public void DecodePd0Test()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.SetCoordinateTransform(PD0.CoordinateTransforms.Coord_Earth);
pd0.AddDataType(new Pd0Correlation(30));
pd0.AddDataType(new Pd0BottomTrack());
pd0.AddDataType(new Pd0EchoIntensity(30));
pd0.AddDataType(new Pd0PercentGood(30));
pd0.AddDataType(new Pd0Velocity(30));
DataSet.Ensemble ens = new DataSet.Ensemble(pd0);
Assert.IsTrue(ens.IsCorrelationAvail, "IsCorrelationAvail is incorrect.");
Assert.IsTrue(ens.IsBottomTrackAvail, "IsBottomTrackAvail is incorrect.");
Assert.IsTrue(ens.IsAmplitudeAvail, "IsAmplitudeAvail is incorrect.");
Assert.IsTrue(ens.IsGoodEarthAvail, "IsGoodEarthAvail is incorrect.");
Assert.IsFalse(ens.IsGoodBeamAvail, "IsGoodBeamAvail is incorrect.");
Assert.IsFalse(ens.IsBeamVelocityAvail, "IsBeamVelocityAvail is incorrect.");
Assert.IsTrue(ens.IsEarthVelocityAvail, "IsEarthVelocityAvail is incorrect.");
Assert.IsFalse(ens.IsInstrumentVelocityAvail, "IsInstrumentVelocityAvail is incorrect.");
Assert.IsFalse(ens.IsInstrumentWaterMassAvail, "IsInstrumentWaterMassAvail is incorrect.");
Assert.IsFalse(ens.IsNmeaAvail, "IsNmeaAvail is incorrect.");
Assert.IsFalse(ens.IsProfileEngineeringAvail, "IsProfileEngineeringAvail is incorrect.");
Assert.IsFalse(ens.IsBottomTrackEngineeringAvail, "IsBottomTrackEngineeringAvail is incorrect.");
Assert.IsFalse(ens.IsSystemSetupAvail, "IsSystemSetupAvail is incorrect.");
}
public void DecodePd0Test()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.SetCoordinateTransform(PD0.CoordinateTransforms.Coord_Earth);
pd0.AddDataType(new Pd0Correlation(30));
pd0.AddDataType(new Pd0BottomTrack());
pd0.AddDataType(new Pd0EchoIntensity(30));
pd0.AddDataType(new Pd0PercentGood(30));
pd0.AddDataType(new Pd0Velocity(30));
DataSet.Ensemble ens = new DataSet.Ensemble(pd0);
Assert.IsTrue(ens.IsCorrelationAvail, "IsCorrelationAvail is incorrect.");
Assert.IsTrue(ens.IsBottomTrackAvail, "IsBottomTrackAvail is incorrect.");
Assert.IsTrue(ens.IsAmplitudeAvail, "IsAmplitudeAvail is incorrect.");
Assert.IsTrue(ens.IsGoodEarthAvail, "IsGoodEarthAvail is incorrect.");
Assert.IsFalse(ens.IsGoodBeamAvail, "IsGoodBeamAvail is incorrect.");
Assert.IsFalse(ens.IsBeamVelocityAvail, "IsBeamVelocityAvail is incorrect.");
Assert.IsTrue(ens.IsEarthVelocityAvail, "IsEarthVelocityAvail is incorrect.");
Assert.IsFalse(ens.IsInstrumentVelocityAvail, "IsInstrumentVelocityAvail is incorrect.");
Assert.IsFalse(ens.IsInstrumentWaterMassAvail, "IsInstrumentWaterMassAvail is incorrect.");
Assert.IsFalse(ens.IsNmeaAvail, "IsNmeaAvail is incorrect.");
Assert.IsFalse(ens.IsProfileEngineeringAvail, "IsProfileEngineeringAvail is incorrect.");
Assert.IsFalse(ens.IsBottomTrackEngineeringAvail, "IsBottomTrackEngineeringAvail is incorrect.");
Assert.IsFalse(ens.IsSystemSetupAvail, "IsSystemSetupAvail is incorrect.");
}
public void TestDecode()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
byte[] data = pd0.Encode();
// Size
int size = Pd0VariableLeader.DATATYPE_SIZE;
size += Pd0FixedLeader.DATATYPE_SIZE;
size += 2; // Spare
//size += 2; // Checksum
size += pd0.Header.GetDataTypeSize();
Assert.AreEqual(2, pd0.Header.NumberOfDataTypes(), "Number of Data Types is incorrect.");
Assert.AreEqual(5, pd0.Header.NumberOfDepthCells, "Number of depth cells is incorrect.");
Assert.AreEqual(size, MathHelper.LsbMsbShort(data[2], data[3]), "Number of Bytes is incorrect.");
Assert.AreEqual(2, data[5], "Number of Data Types is incorrect.");
Assert.AreEqual(size + 2, data.Length, "Array Size is incorrect."); // Add 2 for the checksum
int flOffset = pd0.Header.GetDataTypeSize();
Assert.AreEqual(flOffset, MathHelper.LsbMsbShort(data[6], data[7]), "Fixed Leader offset is incorrect.");
int vlOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE;
Assert.AreEqual(vlOffset, MathHelper.LsbMsbShort(data[8], data[9]), "Variable Leader offset is incorrect.");
}
public void TestDecode()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
byte[] data = pd0.Encode();
// Size
int size = Pd0VariableLeader.DATATYPE_SIZE;
size += Pd0FixedLeader.DATATYPE_SIZE;
size += 2; // Spare
//size += 2; // Checksum
size += pd0.Header.GetDataTypeSize();
Assert.AreEqual(2, pd0.Header.NumberOfDataTypes(), "Number of Data Types is incorrect.");
Assert.AreEqual(5, pd0.Header.NumberOfDepthCells, "Number of depth cells is incorrect.");
Assert.AreEqual(size, MathHelper.LsbMsbShort(data[2], data[3]), "Number of Bytes is incorrect.");
Assert.AreEqual(2, data[5], "Number of Data Types is incorrect.");
Assert.AreEqual(size + 2, data.Length, "Array Size is incorrect."); // Add 2 for the checksum
int flOffset = pd0.Header.GetDataTypeSize();
Assert.AreEqual(flOffset, MathHelper.LsbMsbShort(data[6], data[7]), "Fixed Leader offset is incorrect.");
int vlOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE;
Assert.AreEqual(vlOffset, MathHelper.LsbMsbShort(data[8], data[9]), "Variable Leader offset is incorrect.");
}
public void TestEncodeVelCorrEchoPg()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
Pd0Velocity vel = new Pd0Velocity(5);
vel.Velocities[0, 0] = 32;
vel.Velocities[0, 1] = -32;
pd0.AddDataType(vel);
Pd0Correlation corr = new Pd0Correlation(5);
corr.Correlation[0, 0] = 32;
corr.Correlation[0, 1] = 255;
pd0.AddDataType(corr);
Pd0EchoIntensity ei = new Pd0EchoIntensity(5);
ei.EchoIntensity[0, 0] = 32;
ei.EchoIntensity[0, 1] = 255;
pd0.AddDataType(ei);
Pd0PercentGood pg = new Pd0PercentGood(5);
pg.PercentGood[0, 0] = 32;
pg.PercentGood[0, 1] = 255;
pd0.AddDataType(pg);
byte[] encode = pd0.Encode();
int flOffset = pd0.Header.GetFixedLeader().Offset;
int velOffset = pd0.Header.GetVelocity().Offset;
int corrOffset = pd0.Header.GetCorrelation().Offset;
int eiOffset = pd0.Header.GetEchoIntensity().Offset;
int pgOffset = pd0.Header.GetPercentGood().Offset;
Assert.AreEqual(0, encode[flOffset], "Fixed Leader ID LSB is incorrect");
Assert.AreEqual(0, encode[flOffset + 1], "Fixed Leader ID MSB is incorrect");
Assert.AreEqual(5, encode[flOffset + 9], "Number of depth cells is incorrect");
Assert.AreEqual(32, MathHelper.LsbMsbShort(encode[velOffset + 2], encode[velOffset + 3]), "Velocity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(-32, MathHelper.LsbMsbShort(encode[velOffset + 4], encode[velOffset + 5]), "Velocity Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[corrOffset + 2], "Correlation Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[corrOffset + 3], "Correlation Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[eiOffset + 2], "Echo Intensity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[eiOffset + 3], "Echo Intensity Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[pgOffset + 2], "Percent Good Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[pgOffset + 3], "Percent Good Bin 0, Beam 1 is incorrect.");
Assert.IsFalse(pd0.IsBottomTrackExist, "IsBottomTrackExist is incorrect.");
Assert.IsTrue(pd0.IsCorrelationExist, "IsCorrelationExist is incorrect.");
Assert.IsTrue(pd0.IsEchoIntensityExist, "IsEchoIntensityExist is incorrect.");
Assert.IsTrue(pd0.IsPercentGoodExist, "IsPercentGoodExist is incorrect.");
}
/// <summary>
/// Convert the given binary data into an ensemble.
/// Then publish the data to all subscribers.
