LAS-Read/LASRead/LASFormat/PointDataRecord.cs

using System;
using System.Collections;
using System.Text;

namespace LASRead.LASFormat
{
    /// <summary>
    /// LAS Data Payloads are in the Point Data Record (PDR) format <br />
    /// PDR formats 0-5 share the same basic substructure (which is ultimately inherited from this interface) <br />
    /// PDR 6-10 share a slightly different substructure (more flags)
    /// </summary>
    public interface IPointDataRecord
    {
        public int X { get; set; }
        public int Y { get; set; }
        public int Z { get; set; }

        public ushort? Intensity { get; set; }
        public byte ReturnNumberFlag_value { get; set; }
        public byte NumberOfReturnsFlag_value { get; set; }
        public byte ScanDirectionFlag_value { get; set; }
        public byte EdgeOfFlightLineFlag_value { get; set; }
        public byte Classification { get; set; }
        public sbyte ScanAngleRank { get; set; }

        public byte? UserData { get; set; }
        public ushort PointSourceID { get; set; }
        public bool ReadPoint(byte[] data);

        /// <summary>
        /// Reads the flags from the supplied byte
        /// </summary>
        /// <param name="source"></param>
        /// <returns></returns>
        bool ReadFlag(Tuple<byte, byte> source);
        /// <summary>
        /// Generates a new payload object from the supplied data bytes
        /// </summary>
        /// <param name="data">Well-formed byte data (i.e. Read from file)</param>
        /// <returns>A new payload object t</returns>
        IPointDataRecord ParsePoint(byte[] data);

        byte[] MergeFlags();

        byte[] GetAsByteArray();
    }

    class PDR0 : IPointDataRecord
    {
        const int headerSize = 20;
        /// <summary>
        /// PDRs for the X,Y,Z are 4-byte integers. They are multiplied by the scale defined in the
        /// header to determine the true (potentially non-integral) coordinate of the point
        /// </summary>
        public int X { get; set; }
        public int Y { get; set; }
        public int Z { get; set; }
        public ushort? Intensity { get; set; }
        public byte ReturnNumberFlag_value { get; set; }
        public byte NumberOfReturnsFlag_value { get; set; }
        public byte ScanDirectionFlag_value { get; set; }
        public byte EdgeOfFlightLineFlag_value { get; set; }
        public byte Classification { get; set; }
        public sbyte ScanAngleRank { get; set; }
        public byte? UserData { get; set; }
        public ushort PointSourceID { get; set; }

        public virtual bool ReadFlag(Tuple<byte, byte> source)
        {
            // Note that typical Windows environments should be Little Endian; matching the expected data format.
            // This means for the number 3,
            // 7-6-5-4  3-2-1-0
            // 0 0 0 0  0 0 1 1
            // So return number flag = 2-1-0 (011) = 3
            const byte full = 255;
            ReturnNumberFlag_value = (byte)(source.Item1 & (full >> 5)); // Right-shift mask by 5 to get only the first 3 bits
            NumberOfReturnsFlag_value = (byte)((source.Item1 >> 3) & (full >> 5)); // Right shift by 3, and & with 3 to get the returns
            ScanDirectionFlag_value = (byte)((source.Item1 >> 6) & (full >> 7));
            EdgeOfFlightLineFlag_value = (byte)(source.Item1 >> 7);
           
            /* Big Endian
            ReturnNumberFlag_value = (byte)((source.Item1 >> 5)& (full >> 5)); // Right-shift by 5 to get only the first 3 bits
            NumberOfReturnsFlag_value = (byte)((source.Item1 >> 2) & (full >> 5)); // Right shift by 3, and & with 3 to get the returns
            ScanDirectionFlag_value = (byte)((source.Item1 >> 1) & (full >> 7));
            EdgeOfFlightLineFlag_value = (byte)(source.Item1 & (full >> 7)); */
            return true;
        }

        public virtual bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                X = BitConverter.ToInt32(data, 0);
                Y = BitConverter.ToInt32(data, 4);
                Z = BitConverter.ToInt32(data, 8);
                Intensity = BitConverter.ToUInt16(data, 12);
                ReadFlag(Tuple.Create(data[14], (byte)0));
                Classification = data[15];
                ScanAngleRank = (sbyte)data[16];
                UserData = data[17];
                PointSourceID = BitConverter.ToUInt16(data, 18);
                return true;
            }
            else return false;

