/*-------------------------------------------------------------------- * The MB-system: mbr_l3xseraw.c 3/27/2000 * $Id: mbr_l3xseraw.c 1994 2012-10-27 07:49:28Z caress $ * * Copyright (c) 2000-2012 by * D. W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and D. N. Chayes (dale@lamont.ldgo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbr_sb2102xs.c contains the functions for reading and writing * multibeam data in the L3XSERAW format. * These functions include: * mbr_alm_l3xseraw - allocate read/write memory * mbr_dem_l3xseraw - deallocate read/write memory * mbr_rt_l3xseraw - read and translate data * mbr_wt_l3xseraw - translate and write data * * Author: D. W. Caress * Date: March 27, 1999 * Additional Authors: P. A. Cohen and S. Dzurenko * * $Log: mbr_l3xseraw.c,v $ * Revision 5.21 2008/07/10 06:43:40 caress * Preparing for 5.1.1beta20 * * Revision 5.20 2007/07/03 17:28:08 caress * Fixes to XSE format. * * Revision 5.19 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.18 2006/12/15 21:36:16 caress * Turned off debug mode. * * Revision 5.17 2006/09/11 18:55:52 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.16 2006/08/04 03:56:41 caress * Working towards 5.1.0 release. * * Revision 5.15 2006/01/06 18:27:19 caress * Working towards 5.0.8 * * Revision 5.14 2005/11/05 00:48:04 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.13 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.12 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.11 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.10 2001/12/30 20:32:12 caress * Fixed array overflows in handling XSE data. * * Revision 5.9 2001/12/20 20:48:51 caress * Release 5.0.beta11 * * Revision 5.8 2001/10/23 02:34:12 caress * Added error checking for corrupted depth and heave values. * * Revision 5.7 2001/08/23 20:50:24 caress * Fixed problems with SB2120 data. * * Revision 5.6 2001/08/10 22:41:19 dcaress * Release 5.0.beta07 * * Revision 5.5 2001-07-22 14:17:01-07 caress * Fixed bug that deallocated an unallocated array. * * Revision 5.4 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.3 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.2 2001/06/03 06:54:56 caress * Fixed support for xse format on byte swapped computers. * * Revision 5.1 2001/04/09 18:04:51 caress * Fixed bug related to nav handling. * * Revision 5.0 2001/04/05 18:33:25 caress * Initial version. * Consolidates two former i/o modules elmk2xse and sb2120xs. * * */ /* standard include files */ #include #include #include /* mbio include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_io.h" #include "../../include/mb_define.h" #include "../../include/mbsys_xse.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* #define MB_DEBUG 1 */ /* #define MB_DEBUG2 1 */ /* set up byte swapping scenario */ #ifdef DATAINPCBYTEORDER #define SWAPFLAG MB_YES #else #define SWAPFLAG MB_NO #endif /* essential function prototypes */ int mbr_register_l3xseraw(int verbose, void *mbio_ptr, int *error); int mbr_info_l3xseraw(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_l3xseraw(int verbose, void *mbio_ptr, int *error); int mbr_dem_l3xseraw(int verbose, void *mbio_ptr, int *error); int mbr_rt_l3xseraw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_l3xseraw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_l3xseraw_rd_data(int verbose,void *mbio_ptr,void *store_ptr,int *error); int mbr_l3xseraw_rd_nav(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_svp(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_tide(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_ship(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_sidescan(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_multibeam(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_singlebeam(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_message(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_seabeam(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_geodetic(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_native(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_product(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_bathymetry(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_control(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_rd_comment(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_data(int verbose,void *mbio_ptr,void *store_ptr,int *error); int