/// </summary>
/// <param name="binaryEnsemble">Binary PD0 data.</param>
public void DecodePd0Data(byte[] binaryEnsemble)
{
// Create the PD0 and RTI ensemble
PD0 pd0Ensemble = new PD0(binaryEnsemble);
// Send an event that data was processed
// in this format
if (ProcessDataEvent != null)
{
ProcessDataEvent(binaryEnsemble, pd0Ensemble);
}
// Reset the timeout
_incomingDataTimeout = 0;
}
public void DecodeRtiTest()
{
DataSet.Ensemble ens = EnsembleHelper.GenerateEnsemble(30);
PD0 pd0 = new PD0(ens, PD0.CoordinateTransforms.Coord_Earth);
Assert.IsTrue(pd0.IsVelocityExist, "IsVelocityExist is incorrect.");
Assert.IsTrue(pd0.IsCorrelationExist, "IsCorrelationExist is incorrect.");
Assert.IsTrue(pd0.IsEchoIntensityExist, "IsEchoIntensityExist is incorrect.");
Assert.IsTrue(pd0.IsPercentGoodExist, "IsPercentGoodExist is incorrect.");
Assert.IsTrue(pd0.IsBottomTrackExist, "IsBottomTrackExist is incorrect.");
Assert.AreEqual(30, pd0.FixedLeader.NumberOfCells, "Number of cells is incorrect.");
Assert.AreEqual(4, pd0.FixedLeader.NumberOfBeams, "Number of beams is incorrect.");
Assert.AreEqual(PD0.CoordinateTransforms.Coord_Earth, pd0.FixedLeader.GetCoordinateTransform(), "Coordinate Transform is incorrect.");
}
public void DecodeRtiTest()
{
DataSet.Ensemble ens = EnsembleHelper.GenerateEnsemble(30);
PD0 pd0 = new PD0(ens, PD0.CoordinateTransforms.Coord_Earth);
Assert.IsTrue(pd0.IsVelocityExist, "IsVelocityExist is incorrect.");
Assert.IsTrue(pd0.IsCorrelationExist, "IsCorrelationExist is incorrect.");
Assert.IsTrue(pd0.IsEchoIntensityExist, "IsEchoIntensityExist is incorrect.");
Assert.IsTrue(pd0.IsPercentGoodExist, "IsPercentGoodExist is incorrect.");
Assert.IsTrue(pd0.IsBottomTrackExist, "IsBottomTrackExist is incorrect.");
Assert.AreEqual(30, pd0.FixedLeader.NumberOfCells, "Number of cells is incorrect.");
Assert.AreEqual(4, pd0.FixedLeader.NumberOfBeams, "Number of beams is incorrect.");
Assert.AreEqual(PD0.CoordinateTransforms.Coord_Earth, pd0.FixedLeader.GetCoordinateTransform(), "Coordinate Transform is incorrect.");
}
/// <summary>
/// Decode the incoming data for ensemble data.
/// First search for header. When a header is found,
/// verify it is a good header. When the header is
/// verified, get the payload size. Determine the
/// buffer contains the entire ensemble. If the
/// entire ensemble is present in the buffer, retreive
/// the ensemble and place in a seperate byte array
/// and remove it from the buffer. Then decode the
/// ensemble for all the ranges present.
/// </summary>
private void DecodeIncomingData()
{
// Find the beginning of an ensemble
// It will contain 0x7D and either 0x00 or 0x01
SearchForHeaderStart();
// Verify the incoming data can at least fit an ensemble
// Subtract the header size because it is already removed
if (_incomingDataBuffer.Count >= MIN_ENS_SIZE - HEADER_SIZE)
{
// Create an array to hold the ensemble
byte[] ensemble = new byte[MIN_ENS_SIZE];
// Add the header back to the ensemble data
ensemble[0] = ID;
// Copy the remainder of the ensemble
for (int x = HEADER_SIZE; x < MIN_ENS_SIZE; x++)
{
ensemble[x] = _incomingDataBuffer.Take();
}
// Get the checksum values
long calculatedChecksum = PD0.CalculateChecksum(ensemble, MIN_ENS_SIZE - 2);
long ensembleChecksum = RetrieveEnsembleChecksum(ensemble);
// Verify the checksum match
if (calculatedChecksum == ensembleChecksum)
{
// Decode the binary data
DecodeAdcpData(ensemble);
}
//else
//{
// Debug.WriteLine(string.Format("Checksums do not match Cal: {0} Actual:{1}", calculatedChecksum, ensembleChecksum));
//}
}
}
public void TestEncodeVel()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
Pd0Velocity vel = new Pd0Velocity(5);
vel.Velocities[0, 0] = 32;
vel.Velocities[0, 1] = -32;
pd0.AddDataType(vel);
byte[] encode = pd0.Encode();
int flOffset = pd0.Header.GetFixedLeader().Offset;
int velOffset = pd0.Header.GetVelocity().Offset;
Assert.AreEqual(0, encode[flOffset], "Fixed Leader ID LSB is incorrect");
Assert.AreEqual(0, encode[flOffset + 1], "Fixed Leader ID MSB is incorrect");
Assert.AreEqual(5, encode[flOffset + 9], "Number of depth cells is incorrect");
Assert.AreEqual(32, MathHelper.LsbMsbShort(encode[velOffset + 2], encode[velOffset + 3]), "Velocity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(-32, MathHelper.LsbMsbShort(encode[velOffset + 4], encode[velOffset + 5]), "Velocity Bin 0, Beam 1 is incorrect.");
}
/// <summary>
/// Receive decoded data from the PD0 codec. This will be
/// the latest data decoded. It will include the complete
/// binary array of the data and the ensemble object.
/// </summary>
/// <param name="binaryEnsemble">Binary data of the ensemble.</param>
/// <param name="ensemble">Ensemble object.</param>
void _pd0Codec_ProcessDataEvent(byte[] binaryEnsemble, PD0 ensemble)
{
// Convert to a RTI ensemble
DataSet.Ensemble rtiEns = new DataSet.Ensemble(ensemble);
DataSet.VelocityVectorHelper.CreateVelocityVector(ref rtiEns);
// Generate a subsystem so that multiple configurations can be seprated
// PD0 does not contain the CEPO index or CEPO Configuraiton Index
if (rtiEns.IsEnsembleAvail)
{
rtiEns.EnsembleData.SubsystemConfig = _pd0SubsystemGen.GenSubsystem(rtiEns);
}
if (ProcessDataEvent != null)
{
// Pass the data to the subscribers
ProcessDataEvent(binaryEnsemble, rtiEns, CodecEnum.PD0);
}
_pd0Counter++;
// Check which buffers to clear
//CheckCodecBuffers(CodecEnum.PD0);
}
public void TestDecodeVelocityPgCorrEiBt()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
#region Velocity
Pd0Velocity vel = new Pd0Velocity();
// 2 Byte Header
// 8 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] velData = new byte[42];
velData[0] = Pd0Velocity.ID_LSB;
velData[1] = Pd0Velocity.ID_MSB;
velData[2] = 0xE8; // DS0 Beam 0 LSB
velData[3] = 0x00; // DS0 Beam 0 MSB
velData[4] = 0xBD; // DS0 Beam 1 LSB
velData[5] = 0xFE; // DS0 Beam 1 MSB
velData[6] = 0xC8; // DS0 Beam 2 LSB
velData[7] = 0x01; // DS0 Beam 2 MSB
velData[8] = 0x72; // DS0 Beam 3 LSB
velData[9] = 0xFD; // DS0 Beam 3 MSB
velData[(4 * 8) + 2 + 0] = 0xD0; // DS4 Beam 0 LSB
velData[(4 * 8) + 2 + 1] = 0x04; // DS4 Beam 0 MSB
velData[(4 * 8) + 2 + 2] = 0xD5; // DS4 Beam 1 LSB
velData[(4 * 8) + 2 + 3] = 0xFA; // DS4 Beam 1 MSB
velData[(4 * 8) + 2 + 4] = 0xB0; // DS4 Beam 2 LSB
velData[(4 * 8) + 2 + 5] = 0x05; // DS4 Beam 2 MSB
velData[(4 * 8) + 2 + 6] = 0x8A; // DS4 Beam 3 LSB
velData[(4 * 8) + 2 + 7] = 0xF9; // DS4 Beam 3 MSB
vel.Decode(velData);
#endregion
pd0.AddDataType(vel); // Add Velocity
#region Percent Good
Pd0PercentGood pg = new Pd0PercentGood();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] pgData = new byte[22];
pgData[0] = Pd0PercentGood.ID_LSB;
pgData[1] = Pd0PercentGood.ID_MSB;
pgData[2] = 0xE8; // DS0 Beam 0
pgData[3] = 0x7B; // DS0 Beam 1
pgData[4] = 0x7A; // DS0 Beam 2
pgData[5] = 0xDF; // DS0 Beam 3
pgData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
pgData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
pgData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
pgData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
pg.Decode(pgData);
#endregion
