/// <summary>
/// Initializes a new instance of the PingRecord class that contain the values extracted from the given byte array.
/// </summary>
/// <param name="byteArray">The size of array need to be at least of 256 bytes.</param>
/// <param name="startByte">The first byte of this ping.</param>
/// <param name="NumberOfSamples">The number of samples that are stored.</param>
/// <param name="BytesPerSample">The quantity of bytes for each sample stored.</param>
/// <param name="IsDataUnipolar">The polarity of the data.</param>
public PingRecord(byte[] byteArray, UInt32 startByte, UInt32 NumberOfSamples, UInt16 BytesPerSample, bool IsDataUnipolar)
{
_channelHeaders = new List <PingChannelHeader>();
_channelData = new List <PingChannelData>();
var bytesToEnd = byteArray.Length - startByte;
if (bytesToEnd >= 320)
{
// Convert the array in a stream
using (BinaryReader dp = new BinaryReader(ArrayToStream.BytesToMemory(byteArray)))
{
// Read the PingHeader
dp.BaseStream.Seek(startByte, SeekOrigin.Begin);
_header = new PingHeader(dp.ReadBytes(256));
if (bytesToEnd >= _header.NumberBytesThisRecord)
{
for (int c = 0; c < _header.NumberChannelsToFollow; c++)
{
// Read the PingChannelHeader
_channelHeaders.Add(new PingChannelHeader(dp.ReadBytes(64)));
// Extract the bytes that contain the data
long oft = startByte + ((NumberOfSamples * BytesPerSample) * c) + ((c + 1) * 64);
byte[] chnData = byteArray.SubArray(oft, NumberOfSamples * BytesPerSample);
for (int d = 0; d < NumberOfSamples; d++)
{
chnData[d] = byteArray[d + oft];
}
// Read the PingChannelData
_channelData.Add(new PingChannelData(chnData, NumberOfSamples, BytesPerSample, IsDataUnipolar));
// Update the position in the stream
dp.ReadBytes((int)NumberOfSamples * BytesPerSample);
}
}
}
}
}
/// <summary>
/// Initializes a new instance of the XtfDocument class that contain the values extracted from the given byte array.
/// </summary>
/// <param name="byteArray"></param>
public XtfDocument(Byte[] byteArray)
{
_MainHeader = new XtfMainHeader();
_Channels = new List <ChannelInfo> {
};
_PacketIndexes = new List <IndexEntry> {
};
_Stats = new StatCollection();
if (byteArray.Length >= 1024)
{
using (BinaryReader dp = new BinaryReader(ArrayToStream.BytesToMemory(byteArray)))
{
// Make sure to start from the first byte
dp.BaseStream.Seek(0, SeekOrigin.Begin);
// Read the header of the file.
_MainHeader = new XtfMainHeader(dp.ReadBytes(256));
// Read the channel data attacched to the header of the file.
_Channels.Clear();
int chnum = _MainHeader.NumberOfSonarChannels + _MainHeader.NumberOfBathymetryChannels - 1;
if (chnum >= 0)
{
if (chnum <= 6)
{
for (int i = 0; i <= chnum; i++)
{
_Channels.Add(new ChannelInfo(dp.ReadBytes(128)));
}
}
else
{
if (byteArray.Length >= 2048)
{
for (int i = 0; i <= chnum; i++)
{
_Channels.Add(new ChannelInfo(dp.ReadBytes(128)));
}
}
else
{
for (int i = 0; i <= 6; i++)
{
_Channels.Add(new ChannelInfo(dp.ReadBytes(128)));
}
}
}
}
UInt32 actualByte;
UInt32 totalBytes = (UInt32)byteArray.Length;
// Compute the dimension of the header.
if (_Channels.Count <= 6)
{
actualByte = 1024;
}
else
{
if (_Channels.Count <= 14)
{
actualByte = 2048;
}
else
{
actualByte = 3072;
} // Up to 22 channels seem to be more than enough.
