/// <summary>
/// Change the heading source if it is not ADCP.
/// It is assumed that the current heading stored in the
/// ensemble is from the ADCP. If the options are set to anything
/// other than ADCP, the heading will be changed. If the source
/// does not exist, the value will not change.
///
/// ADCP GPS is GPS data that came in through the underwater cable into the ADCP and stored in the GPS dataset.
/// GPS1 is data that came in on the GPS 1 terminal port.
/// GPS2 is data that came in on the GPS 2 terminal port.
/// NMEA1 is data that came in on the NMEA 1 terminal port.
/// NMEA2 is data that came in on the NMEA 2 terminal port.
///
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
public static void HeadingSource(ref DataSet.Ensemble ensemble, VesselMountOptions options)
{
switch (options.HeadingSource)
{
case VesselMountOptions.SRC_STR_FIXED_HEADING:
HeadingSourceFixed(ref ensemble, options.FixedHeading);
break;
case VesselMountOptions.SRC_STR_ADCP_GPS:
HeadingSourceAdcpGps(ref ensemble);
break;
case VesselMountOptions.SRC_STR_GPS1:
HeadingSourceGps1(ref ensemble);
break;
case VesselMountOptions.SRC_STR_GPS2:
HeadingSourceGps2(ref ensemble);
break;
case VesselMountOptions.SRC_STR_NMEA1:
HeadingSourceNmea1(ref ensemble);
break;
case VesselMountOptions.SRC_STR_NMEA2:
HeadingSourceNmea2(ref ensemble);
break;
case VesselMountOptions.SRC_STR_ADCP:
default:
break;
}
}
public void HeadingOffset()
{
// Clone the current ensemble
RTI.DataSet.Ensemble ensemble2 = ensemble1.Clone();
// Set the Correlation Data
// 4 Beams, 5 Bins
for (int binNum = 0; binNum < 5; binNum++)
{
for (int beamNum = 0; beamNum < 4; beamNum++)
{
ensemble2.CorrelationData.CorrelationData[binNum, beamNum] = 25.6f;
}
}
Assert.IsTrue(ensemble2.IsInstrumentVelocityAvail);
Assert.IsTrue(ensemble2.IsCorrelationAvail);
// Give a heading offset
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.HeadingOffsetMag = 10.0f;
RTI.VesselMount.VmHeadingOffset.HeadingOffset(ref ensemble2, vmOptions);
//float correlationThreshold = 25.0f;
// Transform the data
//Transform.ProfileTransform(ref ensemble2, AdcpCodec.CodecEnum.Binary, correlationThreshold, Transform.HeadingSource.ADCP, 0, 0);
// Check new heading value
Assert.AreEqual(20.2, ensemble2.AncillaryData.Heading, 0.01f);
// Check the Instrument Velocity Data
// 4 Beams, 5 Bins
Assert.AreEqual(0.29238f, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 0], 0.001);
Assert.AreEqual(1.16952, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 1], 0.001);
Assert.AreEqual(-1.862311, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 2], 0.001);
Assert.AreEqual(-0.45, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 3], 0.001);
Assert.AreEqual(4.6780, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 0], 0.001);
Assert.AreEqual(18.71234, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 1], 0.001);
Assert.AreEqual(-13.8343, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 2], 0.001);
Assert.AreEqual(-7.2, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 3], 0.001);
// Check the Earth Velocity Data
// 4 Beams, 5 Bins
Assert.AreEqual(-1.04946, ensemble2.EarthVelocityData.EarthVelocityData[0, 0], 0.001);
Assert.AreEqual(0.732099, ensemble2.EarthVelocityData.EarthVelocityData[0, 1], 0.001);
Assert.AreEqual(-1.81222, ensemble2.EarthVelocityData.EarthVelocityData[0, 2], 0.001);
Assert.AreEqual(-0.45, ensemble2.EarthVelocityData.EarthVelocityData[0, 3], 0.001);
Assert.AreEqual(-16.334524, ensemble2.EarthVelocityData.EarthVelocityData[1, 0], 0.001);
Assert.AreEqual(11.242907, ensemble2.EarthVelocityData.EarthVelocityData[1, 1], 0.001);
Assert.AreEqual(-13.04626, ensemble2.EarthVelocityData.EarthVelocityData[1, 2], 0.001);
Assert.AreEqual(-7.2, ensemble2.EarthVelocityData.EarthVelocityData[1, 3], 0.001);
// All error velocities should be the same between instrument and earth velocity
Assert.AreEqual(ensemble2.InstrumentVelocityData.InstrumentVelocityData[2, 3], ensemble2.EarthVelocityData.EarthVelocityData[2, 3], 0.001);
Assert.AreEqual(ensemble2.InstrumentVelocityData.InstrumentVelocityData[3, 3], ensemble2.EarthVelocityData.EarthVelocityData[3, 3], 0.001);
Assert.AreEqual(ensemble2.InstrumentVelocityData.InstrumentVelocityData[4, 3], ensemble2.EarthVelocityData.EarthVelocityData[4, 3], 0.001);
}
/// <summary>
/// Change the heading source if it is not ADCP.