pd0.AddDataType(pg); // Add Percent Good
#region Correlation
Pd0Correlation corr = new Pd0Correlation();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] corrData = new byte[22];
corrData[0] = Pd0Velocity.ID_LSB;
corrData[1] = Pd0Velocity.ID_MSB;
corrData[2] = 0xE8; // DS0 Beam 0
corrData[3] = 0x7B; // DS0 Beam 1
corrData[4] = 0x7A; // DS0 Beam 2
corrData[5] = 0xDF; // DS0 Beam 3
corrData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
corrData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
corrData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
corrData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
corr.Decode(corrData);
#endregion
pd0.AddDataType(corr); // Add Correlation
#region Echo Intensity
Pd0EchoIntensity ei = new Pd0EchoIntensity();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] eiData = new byte[22];
eiData[0] = Pd0Velocity.ID_LSB;
eiData[1] = Pd0Velocity.ID_MSB;
eiData[2] = 0xE8; // DS0 Beam 0
eiData[3] = 0x7B; // DS0 Beam 1
eiData[4] = 0x7A; // DS0 Beam 2
eiData[5] = 0xDF; // DS0 Beam 3
eiData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
eiData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
eiData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
eiData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
ei.Decode(eiData);
#endregion
pd0.AddDataType(ei); // Add Echo Intensity
#region Bottom Track
Pd0BottomTrack bt = new Pd0BottomTrack();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] btData = new byte[Pd0BottomTrack.DATATYPE_SIZE];
bt.Decode(btData);
#endregion
pd0.AddDataType(bt); // Add Bottom Track
byte[] data = pd0.Encode();
// Size
int size = pd0.FixedLeader.GetDataTypeSize();
size += pd0.VariableLeader.GetDataTypeSize();
size += 2; // Spare
size += pd0.Header.GetDataTypeSize();
size += pd0.Velocity.GetDataTypeSize();
size += pd0.PercentGood.GetDataTypeSize();
size += pd0.Correlation.GetDataTypeSize();
size += pd0.EchoIntensity.GetDataTypeSize();
size += pd0.BottomTrack.GetDataTypeSize();
Assert.AreEqual(7, pd0.Header.NumberOfDataTypes(), "Number of Data Types is incorrect.");
Assert.AreEqual(5, pd0.Header.NumberOfDepthCells, "Number of depth cells is incorrect.");
Assert.AreEqual(size, MathHelper.LsbMsbShort(data[2], data[3]), "Number of Bytes is incorrect.");
Assert.AreEqual(7, data[5], "Number of Data Types is incorrect.");
Assert.AreEqual(size + 2, data.Length, "Array Size is incorrect."); // Add 2 for the checksum
int flOffset = pd0.Header.GetDataTypeSize();
Assert.AreEqual(flOffset, MathHelper.LsbMsbShort(data[6], data[7]), "Fixed Leader offset is incorrect.");
int vlOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE;
Assert.AreEqual(vlOffset, MathHelper.LsbMsbShort(data[8], data[9]), "Variable Leader offset is incorrect.");
int velOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE;
Assert.AreEqual(velOffset, MathHelper.LsbMsbShort(data[10], data[11]), "Velocity offset is incorrect.");
int pgOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize();
Assert.AreEqual(pgOffset, MathHelper.LsbMsbShort(data[12], data[13]), "Percent Good offset is incorrect.");
int corrOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize() + pd0.PercentGood.GetDataTypeSize();
Assert.AreEqual(corrOffset, MathHelper.LsbMsbShort(data[14], data[15]), "Correlation offset is incorrect.");
int eiOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize() + pd0.PercentGood.GetDataTypeSize() + pd0.Correlation.GetDataTypeSize();
Assert.AreEqual(eiOffset, MathHelper.LsbMsbShort(data[16], data[17]), "Echo Intensity offset is incorrect.");
int btOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize() + pd0.PercentGood.GetDataTypeSize() + pd0.Correlation.GetDataTypeSize() + pd0.EchoIntensity.GetDataTypeSize();
Assert.AreEqual(btOffset, MathHelper.LsbMsbShort(data[18], data[19]), "Bottom Track offset is incorrect.");
}
/// <summary>
/// Initialize and decode the given data.
/// </summary>
/// <param name="bt">RTI Bottom Track.</param>
/// <param name="xform">PD0 Coordinate Transform.</param>
public Pd0BottomTrack(DataSet.BottomTrackDataSet bt, PD0.CoordinateTransforms xform)
: base(ID_LSB, ID_MSB, Pd0ID.Pd0Types.BottomTrack)
{
// Initialize and decode the data
Initialize();
DecodeRtiEnsemble(bt, xform);
}
public void TestEncodeVelCorrEchoPgBt()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
Pd0Velocity vel = new Pd0Velocity(5);
vel.Velocities[0, 0] = 32;
vel.Velocities[0, 1] = -32;
pd0.AddDataType(vel);
Pd0Correlation corr = new Pd0Correlation(5);
corr.Correlation[0, 0] = 32;
corr.Correlation[0, 1] = 255;
pd0.AddDataType(corr);
Pd0EchoIntensity ei = new Pd0EchoIntensity(5);
ei.EchoIntensity[0, 0] = 32;
ei.EchoIntensity[0, 1] = 255;
pd0.AddDataType(ei);
Pd0PercentGood pg = new Pd0PercentGood(5);
pg.PercentGood[0, 0] = 32;
pg.PercentGood[0, 1] = 255;
pd0.AddDataType(pg);
Pd0BottomTrack bt = new Pd0BottomTrack();
bt.BtPingsPerEnsemble = 20;
bt.BtDelayBeforeReacquire = 20;
bt.BtAmplitudeBeam0 = 255;
pd0.AddDataType(bt);
byte[] encode = pd0.Encode();
int flOffset = pd0.Header.GetFixedLeader().Offset;
int velOffset = pd0.Header.GetVelocity().Offset;
int corrOffset = pd0.Header.GetCorrelation().Offset;
int eiOffset = pd0.Header.GetEchoIntensity().Offset;
int pgOffset = pd0.Header.GetPercentGood().Offset;
int btOffset = pd0.Header.GetBottomTrack().Offset;
Assert.AreEqual(0, encode[flOffset], "Fixed Leader ID LSB is incorrect");
Assert.AreEqual(0, encode[flOffset + 1], "Fixed Leader ID MSB is incorrect");
Assert.AreEqual(5, encode[flOffset + 9], "Number of depth cells is incorrect");
Assert.AreEqual(32, MathHelper.LsbMsbShort(encode[velOffset + 2], encode[velOffset + 3]), "Velocity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(-32, MathHelper.LsbMsbShort(encode[velOffset + 4], encode[velOffset + 5]), "Velocity Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[corrOffset + 2], "Correlation Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[corrOffset + 3], "Correlation Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[eiOffset + 2], "Echo Intensity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[eiOffset + 3], "Echo Intensity Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[pgOffset + 2], "Percent Good Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[pgOffset + 3], "Percent Good Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(20, MathHelper.LsbMsbUShort(encode[btOffset + 2], encode[btOffset + 3]), "Bottom Track Pings per Ensemble is incorrect.");
Assert.AreEqual(20, MathHelper.LsbMsbUShort(encode[btOffset + 4], encode[btOffset + 5]), "Bottom Track Delay Before Reacquire is incorrect.");
Assert.AreEqual(255, encode[btOffset + 36], "Bottom Track Amplitude Beam 0 is incorrect.");
Assert.IsTrue(pd0.IsBottomTrackExist, "IsBottomTrackExist is incorrect.");
Assert.IsTrue(pd0.IsCorrelationExist, "IsCorrelationExist is incorrect.");
Assert.IsTrue(pd0.IsEchoIntensityExist, "IsEchoIntensityExist is incorrect.");
Assert.IsTrue(pd0.IsPercentGoodExist, "IsPercentGoodExist is incorrect.");
}
/// <summary>
/// Convert the RTI Bottom Track data set to the PD0 Bottom Tarack data type.