mbr_l3xseraw_wr_nav(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_svp(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_ship(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_multibeam(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_sidescan(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_seabeam(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); int mbr_l3xseraw_wr_comment(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error); static char rcs_id[]="$Id: mbr_l3xseraw.c 1994 2012-10-27 07:49:28Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_l3xseraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_l3xseraw"; 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_l3xseraw(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_l3xseraw; mb_io_ptr->mb_io_format_free = &mbr_dem_l3xseraw; mb_io_ptr->mb_io_store_alloc = &mbsys_xse_alloc; mb_io_ptr->mb_io_store_free = &mbsys_xse_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_l3xseraw; mb_io_ptr->mb_io_write_ping = &mbr_wt_l3xseraw; mb_io_ptr->mb_io_dimensions = &mbsys_xse_dimensions; mb_io_ptr->mb_io_extract = &mbsys_xse_extract; mb_io_ptr->mb_io_insert = &mbsys_xse_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_xse_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_xse_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_xse_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_xse_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_xse_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_xse_ttimes; mb_io_ptr->mb_io_detects = &mbsys_xse_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_xse_copy; mb_io_ptr->mb_io_extract_rawss = NULL; mb_io_ptr->mb_io_insert_rawss = 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: %lu\n",(size_t)mb_io_ptr->mb_io_format_alloc); fprintf(stderr,"dbg2 format_free: %lu\n",(size_t)mb_io_ptr->mb_io_format_free); fprintf(stderr,"dbg2 store_alloc: %lu\n",(size_t)mb_io_ptr->mb_io_store_alloc); fprintf(stderr,"dbg2 store_free: %lu\n",(size_t)mb_io_ptr->mb_io_store_free); fprintf(stderr,"dbg2 read_ping: %lu\n",(size_t)mb_io_ptr->mb_io_read_ping); fprintf(stderr,"dbg2 write_ping: %lu\n",(size_t)mb_io_ptr->mb_io_write_ping); fprintf(stderr,"dbg2 extract: %lu\n",(size_t)mb_io_ptr->mb_io_extract); fprintf(stderr,"dbg2 insert: %lu\n",(size_t)mb_io_ptr->mb_io_insert); fprintf(stderr,"dbg2 extract_nav: %lu\n",(size_t)mb_io_ptr->mb_io_extract_nav); fprintf(stderr,"dbg2 insert_nav: %lu\n",(size_t)mb_io_ptr->mb_io_insert_nav); fprintf(stderr,"dbg2 extract_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_extract_altitude); fprintf(stderr,"dbg2 insert_altitude: %lu\n",(size_t)mb_io_ptr->mb_io_insert_altitude); fprintf(stderr,"dbg2 extract_svp: %lu\n",(size_t)mb_io_ptr->mb_io_extract_svp); fprintf(stderr,"dbg2 insert_svp: %lu\n",(size_t)mb_io_ptr->mb_io_insert_svp); fprintf(stderr,"dbg2 ttimes: %lu\n",(size_t)mb_io_ptr->mb_io_ttimes); fprintf(stderr,"dbg2 detects: %lu\n",(size_t)mb_io_ptr->mb_io_detects); fprintf(stderr,"dbg2 extract_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_extract_rawss); fprintf(stderr,"dbg2 insert_rawss: %lu\n",(size_t)mb_io_ptr->mb_io_insert_rawss); fprintf(stderr,"dbg2 copyrecord: %lu\n",(size_t)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_l3xseraw(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_l3xseraw"; 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_XSE; *beams_bath_max = 151; *beams_amp_max = 151; *pixels_ss_max = 2000; strncpy(format_name, "L3XSERAW", MB_NAME_LENGTH); strncpy(system_name, "XSE", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_L3XSERAW\nInformal Description: ELAC/SeaBeam XSE vendor format\nAttributes: Bottomchart MkII 50 kHz and 180 kHz multibeam, \n SeaBeam 2120 20 KHz multibeam,\n bathymetry, amplitude and sidescan,\n variable beams and pixels, binary, \n L3 Communications (Elac Nautik \n and SeaBeam Instruments).\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *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_VELOCITY_PROFILE; *beamwidth_xtrack = 2.0; *beamwidth_ltrack = 2.0; /* 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_l3xseraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_l3xseraw"; 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); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)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 */ status = mb_mallocd(verbose,__FILE__,__LINE__,MBSYS_XSE_BUFFER_SIZE, (void **)&mb_io_ptr->hdr_comment,error); mbsys_xse_alloc(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_dem_l3xseraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_l3xseraw"; 