/****************************************************************************/ /* Copyright (c) 2004 MBARI */ /* MBARI Proprietary Information. All rights reserved. */ /****************************************************************************/ /* Summary : */ /* Filename : reson.cc */ /* Author : */ /* Project : */ /* Version : 1.0 */ /* Created : 04/02/2004 */ /* Modified : */ /* Archived : */ /****************************************************************************/ /* Modification History: */ /****************************************************************************/ #include "unix.h" #include "reson.h" #include "Reson6046IF.h" #include "BooleanAttribute.h" #include "IntegerAttribute.h" #include "FloatAttribute.h" #include "StringAttribute.h" #include "VerticalModeAttribute.h" #include "MissionTimeAttribute.h" #include "MathP.h" #include "Syslog.h" #define DEFAULT_STRING_ATTR "\"\"" #define NotSpecified -100000.0 reson::reson() : _server(NULL), Behavior(ResonBehaviorName, Sequential) { _sbpDone = False; _lossDone = False; _hissDone = False; _logDone = False; _pulseDone = False; _init = False; Boolean debug = False; // Sub-bottom attributes attributes.add(new IntegerAttribute("SBP_Mode", "Sub-bottom profiler on/off (1=On,0=Off)", &_sbpMode, -1)); attributes.add(new FloatAttribute("SBP_Power", "Sub-bottom power level (0.0 or more)", &_sbpPower, -1.)); attributes.add(new FloatAttribute("SBP_Gain", "Sub-bottom receiver gain (0.0 or more)", &_sbpGain, -1.)); attributes.add(new FloatAttribute("SBP_Duration", "Sub-bottom ping duration in milliseconds (more than 0.0)", &_sbpDuration, -1.)); // Low-freq sidescan attributes attributes.add(new IntegerAttribute("LoSS_Mode", "Low-freq sidescan on/off (1=On,0=Off)", &_lossMode, -1)); attributes.add(new FloatAttribute("LoSS_Power", "Low-freq power level (0.0 or more)", &_lossPower, -1.)); attributes.add(new FloatAttribute("LoSS_Range", "Low-freq range (0.0 or more)", &_lossRange, -1.)); attributes.add(new FloatAttribute("LoSS_Rate", "Low-freq ping rate (0.0 or more)", &_lossRate, -1.)); // High-freq sidescan attributes attributes.add(new IntegerAttribute("HiSS_Mode", "High-freq sidescan on/off (1=On,0=Off)", &_hissMode, -1)); attributes.add(new FloatAttribute("HiSS_Power", "High-freq power level (0.0 or more)", &_hissPower, -1.)); attributes.add(new FloatAttribute("HiSS_Range", "High-freq range (0.0 or more)", &_hissRange, -1.)); attributes.add(new FloatAttribute("HiSS_Rate", "High-freq ping rate (0.0 or more)", &_hissRate, -1.)); // Multibeam attributes attributes.add(new IntegerAttribute("MB_Mode", "Multibeam pinging on/off (1=On,0=Off)", &_mbMode, -1)); char soundvelstr[200]; sprintf(soundvelstr, "%s\n%s\n%s\n%s", "Multibeam sound velocity setting in meters/sec", " Value < 0.0 -> do nothing", " Value = 0.0 -> Set sound velocity by CTD", " Value > 0.0 -> Set sound velocity to the value of MB_Sound_Velocity"); attributes.add(new FloatAttribute("MB_Sound_Velocity", soundvelstr, &_mbSoundVelocity, -1.)); attributes.add(new FloatAttribute("MB_Power", "Multibeam power level in dB/uPa (0.0 or