/*-------------------------------------------------------------------- * The MB-system: mb_io.h 1/19/93 * $Id: mb_io.h 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 1993-2015 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mb_io.h defines data structures used by MBIO "mb_" functions * to store parameters relating to reading data from or writing * data to a single multibeam data file. * * Author: D. W. Caress * Date: January 19, 1993 * */ /* include this code only once */ #ifndef MB_IO_DEF #define MB_IO_DEF #include "mb_config.h" #include "mb_define.h" #include "mb_status.h" /* survey platform definition structures */ struct mb_sensor_offsets { int time_latency_mode; double time_latency_static; int time_latency_n; int time_latency_nalloc; double *time_latency_time_d; double *time_latency_value; int position_offset_mode; double position_offset_x; double position_offset_y; double position_offset_z; int angular_offset_mode; double angular_offset_azimuth; double angular_offset_roll; double angular_offset_pitch; }; #define MB_SENSOR_TYPE_SONAR_NONE 0 #define MB_SENSOR_TYPE_SONAR_ECHOSOUNDER 1 #define MB_SENSOR_TYPE_SONAR_MULTIECHOSOUNDER 2 #define MB_SENSOR_TYPE_SONAR_SIDESCAN 3 #define MB_SENSOR_TYPE_SONAR_INTERFEROMETRY 4 #define MB_SENSOR_TYPE_SONAR_MULTIBEAM 5 #define MB_SENSOR_TYPE_SONAR_SUBBOTTOM 6 #define MB_SENSOR_TYPE_CAMERA_MONO 21 #define MB_SENSOR_TYPE_CAMERA_STEREO 22 #define MB_SENSOR_TYPE_CAMERA_VIDEO 23 #define MB_SENSOR_TYPE_LIDAR_SCAN 31 #define MB_SENSOR_TYPE_LIDAR_SWATH 32 #define MB_SENSOR_TYPE_POSITION 51 #define MB_SENSOR_TYPE_COMPASS 61 #define MB_SENSOR_TYPE_VRU 71 #define MB_SENSOR_TYPE_IMU 81 #define MB_SENSOR_TYPE_CTD 91 #define MB_SENSOR_TYPE_SOUNDSPEED 101 struct mb_sensor { int type; int sensor_class; mb_longname sensor_model; mb_longname sensor_manufacturer; mb_longname sensor_serialnumber; int capability; int special_capability; int num_offsets; int num_offsets_alloc; struct mb_sensor_offsets *offsets; }; #define MB_PLATFORM_NONE 0 #define MB_PLATFORM_SURFACE_VESSEL 1 #define MB_PLATFORM_TOW_BODY 2 #define MB_PLATFORM_ROV 3 #define MB_PLATFORM_AUV 4 #define MB_PLATFORM_AIRPLANE 5 #define MB_PLATFORM_SATELLITE 6 struct mb_platform { int type; mb_longname name; mb_longname organization; int num_sensors; int num_sensors_alloc; struct mb_sensor *sensors; }; struct mb_io_ping_struct { double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; int nbath; int namp; int nss; char *beamflag; double *bath; double *bathlon; double *bathlat; double *amp; double *ss; double *sslon; double *sslat; }; /* MBIO input/output control structure */ struct mb_io_struct { /* system byte swapping */ int byteswapped; /* 0 = unswapped, 1 = swapped (Intel byte order) */ /* format parameters */ int format; /* data format id */ int system; /* sonar system id */ int beams_bath_max; /* maximum number of bathymetry beams */ int beams_amp_max; /* maximum number of amplitude beams - either 0 or = beams_bath */ int pixels_ss_max; /* maximum number of sidescan pixels */ int beams_bath_alloc; /* allocated number of bathymetry beams */ int beams_amp_alloc; /* allocated number of amplitude beams */ int pixels_ss_alloc; /* allocated number of sidescan pixels */ char format_name[MB_NAME_LENGTH]; char system_name[MB_NAME_LENGTH]; char format_description[MB_DESCRIPTION_LENGTH]; int numfile; /* the number of parallel files required for i/o */ int filetype; /* type of files used (normal, single normal, xdr, or gsf) */ int filemode; /* file mode (read or write) */ int variable_beams; /* if true then number of beams variable */ int traveltime; /* if true then traveltime and angle data supported */ int beam_flagging; /* if true then beam flagging supported */ int nav_source; /* data record types containing the primary navigation */ int heading_source; /* data record types containing the primary heading */ int vru_source; /* data record types containing the primary vru */ int svp_source; /* data record types containing the primary svp */ double beamwidth_xtrack; /* nominal acrosstrack beamwidth */ double beamwidth_ltrack; /* nominal alongtrack beamwidth */ /* control parameters - see mbio manual pages for explanation */ int pings; /* controls ping averaging */ int lonflip; /* controls longitude range */ double bounds[4]; /* locations bounds of acceptable data */ int btime_i[7]; /* beginning time of acceptable data */ int etime_i[7]; /* ending time of acceptable data */ double btime_d; /* beginning time of acceptable data in "_d" format (unix seconds) */ double etime_d; /* ending time of acceptable data in "_d" format (unix seconds) */ double speedmin; /* minimum ship speed of acceptable data in km/hr */ double timegap; /* maximum time between pings without a data gap */ /* file descriptor, file name, and usage flag */ FILE *mbfp; /* file descriptor */ mb_path file; /* file name */ long file_pos; /* file position at start of last record read */ long file_bytes; /* number of bytes read from file */ char *file_iobuffer; /* file i/o buffer for fread() and fwrite() calls */ FILE *mbfp2; /* file descriptor #2 */ char file2[MB_PATH_MAXLINE]; /* file name #2 */ long file2_pos; /* file position #2 at start of last record read */ long file2_bytes; /* number of bytes read from file */ FILE *mbfp3; /* file descriptor #3 */ char file3[MB_PATH_MAXLINE]; /* file name #3 */ long file3_pos; /* file position #3 at start of last record read */ long file3_bytes; /* number of bytes read from file */ int ncid; /* netCDF datastream ID */ int gsfid; /* GSF datastream ID */ void *xdrs; /* XDR stream handle */ void *xdrs2; /* XDR stream handle #2 */ void *xdrs3; /* XDR stream handle #2 */ /* read or write history */ int fileheader; /* indicates whether file header has been read or written */ int hdr_comment_size;/* number of characters in header_comment string */ int hdr_comment_loc;/* number of characters already extracted from header_comment string */ char *hdr_comment; /* placeholder for long comment strings for formats using a single comment string in a file header */ int irecord_count; /* counting variable used for VMS derived data formats to remove extra bytes (e.g. sburivax format) */ int orecord_count; /* counting variable used for VMS derived data formats to insert extra bytes (e.g. sburivax format) */ /* pointer to structure containing raw data (could be any format) */ int structure_size; int data_structure_size; int header_structure_size; void *raw_data; void *store_data; /* working variables */ int ping_count; /* number of pings read or written so far */ int nav_count; /* number of nav records read or written so far */ int comment_count; /* number of comments read or written so far */ int pings_avg; /* number of pings currently averaged */ int pings_read; /* number of pings read this binning cycle */ int error_save; /* saves time gap error to end of binning */ double last_time_d; double last_lon; double last_lat; double old_time_d; double old_lon; double old_lat; double old_ntime_d; double old_nlon; double old_nlat; /* data binning variables */ int pings_binned; double time_d; double lon; double lat; double speed; double heading; char *beamflag; double *bath; double *amp; double *bath_acrosstrack; double *bath_alongtrack; int *bath_num; int *amp_num; double *ss; double *ss_acrosstrack; double *ss_alongtrack; int *ss_num; /* current ping variables */ int need_new_ping; int new_kind; int new_error; char new_comment[MB_COMMENT_MAXLINE]; int new_time_i[7]; double new_time_d; double new_lon; double new_lat; double new_speed; double new_heading; int new_beams_bath; /* number of bathymetry beams */ int new_beams_amp; /* number of amplitude beams - either 0 or = beams_bath */ int new_pixels_ss; /* number of sidescan pixels */ char *new_beamflag; double *new_bath; double *new_amp; double *new_bath_acrosstrack; double *new_bath_alongtrack; double *new_ss; double *new_ss_acrosstrack; double *new_ss_alongtrack; /* variables for projections to and from projected coordinates */ int projection_initialized; char projection_id[MB_NAME_LENGTH]; void *pjptr; /* variables for interpolating/extrapolating navigation for formats containing nav as asynchronous position records separate from ping data */ int nfix; double fix_time_d[MB_ASYNCH_SAVE_MAX]; double fix_lon[MB_ASYNCH_SAVE_MAX]; double fix_lat[MB_ASYNCH_SAVE_MAX]; /* variables for interpolating/extrapolating attitude for formats containing attitude as asynchronous data records separate from ping data */ int nattitude; double attitude_time_d[MB_ASYNCH_SAVE_MAX]; double attitude_heave[MB_ASYNCH_SAVE_MAX]; double attitude_roll[MB_ASYNCH_SAVE_MAX]; double attitude_pitch[MB_ASYNCH_SAVE_MAX]; /* variables for interpolating/extrapolating heading for formats containing heading as asynchronous data records separate from ping data */ int nheading; double heading_time_d[MB_ASYNCH_SAVE_MAX]; double heading_heading[MB_ASYNCH_SAVE_MAX]; /* variables for interpolating/extrapolating sonar depth for formats containing sonar depth as asynchronous data records separate from ping data */ int nsonardepth; double sonardepth_time_d[MB_ASYNCH_SAVE_MAX]; double sonardepth_sonardepth[MB_ASYNCH_SAVE_MAX]; /* variables for interpolating/extrapolating altitude for formats containing altitude as asynchronous data records separate from ping data */ int naltitude; double altitude_time_d[MB_ASYNCH_SAVE_MAX]; double altitude_altitude[MB_ASYNCH_SAVE_MAX]; /* variables for accumulating MBIO notices */ int notice_list[MB_NOTICE_MAX]; /* variable for registering and maintaining application i/o arrays */ int bath_arrays_reallocated; int amp_arrays_reallocated; int ss_arrays_reallocated; int n_regarray; int n_regarray_alloc; void **regarray_handle; void **regarray_ptr; void **regarray_oldptr; int *regarray_type; size_t *regarray_size; /* variables for saving information */ char save_label[12]; int save_label_flag; int save_flag; int save1; int save2; int save3; int save4; int save5; int save6; int save7; int