/***************************************************************************** * Copyright (c) 2002-2020 MBARI * Monterey Bay Aquarium Research Institute, all rights reserved. ***************************************************************************** * @file DeltaT.h * @authors r. henthorn * @date 07/23/2020 * @brief DeltaT client interface module * * Project: LRAUV Obstacle Avoidance (oahu) * Summary: Modeled after the Dorado DeltaT interface. Read Imagenex Delta T * (idt) packets from UDP socket. Use Idt83pParser to create Idt83pData * objects for application use. *****************************************************************************/ #ifndef DELTAT_H #define DELTAT_H /***************************************************************************** * Copyright Information: * Copyright 2002-2020 MBARI * Monterey Bay Aquarium Research Institute, all rights reserved. * * Terms of Use: * This program is free software; you can redistribute it and/or modify it * under the terms of the GNU General Public License as published by the Free * Software Foundation; either version 3 of the License, or (at your option) * any later version. You can access the GPLv3 license at * http://www.gnu.org/licenses/gpl-3.0.html * * This program is distributed in the hope that it will be useful, but WITHOUT * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or * FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for * more details (http://www.gnu.org/licenses/gpl-3.0.html). * * MBARI provides the documentation and software code "as is", with no * warranty, express or implied, as to the software, title, non-infringement * of third party rights, merchantability, or fitness for any particular * purpose, the accuracy of the code, or the performance or results which you * may obtain from its use. You assume the entire risk associated with use of * the code, and you agree to be responsible for the entire cost of repair or * servicing of the program with which you are using the code. * * In no event shall MBARI be liable for any damages,whether general, special, * incidental or consequential damages, arising out of your use of the * software, including, but not limited to,the loss or corruption of your data * or damages of any kind resulting from use of the software, any prohibited * use, or your inability to use the software. You agree to defend, indemnify * and hold harmless MBARI and its officers, directors, and employees against * any claim,loss,liability or expense,including attorneys' fees,resulting from * loss of or damage to property or the injury to or death of any person * arising out of the use of the software. * * The MBARI software is provided without obligation on the part of the * Monterey Bay Aquarium Research Institute to assist in its use, correction, * modification, or enhancement. * * MBARI assumes no responsibility or liability for any third party and/or * commercial software required for the database or applications. Licensee * agrees to obtain and maintain valid licenses for any additional third party * software required. *****************************************************************************/ /****************************** * Headers ******************************/ #include #include #include #include #include #include "Idt83pParser.h" #include "DeltaTLog.h" /****************************** * Macros ******************************/ #define DELTAT_DEFAULT_NAME "idt" #define DELTAT_DEFAULT_PORT 4040 #define DELTAT_DEFAULT_TIMEOUT 500 // in ms #define DELTAT_BUF_SIZE (IDT_HDR_SIZE+(IDT_MAX_BEAMS*(IDT_B_BYTES+IDT_I_BYTES))) #define DELTAT_EC_BUF_SIZE 256 // default external control switch values #define DELTAT_DEFAULT_ENABLE 0 // 0=>83P, 1=>83B #define DELTAT_DEFAULT_RANGE 10 // 2=5m 3=10m 4=20m 5=30m 6=40m 7=50m 8=60m 9=80m 10=100m 11=150m #define DELTAT_DEFAULT_GAIN 12 // 0-20 dB #define DELTAT_DEFAULT_DGAIN 50 // 0-100 % #define DELTAT_DEFAULT_GAINEQUAL 0 // on/off #define DELTAT_DEFAULT_SECTOR 3 // 0=>30 1=>60 2=>90 3=>120 #define DELTAT_DEFAULT_WIDTH 1 // 0=>Wide 1=>Normal 