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); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* deallocate memory for data descriptor */ status = mb_freed(verbose,__FILE__, __LINE__, (void **)&mb_io_ptr->store_data,error); status = mb_freed(verbose,__FILE__, __LINE__, (void **)&mb_io_ptr->hdr_comment,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_l3xseraw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_l3xseraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; double time_d; double lon, lat; double heading; double speed; /* 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: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor and data structures */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; store = (struct mbsys_xse_struct *) store_ptr; /* read next data from file */ status = mbr_l3xseraw_rd_data(verbose,mbio_ptr,store_ptr,error); /*fprintf(stderr, "read kind:%d\n", store->kind); fprintf(stderr, "store->mul_frame:%d store->sid_frame:%d\n\n", store->mul_frame, store->sid_frame);*/ /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = store->kind; /* save fix if nav data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV) { /* get time */ time_d = store->nav_sec - MBSYS_XSE_TIME_OFFSET + 0.000001 * store->nav_usec; /* add nav to navlist */ if (store->nav_group_position == MB_YES) mb_navint_add(verbose, mbio_ptr, time_d, RTD * store->nav_x, RTD * store->nav_y, error); /* add heading to navlist */ if (store->nav_group_heading == MB_YES) mb_hedint_add(verbose, mbio_ptr, time_d, RTD * store->nav_hdg_heading, error); else if (store->nav_group_motiongt == MB_YES) mb_hedint_add(verbose, mbio_ptr, time_d, RTD * store->nav_course_ground, error); else if (store->nav_group_motiontw == MB_YES) mb_hedint_add(verbose, mbio_ptr, time_d, RTD * store->nav_course_water, error); } /* interpolate navigation for survey pings if needed */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && store->mul_group_mbsystemnav == MB_NO) { /* get timestamp */ time_d = store->mul_sec - MBSYS_XSE_TIME_OFFSET + 0.000001 * store->mul_usec; /* interpolate heading */ mb_hedint_interp(verbose, mbio_ptr, time_d, &heading, error); /* get speed if possible */ if (store->nav_group_log == MB_YES) speed = 3.6 * store->nav_log_speed; else if (store->nav_group_motiongt == MB_YES) speed = 3.6 * store->nav_speed_ground; else if (store->nav_group_motiontw == MB_YES) speed = 3.6 * store->nav_speed_water; else speed = 0.0; /* interpolate position */ mb_navint_interp(verbose, mbio_ptr, time_d, heading, speed, &lon, &lat, &speed, error); /* set values */ store->mul_lon = DTR * lon; store->mul_lat = DTR * lat; store->mul_heading = DTR * heading; store->mul_speed = speed / 3.6; store->mul_group_mbsystemnav = MB_YES; } /* 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_l3xseraw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_l3xseraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_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: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* write next data to file */ status = mbr_l3xseraw_wr_data(verbose,mbio_ptr,store_ptr,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_l3xseraw_rd_data(int verbose,void *mbio_ptr,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; FILE *mbfp; static char label[4]; int done; int frame_id; int frame_source; int frame_sec; int frame_usec; int frame_transaction; int frame_address; int buffer_size; int frame_size; int *buffer_size_max; int *frame_save; int *frame_expect; int *frame_id_save; int *frame_source_save; int *frame_sec_save; int *frame_usec_save; int *buffer_size_save; char *buffer; int index; int read_len; int skip; 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: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; mbfp = mb_io_ptr->mbfp; /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; /* read until done */ *error = MB_ERROR_NO_ERROR; frame_expect = (int *) &mb_io_ptr->save1; frame_save = (int *) &mb_io_ptr->save2; frame_id_save = (int *) &mb_io_ptr->save3; frame_source_save = (int *) &mb_io_ptr->save4; frame_sec_save = (int *) &mb_io_ptr->save5; frame_usec_save = (int *) &mb_io_ptr->save6; buffer_size_save = (int *) &mb_io_ptr->save7; buffer_size_max = (int *) &mb_io_ptr->save8; buffer = mb_io_ptr->hdr_comment; store->sbm_properties = MB_NO; store->sbm_hrp = MB_NO; store->sbm_signal = MB_NO; store->sbm_message = MB_NO; done = MB_NO; if (*frame_save == MB_YES) { store->mul_frame = MB_NO; store->sid_frame = MB_NO; } while (done == MB_NO) { /* use saved frame if available */ if (*frame_save == MB_YES) { frame_id = *frame_id_save; frame_source = *frame_source_save; frame_sec = *frame_sec_save; frame_usec = *frame_usec_save; buffer_size = *buffer_size_save; *frame_save = MB_NO; } /* else read from file */ else { /* look for the next frame start */ skip = 0; if ((read_len = fread(&label[0],1,4,mb_io_ptr->mbfp)) != 4) { status = MB_FAILURE; *error = MB_ERROR_EOF; } #ifdef MB_DEBUG fprintf(stderr,"Byte: %d %c %o %x\n", label[0],label[0],label[0],label[0]); fprintf(stderr,"Byte: %d %c %o %x\n", label[1],label[1],label[1],label[1]); fprintf(stderr,"Byte: %d %c %o %x\n", label[2],label[2],label[2],label[2]); fprintf(stderr,"Byte: %d %c %o %x\n", label[3],label[3],label[3],label[3]); #endif #ifdef DATAINPCBYTEORDER while (status == MB_SUCCESS && strncmp(label, "FSH$", 4)) #else while (status == MB_SUCCESS && strncmp(label, "$HSF", 4)) #endif { /* get next byte */ for (i=0;i<3;i++) label[i] = label[i+1]; if ((read_len = fread(&label[3],1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else { skip++; #ifdef MB_DEBUG fprintf(stderr,"Byte: %d %c %o %x\n", label[3],label[3],label[3],label[3]); #endif } } /* Read entire data record into buffer. The XSE frame byte count value */ /* is notorious for being incorrect. So we read the data record by */ /* reading up to the next frame end mark. */ /* copy the frame start label to the buffer */ if(status==MB_SUCCESS) { strncpy(buffer, label, 4); index = 4; buffer_size = 4; } /* Read next four bytes from the file into buffer to get us started. */ if (status == MB_SUCCESS) { if ((read_len = fread(&buffer[index],1,4,mb_io_ptr->mbfp)) != 4) { status = MB_FAILURE; *error = MB_ERROR_EOF; frame_size = 0; } else { buffer_size += 4; mb_get_binary_int(SWAPFLAG, &buffer[4], (int *) &frame_size); } } /* now read a byte at a time, continuing until we find the end mark */ #ifdef DATAINPCBYTEORDER while (status == MB_SUCCESS && strncmp(&buffer[index], "FSH#", 4)) #else while (status == MB_SUCCESS && strncmp(&buffer[index], "#HSF", 4)) #endif { /* read next byte */ if ((read_len = fread(&buffer[buffer_size],1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } else { buffer_size++; index++; } /* don't let buffer overflow - error if record exceeds max size */ if (buffer_size >= MBSYS_XSE_BUFFER_SIZE) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } *buffer_size_max = MAX(buffer_size,*buffer_size_max); #ifdef MB_DEBUG if (*error != MB_ERROR_EOF) { fprintf(stderr,"%s:%d | \n",__FILE__,__LINE__); if (skip > 0) fprintf(stderr, "\n%s:%d | BYTES SKIPPED BETWEEN FRAMES: %d\n",__FILE__,__LINE__, skip); fprintf(stderr, "\n%s:%d | BUFFER SIZE: %u MAX FOUND: %u MAX: %u\n",__FILE__,__LINE__, buffer_size,*buffer_size_max,MBSYS_XSE_BUFFER_SIZE); } #endif /* parse header values */ if (status == MB_SUCCESS) { /* get frame id, source, and time */ index = 8; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &frame_id); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &frame_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &frame_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &frame_usec); index += 4; /* if it's a control frame, get the transaction and address values */ if(frame_id == MBSYS_XSE_CNT_FRAME) { mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &frame_transaction); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &frame_address); index += 4; } } } /* parse data if possible */ if (status == MB_SUCCESS) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | FRAME ID: %u BUFFER SIZE:%d FRAME SIZE:%d\n",__FILE__,__LINE__,frame_id,buffer_size,frame_size); #endif if (frame_id == MBSYS_XSE_NAV_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_rd_nav(verbose,buffer_size,buffer,store_ptr,error); if (store->nav_source > 0) { store->kind = MB_DATA_NAV; #ifdef MB_DEBUG fprintf(stderr,"%s:%d | nav_source:%d time:%u.