/// It is assumed that the current heading stored in the
/// ensemble is from the ADCP. If the options are set to anything
/// other than ADCP, the heading will be changed. If the source
/// does not exist, the value will not change.
///
/// ADCP GPS is GPS data that came in through the underwater cable into the ADCP and stored in the GPS dataset.
/// GPS1 is data that came in on the GPS 1 terminal port.
/// GPS2 is data that came in on the GPS 2 terminal port.
/// NMEA1 is data that came in on the NMEA 1 terminal port.
/// NMEA2 is data that came in on the NMEA 2 terminal port.
///
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
public static void HeadingSource(ref DataSet.Ensemble ensemble, VesselMountOptions options)
{
switch(options.HeadingSource)
{
case VesselMountOptions.SRC_STR_FIXED_HEADING:
HeadingSourceFixed(ref ensemble, options.FixedHeading);
break;
case VesselMountOptions.SRC_STR_ADCP_GPS:
HeadingSourceAdcpGps(ref ensemble);
break;
case VesselMountOptions.SRC_STR_GPS1:
HeadingSourceGps1(ref ensemble);
break;
case VesselMountOptions.SRC_STR_GPS2:
HeadingSourceGps2(ref ensemble);
break;
case VesselMountOptions.SRC_STR_NMEA1:
HeadingSourceNmea1(ref ensemble);
break;
case VesselMountOptions.SRC_STR_NMEA2:
HeadingSourceNmea2(ref ensemble);
break;
case VesselMountOptions.SRC_STR_ADCP:
default:
break;
}
}
/// <summary>
/// Add the Pitch and Roll offset to the Pitch and Roll. This will take the offset and add it to the
/// Pitch and Roll value in the ensemble.
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
public static void TiltOffset(ref DataSet.Ensemble ensemble, VesselMountOptions options)
{
// Add the offset to Ancillary Pitch and Roll
AddAncillaryTiltOffset(ref ensemble, options.PitchOffset, options.RollOffset);
// Add the offset to the Bottom Track Pitch and Roll
AddBottomTrackTiltOffset(ref ensemble, options.PitchOffset, options.RollOffset);
}
public void TiltOffsetPitchAndRoll()
{
// Clone the current ensemble
RTI.DataSet.Ensemble ensemble2 = ensemble1.Clone();
// Set the Correlation Data
// 4 Beams, 5 Bins
for (int binNum = 0; binNum < 5; binNum++)
{
for (int beamNum = 0; beamNum < 4; beamNum++)
{
ensemble2.CorrelationData.CorrelationData[binNum, beamNum] = 25.6f;
}
}
Assert.IsTrue(ensemble2.IsInstrumentVelocityAvail);
Assert.IsTrue(ensemble2.IsCorrelationAvail);
// Give a heading offset
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.RollOffset = 10.0f;
vmOptions.PitchOffset = 10.0f;
RTI.VesselMount.VmTiltOffset.TiltOffset(ref ensemble2, vmOptions, false);
float correlationThreshold = 25.0f;
// Transform the data
Transform.ProfileTransform(ref ensemble2, AdcpCodec.CodecEnum.Binary, correlationThreshold, Transform.HeadingSource.ADCP, 0, 0);
// Check new Pitch value
Assert.AreEqual(12.123, ensemble2.AncillaryData.Roll, 0.01f);
// Check the Instrument Velocity Data
// 4 Beams, 5 Bins
Assert.AreEqual(0.29238f, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 0], 0.001);
Assert.AreEqual(1.16952, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 1], 0.001);
Assert.AreEqual(-1.862311, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 2], 0.001);
Assert.AreEqual(-0.45, ensemble2.InstrumentVelocityData.InstrumentVelocityData[0, 3], 0.001);
Assert.AreEqual(4.6780, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 0], 0.001);
Assert.AreEqual(18.71234, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 1], 0.001);