        }

        public static bool VerifySize(byte[] source, int headerSize)
        {
            if (source.Length < headerSize)
            {
                return false;
            }
            return true;
        }

        public virtual IPointDataRecord ParsePoint(byte[] data)
        {
            PDR0 newPoint = new PDR0();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(string.Format("Point: {0}, {1}, {2} {3}", X, Y, Z, Environment.NewLine));
            sb.Append("Intensity: " + Intensity.ToString() + Environment.NewLine);
            sb.Append("Return Number: " + ReturnNumberFlag_value.ToString() + Environment.NewLine);
            sb.Append("Number of Returns: " + NumberOfReturnsFlag_value.ToString() + Environment.NewLine);
            sb.Append("Scan Direction: " + (ReturnNumberFlag_value == 0 ? "+" : "-") + Environment.NewLine);
            sb.Append("Edge of Flight Line: " + (ReturnNumberFlag_value == 0 ? "no" : "yes")  + Environment.NewLine);
            sb.Append("Classification: " + ((Classifications)Classification) + Environment.NewLine);
            sb.Append("Scan Angle Rank: " + ScanAngleRank.ToString() + Environment.NewLine);
            sb.Append("User Data: " + (UserData == 0 ? "no" : "yes") + Environment.NewLine);
            sb.Append("Point Data Source: " + PointSourceID.ToString() + Environment.NewLine);

            return sb.ToString();
        }

        public byte[] MergeFlags()
        {
            int result = EdgeOfFlightLineFlag_value;
            result |= ReturnNumberFlag_value << 5; // Right-shift mask by 5 to get only the first 3 bits
            result |= NumberOfReturnsFlag_value << 3; // Right shift by 3, and & with 3 to get the returns
            result |= ScanDirectionFlag_value << 2;
            byte t = (byte)(result & 255);
            return new byte[] { t };
        }

        public virtual byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            BitConverter.GetBytes(X).CopyTo(result, 0);
            BitConverter.GetBytes(Y).CopyTo(result, 4);
            BitConverter.GetBytes(Y).CopyTo(result, 8);
            BitConverter.GetBytes(Intensity ?? 0).CopyTo(result, 12);
            MergeFlags().CopyTo(result, 14);
            result[15] = Classification;
            result[16] = (byte)ScanAngleRank;
            result[17] = UserData ?? 0;
            BitConverter.GetBytes(PointSourceID).CopyTo(result, 18);
            return result;
        }
    }
    class PDR1 : PDR0
    {
        double GPSTime;
        const int headerSize = 28;
        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                GPSTime = BitConverter.ToDouble(data, 20);
                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR1 newPoint = new PDR1();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append("GPS Time: " + GPSTime.ToString() + Environment.NewLine);
            return sb.ToString();
        }

        public override byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            base.GetAsByteArray().CopyTo(result, 0);
            BitConverter.GetBytes(GPSTime).CopyTo(result, 20);
            return result;
        }
    }
    class PDR2 : PDR0
    {
        ushort red;
        ushort green;
        ushort blue;
        const int headerSize = 26;
        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                red = BitConverter.ToUInt16(data, 20);
                green = BitConverter.ToUInt16(data, 22);
                blue = BitConverter.ToUInt16(data, 24);
                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR2 newPoint = new PDR2();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append(string.Format("RGB: {0} {1} {2} {3}", red, green, blue, Environment.NewLine));
            return sb.ToString();
        }
        public override byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            base.GetAsByteArray().CopyTo(result, 0);
            BitConverter.GetBytes(red).CopyTo(result, 20);
            BitConverter.GetBytes(green).CopyTo(result, 22);
            BitConverter.GetBytes(blue).CopyTo(result, 24);
            return result;
        }
    }
    class PDR3 : PDR1
    {
        ushort red;
        ushort green;
        ushort blue;
        const int headerSize = 34;
        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                red = BitConverter.ToUInt16(data, 28);
                green = BitConverter.ToUInt16(data, 30);
                blue = BitConverter.ToUInt16(data, 32);
                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR3 newPoint = new PDR3();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append(string.Format("RGB: {0} {1} {2} {3}", red, green, blue, Environment.NewLine));
            return sb.ToString();
        }
        public override byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            base.GetAsByteArray().CopyTo(result, 0);
            BitConverter.GetBytes(red).CopyTo(result, 28);
            BitConverter.GetBytes(green).CopyTo(result, 30);
            BitConverter.GetBytes(blue).CopyTo(result, 32);
            return result;
        }
    }

    class PDR4 : PDR1
    {
        byte wavePacketDescriptorIndex;
        ulong WaveformOffset;
        uint WaveformSize;
        float returnPointWaveform;
        float dx;
        float dy;
        float dz;

        const int headerSize = 57;