%6.6u\n",__FILE__,__LINE__,store->nav_source,store->nav_sec,store->nav_usec); #endif } else store->kind = MB_DATA_RAW_LINE; done = MB_YES; } else if (frame_id == MBSYS_XSE_SVP_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_VELOCITY_PROFILE; status = mbr_l3xseraw_rd_svp(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_TID_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ TIDE\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_tide(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_SHP_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ PARAMETER\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_PARAMETER; status = mbr_l3xseraw_rd_ship(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_SSN_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SIDESCAN\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_DATA; status = mbr_l3xseraw_rd_sidescan(verbose,buffer_size,buffer,store_ptr,error); store->sid_frame = MB_YES; if (frame_id == *frame_expect && store->sid_ping == store->mul_ping && store->sid_group_avl == MB_YES) { *frame_expect = MBSYS_XSE_NONE_FRAME; done = MB_YES; } else if (frame_id == *frame_expect && store->sid_ping == store->mul_ping && store->sid_group_avl == MB_NO) { done = MB_NO; } else if (*frame_expect == MBSYS_XSE_NONE_FRAME) { *frame_expect = MBSYS_XSE_MBM_FRAME; done = MB_NO; } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | \tframe_id:%d frame_expect:%d ping:%d %d sid_group_avl:%d\n",__FILE__,__LINE__, frame_id,*frame_expect,store->sid_ping,store->mul_ping,store->sid_group_avl); fprintf(stderr, "%s:%d | \tDONE:%d BEAMS:%d PIXELS:%d\n",__FILE__,__LINE__, done, store->mul_num_beams, store->sid_avl_num_samples); #endif } else if (frame_id == MBSYS_XSE_MBM_FRAME && *frame_expect == MBSYS_XSE_SSN_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NOTHING - SAVE HEADER\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_DATA; *frame_save = MB_YES; *frame_id_save = frame_id; *frame_source_save = frame_source; *frame_sec_save = frame_sec; *frame_usec_save = frame_usec; *buffer_size_save = buffer_size; *frame_expect = MBSYS_XSE_NONE_FRAME; done = MB_YES; #ifdef MB_DEBUG fprintf(stderr, "%s:%d | \tDONE:%d BEAMS:%d PIXELS:%d\n",__FILE__,__LINE__, done, store->mul_num_beams, store->sid_avl_num_samples); #endif } else if (frame_id == MBSYS_XSE_MBM_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MULTIBEAM\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_DATA; status = mbr_l3xseraw_rd_multibeam(verbose,buffer_size,buffer,store_ptr,error); store->mul_frame = MB_YES; if (frame_id == *frame_expect && store->sid_ping == store->mul_ping) { *frame_expect = MBSYS_XSE_NONE_FRAME; done = MB_YES; } else if (frame_id == *frame_expect) { *frame_expect = MBSYS_XSE_SSN_FRAME; done = MB_NO; } else if (*frame_expect == MBSYS_XSE_NONE_FRAME) { *frame_expect = MBSYS_XSE_SSN_FRAME; done = MB_NO; } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | \tDONE:%d BEAMS:%d PIXELS:%d\n",__FILE__,__LINE__, done, store->mul_num_beams, store->sid_avl_num_samples); #endif } else if (frame_id == MBSYS_XSE_SNG_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SINGLEBEAM\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_singlebeam(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_CNT_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ CONTROL\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_control(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_BTH_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ BATHYMETRY\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_bathymetry(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_PRD_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ PRODUCT\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_product(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_NTV_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NATIVE\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_native(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_GEO_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ GEODETIC\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_geodetic(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_SBM_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SEABEAM\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_rd_seabeam(verbose,buffer_size,buffer,store_ptr,error); if (store->sbm_properties == MB_YES) store->kind = MB_DATA_RUN_PARAMETER; else store->kind = MB_DATA_RAW_LINE; done = MB_YES; } else if (frame_id == MBSYS_XSE_MSG_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MESSAGE\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; status = mbr_l3xseraw_rd_message(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else if (frame_id == MBSYS_XSE_COM_FRAME) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ COMMENT\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_COMMENT; status = mbr_l3xseraw_rd_comment(verbose,buffer_size,buffer,store_ptr,error); done = MB_YES; } else /* handle an