/*-------------------------------------------------------------------- * The MB-system: mbr_wasspenl.c 1/27/2014 * $Id: mbr_wasspenl.c 2227 2015-02-05 21:12:31Z caress $ * * Copyright (c) 2014-2015 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. *--------------------------------------------------------------------*/ /* * mbr_wasspenl.c contains the functions for reading and writing * multibeam data in the WASSPENL format. * These functions include: * mbr_alm_wasspenl - allocate read/write memory * mbr_dem_wasspenl - deallocate read/write memory * mbr_rt_wasspenl - read and translate data * mbr_wt_wasspenl - translate and write data * * Author: D. W. Caress * Date: January 27, 2014 * $Log: mbr_wasspenl.c,v $ * */ /* standard include files */ #include #include #include /* mbio include files */ #include "mb_status.h" #include "mb_format.h" #include "mb_io.h" #include "mb_define.h" #include "mbsys_wassp.h" /* include for byte swapping */ #include "mb_swap.h" /* turn on debug statements here */ /* #define MBR_WASSPENLDEBUG 1 */ /* essential function prototypes */ int mbr_register_wasspenl(int verbose, void *mbio_ptr, int *error); int mbr_info_wasspenl(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error); int mbr_alm_wasspenl(int verbose, void *mbio_ptr, int *error); int mbr_dem_wasspenl(int verbose, void *mbio_ptr, int *error); int mbr_rt_wasspenl(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_wasspenl(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wasspenl_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wasspenl_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wasspenl_rd_genbathy(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_corbathy(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_rawsonar(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_gen_sens(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_nvupdate(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_wcd_navi(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_sys_cfg1(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_mcomment(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_rd_unknown1(int verbose, char *buffer, void *store_ptr, int *error); int mbr_wasspenl_wr_genbathy(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_corbathy(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_rawsonar(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_gen_sens(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_nvupdate(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_wcd_navi(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_sys_cfg1(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_mcomment(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_wasspenl_wr_unknown1(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_reference(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); static char rcs_id[]="$Id: mbr_wasspenl.c 2227 2015-02-05 21:12:31Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_wasspenl(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_wasspenl"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* get mb_io_ptr */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set format info parameters */ status = mbr_info_wasspenl(verbose, &mb_io_ptr->system, &mb_io_ptr->beams_bath_max, &mb_io_ptr->beams_amp_max, &mb_io_ptr->pixels_ss_max, mb_io_ptr->format_name, mb_io_ptr->system_name, mb_io_ptr->format_description, &mb_io_ptr->numfile, &mb_io_ptr->filetype, &mb_io_ptr->variable_beams, &mb_io_ptr->traveltime, &mb_io_ptr->beam_flagging, &mb_io_ptr->nav_source, &mb_io_ptr->heading_source, &mb_io_ptr->vru_source, &mb_io_ptr->svp_source, &mb_io_ptr->beamwidth_xtrack, &mb_io_ptr->beamwidth_ltrack, error); /* set format and system specific function pointers */ mb_io_ptr->mb_io_format_alloc = &mbr_alm_wasspenl; mb_io_ptr->mb_io_format_free = &mbr_dem_wasspenl; mb_io_ptr->mb_io_store_alloc = &mbsys_wassp_alloc; mb_io_ptr->mb_io_store_free = &mbsys_wassp_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_wasspenl; mb_io_ptr->mb_io_write_ping = &mbr_wt_wasspenl; mb_io_ptr->mb_io_dimensions = &mbsys_wassp_dimensions; mb_io_ptr->mb_io_pingnumber = &mbsys_wassp_pingnumber; mb_io_ptr->mb_io_sonartype = &mbsys_wassp_sonartype; mb_io_ptr->mb_io_sidescantype = NULL; mb_io_ptr->mb_io_extract = &mbsys_wassp_extract; mb_io_ptr->mb_io_insert = &mbsys_wassp_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_wassp_extract_nav; mb_io_ptr->mb_io_extract_nnav = NULL; mb_io_ptr->mb_io_insert_nav = &mbsys_wassp_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_wassp_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = NULL; mb_io_ptr->mb_io_insert_svp = NULL; mb_io_ptr->mb_io_ttimes = &mbsys_wassp_ttimes; mb_io_ptr->mb_io_detects = &mbsys_wassp_detects; mb_io_ptr->mb_io_gains = &mbsys_wassp_gains; mb_io_ptr->mb_io_copyrecord = &mbsys_wassp_copy; mb_io_ptr->mb_io_extract_rawss = NULL; mb_io_ptr->mb_io_insert_rawss = NULL; mb_io_ptr->mb_io_extract_segytraceheader = NULL; mb_io_ptr->mb_io_extract_segy = NULL; mb_io_ptr->mb_io_insert_segy = NULL; mb_io_ptr->mb_io_ctd = NULL; mb_io_ptr->mb_io_ancilliarysensor = NULL; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",mb_io_ptr->system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",mb_io_ptr->beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",mb_io_ptr->beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",mb_io_ptr->pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",mb_io_ptr->format_name); fprintf(stderr,"dbg2 system_name: %s\n",mb_io_ptr->system_name); fprintf(stderr,"dbg2 format_description: %s\n",mb_io_ptr->format_description); fprintf(stderr,"dbg2 numfile: %d\n",mb_io_ptr->numfile); fprintf(stderr,"dbg2 filetype: %d\n",mb_io_ptr->filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",mb_io_ptr->variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",mb_io_ptr->traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",mb_io_ptr->beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",mb_io_ptr->nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",mb_io_ptr->heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",mb_io_ptr->vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",mb_io_ptr->svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",mb_io_ptr->beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",mb_io_ptr->beamwidth_ltrack); fprintf(stderr,"dbg2 format_alloc: %p\n",(void *)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %p\n",(void *)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %p\n",(void *)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %p\n",(void *)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %p\n",(void *)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %p\n",(void *)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %p\n",(void *)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %p\n",(void *)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %p\n",(void *)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %p\n",(void *)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %p\n",(void *)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %p\n",(void *)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %p\n",(void *)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %p\n",(void *)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %p\n",(void *)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %p\n",(void *)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawss: %p\n",(void *)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %p\n",(void *)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 extract_segytraceheader: %p\n",(void *)mb_io_ptr->mb_io_extract_segytraceheader); fprintf(stderr,"dbg2 extract_segy: %p\n",(void *)mb_io_ptr->mb_io_extract_segy); fprintf(stderr,"dbg2 insert_segy: %p\n",(void *)mb_io_ptr->mb_io_insert_segy); fprintf(stderr,"dbg2 copyrecord: %p\n",(void *)mb_io_ptr->mb_io_copyrecord); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_info_wasspenl(int verbose, int *system, int *beams_bath_max, int *beams_amp_max, int *pixels_ss_max, char *format_name, char *system_name, char *format_description, int *numfile, int *filetype, int *variable_beams, int *traveltime, int *beam_flagging, int *nav_source, int *heading_source, int *vru_source, int *svp_source, double *beamwidth_xtrack, double *beamwidth_ltrack, int *error) { char *function_name = "mbr_info_wasspenl"; int status = MB_SUCCESS; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); } /* set format info parameters */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; *system = MB_SYS_WASSP; *beams_bath_max = MBSYS_WASSP_MAX_BEAMS; *beams_amp_max = MBSYS_WASSP_MAX_BEAMS; *pixels_ss_max = MBSYS_WASSP_MAX_PIXELS; strncpy(format_name, "WASSPENL", MB_NAME_LENGTH); strncpy(system_name, "WASSP", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_WASSPENL\nInformal Description: WASSP Multibeam Vendor Format\nAttributes: WASSP multibeams, \n bathymetry and amplitude,\n 122 or 244 beams, binary, Electronic Navigation Ltd.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_SINGLE; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_NONE; *beamwidth_xtrack = 4.0; *beamwidth_ltrack = 4.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_alm_wasspenl(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_wasspenl"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; char **bufferptr; char *buffer; int *bufferalloc; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* set initial status */ status = MB_SUCCESS; /* allocate memory for data structure */ mb_io_ptr->structure_size = 0; mb_io_ptr->data_structure_size = 0; status = mbsys_wassp_alloc( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* allocate starting memory for data record buffer */ bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; *bufferptr = NULL; *bufferalloc = 0; if (status == MB_SUCCESS) { status = mb_reallocd(verbose, __FILE__, __LINE__, MBSYS_WASSP_BUFFER_STARTSIZE, (void **)bufferptr, error); if (status == MB_SUCCESS) *bufferalloc = MBSYS_WASSP_BUFFER_STARTSIZE; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_wasspenl(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_wasspenl"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; char **bufferptr; char *buffer; int *bufferalloc; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for reading/writing buffer */ bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; status = mb_freed(verbose,__FILE__,__LINE__,(void **)bufferptr,error); *bufferalloc = 0; /* deallocate memory for data descriptor */ status = mbsys_wassp_deall( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_rt_wasspenl(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_wasspenl"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_wassp_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; #ifdef MBR_WASSPENLDEBUG fprintf(stderr,"About to call mbr_wasspenl_rd_data...\n"); #endif /* read next data from file */ status = mbr_wasspenl_rd_data(verbose,mbio_ptr,store_ptr,error); /* get pointers to data structures */ store = (struct mbsys_wassp_struct *) store_ptr; /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = store->kind; #ifdef MBR_WASSPENLDEBUG fprintf(stderr,"Done with mbr_wasspenl_rd_data: status:%d error:%d record kind:%d\n", status, *error, store->kind); #endif /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wt_wasspenl(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_wasspenl"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_wassp_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; #ifdef MBR_WASSPENLDEBUG fprintf(stderr,"About to call mbr_wasspenl_wr_data record kind:%d\n", store->kind); #endif /* write next data to file */ status = mbr_wasspenl_wr_data(verbose,mbio_ptr,store_ptr,error); #ifdef MBR_WASSPENLDEBUG fprintf(stderr,"Done with mbr_wasspenl_wr_data: status:%d error:%d\n", status, *error); #endif /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_wassp_struct *store; struct mbsys_wassp_genbathy_struct *genbathy; struct mbsys_wassp_corbathy_struct *corbathy; struct mbsys_wassp_rawsonar_struct *rawsonar; struct mbsys_wassp_gen_sens_struct *gen_sens; struct mbsys_wassp_nvupdate_struct *nvupdate; struct mbsys_wassp_wcd_navi_struct *wcd_navi; struct mbsys_wassp_sys_cfg1_struct *sys_cfg1; struct mbsys_wassp_mcomment_struct *mcomment; char **bufferptr; char *buffer; int *bufferalloc; unsigned int syncvalue; char recordid[12]; size_t read_len; int skip; unsigned int *record_size; int done; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; genbathy = (struct mbsys_wassp_genbathy_struct *) &(store->genbathy); corbathy = (struct mbsys_wassp_corbathy_struct *) &(store->corbathy); rawsonar = (struct mbsys_wassp_rawsonar_struct *) &(store->rawsonar); gen_sens = (struct mbsys_wassp_gen_sens_struct *) &(store->gen_sens); nvupdate = (struct mbsys_wassp_nvupdate_struct *) &(store->nvupdate); wcd_navi = (struct mbsys_wassp_wcd_navi_struct *) &(store->wcd_navi); sys_cfg1 = (struct mbsys_wassp_sys_cfg1_struct *) &(store->sys_cfg1); mcomment = (struct mbsys_wassp_mcomment_struct *) &(store->mcomment); bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; record_size = (unsigned int *)&buffer[4]; /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; /* loop over reading data until a record is ready for return */ done = MB_NO; *error = MB_ERROR_NO_ERROR; while (done == MB_NO) { /* read next record header into buffer */ read_len = (size_t)16; status = mb_fileio_get(verbose, mbio_ptr, buffer, &read_len, error); /* check header - if not a good header read a byte at a time until a good header is found */ skip = 0; mb_get_binary_int(MB_YES, buffer, &syncvalue); while (status == MB_SUCCESS && syncvalue != MBSYS_WASSP_SYNC) { /* get next byte */ for (i=0;i<15;i++) buffer[i] = buffer[i+1]; read_len = (size_t)1; status = mb_fileio_get(verbose, mbio_ptr, &buffer[15], &read_len, error); mb_get_binary_int(MB_YES, buffer, &syncvalue); skip++; } /* get record id string */ memcpy((void *)recordid, (void *)&buffer[8], (size_t)8); recordid[9] = '\0'; #ifdef MBR_WASSPENLDEBUG fprintf(stderr,"Found sync - skip:%d record:%s\n", skip,recordid); #endif /* report problem */ if (skip > 0 && verbose >= 0) { fprintf(stderr, "\nThe MBF_WASSPENL module skipped data between identified\n" "data records. Something is broken, most probably the data...