/// </summary>
/// <param name="bt">RTI Bottom Track data set.</param>
/// <param name="xform">Coordinate Transform.</param>
public void DecodeRtiEnsemble(DataSet.BottomTrackDataSet bt, PD0.CoordinateTransforms xform)
{
BtPingsPerEnsemble = (ushort)bt.ActualPingCount; // Pings per ensemble
BtDelayBeforeReacquire = 0; // Delay Before Re-Acquire
BtCorrMagMin = 0; // Low Correlation Threshold - CWPCT - Do not have enough info
BtEvalAmpMin = 0; // Evaluation Amplitude Min - SNR - Do not have enough info
BtPercentGoodMin = 0; // Percent Good Minimum - Do not have enough info
BtMode = 0; // Bottom Track Mode - CBTBB - Do not have enough info
BtErrVelMax = 0; // Error Velocity Maximum - CBTQT - Do not have enough info
Reserved13_16 = 0; // Reserved
#region Range
// 4 Beam system
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
int beam = 0;
for (beam = 0; beam < PD0.NUM_BEAMS; beam++)
{
ushort lsb = 0;
byte msb = 0;
switch (beam)
{
case 0:
msb = (byte)Math.Floor((bt.Range[beam] * 100.0f) / ushort.MaxValue);
lsb = (ushort)Math.Round((bt.Range[beam] * 100.0f) - (msb * ushort.MaxValue));
BtRangeLsbBeam3 = lsb;
BtRangeMsbBeam3 = msb;
break;
case 1:
msb = (byte)Math.Floor((bt.Range[beam] * 100.0f) / ushort.MaxValue);
lsb = (ushort)Math.Round((bt.Range[beam] * 100.0f) - (msb * ushort.MaxValue));
BtRangeLsbBeam2 = lsb;
BtRangeMsbBeam2 = msb;
break;
case 2:
msb = (byte)Math.Floor((bt.Range[beam] * 100.0f) / ushort.MaxValue);
lsb = (ushort)Math.Round((bt.Range[beam] * 100.0f) - (msb * ushort.MaxValue));
BtRangeLsbBeam0 = lsb;
BtRangeMsbBeam0 = msb;
break;
case 3:
msb = (byte)Math.Floor((bt.Range[beam] * 100.0f) / ushort.MaxValue);
lsb = (ushort)Math.Round((bt.Range[beam] * 100.0f) - (msb * ushort.MaxValue));
BtRangeLsbBeam1 = lsb;
BtRangeMsbBeam1 = msb;
break;
default:
break;
}
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
ushort lsb = 0;
byte msb = 0;
msb = (byte)Math.Floor((bt.Range[0] * 100.0f) / ushort.MaxValue);
lsb = (ushort)Math.Round((bt.Range[0] * 100.0f) - (msb * ushort.MaxValue));
BtRangeLsbBeam0 = lsb;
BtRangeMsbBeam0 = msb;
}
#endregion
#region Velocity
switch(xform)
{
// Earth Coordinate Transform
case PD0.CoordinateTransforms.Coord_Earth:
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// Earth Beam 0
if (bt.EarthVelocity[0] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam0 = (short)(Math.Round(bt.EarthVelocity[0] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam0 = PD0.BAD_VELOCITY;
}
// Earth Beam 1
if (bt.EarthVelocity[1] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam1 = (short)(Math.Round(bt.EarthVelocity[1] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam1 = PD0.BAD_VELOCITY;
}
// Earth Beam 2
if (bt.EarthVelocity[2] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam2 = (short)(Math.Round(bt.EarthVelocity[2] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam2 = PD0.BAD_VELOCITY;
}
// Earth Beam 3
if (bt.EarthVelocity[3] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam3 = (short)(Math.Round(bt.EarthVelocity[3] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam3 = PD0.BAD_VELOCITY;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
// Earth Beam 0
if (bt.EarthVelocity[0] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam0 = (short)(Math.Round(bt.EarthVelocity[0] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam0 = PD0.BAD_VELOCITY;
}
}
break;
// Beam Coordinate Transform
case PD0.CoordinateTransforms.Coord_Beam:
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// Beam Beam 3
if (bt.BeamVelocity[0] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam3 = (short)(Math.Round(bt.BeamVelocity[0] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam3 = PD0.BAD_VELOCITY;
}
// Beam Beam 2
if (bt.BeamVelocity[1] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam2 = (short)(Math.Round(bt.BeamVelocity[1] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam2 = PD0.BAD_VELOCITY;
}
// Beam Beam 0
if (bt.BeamVelocity[2] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam0 = (short)(Math.Round(bt.BeamVelocity[2] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam0 = PD0.BAD_VELOCITY;
}
// Beam Beam 1
if (bt.BeamVelocity[3] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam1 = (short)(Math.Round(bt.BeamVelocity[3] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam1 = PD0.BAD_VELOCITY;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
// Beam Beam 3
if (bt.BeamVelocity[0] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam0 = (short)(Math.Round(bt.BeamVelocity[0] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam0 = PD0.BAD_VELOCITY;
}
}
break;
// Instrument Coordinate Transform
case PD0.CoordinateTransforms.Coord_Instrument:
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// Instrument Beam 1
if (bt.BeamVelocity[0] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam1 = (short)(Math.Round(bt.BeamVelocity[0] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam1 = PD0.BAD_VELOCITY;
}
// Instrument Beam 0
if (bt.BeamVelocity[1] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam0 = (short)(Math.Round(bt.BeamVelocity[1] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam0 = PD0.BAD_VELOCITY;
}
// Instrument Beam -2
if (bt.BeamVelocity[2] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam2 = (short)(Math.Round(bt.BeamVelocity[2] * 1000.0f * -1.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam2 = PD0.BAD_VELOCITY;
}
// Instrument Beam 3
if (bt.BeamVelocity[3] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam3 = (short)(Math.Round(bt.BeamVelocity[3] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam3 = PD0.BAD_VELOCITY;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
// Instrument Beam 1
if (bt.BeamVelocity[0] != DataSet.Ensemble.BAD_VELOCITY)
{
BtVelocityBeam0 = (short)(Math.Round(bt.BeamVelocity[0] * 1000.0f)); // mm/s to m/s
}
else
{
// Bad velocity
BtVelocityBeam0 = PD0.BAD_VELOCITY;
}
}
break;
default:
break;
}
#endregion
#region Correlation
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// beam order 3,2,0,1
BtCorrelationMagnitudeBeam0 = (byte)(Math.Round(bt.Correlation[3] * 255.0f));
if (BtCorrelationMagnitudeBeam0 > PD0.BAD_CORRELATION)
{
BtCorrelationMagnitudeBeam0 = PD0.BAD_CORRELATION;
}
BtCorrelationMagnitudeBeam1 = (byte)(Math.Round(bt.Correlation[2] * 255.0f));
if (BtCorrelationMagnitudeBeam1 > PD0.BAD_CORRELATION)
{
BtCorrelationMagnitudeBeam1 = PD0.BAD_CORRELATION;
}
BtCorrelationMagnitudeBeam2 = (byte)(Math.Round(bt.Correlation[0] * 255.0f));
if (BtCorrelationMagnitudeBeam2 > PD0.BAD_CORRELATION)
{
BtCorrelationMagnitudeBeam2 = PD0.BAD_CORRELATION;
}
BtCorrelationMagnitudeBeam3 = (byte)(Math.Round(bt.Correlation[1] * 255.0f));
if (BtCorrelationMagnitudeBeam3 > PD0.BAD_CORRELATION)
{
BtCorrelationMagnitudeBeam3 = PD0.BAD_CORRELATION;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
BtCorrelationMagnitudeBeam0 = (byte)(Math.Round(bt.Correlation[0] * 255.0f));
if (BtCorrelationMagnitudeBeam0 > PD0.BAD_CORRELATION)
{
BtCorrelationMagnitudeBeam0 = PD0.BAD_CORRELATION;
}
}
#endregion
#region Evaluation Amplitude
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// beam order 3,2,0,1
BtAmplitudeBeam0 = (byte)(Math.Round(bt.SNR[3] * 2.0f)); //0.5 counts per dB
if (BtAmplitudeBeam0 > PD0.BAD_AMPLITUDE)
{
BtAmplitudeBeam0 = PD0.BAD_AMPLITUDE;
}
BtAmplitudeBeam1 = (byte)(Math.Round(bt.SNR[2] * 2.0f)); //0.5 counts per dB
if (BtAmplitudeBeam1 > PD0.BAD_AMPLITUDE)
{
BtAmplitudeBeam1 = PD0.BAD_AMPLITUDE;
}
BtAmplitudeBeam2 = (byte)(Math.Round(bt.SNR[0] * 2.0f)); //0.5 counts per dB
if (BtAmplitudeBeam2 > PD0.BAD_AMPLITUDE)
{
