/// <summary>
/// Builds a command to set the frame stream settings.
/// Interpacket delay helps some slower network equipment avoid dropping packets.
/// </summary>
/// <param name="interpacketDelay">The extra delay between frame parts in microseconds.
/// This is normally set to zero.</param>
/// <returns>A <c>SET_FRAMESTREAM_SETTINGS</c> command.</returns>
public static Command BuildFrameStreamSettingsCmd(uint interpacketDelay)
{
Command.Types.SetInterpacketDelay BuildDelay()
{
var delay = Command.Types.SetInterpacketDelay.CreateBuilder();
delay.Enable = interpacketDelay > 0;
if (interpacketDelay > 0)
{
delay.DelayPeriod = interpacketDelay;
}
return(delay.Build());
}
Command.Types.SetFrameStreamSettings BuildSettings()
{
var settings = Command.Types.SetFrameStreamSettings.CreateBuilder();
settings.InterpacketDelay = BuildDelay();
return(settings.Build());
}
var outer = Command.CreateBuilder();
outer.Type = Command.Types.CommandType.SET_FRAMESTREAM_SETTINGS;
outer.FrameStreamSettings = BuildSettings();
return(outer.Build());
}
/// <summary>
/// Builds a command to set acoustic settings.
/// </summary>
/// <param name="settings"></param>
/// <returns>A <c>SET_ACOUSTICS</c> command.</returns>
public static Command BuildAcousticSettingsCmd(AcousticSettingsWithCookie settings)
{
Command.Types.SetAcousticSettings BuildSettings()
{
var inner = Command.Types.SetAcousticSettings.CreateBuilder();
inner.Cookie = settings.Cookie;
inner.FrameRate = settings.FrameRate;
inner.SamplesPerBeam = settings.SampleCount;
inner.SampleStartDelay = settings.SampleStartDelay;
inner.CyclePeriod = settings.CyclePeriod;
inner.SamplePeriod = settings.SamplePeriod;
inner.PulseWidth = settings.PulseWidth;
inner.PingMode = settings.PingMode;
inner.EnableTransmit = settings.EnableTransmit;
inner.Frequency = settings.HighFrequency ? HighFrequency : LowFrequency;
inner.Enable150Volts = settings.Enable150Volts;
inner.ReceiverGain = settings.ReceiverGain;
return(inner.Build());
}
var outer = Command.CreateBuilder();
outer.Type = Command.Types.CommandType.SET_ACOUSTICS;
outer.Settings = BuildSettings();
return(outer.Build());
}
/// <summary>
/// Builds a command to set the frame stream receiver. When using this function,
/// the IP address to which the framestream is sent is implicitly assumed to be
/// the IP address of your controller application.
/// </summary>
/// <param name="port">The port to which the frame stream is sent.</param>
/// <returns>A <c>SET_FRAMESTREAM_RECEIVER</c> command.</returns>
public static Command BuildSetFrameStreamReceiverCmd(uint port)
{
var builder = Command.CreateBuilder();
builder.Type = Command.Types.CommandType.SET_FRAMESTREAM_RECEIVER;
builder.FrameStreamReceiver = BuildFramestreamReceiver(port);
return(builder.Build());
}
/// <summary>
/// Build a command to set salinity on the sonar.
/// </summary>
/// <param name="salinity">The salinity.</param>
/// <returns>A <c>SET_SALINITY</c> command.</returns>
public static Command BuildSalinityCmd(Salinity salinity)
{
Command.Types.SetSalinity BuildSalinity()
{
var inner = Command.Types.SetSalinity.CreateBuilder();
inner.Salinity = (Command.Types.SetSalinity.Types.Salinity)salinity;
return(inner.Build());
}
var outer = Command.CreateBuilder();
outer.Type = Command.Types.CommandType.SET_SALINITY;
outer.Salinity = BuildSalinity();
return(outer.Build());
}
/// <summary>
/// Builds a command to set the focus range.
/// </summary>
/// <param name="range">The focus range in meters.</param>
/// <returns>A <c>SET_FOCUS</c> command.</returns>
public static Command BuildFocusCmd(float range)
{
Command.Types.SetFocusPosition BuildFocusPosition()
{
var inner = Command.Types.SetFocusPosition.CreateBuilder();
inner.FocusRange = range;
return(inner.Build());
}
var outer = Command.CreateBuilder();
outer.Type = Command.Types.CommandType.SET_FOCUS;
outer.FocusPosition = BuildFocusPosition();
return(outer.Build());
}
/// <summary>
/// Builds a command to set the clock on the sonar. The clock is set to local time.
/// </summary>
/// <param name="dateTime">The current time.</param>
/// <returns>A <c>SET_DATETIME</c> command.</returns>
public static Command BuildTimeCmd(DateTime dateTime)
{
Command.Types.SetDateTime BuildDateTime()
{
var inner = Command.Types.SetDateTime.CreateBuilder();
inner.DateTime = dateTime.ToLocalTime().ToString("yyyy'-'MMM'-'dd HH':'mm':'ss",
System.Globalization.CultureInfo.InvariantCulture);
return(inner.Build());
}
var outer = Command.CreateBuilder();
outer.Type = Command.Types.CommandType.SET_DATETIME;
outer.DateTime = BuildDateTime();
return(outer.Build());
}
/// <summary>
/// Creates a buffer of bytes representing a command. This is sent to the ARIS
/// to command it. This buffer is prefixed with the length prefix, so it can be
/// sent directly to the ARIS, or sent via <c>SendCommand</c>.
/// </summary>
/// <param name="cmd">The command to be sent.</param>
/// <returns>The command as bytes.</returns>
private static byte[] ToPrefixedBytes(Command cmd)
{
byte[] msg = cmd.ToByteArray();
byte[] prefix = GetCommandLengthPrefix(msg);
byte[] buf = new byte[msg.Length + prefix.Length];
Array.Copy(prefix, buf, prefix.Length);
Array.Copy(msg, 0, buf, prefix.Length, msg.Length);
return(buf);
byte[] GetCommandLengthPrefix(byte[] serializedCommand)
{
// htonl() if you're writing C:
var msgLengthNetworkOrder = IPAddress.HostToNetworkOrder(serializedCommand.Length);
return(BitConverter.GetBytes(msgLengthNetworkOrder));
}
}
/// <summary>
/// Converts a command to a byte array and sends it to the sonar.
/// </summary>
/// <param name="commandSocket">A TCP socket connected to the sonar
/// on the command port.</param>
/// <param name="cmd">The <c>Command</c> to be sent.</param>
public static void SendCommand(TcpClient commandSocket, Command cmd)
{
var prefixedMessage = ToPrefixedBytes(cmd);
commandSocket.Client.Send(prefixedMessage);
}