save8; int save9; int save10; int save11; int save12; int save13; int save14; double saved1; double saved2; double saved3; double saved4; double saved5; void *saveptr1; void *saveptr2; /* function pointers for allocating and deallocating format specific structures */ int (*mb_io_format_alloc)(int verbose, void *mbio_ptr, int *error); int (*mb_io_format_free)(int verbose, void *mbio_ptr, int *error); int (*mb_io_store_alloc)(int verbose, void *mbio_ptr, void **store_ptr, int *error); int (*mb_io_store_free)(int verbose, void *mbio_ptr, void **store_ptr, int *error); /* function pointers for reading and writing records */ int (*mb_io_read_ping)(int verbose, void *mbio_ptr, void *store_ptr, int *error); int (*mb_io_write_ping)(int verbose, void *mbio_ptr, void *store_ptr, int *error); /* function pointers for extracting and inserting data */ int (*mb_io_dimensions)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int (*mb_io_pingnumber)(int verbose, void *mbio_ptr, int *pingnumber, int *error); int (*mb_io_segynumber)(int verbose, void *mbio_ptr, int *line, int *shot, int *cdp, int *error); int (*mb_io_sonartype)(int verbose, void *mbio_ptr, void *store_ptr, int *sonartype, int *error); int (*mb_io_sidescantype)(int verbose, void *mbio_ptr, void *store_ptr, int *ss_type, int *error); int (*mb_io_preprocess)(int verbose, void *mbio_ptr, void *store_ptr, double time_d, double navlon, double navlat, double speed, double heading, double sonardepth, double roll, double pitch, double heave, int *error); int (*mb_io_extract)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int (*mb_io_insert)(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int (*mb_io_extract_nav)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int (*mb_io_extract_nnav)(int verbose, void *mbio_ptr, void *store_ptr, int nmax, int *kind, int *n, int *time_i, double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int (*mb_io_insert_nav)(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error); int (*mb_io_extract_altitude)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int (*mb_io_insert_altitude)(int verbose, void *mbio_ptr, void *store_ptr, double transducer_depth, double altitude, int *error); int (*mb_io_extract_svp)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsvp, double *depth, double *velocity, int *error); int (*mb_io_insert_svp)(int verbose, void *mbio_ptr, void *store_ptr, int nsvp, double *depth, double *velocity, int *error); int (*mb_io_ttimes)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error); int (*mb_io_detects)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int (*mb_io_pulses)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *pulses, int *error); int (*mb_io_gains)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transmit_gain, double *pulse_length, double *receive_gain, int *error); int (*mb_io_extract_rawssdimensions)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *sample_interval, int *num_samples_port, int *num_samples_stbd, int *error); int (*mb_io_extract_rawss)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *sidescan_type, double *sample_interval, double *beamwidth_xtrack, double *beamwidth_ltrack, int *num_samples_port, double *rawss_port, int *num_samples_stbd, double *rawss_stbd, int *error); int (*mb_io_insert_rawss)(int verbose, void *mbio_ptr, void *store_ptr, int kind, int sidescan_type, double sample_interval, double beamwidth_xtrack, double beamwidth_ltrack, int num_samples_port, double *rawss_port, int num_samples_stbd, double *rawss_stbd, int *error); int (*mb_io_extract_segytraceheader)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, void *segytraceheader_ptr, int *error); int (*mb_io_extract_segy)(int verbose, void *mbio_ptr, void *store_ptr, int *sampleformat, int *kind, void *segytraceheader_ptr, float *segydata, int *error); int (*mb_io_insert_segy)(int verbose, void *mbio_ptr, void *store_ptr, int kind, void *segytraceheader_ptr, float *segydata, int *error); int (*mb_io_ctd)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nctd, double *time_d, double *conductivity, double *temperature, double *depth, double *salinity, double *soundspeed, int *error); int (*mb_io_ancilliarysensor)(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nsensor, double *time_d, double *sensor1, double *sensor2, double *sensor3, double *sensor4, double *sensor5, double *sensor6, double *sensor7, double *sensor8, int *error); int (*mb_io_copyrecord)(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error); }; /* MBIO buffer control structure */ struct mb_buffer_struct { void *buffer[MB_BUFFER_MAX]; int buffer_kind[MB_BUFFER_MAX]; int nbuffer; }; /* MBIO datalist control structure */ #define MB_DATALIST_RECURSION_MAX 25 struct mb_datalist_struct { int open; int recursion; int look_processed; int local_weight; int weight_set; double weight; FILE *fp; char path[MB_PATH_MAXLINE]; struct mb_datalist_struct *datalist; }; /* end conditional include */ #endif