\n" "However, the data may include a data record type that we\n" "haven't seen yet, or there could be an error in the code.\n" "If skipped data are reported multiple times, \n" "we recommend you send a data sample and problem \n" "description to the MB-System team \n" "(caress@mbari.org and dale@ldeo.columbia.edu)\n" "Have a nice day...\n"); fprintf(stderr, "MBF_WASSPENL skipped %d bytes before record %s\n", skip, recordid); } /* allocate memory to read rest of record if necessary */ if (*bufferalloc < *record_size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *record_size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; done = MB_YES; } else { *bufferalloc = *record_size; buffer = (char *) *bufferptr; } } /* read the rest of the record */ if (status == MB_SUCCESS) { read_len = (size_t)(*record_size - 16); status = mb_fileio_get(verbose, mbio_ptr, &buffer[16], &read_len, error); } /* if valid parse the record */ if (status == MB_SUCCESS) { /* read GENBATHY record */ if (strncmp(recordid, "GENBATHY", 8) == 0) { status = mbr_wasspenl_rd_genbathy(verbose, buffer, store_ptr, error); } /* read CORBATHY record */ else if (strncmp(recordid, "CORBATHY", 8) == 0) { status = mbr_wasspenl_rd_corbathy(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) { if (genbathy->ping_number == corbathy->ping_number) done = MB_YES; else { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; done = MB_YES; } } } /* read RAWSONAR record */ else if (strncmp(recordid, "RAWSONAR", 8) == 0) { status = mbr_wasspenl_rd_rawsonar(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } /* read GEN_SENS record */ else if (strncmp(recordid, "GEN_SENS", 8) == 0) { status = mbr_wasspenl_rd_gen_sens(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } /* read NVUPDATE record */ else if (strncmp(recordid, "NVUPDATE", 8) == 0) { status = mbr_wasspenl_rd_nvupdate(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } /* read WCD_NAVI record */ else if (strncmp(recordid, "WCD_NAVI", 8) == 0) { status = mbr_wasspenl_rd_wcd_navi(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } /* read SYS_CFG1 record */ else if (strncmp(recordid, "SYS_CFG1", 8) == 0) { status = mbr_wasspenl_rd_sys_cfg1(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } /* read MCOMMENT_ record */ else if (strncmp(recordid, "MCOMMENT", 8) == 0) { status = mbr_wasspenl_rd_mcomment(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } /* read an unknown1 record */ else { status = mbr_wasspenl_rd_unknown1(verbose, buffer, store_ptr, error); if (status == MB_SUCCESS) done = MB_YES; } } /* set done if read failure */ else { done = MB_YES; } } /* get file position */ mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_wassp_struct *store; char **bufferptr; char *buffer; int *bufferalloc; int size; size_t write_len; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %p\n",(void *)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; /* get saved values */ bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; /* write the current data record */ /* write GENBATHY record */ if (store->kind == MB_DATA_DATA) { status = mbr_wasspenl_wr_genbathy(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); status = mbr_wasspenl_wr_corbathy(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write RAWSONAR record */ else if (store->kind == MB_DATA_WATER_COLUMN) { status = mbr_wasspenl_wr_rawsonar(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write GEN_SENS record */ else if (store->kind == MB_DATA_GEN_SENS) { status = mbr_wasspenl_wr_gen_sens(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write NVUPDATE record */ else if (store->kind == MB_DATA_NAV) { status = mbr_wasspenl_wr_nvupdate(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write WCD_NAVI record */ else if (store->kind == MB_DATA_WC_PICKS) { status = mbr_wasspenl_wr_wcd_navi(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write SYS_CFG1 record */ else if (store->kind == MB_DATA_PARAMETER) { status = mbr_wasspenl_wr_sys_cfg1(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write MCOMMENT_ record */ else if (store->kind == MB_DATA_COMMENT) { status = mbr_wasspenl_wr_mcomment(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* write unknown1 record */ else if (store->kind == MB_DATA_RAW_LINE) { status = mbr_wasspenl_wr_sys_cfg1(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } #ifdef MBR_WASSPENLDEBUG fprintf(stderr,"WASSPENL DATA WRITTEN: type:%d status:%d error:%d\n\n", store->kind, status, *error); #endif /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_genbathy(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_genbathy"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_genbathy_struct *genbathy; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; genbathy = &(store->genbathy); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->version)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(genbathy->msec)); index += 8; genbathy->day = buffer[index]; index++; genbathy->month = buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(genbathy->year)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->ping_number)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->sonar_model)); index += 4; mb_get_binary_long(MB_YES, &buffer[index], &(genbathy->transducer_serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->number_beams)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->modeflags)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->sampling_frequency)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->acoustic_frequency)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->tx_power)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->pulse_width)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->absorption_loss)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->spreading_loss)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->sample_type)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->sound_velocity)); index += 4; for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->detection_point[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->rx_angle[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->flags[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(genbathy->backscatter[i])); index += 4; } mb_get_binary_int(MB_YES, &buffer[index], &(genbathy->checksum)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; /* get the time */ store->time_i[0] = genbathy->year; store->time_i[1] = genbathy->month; store->time_i[2] = genbathy->day; store->time_i[3] = (int)floor(genbathy->msec / 3600000.0); store->time_i[4] = (int)floor((genbathy->msec - 3600000.0 * store->time_i[3]) / 60000.0); store->time_i[5] = (int)floor((genbathy->msec - 3600000.0 * store->time_i[3] - 60000.0 * store->time_i[4]) / 1000.0);; store->time_i[6] = (int)((genbathy->msec - 3600000.0 * store->time_i[3] - 60000.0 * store->time_i[4] - 1000.0 * store->time_i[5]) * 1000.0);; mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 genbathy->version: %u\n",genbathy->version); fprintf(stderr,"dbg5 genbathy->msec: %f\n",genbathy->msec); fprintf(stderr,"dbg5 genbathy->day: %u\n",genbathy->day); fprintf(stderr,"dbg5 genbathy->month: %u\n",genbathy->month); fprintf(stderr,"dbg5 