        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                wavePacketDescriptorIndex = data[28];
                WaveformOffset = BitConverter.ToUInt64(data, 29);
                WaveformSize = BitConverter.ToUInt32(data, 37);
                returnPointWaveform = BitConverter.ToSingle(data, 41);
                dx = BitConverter.ToSingle(data, 45);
                dy = BitConverter.ToSingle(data, 49);
                dz = BitConverter.ToSingle(data, 53);
                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR4 newPoint = new PDR4();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append("WavePacket Index: " + wavePacketDescriptorIndex.ToString() + Environment.NewLine);
            sb.Append("Waveform Offset: " + WaveformOffset.ToString() + Environment.NewLine);
            sb.Append("Waveform Size: " + WaveformSize.ToString() + Environment.NewLine);
            sb.Append("Return Point Waveform: " + returnPointWaveform.ToString() + Environment.NewLine);
            sb.Append(string.Format("Delta Pos: dx={0} dy={1} dz={2} {3}", dx, dy, dz, Environment.NewLine));
            return sb.ToString();
        }

        public override byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            base.GetAsByteArray().CopyTo(result, 0);
            result[28] = wavePacketDescriptorIndex;
            BitConverter.GetBytes(WaveformOffset).CopyTo(result, 29);
            BitConverter.GetBytes(WaveformSize).CopyTo(result, 37);
            BitConverter.GetBytes(returnPointWaveform).CopyTo(result, 41);
            BitConverter.GetBytes(dx).CopyTo(result, 45);
            BitConverter.GetBytes(dy).CopyTo(result, 49);
            BitConverter.GetBytes(dz).CopyTo(result, 53);
            return result;
        }
    }
    class PDR5 : PDR3
    {
        byte wavePacketDescriptorIndex;
        ulong WaveformOffset;
        uint WaveformSize;
        float returnPointWaveform;
        float dx;
        float dy;
        float dz;

        const int headerSize = 63;

        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                wavePacketDescriptorIndex = data[34];
                WaveformOffset = BitConverter.ToUInt64(data, 35);
                WaveformSize = BitConverter.ToUInt32(data, 43);
                returnPointWaveform = BitConverter.ToSingle(data, 47);
                dx = BitConverter.ToSingle(data, 51);
                dy = BitConverter.ToSingle(data, 55);
                dz = BitConverter.ToSingle(data, 59);
                return true;
            }
            else return false;

        }
        public static new IPointDataRecord ParsePoint(byte[] data)
        {
            PDR5 newPoint = new PDR5();
            newPoint.ReadPoint(data);
            return newPoint;
        }
        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append("WavePacket Index: " + wavePacketDescriptorIndex.ToString() + Environment.NewLine);
            sb.Append("Waveform Offset: " + WaveformOffset.ToString() + Environment.NewLine);
            sb.Append("Waveform Size: " + WaveformSize.ToString() + Environment.NewLine);
            sb.Append("Return Point Waveform: " + returnPointWaveform.ToString() + Environment.NewLine);
            sb.Append(string.Format("Delta Pos: dx={0} dy={1} dz={2} {3}", dx, dy, dz, Environment.NewLine));
            return sb.ToString();
        }
        public override byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            base.GetAsByteArray().CopyTo(result, 0);
            result[34] = wavePacketDescriptorIndex;
            BitConverter.GetBytes(WaveformOffset).CopyTo(result, 35);
            BitConverter.GetBytes(WaveformSize).CopyTo(result, 43);
            BitConverter.GetBytes(returnPointWaveform).CopyTo(result, 47);
            BitConverter.GetBytes(dx).CopyTo(result, 51);
            BitConverter.GetBytes(dy).CopyTo(result, 55);
            BitConverter.GetBytes(dz).CopyTo(result, 59);
            return result;
        }
    }

