//////////////////////////////////////////////////////////////////////////////// // // PURPOSE: Dvl Driver Class. // AUTHOR: Rob McEwen, based on O'Reilly's methane sensor. // DATE: 01/3/9 // COMMENTS: // //////////////////////////////////////////////////////////////////////////////// // #ifndef _DVL_H #define _DVL_H #define BAUD_RATE 9600 #define DATA_BITS 8 #define STOP_BITS 1 #define PARITY "NONE" #define NBYTES 2 /* number of bytes */ #define MM_TO_METRES 0.001 /* mm to meters conversion */ #define RAD_TO_DEG (180.0/PI) /* radians to degrees converion */ #define EPSILON 0.00001 /* floating point zero */ #define DOPPLER_LSB 0 /* least significant byte */ #define DOPPLER_MSB 1 /* most significant byte */ #define NUM_BEAMS 4 /* number of beams */ #define BEAM_OK 0 /* beam status ok */ #define BOTTOM_BEAM1_CORRELATION 1 /* bottom-referenced correlation and */ #define BOTTOM_BEAM1_ECHO_AMPLITUDE 2 /* echo amplitude status */ #define BOTTOM_BEAM2_CORRELATION 4 #define BOTTOM_BEAM2_ECHO_AMPLITUDE 8 #define BOTTOM_BEAM3_CORRELATION 16 #define BOTTOM_BEAM3_ECHO_AMPLITUDE 32 #define BOTTOM_BEAM4_CORRELATION 64 #define BOTTOM_BEAM4_ECHO_AMPLITUDE 128 #define WATER_BEAM1_CORRELATION 1 /* water-referenced depth and */ #define WATER_BEAM2_CORRELATION 4 /* correlation status */ #define WATER_BEAM3_CORRELATION 8 #define WATER_BEAM4_CORRELATION 16 #define ALTITUDE_TOO_SHALLOW 32 #define DVL_INBUF_SIZE 128 #define DVL_OUTBUF_SIZE 1024 /* bad velocity value returned */ #define BAD_VELOCITY -32768 /* dvlDataStatus & SerialStatus flags */ #define DVL_DATA_GOOD 0 /* Good data received from DVL */ #define BAD_BOTTOM_TRACK_VELOCITY 1 /* bad bottom track velocity */ #define BAD_WATER_MASS_VELOCITY 2 /* bad water track velocity */ #define NO_DVL_RESPONSE 4 /* No response from DVL serial line */ #define BAD_SERIAL_READ 8 /* Problem reading serial line */ #define CHECKSUM_WRONG 16 /* Incorrect checksum from serial */ #define BAD_BEAM_RANGE 0 /* Dvl returns 0 for a bad beam readg */ #define CM_TO_METRES 0.01 /* cm to meters conversion */ #define cos30 0.86602540378444 enum beamIndx {BM1, BM2, BM3, BM4}; /* for indexing the 4 beams in rawRange*/ enum timeIndx {HRS, MIN, SEC, CENTISEC};/* For indexing the time bytes */ /* cartesian degrees of freedom */ typedef enum { X_INDEX, Y_INDEX, Z_INDEX, E_INDEX } cartDof; #include "SerialDeviceDriver.h" #include "DvlLog.h" #include "DvlOutput.h" #include "DataLogWriter.h" #include "IntegerData.h" #include "ShortData.h" class Dvl : public SerialDeviceDriver { friend class DvlLog; public: //////////////////////////////////////////////////////////////////// // Constructor // [input] serialDevice: Associated SerialDevice Dvl(SerialDevice *serialDevice, Boolean verbose); virtual ~Dvl(); //////////////////////////////////////////////////////////////////// // Initialize device. Returned DeviceIF::Status // will be propagated to subscribers in other tasks. virtual DeviceIF::Status initialize(); //////////////////////////////////////////////////////////////////// // Read a fixed-length record virtual DeviceIF::Status readRecord(unsigned char *record, int maxRecordBytes, const char *recordTerminator, unsigned readTimeout, int *nBytesRead); //////////////////////////////////////////////////////////////////// // Process device data record. Returned DeviceIF::Status // will be propagated to subscribers in other tasks. // [input] record: Record from device // [input] nRecordBytes: Bytes in record virtual DeviceIF::Status processRecord(unsigned char *record, int nRecordBytes); // // Convert the raw readings from the 4 beams into distance in Engineering // units. *beamRange is a pointer to beamRange[NUM_BEAMS]. // Boolean cvtRange(long rawRange[NUM_BEAMS][NBYTES], double *beamRange, double *dvlAltitude, Boolean useMinBeam ); protected: // // Bring the DVL to life. // DeviceIF::Status wakeupDvl(); // // Convert the raw velocity reading into distance in Engineering units. // Boolean mmToMetres(long xVelocity[NBYTES], long yVelocity[NBYTES], long zVelocity[NBYTES], long eVelocity[NBYTES], double velocity[NXE]); //////////////////////////////////////////////////////////////////////////// // // PURPOSE: Write a variable-length Ascii string to the Dvl. // // The string must be shorter than DVL_INBUF_SIZE-2, and include a // terminating null. // // This routine will add the terminating '\r' that the Dvl expects. // // INPUTS: buf - The usual null-terminated character string. // // RETURNS: Ok - All characters successfully sent. // Error - Some problem with _device->write??? // //////////////////////////////////////////////////////////////////////////// // DeviceIF::Status writeAscii( char *buf ); //////////////////////////////////////////////////////////////////////////// // // PURPOSE: Read a variable-length record. It reads until either it // receives the Dvl's terminating Ascii character ">", or // it times out. // // INPUTS: buf - Pointer to a character array. The routine will // place the record here, so buf must be larger // than the largest record