}
// Make sure to start from the first packet after the header.
dp.BaseStream.Seek(actualByte - 1, SeekOrigin.Begin);
// read all the data packets
bool IsEndOfStream = false;
long bytesToEnd;
while (!IsEndOfStream)
{
try
{
// Explicit cast to fix the difference operator with uint values
bytesToEnd = (long)totalBytes - (long)actualByte;
if (bytesToEnd > 256)
{
PacketSniffer snif = new PacketSniffer(dp.ReadBytes(256));
if (snif.MagicNumber == MagicNumber)
{
_PacketIndexes.Add(new IndexEntry(snif.HeaderType, actualByte));
_Stats.AddPacket(snif);
// Update the reading position
actualByte = actualByte + snif.NumberBytesThisRecord;
dp.BaseStream.Seek(actualByte - 1, SeekOrigin.Begin);
}
else
{
// Update the reading position
actualByte = actualByte + 1;
dp.BaseStream.Seek(actualByte - 1, SeekOrigin.Begin);
}
IsEndOfStream = false;
}
else
{
if (bytesToEnd >= 64)
{
PacketSniffer snif = new PacketSniffer(dp.ReadBytes(14));
if (snif.MagicNumber == MagicNumber)
{
_PacketIndexes.Add(new IndexEntry(snif.HeaderType, actualByte));
_Stats.AddPacket(snif);
// Update the reading position
actualByte = actualByte + snif.NumberBytesThisRecord;
dp.BaseStream.Seek(actualByte - 1, SeekOrigin.Begin);
}
else
{
// Update the reading position
actualByte = actualByte + 1;
dp.BaseStream.Seek(actualByte - 1, SeekOrigin.Begin);
}
IsEndOfStream = true;
}
else
{
IsEndOfStream = true;
}
}
}
catch
{
// Error
}
}
}
}
}
/// <summary>
/// Initializes a new instance of the XtfMainHeader class that contain the values extracted from the given byte array.
/// </summary>
/// <param name="byteArray">The size of array need to be at least of 256 bytes.</param>
public XtfMainHeader(Byte[] byteArray)
{
_FileFormat = 123;
_SystemType = 1;
_RecordingProgramName = "nd";
_RecordingProgramVersion = "223";
_SonarName = "nd";
_SonarType = 0;
_NoteString = "nd";
_ThisFileName = "nd";
_NavigationCoordinateUnits = 0;
_NumberOfSonarChannels = 0;
_NumberOfBathymetryChannels = 0;
_NumberOfSnippetChannels = 0;
_NumberOfForwardLookArrays = 0;
_NumberOfEchoStrengthChannels = 0;
_NumberOfInterferometryChannels = 0;
_ReferencePointHeight = 0;
_NavigationLatency = 0;
_NavigationOffsetY = 0;
_NavigationOffsetX = 0;
_NavigationOffsetZ = 0;
_NavigationOffsetYaw = 0;
_MRUOffsetY = 0;
_MRUOffsetX = 0;
_MRUOffsetZ = 0;
_MRUOffsetYaw = 0;
_MRUOffsetPitch = 0;
_MRUOffsetRoll = 0;
if (byteArray.Length >= 256)
{
using (BinaryReader dp = new BinaryReader(ArrayToStream.BytesToMemory(byteArray)))
{
_FileFormat = dp.ReadByte(); // 0
_SystemType = dp.ReadByte(); // 1
_RecordingProgramName = new String(dp.ReadChars(8)); // 2-3-4-5-6-7-8-9
_RecordingProgramVersion = new String(dp.ReadChars(8)); // 10-11-12-13-14-15-16-17
_SonarName = new String(dp.ReadChars(16)); // 18-19-20-21-22-23-24-25-26-27-28-29-30-31-32-33
_SonarType = dp.ReadUInt16(); // 34-35
_NoteString = new String(dp.ReadChars(64)); // 36 -> 99
_ThisFileName = new String(dp.ReadChars(64)); // 100 -> 163
_NavigationCoordinateUnits = (CoordinateUnits)dp.ReadUInt16(); // 164-165
_NumberOfSonarChannels = dp.ReadUInt16(); // 166-167
_NumberOfBathymetryChannels = dp.ReadUInt16(); // 168-169
_NumberOfSnippetChannels = dp.ReadByte(); // 170
_NumberOfForwardLookArrays = dp.ReadByte(); // 171
_NumberOfEchoStrengthChannels = dp.ReadUInt16(); // 172-173
_NumberOfInterferometryChannels = dp.ReadByte(); // 174
dp.ReadByte(); // 175 Reserved
dp.ReadUInt16(); // 176-177 Reserved
_ReferencePointHeight = dp.ReadSingle(); // 178-179-180-181
dp.ReadBytes(12); // 182 -> 193 ProjectionType Not currently used
dp.ReadBytes(10); // 194 -> 203 SpheroidType Not currently used
_NavigationLatency = dp.ReadInt32(); // 204-205-206-207
dp.ReadSingle(); // 208-209-210-211 OriginY Not currently used
dp.ReadSingle(); // 212-213-214-215 OriginX Not currently used
_NavigationOffsetY = dp.ReadSingle(); // 216-217-218-219
_NavigationOffsetX = dp.ReadSingle(); // 220-221-222-223
_NavigationOffsetZ = dp.ReadSingle(); // 224-225-226-227
_NavigationOffsetYaw = dp.ReadSingle(); // 228-229-230-231
_MRUOffsetY = dp.ReadSingle(); // 232-233-234-235
_MRUOffsetX = dp.ReadSingle(); // 236-237-238-239
_MRUOffsetZ = dp.ReadSingle(); // 240-241-242-243
_MRUOffsetYaw = dp.ReadSingle(); // 244-245-246-247
_MRUOffsetPitch = dp.ReadSingle(); // 248-249-250-251
_MRUOffsetRoll = dp.ReadSingle(); // 252-253-254-255
}
}
#endregion contructors
}
/// <summary>
/// Initializes a new instance of the PacketSniffer class that contain the values extracted from the given byte array.