    class PDR6 : IPointDataRecord
    {
        const int headerSize = 30;
        // Inherited members
        public int X { get; set; }
        public int Y { get; set; }
        public int Z { get; set; }
        public ushort? Intensity { get; set; }
        public byte ReturnNumberFlag_value { get; set; }
        public byte NumberOfReturnsFlag_value { get; set; }
        public byte ScanDirectionFlag_value { get; set; }
        public byte EdgeOfFlightLineFlag_value { get; set; }
        public byte Classification { get; set; }
        public short ScanAngleRank { get; set; }
        public byte? UserData { get; set; }
        public ushort PointSourceID { get; set; }
        // Local members
        public byte ClassificationFlag_value { get; set; }
        public byte ScannerChannelFlag_value { get; set; }
        public double GPSTime1 { get; set; }

        sbyte IPointDataRecord.ScanAngleRank { get => throw new NotImplementedException(); set => throw new NotImplementedException(); }

        public bool ReadFlag(Tuple<byte, byte> source)
        {
            const byte full = 255;

            ReturnNumberFlag_value = (byte)(source.Item1 & (full << 4));
            NumberOfReturnsFlag_value = (byte)((source.Item1 >> 4) & (full << 4));
            ClassificationFlag_value = (byte)(source.Item2 & (full << 4));
            ScannerChannelFlag_value = (byte)((source.Item2 >> 4) & (full << 2));
            ScanDirectionFlag_value = (byte)((source.Item2 >> 6) & (full << 1));
            EdgeOfFlightLineFlag_value = (byte)(source.Item2 >> 7);
            return true;
        }

        public virtual bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                X = BitConverter.ToInt32(data, 0);
                Y = BitConverter.ToInt32(data, 4);
                Z = BitConverter.ToInt32(data, 8);
                Intensity = BitConverter.ToUInt16(data, 12);
                ReadFlag(Tuple.Create(data[14], data[15]));
                Classification = data[16];
                UserData = data[17];
                ScanAngleRank = BitConverter.ToInt16(data, 18);
                PointSourceID = BitConverter.ToUInt16(data, 20);
                return true;
            }
            else return false;
        }
        public virtual IPointDataRecord ParsePoint(byte[] data)
        {
            PDR6 newPoint = new PDR6();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(string.Format("Point: {0}, {1}, {2} {3}", X, Y, Z, Environment.NewLine));
            sb.Append("Intensity: " + Intensity.ToString() + Environment.NewLine);
            sb.Append("Return Number: " + ReturnNumberFlag_value.ToString() + Environment.NewLine);
            sb.Append("Number of Returns: " + NumberOfReturnsFlag_value.ToString() + Environment.NewLine);
            sb.Append("Classification Value: " + ClassificationFlag_value + Environment.NewLine);
            sb.Append("Scanner Channel Value: " + ScannerChannelFlag_value + Environment.NewLine);
            sb.Append("Scan Direction: " + (ReturnNumberFlag_value == 0 ? "+" : "-") + Environment.NewLine);
            sb.Append("Edge of Flight Line: " + (ReturnNumberFlag_value == 0 ? "no" : "yes") + Environment.NewLine);
            sb.Append("Classification: " + ((Classifications)Classification) + Environment.NewLine);
            sb.Append("Scan Angle Rank: " + ScanAngleRank.ToString() + Environment.NewLine);
            sb.Append("User Data: " + (UserData == 0 ? "no" : "yes") + Environment.NewLine);
            sb.Append("Point Data Source: " + PointSourceID.ToString() + Environment.NewLine);
            sb.Append("GPS Time: " + GPSTime1.ToString() + Environment.NewLine);
            return sb.ToString();
        }

        public byte[] MergeFlags()
        {
            int result = EdgeOfFlightLineFlag_value;
            result |= ReturnNumberFlag_value << 5; // Right-shift mask by 5 to get only the first 3 bits
            result |= NumberOfReturnsFlag_value << 3; // Right shift by 3, and & with 3 to get the returns
            result |= ScanDirectionFlag_value << 2;
            byte t = (byte)(result & 255);
            throw new NotImplementedException();
            return new byte[] { t };
        }

        public virtual byte[] GetAsByteArray()
        {
            byte[] result = new byte[headerSize];
            BitConverter.GetBytes(X).CopyTo(result, 0);
            BitConverter.GetBytes(Y).CopyTo(result, 4);
            BitConverter.GetBytes(Y).CopyTo(result, 8);
            BitConverter.GetBytes(Intensity ?? 0).CopyTo(result, 12);
            MergeFlags().CopyTo(result, 14);
            result[15] = Classification;
            result[16] = (byte)ScanAngleRank;
            result[17] = UserData ?? 0;
            BitConverter.GetBytes(PointSourceID).CopyTo(result, 18);
            return result;
        }
    }

    class PDR7 : PDR6
    {
        ushort red;
        ushort green;
        ushort blue;

        const int headerSize = 36;