Assert.AreEqual(-13.8343, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 2], 0.001);
Assert.AreEqual(-7.2, ensemble2.InstrumentVelocityData.InstrumentVelocityData[1, 3], 0.001);
// Check the Earth Velocity Data
// 4 Beams, 5 Bins
Assert.AreEqual(-1.40615, ensemble2.EarthVelocityData.EarthVelocityData[0, 0], 0.001);
Assert.AreEqual(0.850535, ensemble2.EarthVelocityData.EarthVelocityData[0, 1], 0.001);
Assert.AreEqual(-1.49023, ensemble2.EarthVelocityData.EarthVelocityData[0, 2], 0.001);
Assert.AreEqual(-0.45, ensemble2.EarthVelocityData.EarthVelocityData[0, 3], 0.001);
// All error velocities should be the same between instrument and earth velocity
Assert.AreEqual(ensemble2.InstrumentVelocityData.InstrumentVelocityData[2, 3], ensemble2.EarthVelocityData.EarthVelocityData[2, 3], 0.001);
Assert.AreEqual(ensemble2.InstrumentVelocityData.InstrumentVelocityData[3, 3], ensemble2.EarthVelocityData.EarthVelocityData[3, 3], 0.001);
Assert.AreEqual(ensemble2.InstrumentVelocityData.InstrumentVelocityData[4, 3], ensemble2.EarthVelocityData.EarthVelocityData[4, 3], 0.001);
}
/// <summary>
/// Add the heading offset to the heading. This will take the magnetic offset and add it to the
/// heading value in the ensemble. It will then take the alignment offset and add it to the heading value
/// in the ensemble.
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
public static void HeadingOffset(ref DataSet.Ensemble ensemble, VesselMountOptions options)
{
// Add the magnetic to Ancillary and Bottom Track heading
AddAncillaryHeadingOffset(ref ensemble, options.HeadingOffsetMag);
AddBottomTrackHeadingOffset(ref ensemble, options.HeadingOffsetMag);
// Add the alignment offset to the Ancillary and Bottom Track heading
AddAncillaryHeadingOffset(ref ensemble, options.HeadingOffsetAlignment);
AddBottomTrackHeadingOffset(ref ensemble, options.HeadingOffsetAlignment);
}
public void TestProfileHeadingOffsetLargePos()
{
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.HeadingOffsetMag = 370.0f;
// Heading offset
RTI.VesselMount.VmHeadingOffset.HeadingOffset(ref ensemble1, vmOptions, true);
Assert.AreEqual(20.2f, ensemble1.AncillaryData.Heading, 0.001);
}
public void TestRollOffset180()
{
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.RollOffset = 180.0f;
// Heading offset
RTI.VesselMount.VmTiltOffset.TiltOffset(ref ensemble1, vmOptions, true);
Assert.AreEqual(-177.877f, ensemble1.AncillaryData.Roll, 0.001);
}
public void TestPitchOffset90()
{
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.PitchOffset = 90.0f;
// Heading offset
RTI.VesselMount.VmTiltOffset.TiltOffset(ref ensemble1, vmOptions, true);
Assert.AreEqual(-88.98f, ensemble1.AncillaryData.Pitch, 0.001);
}
public void TestPitchOffsetNegVal()
{
ensemble1.AncillaryData.Pitch = -20.0f;
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.PitchOffset = 30.0f;
// Heading offset
RTI.VesselMount.VmTiltOffset.TiltOffset(ref ensemble1, vmOptions, true);
Assert.AreEqual(10.0f, ensemble1.AncillaryData.Pitch, 0.001);
}
public void TestRollOffsetWrap()
{
ensemble1.AncillaryData.Roll = 170.0f;
VesselMountOptions vmOptions = new VesselMountOptions();
vmOptions.RollOffset = 30.0f;
// Heading offset
RTI.VesselMount.VmTiltOffset.TiltOffset(ref ensemble1, vmOptions, true);
Assert.AreEqual(-160.0f, ensemble1.AncillaryData.Roll, 0.001);
}
/// <summary>
/// Screen the ensemble based off all the vessel mount options.