expected. // bufSize - sizeof(buf); // readTimeOut - Exit with an error if no characters have been // received after this time, and the terminating // sequence has not been received. In Milliseconds. // // OUTPUTS: buf - Now contains a null-terminated Ascii string. // // RETURNS: Error or Ok. // //////////////////////////////////////////////////////////////////////////// // DeviceIF::Status Dvl::readAscii( char *buf, int bufSize, int readTimeOut ); //////////////////////////////////////////////////////////////////////////// // // PURPOSE: Write a variable-length Ascii string to the Dvl using // the writeAscii() member function above. Then, read the // response using the readAscii() member function also above, // and print the response to Syslog if m_verbose is true. // // Read the descriptions of these two functions for more details. // // INPUTS: cmd - The usual null-terminated character string. // readTimeOut - Exit with an error if no characters have been // received after this time, and the terminating // sequence has not been received. In Milliseconds. // // RETURNS: Ok - All characters successfully sent. Response successfully // received. // Error - Error. // //////////////////////////////////////////////////////////////////////////// // DeviceIF::Status Dvl::writeReadAscii( char *cmd, int readTimeOut ); char m_buf[DVL_OUTBUF_SIZE]; int m_bufSize; // //////////////////////////////////////////////////////////////////////////// // // PURPOSE: Set the member variable "Format" to the value in the "cmd" string. // // INPUTS: cmd - The usual null-terminated character string. It must // be "PD0" or "PD5". // //////////////////////////////////////////////////////////////////////////// // void Dvl::setFormat( char *cmd ); // //////////////////////////////////////////////////////////////////////////// // // PURPOSE: Convert a null-terminated character string to binary. // // INPUTS: ascbuf - The usual null-terminated character string. // binbuf - Binary equivalent // // OUTPUTS: int - 0 if successful, nonzero if failed. // //////////////////////////////////////////////////////////////////////////// // int Dvl::cvt2bin( char *ascbuf, unsigned char *binbuf ); unsigned char *binRecord; DvlLog *m_log; FILE *fpAsc, *fpCfg; int fdescBin; char AscFileName[128], ConfigFileName[128], BinFileName[128]; Boolean m_verbose; int m_timeout; DvlOutput *m_output; int m_sos; unsigned char bottomTrackVelocityStatus; /* velocity status */ unsigned char waterMassVelocityStatus; long xBottomTrackVelocity[NBYTES]; /* velocity */ long yBottomTrackVelocity[NBYTES]; long zBottomTrackVelocity[NBYTES]; long eBottomTrackVelocity[NBYTES]; long xWaterMassVelocity[NBYTES]; long yWaterMassVelocity[NBYTES]; long zWaterMassVelocity[NBYTES]; long eWaterMassVelocity[NBYTES]; long hour; long min; long sec; long centisec; long rawRange[NUM_BEAMS][NBYTES]; /* raw DVL range in centimetrs*/ long rawTemp[NBYTES]; /* temperature, .01 Deg C/bit */ long rawPitch[NBYTES]; /* Pitch tilt .01 Deg/count */ long rawRoll[NBYTES]; /* Roll tilt .01 Deg/count */ long rawHeading[NBYTES]; /* Magnetic Heading, .01 Deg/c*/ short dof; /* dof counter */ Boolean m_status; /* General function call status*/ // // The following pointers must be initialized to point to the "data" structure // defined in DvlOutput.h (which comes from DvlIF.idl). // long waterStatus[1]; /* Init this to the output array*/ long bottomStatus[1]; /* Init this to the output array*/ Boolean bottomDetectStatus[1]; Boolean _lastBottomDetectStatus; double bottomTrackVelocity[NXE]; /* 4 element vector */ double waterMassVelocity[NXE]; /* 4 element vector */ double dvlPingTime[1]; double dvlRange[1]; double beamRange[NUM_BEAMS]; /* The four ranges in meters */ double dvlTemp[1]; double dvlPitch[1]; double dvlRoll[1]; double dvlHeading[1]; unsigned char dvlDataStatus[1]; unsigned char dvlSerialStatus; /* Status of DVL serial comms */ // // m_badComms is a long to be consistant with the idl types. It need only // be a bool. // long m_badComms; // // For PD5, the output format still will match Figure D-12 & 13 on // pp. D-12 & 13 of the manual, except there will be twice as many bytes, // because each hex char is a byte. See also p D-24, and note the // first column. // // Size of the record in bytes, not counting the checksum. // short recordBytes; // // Size of the record in ASCII chars = 2* above, plus the two byte checksum. // short recordSize; enum FormatEnum {PD0, PD1, PD2, PD3, PD4, PD5, PD6}; enum FormatEnum Format; // // For header byte patterns // char *PD5Header; char PD0Header[10]; char *Header; // // Number of Dvl data types, set by the WD command. It apparently defaults // to 7. // short numDataTypes; // // Number of water layer cells, set by the WN command. The default is 30. // short numCells; // // Numerical value of evaluation parameters. For PD0 only. // short bottomTrackCor[NUM_BEAMS]; short bottomTrackAmp[NUM_BEAMS]; short waterMassCor[NUM_BEAMS]; short bottomTrackCorMin; short bottomTrackAmpMin; short waterMassCorMin; }; #endif