BtAmplitudeBeam2 = PD0.BAD_AMPLITUDE;
}
BtAmplitudeBeam3 = (byte)(Math.Round(bt.SNR[1] * 2.0f)); //0.5 counts per dB
if (BtAmplitudeBeam3 > PD0.BAD_AMPLITUDE)
{
BtAmplitudeBeam3 = PD0.BAD_AMPLITUDE;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
BtAmplitudeBeam0 = (byte)(Math.Round(bt.SNR[0] * 2.0f)); //0.5 counts per dB
if (BtAmplitudeBeam0 > PD0.BAD_AMPLITUDE)
{
BtAmplitudeBeam0 = PD0.BAD_AMPLITUDE;
}
}
#endregion
#region Percent Good
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// beam order 3,2,0,1
BtPercentGoodBeam0 = (byte)(Math.Round((bt.EarthGood[3] * 100.0f) / BtPingsPerEnsemble));
if (BtPercentGoodBeam0 > PD0.BAD_PERCENT_GOOD)
{
BtPercentGoodBeam0 = PD0.BAD_PERCENT_GOOD;
}
BtPercentGoodBeam1 = (byte)(Math.Round((bt.EarthGood[2] * 100.0f) / BtPingsPerEnsemble));
if (BtPercentGoodBeam1 > PD0.BAD_PERCENT_GOOD)
{
BtPercentGoodBeam1 = PD0.BAD_PERCENT_GOOD;
}
BtPercentGoodBeam2 = (byte)(Math.Round((bt.EarthGood[0] * 100.0f) / BtPingsPerEnsemble));
if (BtPercentGoodBeam2 > PD0.BAD_PERCENT_GOOD)
{
BtPercentGoodBeam2 = PD0.BAD_PERCENT_GOOD;
}
BtPercentGoodBeam3 = (byte)(Math.Round((bt.EarthGood[1] * 100.0f) / BtPingsPerEnsemble));
if (BtPercentGoodBeam3 > PD0.BAD_PERCENT_GOOD)
{
BtPercentGoodBeam3 = PD0.BAD_PERCENT_GOOD;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
BtPercentGoodBeam0 = (byte)(Math.Round((bt.EarthGood[0] * 100.0f) / BtPingsPerEnsemble));
if (BtPercentGoodBeam0 > PD0.BAD_PERCENT_GOOD)
{
BtPercentGoodBeam0 = PD0.BAD_PERCENT_GOOD;
}
}
#endregion
#region Reference Layer
BtRefLayerFar = 0;
BtRefLayerMin = 0;
BtRefLayerNear = 0;
BtRefLayerVelocityBeam0 = 0;
BtRefLayerVelocityBeam1 = 0;
BtRefLayerVelocityBeam2 = 0;
BtRefLayerVelocityBeam3 = 0;
BtRefLayerCorrBeam0 = 0;
BtRefLayerCorrBeam1 = 0;
BtRefLayerCorrBeam2 = 0;
BtRefLayerCorrBeam3 = 0;
BtRefLayerEchoIntensityBeam0 = 0;
BtRefLayerEchoIntensityBeam1 = 0;
BtRefLayerEchoIntensityBeam2 = 0;
BtRefLayerEchoIntensityBeam3 = 0;
BtRefLayerEchoIntensityBeam0 = 0;
BtRefLayerEchoIntensityBeam1 = 0;
BtRefLayerEchoIntensityBeam2 = 0;
BtRefLayerEchoIntensityBeam3 = 0;
#endregion
BtMaxDepth = 0; // Max Depth - CBTMX - Do not have enough info
#region RSSI
// 4 Beam System
if (bt.NumBeams >= PD0.NUM_BEAMS)
{
// beam order 3,2,0,1
BtRssiBeam0 = bt.Amplitude[3] * 2.0f; //0.5 counts per dB
if (BtRssiBeam0 > PD0.BAD_AMPLITUDE)
{
BtRssiBeam0 = PD0.BAD_AMPLITUDE;
}
BtRssiBeam1 = bt.Amplitude[2] * 2.0f; //0.5 counts per dB
if (BtRssiBeam1 > PD0.BAD_AMPLITUDE)
{
BtRssiBeam1 = PD0.BAD_AMPLITUDE;
}
BtRssiBeam2 = bt.Amplitude[0] * 2.0f; //0.5 counts per dB
if (BtRssiBeam2 > PD0.BAD_AMPLITUDE)
{
BtRssiBeam2 = PD0.BAD_AMPLITUDE;
}
BtRssiBeam3 = bt.Amplitude[1] * 2.0f; //0.5 counts per dB
if (BtRssiBeam3 > PD0.BAD_AMPLITUDE)
{
BtRssiBeam3 = PD0.BAD_AMPLITUDE;
}
}
// Vertical Beam
else if (bt.NumBeams == 1)
{
BtRssiBeam0 = bt.Amplitude[0] * 2.0f; //0.5 counts per dB
if (BtRssiBeam0 > PD0.BAD_AMPLITUDE)
{
BtRssiBeam0 = PD0.BAD_AMPLITUDE;
}
}
#endregion
BtGain = 0x01; // Gain
Reserved82_85 = 0; // Reserved
}
/// <summary>
/// Initialize the data type.
/// Take the RTI data sets to
/// initialize the object.
/// </summary>
/// <param name="ens">RTI Ensemble aata set.</param>
/// <param name="anc">RTI Ancillary data set.</param>
/// <param name="sysSetup">SystemSetup data set.</param>
/// <param name="xform">Coordinate transform used for this ensemble.</param>
public Pd0FixedLeader(DataSet.EnsembleDataSet ens, DataSet.AncillaryDataSet anc, DataSet.SystemSetupDataSet sysSetup, PD0.CoordinateTransforms xform)
: base(ID_LSB, ID_MSB, Pd0ID.Pd0Types.FixedLeader)
{
Initialize();
DecodeRtiEnsemble(ens, anc, sysSetup, xform);
}
public void TestDecodeVelocityPg()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
#region Velocity
Pd0Velocity vel = new Pd0Velocity();
// 2 Byte Header
// 8 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] velData = new byte[42];
velData[0] = Pd0Velocity.ID_LSB;
velData[1] = Pd0Velocity.ID_MSB;
velData[2] = 0xE8; // DS0 Beam 0 LSB
velData[3] = 0x00; // DS0 Beam 0 MSB
velData[4] = 0xBD; // DS0 Beam 1 LSB
velData[5] = 0xFE; // DS0 Beam 1 MSB
velData[6] = 0xC8; // DS0 Beam 2 LSB
velData[7] = 0x01; // DS0 Beam 2 MSB
velData[8] = 0x72; // DS0 Beam 3 LSB
velData[9] = 0xFD; // DS0 Beam 3 MSB
velData[(4 * 8) + 2 + 0] = 0xD0; // DS4 Beam 0 LSB
velData[(4 * 8) + 2 + 1] = 0x04; // DS4 Beam 0 MSB
velData[(4 * 8) + 2 + 2] = 0xD5; // DS4 Beam 1 LSB
velData[(4 * 8) + 2 + 3] = 0xFA; // DS4 Beam 1 MSB
velData[(4 * 8) + 2 + 4] = 0xB0; // DS4 Beam 2 LSB
velData[(4 * 8) + 2 + 5] = 0x05; // DS4 Beam 2 MSB
velData[(4 * 8) + 2 + 6] = 0x8A; // DS4 Beam 3 LSB
velData[(4 * 8) + 2 + 7] = 0xF9; // DS4 Beam 3 MSB
vel.Decode(velData);
#endregion
pd0.AddDataType(vel); // Add Velocity
#region Percent Good
Pd0PercentGood pg = new Pd0PercentGood();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] pgData = new byte[22];
pgData[0] = Pd0PercentGood.ID_LSB;
pgData[1] = Pd0PercentGood.ID_MSB;
pgData[2] = 0xE8; // DS0 Beam 0
pgData[3] = 0x7B; // DS0 Beam 1
pgData[4] = 0x7A; // DS0 Beam 2
pgData[5] = 0xDF; // DS0 Beam 3
pgData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
pgData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
pgData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
pgData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
pg.Decode(pgData);
#endregion
pd0.AddDataType(pg); // Add Percent Good
byte[] data = pd0.Encode();
// Size
int size = Pd0VariableLeader.DATATYPE_SIZE;
size += Pd0FixedLeader.DATATYPE_SIZE;
size += 2; // Spare
//size += 2; // Checksum
size += pd0.Header.GetDataTypeSize();
size += pd0.Velocity.GetDataTypeSize();
size += pd0.PercentGood.GetDataTypeSize();
Assert.AreEqual(4, pd0.Header.NumberOfDataTypes(), "Number of Data Types is incorrect.");
Assert.AreEqual(5, pd0.Header.NumberOfDepthCells, "Number of depth cells is incorrect.");
Assert.AreEqual(size, MathHelper.LsbMsbShort(data[2], data[3]), "Number of Bytes is incorrect.");
Assert.AreEqual(4, data[5], "Number of Data Types is incorrect.");
Assert.AreEqual(size + 2, data.Length, "Array Size is incorrect."); // Add 2 for the checksum
int flOffset = pd0.Header.GetDataTypeSize();
Assert.AreEqual(flOffset, MathHelper.LsbMsbShort(data[6], data[7]), "Fixed Leader offset is incorrect.");
int vlOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE;
Assert.AreEqual(vlOffset, MathHelper.LsbMsbShort(data[8], data[9]), "Variable Leader offset is incorrect.");
int velOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE;
Assert.AreEqual(velOffset, MathHelper.LsbMsbShort(data[10], data[11]), "Velocity offset is incorrect.");
int pgOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize();
Assert.AreEqual(pgOffset, MathHelper.LsbMsbShort(data[12], data[13]), "Percent Good offset is incorrect.");
}
/// <summary>
/// Receive decoded data from the PD0 codec. This will be
/// the latest data decoded. It will include the complete
/// binary array of the data and the ensemble object.
/// </summary>
/// <param name="binaryEnsemble">Binary data of the ensemble.</param>
/// <param name="ensemble">Ensemble object.</param>
void _pd0Codec_ProcessDataEvent(byte[] binaryEnsemble, PD0 ensemble)
{
// Convert to a RTI ensemble
DataSet.Ensemble rtiEns = new DataSet.Ensemble(ensemble);
DataSet.VelocityVectorHelper.CreateVelocityVector(ref rtiEns);
if (ProcessDataEvent != null)
{
// Pass the data to the subscribers
ProcessDataEvent(binaryEnsemble, rtiEns);
}
_pd0Counter++;
// Check which buffers to clear
CheckCodecBuffers(CodecEnum.PD0);
}
/// <summary>
/// Convert the given binary data into an ensemble.
/// Then publish the data to all subscribers.