more)", &_mbPower, -1.)); attributes.add(new FloatAttribute("MB_Range", "Multibeam range in meters (0.0 or more)", &_mbRange, -1.)); attributes.add(new FloatAttribute("MB_Rate", "Multibeam pings per second (> 0.0)", &_mbRate, -1.)); attributes.add(new FloatAttribute("MB_Gain", "Multibeam receiver gain in dB (0.0 or more)", &_mbGain, -1.)); attributes.add(new FloatAttribute("MB_Pulse_Width", "Multibeam pulse width in seconds (0.0 or more)", &_mbWidth, -1.)); attributes.add(new FloatAttribute("MB_Bottom_Detect_Filter_Min_Range", "Multibeam bottom detection filter: minimum range (0.0 or more). Specifiy all filters.", &_mbBtmMinRange, -1.)); attributes.add(new FloatAttribute("MB_Bottom_Detect_Filter_Max_Range", "Multibeam bottom detection filter: maximum range (0.0 or more). Specifiy all filters.", &_mbBtmMaxRange, -1.)); attributes.add(new FloatAttribute("MB_Bottom_Detect_Filter_Min_Depth", "Multibeam bottom detection filter: minimum depth (0.0 or more). Specifiy all filters.", &_mbBtmMinDepth, -1.)); attributes.add(new FloatAttribute("MB_Bottom_Detect_Filter_Max_Depth", "Multibeam bottom detection filter: maximum depth (0.0 or more). Specifiy all filters.", &_mbBtmMaxDepth, -1.)); attributes.add(new IntegerAttribute("MB_Bottom_Detect_Range_Mode", "Bottom detection by range on/off (1=On,0=Off), use in tandem with MB_Bottom_Depth_Mode", &_rangeMode, -1)); attributes.add(new IntegerAttribute("MB_Bottom_Detect_Range_Recalculation", "Bottom detection range recalc command (1=Recalc now), not a switch, no need to turn it off", &_mbBtmRecalc, -1)); attributes.add(new IntegerAttribute("MB_Bottom_Detect_Range_Recalculation_Interval", "Bottom detection range recalc interval in seconds (0=Never)", &_mbBtmRecalcInt, -1)); attributes.add(new IntegerAttribute("MB_Bottom_Detect_Depth_Mode", "Bottom detection by depth on/off (1=On,0=Off), use in tandem with MB_Bottom_Range_Mode", &_depthMode, -1)); attributes.add(new IntegerAttribute("Snippet_Mode", "Enable/Disable Snippet Control. Use in conjunction with Window_Size.", &_snippetMode, -1)); attributes.add(new IntegerAttribute("Window_Size", "Number of samples around bottom detection for each beam to snippet", &_windowSize, -1)); attributes.add(new IntegerAttribute("Log_Mode", "Logging on/off (1=On,0=Off)", &_logMode, -1)); attributes.add(new StringAttribute("subsys", "Subsystem that will use the new pulse file (LoSS | HiSS | SBP)", &_subsys, DEFAULT_STRING_ATTR)); attributes.add(new StringAttribute("pulseFile", "New pulse file name", &_filename, DEFAULT_STRING_ATTR)); try { if( !_reson) _reson = new Reson6046IF(Reson6046IFServerName); } catch (SharedObjectClient::MissingServer e) { Syslog::write("reson::reson() - Missing server: %s; " "continuing.\n", e.msg); _reson = NULL; } } reson::~reson() { if( !