = 1500.0; // param = sos; // rc_id = -1; //no rc_id for this command rth = 7610; data_size += sizeof(F32); if (param < 100.) param = 1484.0; memcpy(ptrToData, ¶m, sizeof(F32)); } break; case Reson6046Command::SetMBAbsorptionLoss : rc_id = -1; rth = 7611; data_size += sizeof(F32); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBSpreadingLoss : rc_id = -1; rth = 7612; data_size += sizeof(F32); memcpy(ptrToData, ¶m, sizeof(F32)); break; case Reson6046Command::SetMBBottomDetectionFilters : // Multiple params rc_id = 1010; rth = 7500; data_size += 4*sizeof(F32); memcpy((void*)ptrs, ¶m, sizeof(F32)); // minRange ptrs += sizeof(F32); memcpy((void*)ptrs, ¶m1, sizeof(F32)); // maxRange ptrs += sizeof(F32); memcpy((void*)ptrs, ¶m2, sizeof(F32)); // minDepth ptrs += sizeof(F32); memcpy((void*)ptrs, ¶m3, sizeof(F32)); // maxDepth ptrs += sizeof(F32); break; case Reson6046Command::UseDepthRangeMBBottomDetect : rc_id = 1009; rth = 7500; data_size += sizeof(U32); iparam = 0x0; if (iParam == 1) iparam = 0x200; if (iParam == 2) iparam = 0x100; if (iParam == 3) iparam = 0x200 | 0x100; memcpy(ptrToData, &iparam, sizeof(U32)); break; case Reson6046Command::SetMBSnippetControl : rc_id = 1103; rth = 7500; data_size += 2*sizeof(U32); memcpy(ptrToData, &iparam, sizeof(U32)); iparam = (U32)param; // Window size memcpy(ptrToData+sizeof(U32), &iparam, sizeof(U32)); break; case Reson6046Command::Start7KCenterLogging : char fileName[256]; time_t rawtime; struct tm *timeinfo; size_t length; rc_id = 1200; rth = 7500; data_size += (sizeof(U32) + sizeof(U8)*256); memset(ptrToData, 0x00, data_size); iparam = 0; //always append to existing file, never overwrite memcpy(ptrs, &iparam, sizeof(U32)); ptrs += sizeof(U32); time(&rawtime); timeinfo = gmtime(&rawtime); length = strftime(fileName, 256, "%Y%m%d_%H%M%S\0",timeinfo); memcpy(ptrs,fileName,length); break; case Reson6046Command::Stop7KCenterLogging : rc_id = 1201; rth = 7500; data_size += 0; //no parameters break; default: return 0; break; } // Build message network frame // unsigned drf_size; if (rth == 7500) { drf_size = sizeof(Reson6046DataRecordFrame) + sizeof(MBRemoteControl) + data_size; } else { drf_size = sizeof(Reson6046DataRecordFrame) + data_size; } unsigned totalSize = sizeof(struct Reson6046NetworkFrame) + drf_size; char *buf = new char[totalSize]; struct Reson6046NetworkFrame *nf = (struct Reson6046NetworkFrame*)buf; nf->version = MB7K_PROTOCOL_VERSION; nf->offset = sizeof(struct Reson6046NetworkFrame); nf->totalPackets = 1; nf->totalRecords = 1; nf->transmissionIdentifier = 0; nf->packetSize = totalSize; nf->totalSize = drf_size; nf->sequenceNumber = 0; nf->destDeviceIdentifier = 0; nf->destEnumerator = 0; nf->srcEnumerator = 0; nf->srcDeviceIdentifier = 0; // Build Data Record Frame // struct Reson6046DataRecordFrame *drf = (struct Reson6046DataRecordFrame*) (buf + sizeof(struct Reson6046NetworkFrame)); drf->offset = sizeof(Reson6046DataRecordFrame) - 2*sizeof(U16) - sizeof(U32); drf->syncPattern = 0x0000FFFF; drf->size = drf_size; drf->optionalDataOffset = 0; drf->optionalDataIdentifier = 0; //set time time_t sec = 0; time(&sec); struct tm *fullTime = gmtime(&sec); struct timeb tmb; ftime(&tmb); drf->time7k.year = fullTime->tm_year + 1900; drf->time7k.day = fullTime->tm_yday + 1; drf->time7k.seconds = (float)fullTime->tm_sec + (float)tmb.millitm/1000.; drf->time7k.minutes = fullTime->tm_min; drf->time7k.hours = fullTime->tm_hour; drf->recordVersion = MB7K_RECORD_VERSION; drf->recordTypeIdentifier = rth; drf->deviceIdentifier = 7125; // drf->reserved1 = 0; drf->systemEnumerator = 0; drf->sequentialRecordCounter = 0; drf->flags = 0; drf->reserved2 = 0; drf->reserved3 = rc_id; drf->totalRecords = 0; drf->fragmentNumber = 0; drf->version = MB7K_PROTOCOL_VERSION; // Place remote control info in meesage buffer // if (rth == 7500) { MBRemoteControl *pRC = (MBRemoteControl*) (buf + sizeof(struct Reson6046NetworkFrame) + sizeof(struct Reson6046DataRecordFrame) - sizeof(U32)); pRC->rc_id = rc_id; pRC->ticket = 0; memcpy((char*)(pRC) + sizeof(MBRemoteControl), recordData, data_size); // For debug purposes use #if 1, otherwise use #if 0 #if 0 printf("Dumping MB record of size %u, drf size of %u...\n", totalSize, drf_size); for (int ii = 0; ii < totalSize;) { printf("%02X:", buf[ii++]); if ((ii % 8) == 0) printf("\n"); } printf("\n"); #endif } else { memcpy((char*)(buf + sizeof(struct Reson6046NetworkFrame) + sizeof(struct Reson6046DataRecordFrame)-sizeof(U32)), recordData, data_size); // Syslog::write("sending speed of sound of %f\n", *((float *)recordData)); } int bytesSent = _mbDataSocket->broadcast(buf, totalSize); delete buf; return 0; }