/// </summary>
/// <param name="binaryEnsemble">Binary PD0 data.</param>
private void DecodePd0Data(byte[] binaryEnsemble)
{
// Create the PD0 and RTI ensemble
PD0 pd0Ensemble = new PD0(binaryEnsemble);
// Send an event that data was processed
// in this format
if (ProcessDataEvent != null)
{
ProcessDataEvent(binaryEnsemble, pd0Ensemble);
}
}
public void TestDecodeVelocity()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
#region Velocity
Pd0Velocity vel = new Pd0Velocity();
// 2 Byte Header
// 8 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] velData = new byte[42];
velData[0] = Pd0Velocity.ID_LSB;
velData[1] = Pd0Velocity.ID_MSB;
velData[2] = 0xE8; // DS0 Beam 0 LSB
velData[3] = 0x00; // DS0 Beam 0 MSB
velData[4] = 0xBD; // DS0 Beam 1 LSB
velData[5] = 0xFE; // DS0 Beam 1 MSB
velData[6] = 0xC8; // DS0 Beam 2 LSB
velData[7] = 0x01; // DS0 Beam 2 MSB
velData[8] = 0x72; // DS0 Beam 3 LSB
velData[9] = 0xFD; // DS0 Beam 3 MSB
velData[(4 * 8) + 2 + 0] = 0xD0; // DS4 Beam 0 LSB
velData[(4 * 8) + 2 + 1] = 0x04; // DS4 Beam 0 MSB
velData[(4 * 8) + 2 + 2] = 0xD5; // DS4 Beam 1 LSB
velData[(4 * 8) + 2 + 3] = 0xFA; // DS4 Beam 1 MSB
velData[(4 * 8) + 2 + 4] = 0xB0; // DS4 Beam 2 LSB
velData[(4 * 8) + 2 + 5] = 0x05; // DS4 Beam 2 MSB
velData[(4 * 8) + 2 + 6] = 0x8A; // DS4 Beam 3 LSB
velData[(4 * 8) + 2 + 7] = 0xF9; // DS4 Beam 3 MSB
vel.Decode(velData);
#endregion
pd0.AddDataType(vel); // Add Velocity
byte[] data = pd0.Encode();
// Size
int size = Pd0VariableLeader.DATATYPE_SIZE;
size += Pd0FixedLeader.DATATYPE_SIZE;
size += 2; // Spare
//size += 2; // Checksum
size += pd0.Header.GetDataTypeSize();
size += pd0.Velocity.GetDataTypeSize();
Assert.AreEqual(3, pd0.Header.NumberOfDataTypes(), "Number of Data Types is incorrect.");
Assert.AreEqual(5, pd0.Header.NumberOfDepthCells, "Number of depth cells is incorrect.");
Assert.AreEqual(size, MathHelper.LsbMsbShort(data[2], data[3]), "Number of Bytes is incorrect.");
Assert.AreEqual(3, data[5], "Number of Data Types is incorrect.");
Assert.AreEqual(size + 2, data.Length, "Array Size is incorrect."); // Add 2 for the checksum
int flOffset = pd0.Header.GetDataTypeSize();
Assert.AreEqual(flOffset, MathHelper.LsbMsbShort(data[6], data[7]), "Fixed Leader offset is incorrect.");
int vlOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE;
Assert.AreEqual(vlOffset, MathHelper.LsbMsbShort(data[8], data[9]), "Variable Leader offset is incorrect.");
int velOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE;
Assert.AreEqual(velOffset, MathHelper.LsbMsbShort(data[10], data[11]), "Velocity offset is incorrect.");
}
public void TestEncodeVelCorrEcho()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
Pd0Velocity vel = new Pd0Velocity(5);
vel.Velocities[0, 0] = 32;
vel.Velocities[0, 1] = -32;
pd0.AddDataType(vel);
Pd0Correlation corr = new Pd0Correlation(5);
corr.Correlation[0, 0] = 32;
corr.Correlation[0, 1] = 255;
pd0.AddDataType(corr);
Pd0EchoIntensity ei = new Pd0EchoIntensity(5);
ei.EchoIntensity[0, 0] = 32;
ei.EchoIntensity[0, 1] = 255;
pd0.AddDataType(ei);
byte[] encode = pd0.Encode();
int flOffset = pd0.Header.GetFixedLeader().Offset;
int velOffset = pd0.Header.GetVelocity().Offset;
int corrOffset = pd0.Header.GetCorrelation().Offset;
int eiOffset = pd0.Header.GetEchoIntensity().Offset;
Assert.AreEqual(0, encode[flOffset], "Fixed Leader ID LSB is incorrect");
Assert.AreEqual(0, encode[flOffset + 1], "Fixed Leader ID MSB is incorrect");
Assert.AreEqual(5, encode[flOffset + 9], "Number of depth cells is incorrect");
Assert.AreEqual(32, MathHelper.LsbMsbShort(encode[velOffset + 2], encode[velOffset + 3]), "Velocity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(-32, MathHelper.LsbMsbShort(encode[velOffset + 4], encode[velOffset + 5]), "Velocity Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[corrOffset + 2], "Correlation Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[corrOffset + 3], "Correlation Bin 0, Beam 1 is incorrect.");
Assert.AreEqual(32, encode[eiOffset + 2], "Echo Intensity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(255, encode[eiOffset + 3], "Echo Intensity Bin 0, Beam 1 is incorrect.");
Assert.IsFalse(pd0.IsBottomTrackExist, "IsBottomTrackExist is incorrect.");
Assert.IsTrue(pd0.IsCorrelationExist, "IsCorrelationExist is incorrect.");
Assert.IsTrue(pd0.IsEchoIntensityExist, "IsEchoIntensityExist is incorrect.");
Assert.IsFalse(pd0.IsPercentGoodExist, "IsPercentGoodExist is incorrect.");
}
public void TestDecodeVelocityPgCorrEiBt()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
#region Velocity
Pd0Velocity vel = new Pd0Velocity();
// 2 Byte Header
// 8 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] velData = new byte[42];
velData[0] = Pd0Velocity.ID_LSB;
velData[1] = Pd0Velocity.ID_MSB;
velData[2] = 0xE8; // DS0 Beam 0 LSB
velData[3] = 0x00; // DS0 Beam 0 MSB
velData[4] = 0xBD; // DS0 Beam 1 LSB
velData[5] = 0xFE; // DS0 Beam 1 MSB
velData[6] = 0xC8; // DS0 Beam 2 LSB
velData[7] = 0x01; // DS0 Beam 2 MSB
velData[8] = 0x72; // DS0 Beam 3 LSB
velData[9] = 0xFD; // DS0 Beam 3 MSB
velData[(4 * 8) + 2 + 0] = 0xD0; // DS4 Beam 0 LSB
velData[(4 * 8) + 2 + 1] = 0x04; // DS4 Beam 0 MSB
velData[(4 * 8) + 2 + 2] = 0xD5; // DS4 Beam 1 LSB
velData[(4 * 8) + 2 + 3] = 0xFA; // DS4 Beam 1 MSB
velData[(4 * 8) + 2 + 4] = 0xB0; // DS4 Beam 2 LSB
velData[(4 * 8) + 2 + 5] = 0x05; // DS4 Beam 2 MSB
velData[(4 * 8) + 2 + 6] = 0x8A; // DS4 Beam 3 LSB
velData[(4 * 8) + 2 + 7] = 0xF9; // DS4 Beam 3 MSB
vel.Decode(velData);
#endregion
pd0.AddDataType(vel); // Add Velocity
#region Percent Good
Pd0PercentGood pg = new Pd0PercentGood();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] pgData = new byte[22];
pgData[0] = Pd0PercentGood.ID_LSB;
pgData[1] = Pd0PercentGood.ID_MSB;
pgData[2] = 0xE8; // DS0 Beam 0
pgData[3] = 0x7B; // DS0 Beam 1
pgData[4] = 0x7A; // DS0 Beam 2
pgData[5] = 0xDF; // DS0 Beam 3
pgData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
pgData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
pgData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
pgData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
pg.Decode(pgData);
#endregion
pd0.AddDataType(pg); // Add Percent Good
#region Correlation
Pd0Correlation corr = new Pd0Correlation();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] corrData = new byte[22];
corrData[0] = Pd0Velocity.ID_LSB;
corrData[1] = Pd0Velocity.ID_MSB;
corrData[2] = 0xE8; // DS0 Beam 0
corrData[3] = 0x7B; // DS0 Beam 1
corrData[4] = 0x7A; // DS0 Beam 2
corrData[5] = 0xDF; // DS0 Beam 3
corrData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
corrData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
corrData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
corrData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
corr.Decode(corrData);
#endregion
pd0.AddDataType(corr); // Add Correlation
#region Echo Intensity
Pd0EchoIntensity ei = new Pd0EchoIntensity();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] eiData = new byte[22];
eiData[0] = Pd0Velocity.ID_LSB;