_reson) { delete _reson; _reson = NULL; } } Boolean reson::shouldBehaviorStart( void ) { return bothSequence(); } void reson::execute() { DeviceIF::Status status; Boolean debug = True; _logDone = (_logMode < 0); _sbpDone = (_sbpMode < 0 && _sbpPower < 0. && _sbpGain < 0. && _sbpDuration < 0.); _hissDone = (_hissMode < 0 && _hissPower < 0. && _hissRate < 0. && _hissRange < 0.); _lossDone = (_lossMode < 0 && _lossPower < 0. && _lossRate < 0. && _lossRange < 0.); _mbDone = (_mbMode < 0 && _mbPower < 0. && _mbRate < 0. && _mbRange < 0. && _mbSoundVelocity < 0. && _mbGain < 0. && _mbWidth < 0 && _mbBtmMinRange < 0. && _mbBtmMaxRange < 0. && _mbBtmMinDepth < 0. && _mbBtmMaxDepth < 0. && _mbBtmRecalc < 0 && _mbBtmRecalcInt < 0 && _rangeMode < 0 && _depthMode < 0 && _snippetMode < 0 && _windowSize < 0); _pulseDone = (strcmp(_subsys, DEFAULT_STRING_ATTR) == 0) || (strcmp(_filename, DEFAULT_STRING_ATTR) == 0); Syslog::write("Reson Behavior::log=%d,sbp=%d,%f | hiss=%d,%f,%f,%f | loss=%d,%f,%f,%f | mb=%d,%f,%f,%f,%f,%f,%f | pulse=%s,%s", _logMode,_sbpMode,_sbpPower, _hissMode,_hissPower,_hissRate,_hissRange, _lossMode,_lossPower,_lossRate,_lossRange, _mbMode,_mbPower,_mbRate,_mbRange,_mbGain,_mbWidth,_mbSoundVelocity, _subsys,_filename); // Interface to Reson server opened in LayeredControl // _server = _reson; // Perform the sub-bottom action if (!_sbpDone) { if (_sbpPower > 0.) { Syslog::write("Reson Behavior: Setting SBP power to %f", _sbpPower); status = _server->setPingPower(Reson6046IF::SubBottom, _sbpPower); if (DeviceIF::Ok == status) _sbpPower = -1.; } if (_sbpMode > 0) { Syslog::write("Reson Behavior: Starting subbottom profiler"); status = _server->startSubsystem(Reson6046IF::SubBottom); if (DeviceIF::Ok == status) _sbpMode = -1; } else if(_sbpMode == 0) { Syslog::write("Reson Behavior: Stopping subbottom profiler"); status = _server->stopSubsystem(Reson6046IF::SubBottom); if (DeviceIF::Ok == status) _sbpMode = -1; } if (_sbpGain > 0.) { Syslog::write("Reson Behavior: Setting SBP gain to %f", _sbpGain); status = _server->setSBPGain(_sbpGain); if (DeviceIF::Ok == status) _sbpGain = -1.; } if (_sbpDuration > 0.) { Syslog::write("Reson Behavior: Setting SBP duration to %f", _sbpDuration); status = _server->setSBPDuration(_sbpDuration); if (DeviceIF::Ok == status) _sbpDuration = -1.; } } // Perform the low freq sidescan action if (!_lossDone) { if (_lossPower > 0.) { Syslog::write("Reson Behavior: Setting SSLo power to %f",_lossPower); status = _server->setPingPower(Reson6046IF::SideScanLow, _lossPower); if (DeviceIF::Ok == status) _lossPower = -1.; } if (_lossRange > 0.) { Syslog::write("Reson Behavior: Setting SSLo range to %f",_lossRange); status = _server->setPingRange(Reson6046IF::SideScanLow, _lossRange); if (DeviceIF::Ok == status) _lossRange = -1.; } if (_lossRate > 0.) { Syslog::write("Reson Behavior: Setting SSLo rate to %f",_lossRate); status = _server->setPingRate(Reson6046IF::SideScanLow, _lossRate); if (DeviceIF::Ok == status) _lossRate = -1.; } if (_lossMode > 0) { Syslog::write("Reson Behavior: Starting lo-freq SS"); status = _server->startSubsystem(Reson6046IF::SideScanLow); if (DeviceIF::Ok == status) _lossMode = -1; } else if (_lossMode == 0) { Syslog::write("Reson Behavior: Stopping lo-freq SS"); status = _server->stopSubsystem(Reson6046IF::SideScanLow); if (DeviceIF::Ok == status) _lossMode = -1; } } // Perform the high freq sidescan action if (!