genbathy->year: %u\n",genbathy->year); fprintf(stderr,"dbg5 genbathy->ping_number: %u\n",genbathy->ping_number); fprintf(stderr,"dbg5 genbathy->sonar_model: %u\n",genbathy->sonar_model); fprintf(stderr,"dbg5 genbathy->transducer_serial_number: %lu\n",genbathy->transducer_serial_number); fprintf(stderr,"dbg5 genbathy->number_beams: %u\n",genbathy->number_beams); fprintf(stderr,"dbg5 genbathy->modeflags: %u\n",genbathy->modeflags); fprintf(stderr,"dbg5 genbathy->sampling_frequency: %f\n",genbathy->sampling_frequency); fprintf(stderr,"dbg5 genbathy->acoustic_frequency: %f\n",genbathy->acoustic_frequency); fprintf(stderr,"dbg5 genbathy->tx_power: %f\n",genbathy->tx_power); fprintf(stderr,"dbg5 genbathy->pulse_width: %f\n",genbathy->pulse_width); fprintf(stderr,"dbg5 genbathy->absorption_loss: %f\n",genbathy->absorption_loss); fprintf(stderr,"dbg5 genbathy->spreading_loss: %f\n",genbathy->spreading_loss); fprintf(stderr,"dbg5 genbathy->sample_type: %u\n",genbathy->sample_type); fprintf(stderr,"dbg5 genbathy->sound_velocity: %f\n",genbathy->sound_velocity); for (i=0;inumber_beams;i++) { fprintf(stderr,"dbg5 genbathy->detection_point[%3d]: %f\n",i,genbathy->detection_point[i]); fprintf(stderr,"dbg5 genbathy->rx_angle[%3d]: %f\n",i,genbathy->rx_angle[i]); fprintf(stderr,"dbg5 genbathy->flags[%3d]: %u\n",i,genbathy->flags[i]); fprintf(stderr,"dbg5 genbathy->backscatter[%3d]: %f\n",i,genbathy->backscatter[i]); } fprintf(stderr,"dbg5 genbathy->checksum: %u\n",genbathy->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_corbathy(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_corbathy"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_corbathy_struct *corbathy; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; corbathy = &(store->corbathy); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->version)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(corbathy->msec)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->num_beams)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->ping_number)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(corbathy->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(corbathy->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->bearing)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->heave)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->sample_type)); index += 4; for (i=0;i<6;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->spare[i])); index += 4; } for (i=0;inum_beams;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->beam_index[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->x[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->y[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->z[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->beam_angle[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(corbathy->backscatter[i])); index += 4; corbathy->quality[i] = buffer[index]; index++; corbathy->fish[i] = buffer[index]; index++; corbathy->roughness[i] = buffer[index]; index++; corbathy->empty[i] = buffer[index]; index++; mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->pad[i])); index += 4; } mb_get_binary_int(MB_YES, &buffer[index], &(corbathy->checksum)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 corbathy->version: %u\n",corbathy->version); fprintf(stderr,"dbg5 corbathy->msec: %f\n",corbathy->msec); fprintf(stderr,"dbg5 corbathy->num_beams: %u\n",corbathy->num_beams); fprintf(stderr,"dbg5 corbathy->ping_number: %u\n",corbathy->ping_number); fprintf(stderr,"dbg5 corbathy->latitude: %f\n",corbathy->latitude); fprintf(stderr,"dbg5 corbathy->longitude: %f\n",corbathy->longitude); fprintf(stderr,"dbg5 corbathy->bearing: %f\n",corbathy->bearing); fprintf(stderr,"dbg5 corbathy->roll: %f\n",corbathy->roll); fprintf(stderr,"dbg5 corbathy->pitch: %f\n",corbathy->pitch); fprintf(stderr,"dbg5 corbathy->heave: %f\n",corbathy->heave); fprintf(stderr,"dbg5 corbathy->sample_type: %u\n",corbathy->sample_type); for (i=0;i<6;i++) { fprintf(stderr,"dbg5 corbathy->spare[%3d]: %u\n",i,corbathy->spare[i]); } for (i=0;inum_beams;i++) { fprintf(stderr,"dbg5 corbathy->beam_index[%3d]: %u\n",i,corbathy->beam_index[i]); fprintf(stderr,"dbg5 corbathy->x[%3d]: %f\n",i,corbathy->x[i]); fprintf(stderr,"dbg5 corbathy->y[%3d]: %f\n",i,corbathy->y[i]); fprintf(stderr,"dbg5 corbathy->z[%3d]: %f\n",i,corbathy->z[i]); fprintf(stderr,"dbg5 corbathy->beam_angle[%3d]: %f\n",i,corbathy->beam_angle[i]); fprintf(stderr,"dbg5 corbathy->backscatter[%3d]: %f\n",i,corbathy->backscatter[i]); fprintf(stderr,"dbg5 corbathy->quality[%3d]: %u\n",i,corbathy->quality[i]); fprintf(stderr,"dbg5 corbathy->fish[%3d]: %u\n",i,corbathy->fish[i]); fprintf(stderr,"dbg5 corbathy->roughness[%3d]: %u\n",i,corbathy->roughness[i]); fprintf(stderr,"dbg5 corbathy->empty[%3d]: %u\n",i,corbathy->empty[i]); fprintf(stderr,"dbg5 corbathy->pad[%3d]: %u\n",i,corbathy->pad[i]); } fprintf(stderr,"dbg5 corbathy->checksum: %u\n",corbathy->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_rawsonar(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_rawsonar"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_rawsonar_struct *rawsonar; int index; size_t rawdata_len; int i, j, k; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; rawsonar = &(store->rawsonar); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->version)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(rawsonar->msec)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->ping_number)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(rawsonar->sample_rate)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->n)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->m)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(rawsonar->tx_power)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(rawsonar->pulse_width)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->sample_type)); index += 4; for (i=0;in;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->spare[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->beam_index[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->detection_point[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(rawsonar->beam_angle[i])); index += 4; } rawdata_len = (size_t)(rawsonar->n * rawsonar->m); if (rawsonar->rawdata_alloc < rawdata_len) { status = mb_reallocd(verbose, __FILE__, __LINE__, rawdata_len, (void **)&(rawsonar->rawdata), error); if (status != MB_SUCCESS) rawsonar->rawdata_alloc = 0; else rawsonar->rawdata_alloc = rawdata_len; } memcpy(rawsonar->rawdata, &buffer[index], rawdata_len); index += rawdata_len; mb_get_binary_int(MB_YES, &buffer[index], &(rawsonar->checksum)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_WATER_COLUMN; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 rawsonar->version: %u\n",rawsonar->version); fprintf(stderr,"dbg5 rawsonar->msec: %f\n",rawsonar->msec); fprintf(stderr,"dbg5 rawsonar->ping_number: %u\n",rawsonar->ping_number); fprintf(stderr,"dbg5 rawsonar->sample_rate: %f\n",rawsonar->sample_rate); fprintf(stderr,"dbg5 rawsonar->n: %u\n",rawsonar->n); fprintf(stderr,"dbg5 rawsonar->m: %u\n",rawsonar->m); fprintf(stderr,"dbg5 rawsonar->tx_power: %f\n",rawsonar->tx_power); fprintf(stderr,"dbg5 rawsonar->pulse_width: %f\n",rawsonar->pulse_width); fprintf(stderr,"dbg5 rawsonar->sample_type: %u\n",rawsonar->sample_type); for (i=0;in;i++) { fprintf(stderr,"dbg5 rawsonar->spare[%3d]: %u\n",i,rawsonar->spare[i]); fprintf(stderr,"dbg5 rawsonar->beam_index[%3d]: %u\n",i,rawsonar->beam_index[i]); fprintf(stderr,"dbg5 rawsonar->detection_point[%3d]: %u\n",i,rawsonar->detection_point[i]); fprintf(stderr,"dbg5 rawsonar->beam_angle[%3d]: %f\n",i,rawsonar->beam_angle[i]); } fprintf(stderr,"dbg5 rawsonar->rawdata_alloc: %zu\n",rawsonar->rawdata_alloc); for (i=0;im;i++) for (j=0;jn;j++) { k = i * rawsonar->n + j; fprintf(stderr,"dbg5 rawsonar->rawdata[%4d][%4d]: %u\n",i,j,rawsonar->rawdata[k]); } fprintf(stderr,"dbg5 rawsonar->checksum: %u\n",rawsonar->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_gen_sens(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_gen_sens"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_gen_sens_struct *gen_sens; int index; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; gen_sens = &(store->gen_sens); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(gen_sens->version)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(gen_sens->msec)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(gen_sens->port_number)); index += 4; gen_sens->message_length = buffer[index]; index++; memcpy(gen_sens->message, &buffer[index], (size_t)gen_sens->message_length); index += gen_sens->message_length; mb_get_binary_int(MB_YES, &buffer[index], &(gen_sens->checksum)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_GEN_SENS; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 gen_sens->version: %u\n",gen_sens->version); fprintf(stderr,"dbg5 gen_sens->msec: %f\n",gen_sens->msec); fprintf(stderr,"dbg5 gen_sens->port_number: %u\n",gen_sens->port_number); fprintf(stderr,"dbg5 gen_sens->message_length: %u\n",gen_sens->message_length); fprintf(stderr,"dbg5 gen_sens->message: %s\n",gen_sens->message); fprintf(stderr,"dbg5 gen_sens->checksum: %u\n",gen_sens->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_nvupdate(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_nvupdate"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_nvupdate_struct *nvupdate; int index; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; nvupdate = &(store->nvupdate); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(nvupdate->version)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(nvupdate->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(nvupdate->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->sog)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->cog)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->heading)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->heave)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(nvupdate->nadir_depth)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(nvupdate->checksum)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_NAV; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 nvupdate->version: %u\n",nvupdate->version); fprintf(stderr,"dbg5 nvupdate->latitude: %f\n",nvupdate->latitude); fprintf(stderr,"dbg5 nvupdate->longitude: %f\n",nvupdate->longitude); fprintf(stderr,"dbg5 nvupdate->sog: %f\n",nvupdate->sog); fprintf(stderr,"dbg5 nvupdate->cog: %f\n",nvupdate->cog); fprintf(stderr,"dbg5 nvupdate->heading: %f\n",nvupdate->heading); fprintf(stderr,"dbg5 nvupdate->roll: %f\n",nvupdate->roll); fprintf(stderr,"dbg5 nvupdate->pitch: %f\n",nvupdate->pitch); fprintf(stderr,"dbg5 nvupdate->heave: %f\n",nvupdate->heave); fprintf(stderr,"dbg5 nvupdate->nadir_depth: %f\n",nvupdate->nadir_depth); fprintf(stderr,"dbg5 nvupdate->checksum: %u\n",nvupdate->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_wcd_navi(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_wcd_navi"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_wcd_navi_struct *wcd_navi; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; wcd_navi = &(store->wcd_navi); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(wcd_navi->version)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(wcd_navi->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(wcd_navi->longitude)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(wcd_navi->num_points)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(wcd_navi->bearing)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(wcd_navi->msec)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(wcd_navi->ping_number)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(wcd_navi->sample_rate)); index += 4; if (wcd_navi->wcdata_alloc < wcd_navi->num_points) { status = mb_reallocd(verbose, __FILE__, __LINE__, wcd_navi->num_points * sizeof(float), (void **)&(wcd_navi->wcdata_x), error); status = mb_reallocd(verbose, __FILE__, __LINE__, wcd_navi->num_points * sizeof(float), (void **)&(wcd_navi->wcdata_y), error); status = mb_reallocd(verbose, __FILE__, __LINE__, wcd_navi->num_points * sizeof(float), (void **)&(wcd_navi->wcdata_mag), error); if (status != MB_SUCCESS) wcd_navi->wcdata_alloc = 0; else wcd_navi->wcdata_alloc = wcd_navi->num_points; } for (i=0;inum_points;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(wcd_navi->wcdata_x[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(wcd_navi->wcdata_y[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(wcd_navi->wcdata_mag[i])); index += 4; } mb_get_binary_int(MB_YES, &buffer[index], &(wcd_navi->checksum)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_WC_PICKS; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 wcd_navi->version: %u\n",wcd_navi->version); fprintf(stderr,"dbg5 wcd_navi->latitude: %f\n",wcd_navi->latitude); fprintf(stderr,"dbg5 wcd_navi->longitude: %f\n",wcd_navi->longitude); fprintf(stderr,"dbg5 wcd_navi->num_points: %u\n",wcd_navi->num_points); fprintf(stderr,"dbg5 wcd_navi->bearing: %f\n",wcd_navi->bearing); fprintf(stderr,"dbg5 wcd_navi->msec: %f\n",wcd_navi->msec); fprintf(stderr,"dbg5 wcd_navi->ping_number: %u\n",wcd_navi->ping_number); fprintf(stderr,"dbg5 wcd_navi->sample_type: %f\n",wcd_navi->sample_rate); for (i=0;inum_points;i++) { fprintf(stderr,"dbg5 wcd_navi->wcdata_x[%3d]: %f\n",i,wcd_navi->wcdata_x[i]); fprintf(stderr,"dbg5 wcd_navi->wcdata_y[%3d]: %f\n",i,wcd_navi->wcdata_y[i]); fprintf(stderr,"dbg5 wcd_navi->wcdata_mag[%3d]: %f\n",i,wcd_navi->wcdata_mag[i]); } fprintf(stderr,"dbg5 wcd_navi->checksum: %u\n",wcd_navi->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_sys_cfg1(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_sys_cfg1"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_sys_cfg1_struct *sys_cfg1; int index; unsigned int size; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; sys_cfg1 = &(store->sys_cfg1); /* get the size */ index = 4; mb_get_binary_int(MB_YES, &buffer[index], &size); sys_cfg1->sys_cfg1_len = size; /* extract the data */ if (sys_cfg1->sys_cfg1_data_alloc < size) { status = mb_reallocd(verbose, __FILE__, __LINE__, (size_t)size, (void **)&(sys_cfg1->sys_cfg1_data), error); if (status != MB_SUCCESS) sys_cfg1->sys_cfg1_data_alloc = 0; else sys_cfg1->sys_cfg1_data_alloc = size; } memcpy(sys_cfg1->sys_cfg1_data, buffer, (size_t)sys_cfg1->sys_cfg1_len); /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); for (i=0;isys_cfg1_len;i++) { fprintf(stderr,"dbg5 sys_cfg1->sys_cfg1_data[%3d]: %u\n",i,sys_cfg1->sys_cfg1_data[i]); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_mcomment(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_mcomment"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_mcomment_struct *mcomment; int index; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; mcomment = &(store->mcomment); /* extract the data */ index = 16; mb_get_binary_int(MB_YES, &buffer[index], &(mcomment->comment_length)); index += 4; memcpy(mcomment->comment_message, &buffer[index], (size_t)mcomment->comment_length); /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_COMMENT; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 mcomment->comment_length: %u\n",mcomment->comment_length); fprintf(stderr,"dbg5 mcomment->comment_message: %s\n",mcomment->comment_message); fprintf(stderr,"dbg5 mcomment->checksum: %u\n",mcomment->checksum); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_rd_unknown1(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_wasspenl_rd_unknown1"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_unknown1_struct *unknown1; int index; unsigned int size; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %p\n",(void *)buffer); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; unknown1 = &(store->unknown1); /* get the size */ index = 4; mb_get_binary_int(MB_YES, &buffer[index], &size); unknown1->unknown1_len = size; /* extract the data */ if (unknown1->unknown1_data_alloc < size) { status = mb_reallocd(verbose, __FILE__, __LINE__, (size_t)size, (void **)&(unknown1->unknown1_data), error); if (status != MB_SUCCESS) unknown1->unknown1_data_alloc = 0; else unknown1->unknown1_data_alloc = size; } memcpy(unknown1->unknown1_data, buffer, (size_t)unknown1->unknown1_len); /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_RAW_LINE; } else { store->kind = MB_DATA_NONE; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); for (i=0;iunknown1_len;i++) { fprintf(stderr,"dbg5 unknown1->unknown1_data[%3d]: %u\n",i,unknown1->unknown1_data[i]); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_genbathy(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_genbathy"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_genbathy_struct *genbathy; char *buffer; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; genbathy = &(store->genbathy); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 genbathy->version: %u\n",genbathy->version); fprintf(stderr,"dbg5 genbathy->msec: %f\n",genbathy->msec); fprintf(stderr,"dbg5 genbathy->day: %u\n",genbathy->day); fprintf(stderr,"dbg5 genbathy->month: %u\n",genbathy->month); fprintf(stderr,"dbg5 genbathy->year: %u\n",genbathy->year); fprintf(stderr,"dbg5 genbathy->ping_number: %u\n",genbathy->ping_number); fprintf(stderr,"dbg5 genbathy->sonar_model: %u\n",genbathy->sonar_model); fprintf(stderr,"dbg5 genbathy->transducer_serial_number: %lu\n",genbathy->transducer_serial_number); fprintf(stderr,"dbg5 genbathy->number_beams: %u\n",genbathy->number_beams); fprintf(stderr,"dbg5 genbathy->modeflags: %u\n",genbathy->modeflags); fprintf(stderr,"dbg5 genbathy->sampling_frequency: %f\n",genbathy->sampling_frequency); fprintf(stderr,"dbg5 genbathy->acoustic_frequency: %f\n",genbathy->acoustic_frequency); fprintf(stderr,"dbg5 genbathy->tx_power: %f\n",genbathy->tx_power); fprintf(stderr,"dbg5 genbathy->pulse_width: %f\n",genbathy->pulse_width); fprintf(stderr,"dbg5 genbathy->absorption_loss: %f\n",genbathy->absorption_loss); fprintf(stderr,"dbg5 genbathy->spreading_loss: %f\n",genbathy->spreading_loss); fprintf(stderr,"dbg5 genbathy->sample_type: %u\n",genbathy->sample_type); fprintf(stderr,"dbg5 genbathy->sound_velocity: %f\n",genbathy->sound_velocity); for (i=0;inumber_beams;i++) { fprintf(stderr,"dbg5 genbathy->detection_point[%3d]: %f\n",i,genbathy->detection_point[i]); fprintf(stderr,"dbg5 genbathy->rx_angle[%3d]: %f\n",i,genbathy->rx_angle[i]); fprintf(stderr,"dbg5 genbathy->flags[%3d]: %u\n",i,genbathy->flags[i]); fprintf(stderr,"dbg5 genbathy->backscatter[%3d]: %f\n",i,genbathy->backscatter[i]); } fprintf(stderr,"dbg5 genbathy->checksum: %u\n",genbathy->checksum); } /* figure out size of output record */ *size = 92 + 16 * genbathy->number_beams; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "GENBATHY", 8); index += 8; mb_put_binary_int(MB_YES, genbathy->version, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, genbathy->msec, &buffer[index]); index += 8; buffer[index] = genbathy->day; index++; buffer[index] = genbathy->month; index++; mb_put_binary_short(MB_YES, genbathy->year, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, genbathy->ping_number, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, genbathy->sonar_model, &buffer[index]); index += 4; mb_put_binary_long(MB_YES, genbathy->transducer_serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, genbathy->number_beams, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, genbathy->modeflags, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->sampling_frequency, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->acoustic_frequency, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->tx_power, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->pulse_width, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->absorption_loss, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->spreading_loss, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, genbathy->sample_type, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->sound_velocity, &buffer[index]); index += 4; for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, genbathy->detection_point[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->rx_angle[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, genbathy->flags[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, genbathy->backscatter[i], &buffer[index]); index += 4; } /* now add the checksum */ genbathy->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, genbathy->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_corbathy(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_corbathy"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_corbathy_struct *corbathy; char *buffer; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; corbathy = &(store->corbathy); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 corbathy->version: %u\n",corbathy->version); fprintf(stderr,"dbg5 corbathy->msec: %f\n",corbathy->msec); fprintf(stderr,"dbg5 corbathy->num_beams: %u\n",corbathy->num_beams); fprintf(stderr,"dbg5 corbathy->ping_number: %u\n",corbathy->ping_number); fprintf(stderr,"dbg5 corbathy->latitude: %f\n",corbathy->latitude); fprintf(stderr,"dbg5 corbathy->longitude: %f\n",corbathy->longitude); fprintf(stderr,"dbg5 corbathy->bearing: %f\n",corbathy->bearing); fprintf(stderr,"dbg5 corbathy->roll: %f\n",corbathy->roll); fprintf(stderr,"dbg5 corbathy->pitch: %f\n",corbathy->pitch); fprintf(stderr,"dbg5 corbathy->heave: %f\n",corbathy->heave); fprintf(stderr,"dbg5 corbathy->sample_type: %u\n",corbathy->sample_type); for (i=0;i<6;i++) { fprintf(stderr,"dbg5 corbathy->spare[%3d]: %u\n",i,corbathy->spare[i]); } for (i=0;inum_beams;i++) { fprintf(stderr,"dbg5 corbathy->beam_index[%3d]: %u\n",i,corbathy->beam_index[i]); fprintf(stderr,"dbg5 corbathy->x[%3d]: %f\n",i,corbathy->x[i]); fprintf(stderr,"dbg5 corbathy->y[%3d]: %f\n",i,corbathy->y[i]); fprintf(stderr,"dbg5 corbathy->z[%3d]: %f\n",i,corbathy->z[i]); fprintf(stderr,"dbg5 corbathy->beam_angle[%3d]: %f\n",i,corbathy->beam_angle[i]); fprintf(stderr,"dbg5 corbathy->backscatter[%3d]: %f\n",i,corbathy->backscatter[i]); fprintf(stderr,"dbg5 corbathy->quality[%3d]: %u\n",i,corbathy->quality[i]); fprintf(stderr,"dbg5 corbathy->fish[%3d]: %u\n",i,corbathy->fish[i]); fprintf(stderr,"dbg5 corbathy->roughness[%3d]: %u\n",i,corbathy->roughness[i]); fprintf(stderr,"dbg5 corbathy->empty[%3d]: %u\n",i,corbathy->empty[i]); fprintf(stderr,"dbg5 corbathy->pad[%3d]: %u\n",i,corbathy->pad[i]); } fprintf(stderr,"dbg5 corbathy->checksum: %u\n",corbathy->checksum); } /* figure out size of output record */ *size = 100 + 32 * corbathy->num_beams; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "CORBATHY", 8); index += 8; mb_put_binary_int(MB_YES, corbathy->version, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, corbathy->msec, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, corbathy->num_beams, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, corbathy->ping_number, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, corbathy->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, corbathy->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, corbathy->bearing, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->heave, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, corbathy->sample_type, &buffer[index]); index += 4; for (i=0;i<6;i++) { mb_put_binary_int(MB_YES, corbathy->spare[i], &buffer[index]); index += 4; } for (i=0;inum_beams;i++) { mb_put_binary_int(MB_YES, corbathy->beam_index[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->x[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->y[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->z[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->beam_angle[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, corbathy->backscatter[i], &buffer[index]); index += 4; buffer[index] = corbathy->quality[i]; index++; buffer[index] = corbathy->fish[i]; index++; buffer[index] = corbathy->roughness[i]; index++; buffer[index] = corbathy->empty[i]; index++; mb_put_binary_int(MB_YES, corbathy->pad[i], &buffer[index]); index += 4; } /* now add the checksum */ corbathy->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, corbathy->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_rawsonar(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_rawsonar"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_rawsonar_struct *rawsonar; char *buffer; int index; size_t rawdata_len; int i, j, k; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; rawsonar = &(store->rawsonar); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 rawsonar->version: %u\n",rawsonar->version); fprintf(stderr,"dbg5 rawsonar->msec: %f\n",rawsonar->msec); fprintf(stderr,"dbg5 rawsonar->ping_number: %u\n",rawsonar->ping_number); fprintf(stderr,"dbg5 rawsonar->sample_rate: %f\n",rawsonar->sample_rate); fprintf(stderr,"dbg5 rawsonar->n: %u\n",rawsonar->n); fprintf(stderr,"dbg5 rawsonar->m: %u\n",rawsonar->m); fprintf(stderr,"dbg5 rawsonar->tx_power: %f\n",rawsonar->tx_power); fprintf(stderr,"dbg5 rawsonar->pulse_width: %f\n",rawsonar->pulse_width); fprintf(stderr,"dbg5 rawsonar->sample_type: %u\n",rawsonar->sample_type); for (i=0;in;i++) { fprintf(stderr,"dbg5 rawsonar->spare[%3d]: %u\n",i,rawsonar->spare[i]); fprintf(stderr,"dbg5 rawsonar->beam_index[%3d]: %u\n",i,rawsonar->beam_index[i]); fprintf(stderr,"dbg5 rawsonar->detection_point[%3d]: %u\n",i,rawsonar->detection_point[i]); fprintf(stderr,"dbg5 rawsonar->beam_angle[%3d]: %f\n",i,rawsonar->beam_angle[i]); } fprintf(stderr,"dbg5 rawsonar->rawdata_alloc: %zu\n",rawsonar->rawdata_alloc); for (i=0;im;i++) for (j=0;jn;j++) { k = i * rawsonar->n + j; fprintf(stderr,"dbg5 rawsonar->rawdata[%4d][%4d]: %u\n",i,j,rawsonar->rawdata[k]); } fprintf(stderr,"dbg5 rawsonar->checksum: %u\n",rawsonar->checksum); } /* figure out size of output record */ *size = 60 + 12 * rawsonar->n + 2 * rawsonar->m * rawsonar->n; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "RAWSONAR", 8); index += 8; mb_put_binary_int(MB_YES, rawsonar->version, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, rawsonar->msec, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, rawsonar->ping_number, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, rawsonar->sample_rate, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, rawsonar->n, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, rawsonar->m, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, rawsonar->tx_power, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, rawsonar->pulse_width, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, rawsonar->sample_type, &buffer[index]); index += 4; for (i=0;in;i++) { mb_put_binary_int(MB_YES, rawsonar->spare[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_int(MB_YES, rawsonar->beam_index[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_int(MB_YES, rawsonar->detection_point[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_float(MB_YES, rawsonar->beam_angle[i], &buffer[index]); index += 4; } rawdata_len = (size_t)(rawsonar->n * rawsonar->m); memcpy(&buffer[index], rawsonar->rawdata, rawdata_len); index += rawdata_len; /* now add the checksum */ rawsonar->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, rawsonar->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_gen_sens(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_gen_sens"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_gen_sens_struct *gen_sens; char *buffer; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; gen_sens = &(store->gen_sens); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 gen_sens->version: %u\n",gen_sens->version); fprintf(stderr,"dbg5 gen_sens->msec: %f\n",gen_sens->msec); fprintf(stderr,"dbg5 gen_sens->port_number: %u\n",gen_sens->port_number); fprintf(stderr,"dbg5 gen_sens->message_length: %u\n",gen_sens->message_length); fprintf(stderr,"dbg5 gen_sens->message: %s\n",gen_sens->message); fprintf(stderr,"dbg5 gen_sens->checksum: %u\n",gen_sens->checksum); } /* figure out size of output record */ *size = 33 + gen_sens->message_length; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "GEN_SENS", 8); index += 8; mb_put_binary_int(MB_YES, gen_sens->version, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, gen_sens->msec, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, gen_sens->port_number, &buffer[index]); index += 4; buffer[index] = gen_sens->message_length; index++; memcpy(&buffer[index], gen_sens->message, (size_t)gen_sens->message_length); index += gen_sens->message_length; /* now add the checksum */ gen_sens->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, gen_sens->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_nvupdate(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_nvupdate"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_nvupdate_struct *nvupdate; char *buffer; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; nvupdate = &(store->nvupdate); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 nvupdate->version: %u\n",nvupdate->version); fprintf(stderr,"dbg5 nvupdate->latitude: %f\n",nvupdate->latitude); fprintf(stderr,"dbg5 nvupdate->longitude: %f\n",nvupdate->longitude); fprintf(stderr,"dbg5 nvupdate->sog: %f\n",nvupdate->sog); fprintf(stderr,"dbg5 nvupdate->cog: %f\n",nvupdate->cog); fprintf(stderr,"dbg5 nvupdate->heading: %f\n",nvupdate->heading); fprintf(stderr,"dbg5 nvupdate->roll: %f\n",nvupdate->roll); fprintf(stderr,"dbg5 nvupdate->pitch: %f\n",nvupdate->pitch); fprintf(stderr,"dbg5 nvupdate->heave: %f\n",nvupdate->heave); fprintf(stderr,"dbg5 nvupdate->nadir_depth: %f\n",nvupdate->nadir_depth); fprintf(stderr,"dbg5 nvupdate->checksum: %u\n",nvupdate->checksum); } /* figure out size of output record */ *size = 68; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "NVUPDATE", 8); index += 8; mb_put_binary_int(MB_YES, nvupdate->version, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, nvupdate->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, nvupdate->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, nvupdate->sog, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, nvupdate->cog, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, nvupdate->heading, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, nvupdate->roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, nvupdate->pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, nvupdate->heave, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, nvupdate->nadir_depth, &buffer[index]); index += 4; /* now add the checksum */ nvupdate->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, nvupdate->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_wcd_navi(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_wcd_navi"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_wcd_navi_struct *wcd_navi; char *buffer; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; wcd_navi = &(store->wcd_navi); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 wcd_navi->version: %u\n",wcd_navi->version); fprintf(stderr,"dbg5 wcd_navi->latitude: %f\n",wcd_navi->latitude); fprintf(stderr,"dbg5 wcd_navi->longitude: %f\n",wcd_navi->longitude); fprintf(stderr,"dbg5 wcd_navi->num_points: %u\n",wcd_navi->num_points); fprintf(stderr,"dbg5 wcd_navi->bearing: %f\n",wcd_navi->bearing); fprintf(stderr,"dbg5 wcd_navi->msec: %f\n",wcd_navi->msec); fprintf(stderr,"dbg5 wcd_navi->ping_number: %u\n",wcd_navi->ping_number); fprintf(stderr,"dbg5 wcd_navi->sample_type: %f\n",wcd_navi->sample_rate); for (i=0;inum_points;i++) { fprintf(stderr,"dbg5 wcd_navi->wcdata_x[%3d]: %f\n",i,wcd_navi->wcdata_x[i]); fprintf(stderr,"dbg5 wcd_navi->wcdata_y[%3d]: %f\n",i,wcd_navi->wcdata_y[i]); fprintf(stderr,"dbg5 wcd_navi->wcdata_mag[%3d]: %f\n",i,wcd_navi->wcdata_mag[i]); } fprintf(stderr,"dbg5 wcd_navi->checksum: %u\n",wcd_navi->checksum); } /* figure out size of output record */ *size = 64 + 12 * wcd_navi->num_points; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "WCD_NAVI", 8); index += 8; mb_put_binary_int(MB_YES, wcd_navi->version, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, wcd_navi->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, wcd_navi->longitude, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, wcd_navi->num_points, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, wcd_navi->bearing, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, wcd_navi->msec, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, wcd_navi->ping_number, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, wcd_navi->sample_rate, &buffer[index]); index += 4; for (i=0;inum_points;i++) { mb_put_binary_float(MB_YES, wcd_navi->wcdata_x[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, wcd_navi->wcdata_y[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, wcd_navi->wcdata_mag[i], &buffer[index]); index += 4; } /* now add the checksum */ wcd_navi->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, wcd_navi->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_sys_cfg1(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_sys_cfg1"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_sys_cfg1_struct *sys_cfg1; char *buffer; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; sys_cfg1 = &(store->sys_cfg1); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); for (i=0;isys_cfg1_len;i++) { fprintf(stderr,"dbg5 sys_cfg1->sys_cfg1_data[%3d]: %u\n",i,sys_cfg1->sys_cfg1_data[i]); } } /* figure out size of output record */ *size = sys_cfg1->sys_cfg1_len; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ memcpy(buffer, sys_cfg1->sys_cfg1_data, (size_t)sys_cfg1->sys_cfg1_len); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_mcomment(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_mcomment"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_mcomment_struct *mcomment; char *buffer; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; mcomment = &(store->mcomment); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 mcomment->comment_length: %u\n",mcomment->comment_length); fprintf(stderr,"dbg5 mcomment->comment_message: %s\n",mcomment->comment_message); fprintf(stderr,"dbg5 mcomment->checksum: %u\n",mcomment->checksum); } /* figure out size of output record */ *size = 24 + mcomment->comment_length; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ index = 0; mb_put_binary_int(MB_YES, MBSYS_WASSP_SYNC, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, *size, &buffer[index]); index += 4; strncpy(&buffer[index], "MCOMMENT", 8); index += 8; mb_put_binary_int(MB_YES, mcomment->comment_length, &buffer[index]); index += 4; memcpy(&buffer[index], mcomment->comment_message, (size_t)mcomment->comment_length); index += mcomment->comment_length; /* now add the checksum */ mcomment->checksum = 0; for (i=0;ichecksum += (unsigned char) buffer[i]; mb_put_binary_int(MB_YES, mcomment->checksum, &buffer[index]); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_wasspenl_wr_unknown1(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_wasspenl_wr_unknown1"; int status = MB_SUCCESS; struct mbsys_wassp_struct *store; struct mbsys_wassp_unknown1_struct *unknown1; char *buffer; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %p\n",(void *)bufferptr); fprintf(stderr,"dbg2 store_ptr: %p\n",(void *)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_wassp_struct *) store_ptr; unknown1 = &(store->unknown1); /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); for (i=0;iunknown1_len;i++) { fprintf(stderr,"dbg5 unknown1->unknown1_data[%3d]: %u\n",i,unknown1->unknown1_data[i]); } } /* figure out size of output record */ *size = unknown1->unknown1_len; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) *bufferalloc = 0; else *bufferalloc = *size; } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the data */ memcpy(buffer, unknown1->unknown1_data, (size_t)unknown1->unknown1_len); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/