eiData[1] = Pd0Velocity.ID_MSB;
eiData[2] = 0xE8; // DS0 Beam 0
eiData[3] = 0x7B; // DS0 Beam 1
eiData[4] = 0x7A; // DS0 Beam 2
eiData[5] = 0xDF; // DS0 Beam 3
eiData[(4 * 4) + 2 + 0] = 0x6F; // DS4 Beam 0
eiData[(4 * 4) + 2 + 1] = 0xDE; // DS4 Beam 1
eiData[(4 * 4) + 2 + 2] = 0x15; // DS4 Beam 2
eiData[(4 * 4) + 2 + 3] = 0x22; // DS4 Beam 3
ei.Decode(eiData);
#endregion
pd0.AddDataType(ei); // Add Echo Intensity
#region Bottom Track
Pd0BottomTrack bt = new Pd0BottomTrack();
// 2 Byte Header
// 4 Bytes per depth cell
// 4 Beams per depth cell
// 2 Bytes per beam
byte[] btData = new byte[Pd0BottomTrack.DATATYPE_SIZE];
bt.Decode(btData);
#endregion
pd0.AddDataType(bt); // Add Bottom Track
byte[] data = pd0.Encode();
// Size
int size = pd0.FixedLeader.GetDataTypeSize();
size += pd0.VariableLeader.GetDataTypeSize();
size += 2; // Spare
size += pd0.Header.GetDataTypeSize();
size += pd0.Velocity.GetDataTypeSize();
size += pd0.PercentGood.GetDataTypeSize();
size += pd0.Correlation.GetDataTypeSize();
size += pd0.EchoIntensity.GetDataTypeSize();
size += pd0.BottomTrack.GetDataTypeSize();
Assert.AreEqual(7, pd0.Header.NumberOfDataTypes(), "Number of Data Types is incorrect.");
Assert.AreEqual(5, pd0.Header.NumberOfDepthCells, "Number of depth cells is incorrect.");
Assert.AreEqual(size, MathHelper.LsbMsbShort(data[2], data[3]), "Number of Bytes is incorrect.");
Assert.AreEqual(7, data[5], "Number of Data Types is incorrect.");
Assert.AreEqual(size + 2, data.Length, "Array Size is incorrect."); // Add 2 for the checksum
int flOffset = pd0.Header.GetDataTypeSize();
Assert.AreEqual(flOffset, MathHelper.LsbMsbShort(data[6], data[7]), "Fixed Leader offset is incorrect.");
int vlOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE;
Assert.AreEqual(vlOffset, MathHelper.LsbMsbShort(data[8], data[9]), "Variable Leader offset is incorrect.");
int velOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE;
Assert.AreEqual(velOffset, MathHelper.LsbMsbShort(data[10], data[11]), "Velocity offset is incorrect.");
int pgOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize();
Assert.AreEqual(pgOffset, MathHelper.LsbMsbShort(data[12], data[13]), "Percent Good offset is incorrect.");
int corrOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize() + pd0.PercentGood.GetDataTypeSize();
Assert.AreEqual(corrOffset, MathHelper.LsbMsbShort(data[14], data[15]), "Correlation offset is incorrect.");
int eiOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize() + pd0.PercentGood.GetDataTypeSize() + pd0.Correlation.GetDataTypeSize();
Assert.AreEqual(eiOffset, MathHelper.LsbMsbShort(data[16], data[17]), "Echo Intensity offset is incorrect.");
int btOffset = pd0.Header.GetDataTypeSize() + Pd0FixedLeader.DATATYPE_SIZE + Pd0VariableLeader.DATATYPE_SIZE + pd0.Velocity.GetDataTypeSize() + pd0.PercentGood.GetDataTypeSize() + pd0.Correlation.GetDataTypeSize() + pd0.EchoIntensity.GetDataTypeSize();
Assert.AreEqual(btOffset, MathHelper.LsbMsbShort(data[18], data[19]), "Bottom Track offset is incorrect.");
}
/// <summary>
/// Decode the incoming data for ensemble data.
/// First search for header. When a header is found,
/// verify it is a good header. When the header is
/// verified, get the payload size. Determine the
/// buffer contains the entire ensemble. If the
/// entire ensemble is present in the buffer, retreive
/// the ensemble and place in a seperate byte array
/// and remove it from the buffer. Then decode the
/// ensemble for all the ranges present.
/// </summary>
private void DecodeIncomingData()
{
// Find the beginning of an ensemble
// It will contain 2 0x7F at the start
SearchForHeaderStart();
// Verify the incoming data can at least fit the header
if (_incomingDataBuffer.Count > Pd0Header.HEADER_MIN_BYTE)
{
// If found 2 bytes of 0x7F
// Continue forward
// Find ensemble number and ensemble size
if (VerifyHeaderStart())
{
// Get Ensemble size
int currentEnsembleSize = GetEnsembleSize();
// Ensure the entire ensemble is present
// before proceeding
if (_incomingDataBuffer.Count >= currentEnsembleSize && currentEnsembleSize > 0)
{
// Create an array to hold the ensemble
byte[] ensemble = new byte[currentEnsembleSize];
// Lock the buffer, to ensure the same data is copied
lock (_bufferLock)
{
// Check one more time just in case the buffer was modified
if (_incomingDataBuffer.Count >= currentEnsembleSize)
{
// Copy the ensemble to a byte array
_incomingDataBuffer.CopyTo(0, ensemble, 0, currentEnsembleSize);
// Remove ensemble from buffer
_incomingDataBuffer.RemoveRange(0, currentEnsembleSize);
}
}
// Get the checksum values
ushort calculatedChecksum = PD0.CalculateChecksum(ensemble, currentEnsembleSize - PD0.CHECKSUM_NUM_BYTE);
ushort ensembleChecksum = RetrieveEnsembleChecksum(ensemble);
// Verify the checksum match
if (calculatedChecksum == ensembleChecksum)
{
// Decode the binary data
DecodePd0Data(ensemble);
}
}
}
else
{
// Lock the buffer while removing
lock (_bufferLock)
{
if (_incomingDataBuffer.Count > 0)
{
// Remove the first element to continue searching
_incomingDataBuffer.RemoveAt(0);
}
}
}
}
}
/// <summary>
/// Set the Coordinate Transform based off the value given.
/// </summary>
/// <param name="xform">Coordinate Transform to set.</param>
public void SetCoordinateTransform(PD0.CoordinateTransforms xform)
{
switch (xform)
{
case PD0.CoordinateTransforms.Coord_Beam:
// 00
CoordinateTransform = MathHelper.ZeroBitByte(CoordinateTransform, 3);
CoordinateTransform = MathHelper.ZeroBitByte(CoordinateTransform, 4);
break;
case PD0.CoordinateTransforms.Coord_Instrument:
// 01
CoordinateTransform = MathHelper.SetBitByte(CoordinateTransform, 3);
CoordinateTransform = MathHelper.ZeroBitByte(CoordinateTransform, 4);
break;
case PD0.CoordinateTransforms.Coord_Ship:
// 10
CoordinateTransform = MathHelper.ZeroBitByte(CoordinateTransform, 3);
CoordinateTransform = MathHelper.SetBitByte(CoordinateTransform, 4);
break;
case PD0.CoordinateTransforms.Coord_Earth:
// 11
CoordinateTransform = MathHelper.SetBitByte(CoordinateTransform, 3);
CoordinateTransform = MathHelper.SetBitByte(CoordinateTransform, 4);
break;
}
}
public void TestEncodeVel()
{
PD0 pd0 = new PD0();
pd0.FixedLeader.NumberOfCells = 5;
Pd0Velocity vel = new Pd0Velocity(5);
vel.Velocities[0, 0] = 32;
vel.Velocities[0, 1] = -32;
pd0.AddDataType(vel);
byte[] encode = pd0.Encode();
int flOffset = pd0.Header.GetFixedLeader().Offset;
int velOffset = pd0.Header.GetVelocity().Offset;
Assert.AreEqual(0, encode[flOffset], "Fixed Leader ID LSB is incorrect");
Assert.AreEqual(0, encode[flOffset + 1], "Fixed Leader ID MSB is incorrect");
Assert.AreEqual(5, encode[flOffset + 9], "Number of depth cells is incorrect");
Assert.AreEqual(32, MathHelper.LsbMsbShort(encode[velOffset + 2], encode[velOffset + 3]), "Velocity Bin 0, Beam 0 is incorrect.");
Assert.AreEqual(-32, MathHelper.LsbMsbShort(encode[velOffset + 4], encode[velOffset + 5]), "Velocity Bin 0, Beam 1 is incorrect.");
}
/// <summary>
/// Convert the RTI Ancillary and Ensemble data set to the PD0 Fixed Leader data type.