_hissDone) { if (_hissPower > 0.) { Syslog::write("Reson Behavior: Setting SSHi power to %f",_hissPower); status = _server->setPingPower(Reson6046IF::SideScanHigh, _hissPower); if (DeviceIF::Ok == status) _hissPower = -1.; } if (_hissRange > 0.) { Syslog::write("Reson Behavior: Setting SSHi range to %f",_hissRange); status = _server->setPingRange(Reson6046IF::SideScanHigh, _hissRange); if (DeviceIF::Ok == status) _hissRange = -1.; } if (_hissRate > 0.) { Syslog::write("Reson Behavior: Setting SSHi rate to %f",_hissRate); status = _server->setPingRate(Reson6046IF::SideScanHigh, _hissRate); if (DeviceIF::Ok == status) _hissRate = -1.; } if (_hissMode > 0) { Syslog::write("Reson Behavior: Starting hi-freq SS"); status = _server->startSubsystem(Reson6046IF::SideScanHigh); if (DeviceIF::Ok == status) _hissMode = -1; } else if (_hissMode == 0) { Syslog::write("Reson Behavior: Stopping hi-freq SS"); status = _server->stopSubsystem(Reson6046IF::SideScanHigh); if (DeviceIF::Ok == status) _hissMode = -1; } } // Perform the Multibeam actions if (!_mbDone) { if (_mbSoundVelocity > 0.) { // Set sound velocity to the value in _mbSoundVelocity // Syslog::write("Reson Behavior: Setting MB sound velocity to %f", _mbSoundVelocity); } else if (_mbSoundVelocity == 0.) { // Have reson process reset the sound velocity by getting the value from // the CTD // Syslog::write("Reson Behavior: Tell Multibeam to set MB sound velocity"); } status = _server->setMBSoundVelocity(_mbSoundVelocity); if (DeviceIF::Ok == status) _mbSoundVelocity = -1.; if (_mbPower >= 0.) { Syslog::write("Reson Behavior: Setting MB power to %f",_mbPower); status = _server->setPingPower(Reson6046IF::Multibeam, _mbPower); if (DeviceIF::Ok == status) _mbPower = -1.; } if (_mbRange >= 0.) { Syslog::write("Reson Behavior: Setting MB range to %f",_mbRange); status = _server->setPingRange(Reson6046IF::Multibeam, _mbRange); if (DeviceIF::Ok == status) _mbRange = -1.; } if (_mbRate > 0.) // Must be > 0.0 { Syslog::write("Reson Behavior: Setting MB rate to %f",_mbRate); status = _server->setPingRate(Reson6046IF::Multibeam, _mbRate); if (DeviceIF::Ok == status) _mbRate = -1.; } if (_mbGain >= 0.) { Syslog::write("Reson Behavior: Setting MB gain to %f",_mbGain); status = _server->setRxGain(Reson6046IF::Multibeam, _mbGain); if (DeviceIF::Ok == status) _mbGain = -1.; } if (_mbWidth >= 0.) { Syslog::write("Reson Behavior: Setting MB pulse width to %f", _mbWidth); status = _server->setPulseWidth(Reson6046IF::Multibeam, _mbWidth); if (DeviceIF::Ok == status) _mbWidth = -1.; } if (_mbBtmMinRange >= 0. && _mbBtmMaxRange >= 0. && _mbBtmMinDepth >= 0. && _mbBtmMaxDepth >= 0.) { Syslog::write("Reson Behavior: Setting MB Bottom detection filter %f:%f:%f:%f", _mbBtmMinRange, _mbBtmMaxRange, _mbBtmMinDepth, _mbBtmMaxDepth); status = _server->setMBBottomDetectionFilters(_mbBtmMinRange, _mbBtmMaxRange, _mbBtmMinDepth, _mbBtmMaxDepth); if (DeviceIF::Ok == status) _mbBtmMinRange = _mbBtmMaxRange = _mbBtmMinDepth = _mbBtmMaxDepth = -1.; } if (_snippetMode > -1) { Syslog::write("Reson Behavior: Turning on snippet control - window