2=>Narrow 3=>Mixed #define DELTAT_DEFAULT_BEAMS 2 // 0=>480 1=>240 2=>120 #define DELTAT_DEFAULT_AVERAGE 3 // 3, 5, 7, or 9 #define DELTAT_DEFAULT_SOS 1490 // 1400 to 1600 m/s #define DELTAT_DEFAULT_MODE 0 // 0=>sector 1=>Linear 2=>Perspective 3=>Profile 4=>Beamtest #define DELTAT_DEFAULT_MINRANGE 1 // 0 - 100 m #define DELTAT_DEFAULT_MINLEVEL 25 // 10 - 90 % #define DELTAT_DEFAULT_XD_DIR 0 // 0=>Down 1=>Up #define DELTAT_DEFAULT_TILT 225 // -45 to +45 then add 180 offset (e.g. 45 to 225) 50=>-90 51=>90 #define DELTAT_DEFAULT_POINT_DETECT 1 // on/off #define DELTAT_DEFAULT_POINT_FILTER 2 // 0=>1st return 1=>max return 2=>bottom following #define DELTAT_DEFAULT_RECORD837 1 // on/off #define DELTAT_DEFAULT_RECORD83B 0 // on/off #define DELTAT_DEFAULT_RECORD83P 1 // on/off #define DELTAT_DEFAULT_TRIGGER 0 // 0=>Off 2=>On-Neg 3=>On-Pos #define DELTAT_DEFAULT_XMIT_DELAY 0 // 0-10000 (0 to 1 sec) #define DELTAT_CONFIG_120BEAMS 2 #define DELTAT_CONFIG_240BEAMS 1 class DeltaT { public: // configure the DeltaT object as per a config file static void configDeltaT(DeltaT *d, const char* cfgfilepath); // Use a config object to construct DeltaT object // When dataSourceFile is non-NULL, the driver will // read raw packets from the file instead of the // beamformer socket. typedef struct deltatconfig_ { const char *name; // Name of object (NULL=>use default) uint32_t port; // Listen for data on this port bool logData; // Log raw and beam data to files const char *dataSourceFile; // when non NULL read data from this file uint32_t readTimeout; // in ms 0=>use default } DeltaTConfig; DeltaT(); DeltaT(const char* name, const uint32_t port, const bool logData=false); DeltaT(const DeltaTConfig &config); virtual ~DeltaT(); uint32_t getPort() { return _port; } const char* getName() { return _name; } int getSock() { return _sockfd; } // attempt to read a packet from a DeltaT source. // return parsed info in the Idt83pData parameter object. // returns NULL if unsuccessful. // otherwise, returns pointer to the parsed data in the // Idt83pData parameter object passed in. virtual Idt83pData* getData(Idt83pData *data); /* external control settings */ int setOutputEnable(int enable); int setRange(int range); int setGain(int gain); int setGainEqualization(int equal); // on/off int setSectorSize(int size); int setBeamWidth(int width); int setNumBeams(int nbeams); int setAvgFilter(int avg); // on/off int setSOS(int sos); // m/s int setRunMode(int run); int setProfileMinRange(int mrange); int setProfileMinLevel(int level); int setTransducerDirection(int dir); int setProfileTiltAngle(int angle); int setRecord83P(int r83P); // on/off int setRecord837(int r837); // on/off int setRecord83B(int r83B); // on/off int setProfilePointDetection(int ppd); // on/off int setProfilePointFilter(int ppf); int setExternalTriggerControl(int etc); // on/off int setExternalTriggerXmitDelay(int delay); // ms int setDisplayGain(int dgain); /* data */ protected: // attempt to read from either a socket or raw DeltaT data file. // return parsed info in the Idt83pData parameter object. // returns the number of bytes read if successful. // returns < 0 if unsuccessful. // otherwise, returns pointer to the parsed data in the // Idt83pData parameter object passed in. int readData(Idt83pData *data); void initializeName(const char* name); void initializeLogs(bool logData); int initializeSource(); void createRawFile(); void closeSock(); /* data */ uint32_t _port; uint32_t _timeout; // in ms char* _name; char* _dataSourceFile; int _sockfd; int _raw; DeltaTLog* _log; char _receive_buf[DELTAT_BUF_SIZE]; struct sockaddr_in _client_addr; struct sockaddr_in _server_addr; /* external control members */ int _send; char _send_buf[DELTAT_EC_BUF_SIZE]; int _range, _gain, _equal, _sector, _sos, _width, _nbeams, _avg; int _enable, _level, _delay, _r83P, _r83B, _r837, _mrange; int _run, _ppf, _dir, _ppd, _etc, _dgain, _angle, _mode; int setSend() { _send = 1; return 0; } int resetSend() { _send = 0; return 0; } int prepECMsg(); int sendEC(); private: /* data */ }; #endif