MBeamRaw.hpp

Go to the documentation of this file.

#ifndef MBEAM_IMAGENEX_MBEAMRAW_HPP
#define MBEAM_IMAGENEX_MBEAMRAW_HPP

//#include "Config.hpp"
#include "MBeamTypes.hpp"

#include <stdint.h>
#include <vector>


namespace mbeam_imagenex {
  namespace raw {
    
#define MBEAM_CMD_LEN           0x100
#define MBEAM_HEADER1           0x45
#define MBEAM_HEADER2           0x43
#define MBEAM_REPL_START        0x38
#define MBEAM_MAX_REPL_LENGTH   0xEB60
#define MBEAM_REPLY_B           0x42
#define MBEAM_REPLY_P           0x50
#define MBEAM_DEFAULT_SV        1500


   
       
    struct MBeamExtCmd{
      uint8_t header1;
      uint8_t header2;
      uint8_t id;
      uint8_t ctrl_byte1;
      uint8_t ctrl_byte2;
      uint8_t ctrl_byte3;
      uint8_t ctrl_byte4;
      uint8_t range;
      uint8_t gain;
      uint8_t disp_gain;
      uint8_t gain_eq;
      uint8_t sector_size;
      uint8_t beam_width;
      uint8_t no_beams;
      uint8_t averaging;
      uint8_t reserved0;
      uint8_t reserved1;
      uint8_t sv_high;
      uint8_t sv_low;
      uint8_t mode;
      uint8_t out83p83b;
      uint8_t prof_pt_enable;
      uint8_t prof_min_range;
      uint8_t prof_min_lev;
      uint8_t xdcr_up_dn;
      uint8_t prof_tilt;
      uint8_t reserved2;
      uint8_t reserved3;
      uint8_t rec837;
      uint8_t rec83p;
      uint8_t reserved4;
      uint8_t reserved5;
      uint8_t reserved6;
      uint8_t reserved7;
      uint8_t prof_filter;
          
      MBeamExtCmd()
        : header1(MBEAM_HEADER1),
          header2(MBEAM_HEADER2),
          id(0),
          ctrl_byte1(EXTERNALCONTROL),
          ctrl_byte2(TRANSREC),
          ctrl_byte3(0),
          ctrl_byte4(0),
          range(RANGE5),
          gain(6),
          disp_gain(50),
          gain_eq(1),
          sector_size(SEC120),
          beam_width(WIDTHNORMAL),
          no_beams(NUMBER240),
          averaging(5),
          reserved0(0),
          reserved1(0),   
          mode(MODELINEAR),
          out83p83b(OUT83P),
          prof_pt_enable(1),
          prof_min_range(0),
          prof_min_lev(10),
          xdcr_up_dn(XDRCDOWN),
          prof_tilt(180),
          reserved2(0),
          reserved3(0),
          rec837(0),
          rec83p(1),
          reserved4(0),
          reserved5(0),
          reserved6(0),
          reserved7(0),
          prof_filter(BOTTOMFOLLOW)  {
           *((uint16_t*)(&sv_high)) = (uint16_t)MBEAM_DEFAULT_SV*10;
      }
      
      MBeamExtCmd & operator>>(std::vector<uint8_t>& msg)
      {
        msg.resize(MBEAM_CMD_LEN);
        msg[0] = header1;
        msg[1] = header2;
        msg[2] = id;
        msg[3] = ctrl_byte1;
        msg[4] = ctrl_byte2;
        msg[5] = ctrl_byte3;
        msg[6] = ctrl_byte4;
        msg[7] = range;
        msg[8] = gain;
        msg[9] = disp_gain;
        msg[10] = gain_eq;
        msg[11] = sector_size;
        msg[12] = beam_width;
        msg[13] = no_beams;
        msg[14] = averaging;
        msg[15] = reserved0;
        msg[16] = reserved1;
        msg[17] = sv_high;
        msg[18] = sv_low;
        msg[19] = mode;
        msg[20] = out83p83b;
        msg[21] = prof_pt_enable;
        msg[22] = prof_min_range;
        msg[23] = prof_min_lev;
        msg[24] = xdcr_up_dn;
        msg[25] = prof_tilt;
        msg[26] = reserved2;
        msg[27] = reserved3;
        msg[28] = rec837;
        msg[29] = rec83p;
        msg[30] = reserved4;
        msg[31] = reserved5;
        msg[32] = reserved6;
        msg[33] = reserved7;
        msg[34] = prof_filter;
        for(int i = 35;i<MBEAM_CMD_LEN;i++){
          msg[i] = 0;
        }
        return *this;
      }
    };    
  }
}

#endif