size = %d", _windowSize); status = _server->setMBSnippetControl((_snippetMode > 0), _windowSize); if (DeviceIF::Ok == status) _snippetMode = -1; } // If either depth or range mode switches are specified, invoke server method if (_depthMode >= 0 || _rangeMode >= 0) { Syslog::write("Reson Behavior: Turning on bottom detection modes: %d, %d", _depthMode, _rangeMode); status = _server->setMBBottomDetectDepthRangeOn((_depthMode > 0), (_rangeMode > 0)); if (DeviceIF::Ok == status) _depthMode = _rangeMode = -1; } // If bottom detection params recalc command is set, invoke server method if (_mbBtmRecalc > 0) { Syslog::write("Reson Behavior: Recalculating bottom detection ranges: %d", _mbBtmRecalc); status = _server->setMBBottomDetectRecalc(); if (DeviceIF::Ok == status) _mbBtmRecalc = -1; } // If bottom detection params recalc interval is set, invoke server method if (_mbBtmRecalcInt >= 0) { Syslog::write("Reson Behavior: Setting recalculation interval: %d", _mbBtmRecalcInt); status = _server->setMBBottomDetectRecalcInterval(_mbBtmRecalcInt); if (DeviceIF::Ok == status) _mbBtmRecalcInt = -1; } if (_mbMode > 0) { Syslog::write("Reson Behavior: Starting MB pinging"); status = _server->startSubsystem(Reson6046IF::Multibeam); if (DeviceIF::Ok == status) _mbMode = -1; } else if (_mbMode == 0) { Syslog::write("Reson Behavior: Stopping MB pinging"); status = _server->stopSubsystem(Reson6046IF::Multibeam); if (DeviceIF::Ok == status) _mbMode = -1; } } // Perform the logging action if (!_logDone) { unsigned char errorCnt = 0; if (_logMode & 0x01) { Syslog::write("Reson Behavior: Starting logging"); status = _server->startLogging(); if (DeviceIF::Ok != status) errorCnt++; } else { Syslog::write("Reson Behavior: Stopping logging"); status = _server->stopLogging(); if (DeviceIF::Ok != status) errorCnt++; } if (_logMode & 0x02) { Syslog::write("Reson Behavior: Starting 7k Center Logging"); status = _server->start7KCenterLogging(); if (DeviceIF::Ok != status) errorCnt++; } else { Syslog::write("Reson Behavior: Stopping 7k Center Logging"); status = _server->stop7KCenterLogging(); if (DeviceIF::Ok != status) errorCnt++; } if (errorCnt == 0) { _logMode = -1; _logDone = True; } } if (!_pulseDone) { Reson6046IF::ResonSonarSystems subsystem = Reson6046IF::PLC; // Invalid for this cmd if (!strcasecmp(_subsys,"SBP")) subsystem = Reson6046IF::SubBottom; else if (!strcasecmp(_subsys,"LoSS")) subsystem = Reson6046IF::SideScanLow; else if (!strcasecmp(_subsys,"HiSS")) subsystem = Reson6046IF::SideScanHigh; if (subsystem == Reson6046IF::PLC) { _pulseDone = True; Syslog::write("Reson Behavior: Invalid subsystem (%s) specified for pulse file change", _subsys); } else { Syslog::write("Reson Behavior: Setting pulse filename for %d to %s", subsystem, _filename); status = _server->setPulseFilename(subsystem, _filename); if (DeviceIF::Ok == status) _pulseDone = True; } } // Finished if all actions performed successfully if (_sbpDone && _logDone && _lossDone && _hissDone && _pulseDone) setState(Finished); return; } Boolean reson::validInput() { Boolean valid = True; return valid; }