        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                red = BitConverter.ToUInt16(data, 30);
                green = BitConverter.ToUInt16(data, 32);
                blue = BitConverter.ToUInt16(data, 34);

                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR7 newPoint = new PDR7();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append(string.Format("RGB: {0} {1} {2} {3}", red, green, blue, Environment.NewLine));
            return sb.ToString();
        }
    }
    class PDR8 : PDR7
    {
        ushort nIR;

       const int headerSize = 38;

        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                nIR = BitConverter.ToUInt16(data, 36);

                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR8 newPoint = new PDR8();
            newPoint.ReadPoint(data);
            return newPoint;
        }

        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append("Infrared: " + nIR.ToString() + Environment.NewLine);
            return sb.ToString();
        }
    }

    class PDR9 : PDR6
    {
        byte wavePacketDescriptorIndex;
        ulong byteOffsetToWaveformData;
        uint waveformPacketSize;
        float returnPointWaveformLocation;
        float dx;
        float dy;
        float dz;

        const int headerSize = 59;

        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                wavePacketDescriptorIndex = data[38];
                byteOffsetToWaveformData = BitConverter.ToUInt64(data, 39);
                waveformPacketSize = BitConverter.ToUInt32(data, 47);
                returnPointWaveformLocation = BitConverter.ToSingle(data, 51);
                dx = BitConverter.ToSingle(data, 55);
                dy = BitConverter.ToSingle(data, 59);
                dz = BitConverter.ToSingle(data, 63);

                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR9 newPoint = new PDR9();
            newPoint.ReadPoint(data);
            return newPoint;
        }
        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append("WavePacket Index: " + wavePacketDescriptorIndex.ToString() + Environment.NewLine);
            sb.Append("Waveform Offset: " + byteOffsetToWaveformData.ToString() + Environment.NewLine);
            sb.Append("Waveform Size: " + waveformPacketSize.ToString() + Environment.NewLine);
            sb.Append("Return Point Waveform: " + returnPointWaveformLocation.ToString() + Environment.NewLine);
            sb.Append(string.Format("Delta Pos: dx={0} dy={1} dz={2} {3}", dx, dy, dz, Environment.NewLine));
            return sb.ToString();
        }
    }

    class PDR10 : PDR8
    {
        byte wavePacketDescriptorIndex;
        ulong byteOffsetToWaveformData;
        uint waveformPacketSize;
        float returnPointWaveformLocation;
        float dx;
        float dy;
        float dz;

        const int headerSize = 67;

        public override bool ReadPoint(byte[] data)
        {
            if (DataHelpers.VerifySize(data, headerSize))
            {
                base.ReadPoint(data);
                wavePacketDescriptorIndex = data[30];
                byteOffsetToWaveformData = BitConverter.ToUInt64(data, 31);
                waveformPacketSize = BitConverter.ToUInt32(data, 39);
                returnPointWaveformLocation = BitConverter.ToSingle(data, 43);
                dx = BitConverter.ToSingle(data, 47);
                dy = BitConverter.ToSingle(data, 51);
                dz = BitConverter.ToSingle(data, 55);

                return true;
            }
            else return false;

        }
        public override IPointDataRecord ParsePoint(byte[] data)
        {
            PDR10 newPoint = new PDR10();
            newPoint.ReadPoint(data);
            return newPoint;
        }
        public override string ToString()
        {
            StringBuilder sb = new StringBuilder();
            sb.Append(base.ToString());
            sb.Append("WavePacket Index: " + wavePacketDescriptorIndex.ToString() + Environment.NewLine);
            sb.Append("Waveform Offset: " + byteOffsetToWaveformData.ToString() + Environment.NewLine);
            sb.Append("Waveform Size: " + waveformPacketSize.ToString() + Environment.NewLine);
            sb.Append("Return Point Waveform: " + returnPointWaveformLocation.ToString() + Environment.NewLine);
            sb.Append(string.Format("Delta Pos: dx={0} dy={1} dz={2} {3}", dx, dy, dz, Environment.NewLine));
            return sb.ToString();
        }
    }
}