/// </summary>
/// <param name="ensemble">Ensemble to screen.</param>
/// <param name="options">Options to screen the ensemble.</param>
public static void Screen(ref DataSet.Ensemble ensemble, VesselMountOptions options)
{
// Heading source options
VmHeadingSource.HeadingSource(ref ensemble, options);
// Heading Offset
VmHeadingOffset.HeadingOffset(ref ensemble, options);
// Tilt Source
VmTiltSource.TiltSource(ref ensemble, options);
// Tilt Offset
VmTiltOffset.TiltOffset(ref ensemble, options);
}
/// <summary>
/// Add the Pitch and Roll offset to the Pitch and Roll. This will take the offset and add it to the
/// Pitch and Roll value in the ensemble.
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
/// <param name="retransformData">When the heading, pitch or roll is modified, the data should be retransfomed so the velocity matches</param>
public static void TiltOffset(ref DataSet.Ensemble ensemble, VesselMountOptions options, bool retransformData = true)
{
// Add the offset to Ancillary Pitch and Roll
AddAncillaryTiltOffset(ref ensemble, options.PitchOffset, options.RollOffset);
// Add the offset to the Bottom Track Pitch and Roll
AddBottomTrackTiltOffset(ref ensemble, options.PitchOffset, options.RollOffset);
// Retransform the data so the velocties match the pitch and roll
if (retransformData)
{
Transform.ProfileTransform(ref ensemble, AdcpCodec.CodecEnum.Binary);
Transform.BottomTrackTransform(ref ensemble, AdcpCodec.CodecEnum.Binary);
}
}
/// <summary>
/// Add the heading offset to the heading. This will take the magnetic offset and add it to the
/// heading value in the ensemble. It will then take the alignment offset and add it to the heading value
/// in the ensemble.
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
/// <param name="retransformData">When the heading, pitch or roll is modified, the data should be retransfomed so the velocity matches</param>
public static void HeadingOffset(ref DataSet.Ensemble ensemble, VesselMountOptions options, bool retransformData = true)
{
// Add the magnetic to Ancillary and Bottom Track heading
AddAncillaryHeadingOffset(ref ensemble, options.HeadingOffsetMag);
AddBottomTrackHeadingOffset(ref ensemble, options.HeadingOffsetMag);
// Add the alignment offset to the Ancillary and Bottom Track heading
AddAncillaryHeadingOffset(ref ensemble, options.HeadingOffsetAlignment);
AddBottomTrackHeadingOffset(ref ensemble, options.HeadingOffsetAlignment);
// Retransform the data so the velocties match the heading
if (retransformData)
{
Transform.ProfileTransform(ref ensemble, AdcpCodec.CodecEnum.Binary);
Transform.BottomTrackTransform(ref ensemble, AdcpCodec.CodecEnum.Binary);
}
}
/// <summary>
/// Change the heading source if it is not ADCP.
/// It is assumed that the current heading stored in the
/// ensemble is from the ADCP. If the options are set to anything
/// other than ADCP, the heading will be changed. If the source
/// does not exist, the value will not change.
/// </summary>
/// <param name="ensemble">Ensemble to change the value.</param>
/// <param name="options">Options to know how the change the value.</param>
public static void TiltSource(ref DataSet.Ensemble ensemble, VesselMountOptions options)
{
//switch(options.TiltSource)
//{
// //case VesselMountOptions.SRC_STR_FIXED_HEADING:
// // HeadingSourceFixed(ref ensemble, options.FixedHeading);
// // break;
// case VesselMountOptions.SRC_STR_GPS1:
// HeadingSourceGps1(ref ensemble);
// break;
// case VesselMountOptions.SRC_STR_GPS2:
// HeadingSourceGps2(ref ensemble);
// break;
// case VesselMountOptions.SRC_STR_NMEA1:
// HeadingSourceNmea1(ref ensemble);
// break;
// case VesselMountOptions.SRC_STR_NMEA2:
// HeadingSourceNmea2(ref ensemble);
// break;
// case VesselMountOptions.SRC_STR_ADCP:
// default:
// break;
//}
// Check for a fixed pitch
if (options.IsPitchFixed)
{
SetPitch(ref ensemble, options.PitchFixed);
}
// Check for a fixed roll
if (options.IsRollFixed)
{
SetRoll(ref ensemble, options.RollFixed);
}
}