/// </summary>
/// <param name="byteArray">14 bytes array for basic information OR 256 byte for packet time.</param>
public PacketSniffer(Byte[] byteArray)
{
_MagicNumber = 0;
_HeaderType = 0;
_SubChannelNumber = 0;
_NumberChannelsToFollow = 0;
_NumberBytesThisRecord = 0;
_PacketTime = DateTime.MinValue;
_TimeTag = 0;
using (BinaryReader pd = new BinaryReader(ArrayToStream.BytesToMemory(byteArray)))
{
if (byteArray.Length >= 14)
{
// Read the basic information of the packet
XtfBasePacket basePkt = new XtfBasePacket(byteArray);
_MagicNumber = basePkt.MagicNumber;
_HeaderType = basePkt.HeaderType;
_SubChannelNumber = basePkt.SubChannelNumber;
_NumberChannelsToFollow = basePkt.NumberChannelsToFollow;
_NumberBytesThisRecord = basePkt.NumberBytesThisRecord;
if (byteArray.Length >= 256)
{
// Extract packet time from each packet type known
switch (HeaderType)
{
// Ping header packet types
case 0:
case 2:
case 4:
case 5:
case 8:
case 9:
case 10:
case 14:
case 16:
case 17:
case 18:
case 19:
case 22:
case 25:
case 27:
case 28:
case 60:
case 61:
case 62:
case 65:
case 66:
case 68:
case 69:
case 73:
PingHeader tmpHdr0 = new PingHeader(byteArray);
_PacketTime = tmpHdr0.PacketTime;
break;
// Notes - text annotation packet types
case 1:
Notes tmpHdr1 = new Notes(byteArray);
_PacketTime = tmpHdr1.PacketTime;
break;
// Attitude Data packet types
case 3:
case 103:
AttitudeData tmpHdr2 = new AttitudeData(byteArray);
_PacketTime = tmpHdr2.PacketTime;
_TimeTag = tmpHdr2.TimeTag;
break;
// Raw Serial packet types
case 6:
RawSerialHeader tmpHdr3 = new RawSerialHeader(byteArray);
_PacketTime = tmpHdr3.PacketTime;
break;
// High speed sensor packet types
case 11:
case 15:
HighSpeedSensor tmpHdr4 = new HighSpeedSensor(byteArray);
_PacketTime = tmpHdr4.PacketTime;
break;
// Gyro packet types
case 23:
case 84:
Gyro tmpHdr5 = new Gyro(byteArray);
_PacketTime = tmpHdr5.PacketTime;
_TimeTag = tmpHdr5.TimeTag;
break;
// QPS Singlebeam packet types
case 26:
QpsSingleBeam tmpHdr6 = new QpsSingleBeam(byteArray);
_PacketTime = tmpHdr6.PacketTime;
break;
// Navigation packet types
case 42:
case 100:
Navigation tmpHdr7 = new Navigation(byteArray);
_PacketTime = tmpHdr7.PacketTime;
_TimeTag = tmpHdr7.TimeTag;
break;
// Pos Raw Navigation packet types
case 107:
PosRawNavigation tmpHdr8 = new PosRawNavigation(byteArray);
_PacketTime = tmpHdr8.PacketTime;
break;
// Navigation packet types
case 199:
RawCustomHeader tmpHdr9 = new RawCustomHeader(byteArray);
_PacketTime = tmpHdr9.PacketTime;
_TimeTag = tmpHdr9.TimeTag;
break;
default:
break;
}
}
}
}
}
