SonarData class abstract
Sonar Data class
This message contains the data acquired by a single sonar measurement. The following describes the format used to fill the data field used in this message. (Byte order is little endian.)
Sidescan:
+------+-------------------+-----------+ | Data | Name | Type | +======+===================+===========+ | A | Ranges data | uintX_t | +------+-------------------+-----------+
.. figure:: ../images/imc_sidescan.png
- The type uintX_t will depend on the number of bits per unit, and it should be a multiple of 8.
- Furthermore, for now, 32 bits is the highest value of bits per unit supported.
Multibeam:
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| Index| Section| Name | Type | Comments |
+======+========+=========================+=========+======================================================================+
| 1 | H1 | Number of points | uint16_t| Number of data points |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 2 | H2 | Start angle | fp32_t | In radians |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 3 | H3 | Flags | uint8_t | Refer to next table |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 4 | H4 ? | Angle scale factor | fp32_t | Used for angle steps in radians |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 5 | H5 ? | Intensities scale factor| fp32_t | |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 6 | D1 ? | Angle stepsH1 | uint16_t| Values in radians |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 7 | D2 | RangesH1 | uintX_t | Ranges data points (scale factor from common field "Scaling Factor") |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
| 8 | D3 ? | IntensitiesH1 | uintX_t | Intensities data points |
+------+--------+-------------------------+---------+----------------------------------------------------------------------+
+--------+------------------+-----+ | Section| Flag Label | Bit | +========+==================+=====+ | H3.1 | Intensities flag | 0 | +--------+------------------+-----+ | H3.2 | Angle step flag | 1 | +--------+------------------+-----+
.. figure:: ../images/imc_multibeam.png
Notes:
- Each angle at step i can be calculated is defined by:
.. code-block:: python
anglei = H2_start_angle + (32-bit sum of D1_angle_step0 through D1_angle_stepi) * H4_scaling_factor
- If bit H3.1 is not set then sections H5 and D3 won't exist.
- If bit H3.2 is not set then sections H4 and D1 won't exist. In case this bit is set, then the angle steps is read from field "Beam Width" from "Beam Configuration".
- The type uintX_t will depend on the number of bits per unit, and it should be a multiple of 8.
- Furthermore, for now, 32 bits is the highest value of bits per unit supported.
How to write ranges and intensities data:
.. code-block:: python :linenos:
data_unit = (Integer) (data_value / scale_factor);
bytes_per_unit = bits_per_unit / 8;
LOOP: i = 0, until i = bytes_per_unit
bytei = (data_unit >> 8 * i) & 0xFF);
write(byte);
Common:
- Inheritance
-
- Object
- Message
- ImcMessage
- SonarData
- Implemented types
Constructors
- SonarData([void updates(SonarDataBuilder b)?])
-
factory
Properties
- abbrev → String
-
no setteroverride
-
beamConfig
→ List<
BeamConfig> -
Beam configuration of the device.
no setter
- bitsPerPoint → int
-
Size of the data unit. (Should be multiple of 8)
no setter
-
data
→ List<
int> -
Data acquired by the measurement.
no setter
- dst → int
-
no setterinherited
- dstEnt → int
-
no setterinherited
- frequency → int
-
Operating frequency.
no setter
- hashCode → int
-
The hash code for this object.
no setterinherited
- maxRange → int
-
Maximum range.
no setter
- minRange → int
-
Minimum range.
no setter
- msgId → int
-
no setteroverride
- runtimeType → Type
-
A representation of the runtime type of the object.
no setterinherited
- scaleFactor → double
-
Scaling factor used to multiply each data unit to restore the
original floating point value.
no setter
- src → int
-
no setterinherited
- srcEnt → int
-
no setterinherited
- sync → int
-
no setterinherited
- timestamp → DateTime?
-
no setterinherited
- type → SonarDataEnumType
-
Type of sonar.
no setter
Methods
-
noSuchMethod(
Invocation invocation) → dynamic -
Invoked when a nonexistent method or property is accessed.
inherited
-
rebuild(
dynamic updates(SonarDataBuilder)) → SonarData -
Rebuilds the instance.
inherited
-
toBuilder(
) → SonarDataBuilder -
Converts the instance to a builder
B.inherited -
toJson(
[bool includeHeader = true]) → Map< String, dynamic> -
To JSON object
override
-
toString(
) → String -
A string representation of this object.
inherited
Operators
-
operator ==(
Object other) → bool -
The equality operator.
inherited