/// </summary>
/// <param name="ens">RTI Ensemble data set.</param>
/// <param name="anc">RTI Ancillary data set.</param>
/// <param name="sysSetup">SystemSetup data set.</param>
/// <param name="xform">Coordinate Transform.</param>
public void DecodeRtiEnsemble(DataSet.EnsembleDataSet ens, DataSet.AncillaryDataSet anc, DataSet.SystemSetupDataSet sysSetup, PD0.CoordinateTransforms xform)
{
// Ensure the values were given, or create default values
if (ens == null)
{
ens = new DataSet.EnsembleDataSet();
}
if (anc == null)
{
anc = new DataSet.AncillaryDataSet();
}
if (sysSetup == null)
{
sysSetup = new DataSet.SystemSetupDataSet();
}
CpuFirmwareVersion = (byte)ens.SysFirmware.FirmwareMinor; // Firmware Major
CpuFirmwareRevision = (byte)ens.SysFirmware.FirmwareRevision; // Firmware Minor
switch(ens.SubsystemConfig.SubSystem.GetSystemFrequency())
{
case Subsystem.SystemFrequency.Freq_75kHz:
SetSystemFrequency(SystemFrequency.Freq_75kHz); // 75 kHz
Set30DegreeBeamAngle(); // 30 Degree Beam Angle
SetBeamConfiguration(BeamConfigs.BeamConfig_4_Beam_Janus); // 4 Beam Janus
SetConvex(); // Set Convex
SetSensorConfig1(); // Set Sensor Config 1
SetHeadAttached(); // Set Head Attached
break;
case Subsystem.SystemFrequency.Freq_150kHz:
SetSystemFrequency(SystemFrequency.Freq_150kHz); // 150 kHz
Set30DegreeBeamAngle(); // 20 Degree Beam Angle
SetBeamConfiguration(BeamConfigs.BeamConfig_4_Beam_Janus); // 4 Beam Janus
SetConvex(); // Set Convex
SetSensorConfig1(); // Set Sensor Config 1
SetHeadAttached(); // Set Head Attached
break;
case Subsystem.SystemFrequency.Freq_300kHz:
SetSystemFrequency(SystemFrequency.Freq_300kHz); // 300 kHz
Set20DegreeBeamAngle(); // 20 Degree Beam Angle
SetBeamConfiguration(BeamConfigs.BeamConfig_4_Beam_Janus); // 4 Beam Janus
SetConvex(); // Set Convex
SetSensorConfig1(); // Set Sensor Config 1
SetHeadAttached(); // Set Head Attached
break;
case Subsystem.SystemFrequency.Freq_600kHz:
SetSystemFrequency(SystemFrequency.Freq_600kHz); // 600 kHz
Set20DegreeBeamAngle(); // 20 Degree Beam Angle
SetBeamConfiguration(BeamConfigs.BeamConfig_4_Beam_Janus); // 4 Beam Janus
SetConvex(); // Set Convex
SetSensorConfig1(); // Set Sensor Config 1
SetHeadAttached(); // Set Head Attached
break;
case Subsystem.SystemFrequency.Freq_1200kHz:
SetSystemFrequency(SystemFrequency.Freq_1200kHz); // 1200 kHz
Set20DegreeBeamAngle(); // 20 Degree Beam Angle
SetBeamConfiguration(BeamConfigs.BeamConfig_4_Beam_Janus); // 4 Beam Janus
SetConvex(); // Set Convex
SetSensorConfig1(); // Set Sensor Config 1
SetHeadAttached(); // Set Head Attached
break;
case Subsystem.SystemFrequency.Freq_2000kHz:
SetSystemFrequency(SystemFrequency.Freq_2400kHz); // 2400 kHz
Set20DegreeBeamAngle(); // 20 Degree Beam Angle
SetBeamConfiguration(BeamConfigs.BeamConfig_4_Beam_Janus); // 4 Beam Janus
SetConvex(); // Set Convex
SetSensorConfig1(); // Set Sensor Config 1
SetHeadAttached(); // Set Head Attached
break;
case Subsystem.SystemFrequency.Freq_38kHz:
default:
break;
}
if (anc.Roll < 90 && anc.Roll > -90)
{
SetBeamsUpward(); // Set Beams Upward
}
else
{
SetBeamsDownward(); // Set Beams Downward
}
RealSimFlag = false;
LagLength = 0; // Lag Length
NumberOfBeams = (byte)ens.NumBeams; // Number of Beams
NumberOfCells = (byte)ens.NumBins; // Number of bins
PingsPerEnsemble = (ushort)ens.ActualPingCount; // Pings per ensemble
DepthCellLength = (ushort)Math.Round(anc.BinSize * 100); // Depth Cell length
BlankAfterTransmit = 0; // Blank - CWPBL - Do not have enough info
ProfilingMode = 0; // Signal Processing Mode - CWPBB - Do not have enough info
LowCorrThresh = 0; // Low Correlation Threshold - CWPCT - Do not have enough info
NumCodeRepeats = (byte)sysSetup.WpRepeatN; // Number of Code Repeats
PercentGoodMinimum = 0; // Percent Good Minimum - Do not have enough info
ErrorVelMaximum = 0; // Error Velocity Maximum - Do not have enough info
TimeBetweenPingMinutes = 0; // Time Between Pings Minutes - CWPTBP - Do not have enough info
TimeBetweenPingSeconds = 0; // Time Between Pings Seconds - CWPTBP - Do not have enough info
TimeBetweenPingHundredths = 0; // Time Between Pings Hundredths -CWPTBP - Do not have enough info
SetCoordinateTransform(xform); // Set Coordinate Transform
HeadingAlignment = 0; // Heading alignment
HeadingBias = 0; // Heading Bias
SensorSource = 0x5d; // Sensor Source
SensorsAvailable = 0x5d; // Sensors Available
Bin1Distance = (ushort)Math.Round(anc.FirstBinRange * 100); // Bin 1 distance
XmitPulseLength = 0; // Transmit Pulse Length - Do not have enough info
ReferenceLayerAverageStartCell = 0; // Reference Layer Average Start Cell - Do not have enough info
ReferenceLayerAverageEndCell = 0; // Reference Layer Average End Cell - Do not have enough info
FalseTargetThresh = 0; // False Target Threshold
Spare_40 = 0xFE; // Spare
TransmitLagDistance = 0; // Lag Distance - CWPLL - Do not have enough info
CpuBoardSerialNumber = ens.SysSerialNumber.ToString(); // CPU Board Serial Number
SystemBandwidth = 12; // System Bandwidth
SystemPower = 0; // System Power
BaseFrequencyIndex = 0; // Base Frequency Index
BeamAngle = 0; // Beam Angle
}
/// <summary>
/// Find the entire ensemble in the file. This will look for the start location.
/// Decode the payload size and checksum. If they are good, then generate an
/// ensemble from the data. Add the data to the list and return it.
/// </summary>
/// <param name="ensStart">List of all the ensembles.</param>
/// <param name="file">File to look for the ensembles.</param>
/// <returns>List of all the ensembles in the file.</returns>
protected List <DataSet.EnsemblePackage> FindCompleteEnsembles(List <int> ensStart, string file)
{
var list = new List <DataSet.EnsemblePackage>();
using (var fileStream = new FileStream(file, FileMode.Open, FileAccess.Read))
{
foreach (var start in ensStart)
{
try
{
var buffer = new byte[DataSet.Ensemble.ENSEMBLE_HEADER_LEN]; //Buffer is byte array of size 32. In Binary codec, buffer is byte array of size 32, containing 32 bytes from file
// Move the start location and read in the header
fileStream.Seek(start, SeekOrigin.Begin);
if (fileStream.Read(buffer, 0, buffer.Length) >= DataSet.Ensemble.ENSEMBLE_HEADER_LEN) // Always true, buffer always size of variable, this loads in bytes to Buffer, however
{
// Get the payload size
int payloadSize = MathHelper.LsbMsbInt(buffer[2], buffer[3]) + PD0.CHECKSUM_NUM_BYTE; //When referencing positions in buffer, uses "start" Which implies it is looking for the position in the actual file. (Error?)
// Get the ensemble size
int ensSize = MathHelper.LsbMsbInt(buffer[2], buffer[3]) + PD0.CHECKSUM_NUM_BYTE; // Same equation as payload size, but the LsbMsbInt Might change buffer itself?
// Sanity check
if (ensSize > DataSet.Ensemble.ENSEMBLE_HEADER_LEN)
{
// Get the entire ensemble
var rawEns = new byte[ensSize];
fileStream.Seek(start, SeekOrigin.Begin);
fileStream.Read(rawEns, 0, rawEns.Length);
// Check the checksum
ushort calculatedChecksum = PD0.CalculateChecksum(rawEns, ensSize - PD0.CHECKSUM_NUM_BYTE);
ushort ensembleChecksum = MathHelper.LsbMsbUShort(rawEns[rawEns.Length - 2], rawEns[rawEns.Length - 1]);
if (calculatedChecksum == ensembleChecksum)
{
// Pass event that a good ensemble was found
if (GoodEnsembleEvent != null)
{
GoodEnsembleEvent();
}
//Pd0Codec _pd0Codec = new Pd0Codec();
//PD0 pd0 = _pd0Codec.DecodePd0Data(rawEns);
PD0 pd0Ensemble = new PD0(rawEns);
DataSet.Ensemble ens = new DataSet.Ensemble(pd0Ensemble);
ens.FileName = file;
// Generate a subsystem so that multiple configurations can be seprated
// PD0 does not contain the CEPO index or CEPO Configuraiton Index
if (ens.IsEnsembleAvail)
{
ens.EnsembleData.SubsystemConfig = _pd0SubsystemGen.GenSubsystem(ens);
}
// Package the data
var ensPak = new DataSet.EnsemblePackage();
ensPak.Ensemble = ens;
ensPak.RawEnsemble = rawEns;
ensPak.OrigDataFormat = AdcpCodec.CodecEnum.PD0;
list.Add(ensPak);
}
else
{
// Pass event that a good ensemble was found
if (BadEnsembleEvent != null)
{
BadEnsembleEvent();
}
}
}
}
}
catch (Exception e)
{
log.Error("Error looking for an ensemble. Loc: " + start, e);
}
}
}
return(list);
}