unrecognized frame */ { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ OTHER\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_RAW_LINE; } if(store->kind==MB_DATA_RAW_LINE) { store->rawsize = buffer_size; for (i=0;iraw[i] = buffer[i]; done = MB_YES; } } else if (*frame_expect != MBSYS_XSE_NONE_FRAME && frame_id != *frame_expect) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NOTHING - SAVE HEADER\n",__FILE__,__LINE__); #endif store->kind = MB_DATA_DATA; *frame_save = MB_YES; *frame_id_save = frame_id; *frame_source_save = frame_source; *frame_sec_save = frame_sec; *frame_usec_save = frame_usec; *buffer_size_save = buffer_size; *frame_expect = MBSYS_XSE_NONE_FRAME; done = MB_YES; } /* check for status */ if (status == MB_FAILURE) { done = MB_YES; *frame_save = MB_NO; } } /* get file position */ mb_io_ptr->file_bytes = ftell(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_l3xseraw_rd_nav(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_nav"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; int skip; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_usec); index += 4; /* reset group read flags */ store->nav_group_general = MB_NO; /* boolean flag */ store->nav_group_position = MB_NO; /* boolean flag */ store->nav_group_accuracy = MB_NO; /* boolean flag */ store->nav_group_motiongt = MB_NO; /* boolean flag */ store->nav_group_motiontw = MB_NO; /* boolean flag */ store->nav_group_track = MB_NO; /* boolean flag */ store->nav_group_hrp = MB_NO; /* boolean flag */ store->nav_group_heave = MB_NO; /* boolean flag */ store->nav_group_roll = MB_NO; /* boolean flag */ store->nav_group_pitch = MB_NO; /* boolean flag */ store->nav_group_heading = MB_NO; /* boolean flag */ store->nav_group_log = MB_NO; /* boolean flag */ store->nav_group_gps = MB_NO; /* boolean flag */ /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle general group */ if (group_id == MBSYS_XSE_NAV_GROUP_GEN) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_GEN\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_quality); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_status); index += 4; store->nav_group_general = MB_YES; } /* handle point group */ else if (group_id == MBSYS_XSE_NAV_GROUP_POS) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_POS\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_description_len); index += 4; for (i=0;inav_description_len;i++) { store->nav_description[i] = buffer[index]; index++; } store->nav_description[store->nav_description_len] = '\0'; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_x); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_y); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_z); index += 8; store->nav_group_position = MB_YES; } /* handle accuracy group */ else if (group_id == MBSYS_XSE_NAV_GROUP_ACCURACY) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_ACCURACY\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_acc_quality); index += 4; store->nav_acc_numsatellites = buffer[index]; index++; mb_get_binary_float(SWAPFLAG, &buffer[index], (float *) &store->nav_acc_horizdilution); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (float *) &store->nav_acc_diffage); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->nav_acc_diffref); index += 4; store->nav_group_accuracy = MB_YES; } /* handle motion ground truth group */ else if (group_id == MBSYS_XSE_NAV_GROUP_MOTIONGT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_MOTIONGT\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_speed_ground); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_course_ground); index += 8; store->nav_group_motiongt = MB_YES; } /* handle motion through water group */ else if (group_id == MBSYS_XSE_NAV_GROUP_MOTIONTW) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_MOTIONTW\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_speed_water); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_course_water); index += 8; store->nav_group_motiontw = MB_YES; } /* handle current track steering properties group */ else if (group_id == MBSYS_XSE_NAV_GROUP_TRACK) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_TRACK\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_offset_track); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_offset_sol); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_offset_eol); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_distance_sol); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_azimuth_sol); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_distance_eol); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_trk_azimuth_eol); index += 8; store->nav_group_track = MB_YES; } /* handle the heaverollpitch group */ else if (group_id == MBSYS_XSE_NAV_GROUP_HRP) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_HRP\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_hrp_heave); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_hrp_roll); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_hrp_pitch); index += 8; store->nav_group_hrp = MB_YES; /* heave, roll, and pitch are best obtained from the multibeam frame */ } /* handle the heave group */ else if (group_id == MBSYS_XSE_NAV_GROUP_HEAVE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_HEAVE\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_hea_heave); index += 8; store->nav_group_heave = MB_YES; /* heave is obtained from the multibeam frame */ } /* handle the roll group */ else if (group_id == MBSYS_XSE_NAV_GROUP_ROLL) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_ROLL\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_rol_roll); index += 8; store->nav_group_roll = MB_YES; /* roll is obtained from the multibeam frame */ } /* handle the pitch group */ else if (group_id == MBSYS_XSE_NAV_GROUP_PITCH) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_PITCH\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_pit_pitch); index += 8; store->nav_group_pitch = MB_YES; /* pitch is obtained from the multibeam frame */ } /* handle the heading group */ else if (group_id == MBSYS_XSE_NAV_GROUP_HEADING) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_HEADING\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_hdg_heading); index += 8; store->nav_group_heading = MB_YES; /* Heading Group value overrides the MTW Group course value */ } /* handle the log group */ else if (group_id == MBSYS_XSE_NAV_GROUP_LOG) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_LOG\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->nav_log_speed); index += 8; store->nav_group_log = MB_YES; /* speed is obtained from the motion ground truth */ /* and motion through water groups */ } /* handle the gps group */ else if (group_id == MBSYS_XSE_NAV_GROUP_GPS) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_LOG\n",__FILE__,__LINE__); #endif mb_get_binary_float(SWAPFLAG, &buffer[index], &store->nav_gps_altitude); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->nav_gps_geoidalseparation); index += 4; store->nav_group_gps = MB_YES; } else { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ NAV_GROUP_OTHER\n",__FILE__,__LINE__); #endif } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 nav_source: %d\n",store->nav_source); fprintf(stderr,"dbg5 nav_sec: %u\n",store->nav_sec); fprintf(stderr,"dbg5 nav_usec: %u\n",store->nav_usec); fprintf(stderr,"dbg5 nav_quality: %d\n",store->nav_quality); fprintf(stderr,"dbg5 nav_status: %d\n",store->nav_status); fprintf(stderr,"dbg5 nav_description_len: %d\n",store->nav_description_len); fprintf(stderr,"dbg5 nav_description: %s\n",store->nav_description); fprintf(stderr,"dbg5 nav_x: %f\n",store->nav_x); fprintf(stderr,"dbg5 nav_y: %f\n",store->nav_y); fprintf(stderr,"dbg5 nav_z: %f\n",store->nav_z); fprintf(stderr,"dbg5 nav_speed_ground: %f\n",store->nav_speed_ground); fprintf(stderr,"dbg5 nav_course_ground: %f\n",store->nav_course_ground); fprintf(stderr,"dbg5 nav_speed_water: %f\n",store->nav_speed_water); fprintf(stderr,"dbg5 nav_course_water: %f\n",store->nav_course_water); } /* 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_l3xseraw_rd_svp(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_svp"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; int skip; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_usec); index += 4; /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle general group */ if (group_id == MBSYS_XSE_SVP_GROUP_GEN) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_GEN\n",__FILE__,__LINE__); #endif /* currently unused by MB-System */ } /* handle depth group */ if (group_id == MBSYS_XSE_SVP_GROUP_DEPTH) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_DEPTH\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_nsvp); index += 4; for (i=0;isvp_nsvp;i++) { if (i < MBSYS_XSE_MAXSVP) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_depth[i]); index += 8; } } } /* handle velocity group */ else if (group_id == MBSYS_XSE_SVP_GROUP_VELOCITY) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_VELOCITY\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_nsvp); index += 4; for (i=0;isvp_nsvp;i++) { if (i < MBSYS_XSE_MAXSVP) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_velocity[i]); index += 8; } } } /* handle conductivity group */ else if (group_id == MBSYS_XSE_SVP_GROUP_CONDUCTIVITY) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_CONDUCTIVITY\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_nctd); index += 4; for (i=0;isvp_nctd;i++) { if (i < MBSYS_XSE_MAXSVP) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_conductivity[i]); index += 8; } } } /* handle salinity group */ else if (group_id == MBSYS_XSE_SVP_GROUP_SALINITY) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_SALINITY\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_nctd); index += 4; for (i=0;isvp_nctd;i++) { if (i < MBSYS_XSE_MAXSVP) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_salinity[i]); index += 8; } } } /* handle temperature group */ else if (group_id == MBSYS_XSE_SVP_GROUP_TEMP) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_TEMP\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_nctd); index += 4; for (i=0;isvp_nctd;i++) { if (i < MBSYS_XSE_MAXSVP) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_temperature[i]); index += 8; } } } /* handle pressure group */ else if (group_id == MBSYS_XSE_SVP_GROUP_PRESSURE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_PRESSURE\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->svp_nctd); index += 4; for (i=0;isvp_nctd;i++) { if (i < MBSYS_XSE_MAXSVP) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_pressure[i]); index += 8; } } } /* handle ssv group */ else if (group_id == MBSYS_XSE_SVP_GROUP_SSV) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_SSV\n",__FILE__,__LINE__); #endif mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_ssv); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->svp_ssv_depth); index += 8; store->svp_ssv_depthflag = buffer[index]; index++; } /* handle point group */ else if (group_id == MBSYS_XSE_SVP_GROUP_POS) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_POS\n",__FILE__,__LINE__); #endif /* currently unused by MB-System */ } else { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SVP_GROUP_OTHER\n",__FILE__,__LINE__); #endif } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 svp_source: %d\n",store->svp_source); fprintf(stderr,"dbg5 svp_sec: %u\n",store->svp_sec); fprintf(stderr,"dbg5 svp_usec: %u\n",store->svp_usec); fprintf(stderr,"dbg5 svp_nsvp: %d\n",store->svp_nsvp); fprintf(stderr,"dbg5 svp_nctd: %d\n",store->svp_nctd); fprintf(stderr,"dbg5 svp_ssv: %f\n",store->svp_ssv); for (i=0;isvp_nsvp;i++) fprintf(stderr,"dbg5 svp[%d]: %f %f\n", i, store->svp_depth[i], store->svp_velocity[i]); for (i=0;isvp_nctd;i++) fprintf(stderr,"dbg5 cstd[%d]: %f %f %f %f\n", i, store->svp_conductivity[i], store->svp_salinity[i], store->svp_temperature[i], store->svp_pressure[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_l3xseraw_rd_tide(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_tide"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The tide frame is currently unused by MB-System */ /* 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_l3xseraw_rd_ship(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_ship"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; int skip; int nchar; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->par_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->par_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->par_usec); index += 4; /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle general group */ if (group_id == MBSYS_XSE_SHP_GROUP_GEN) { mb_get_binary_int(SWAPFLAG, &buffer[index], &nchar); index += 4; for (i=0;ipar_ship_name[i] = buffer[index]; index++; } store->par_ship_name[nchar] = 0; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_ship_length); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_ship_beam); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_ship_draft); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_ship_height); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_ship_displacement); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_ship_weight); index += 8; } /* handle time group */ else if (group_id == MBSYS_XSE_SHP_GROUP_TIME) { /* currently unused by MB-System */ } /* handle draft group */ else if (group_id == MBSYS_XSE_SHP_GROUP_DRAFT) { /* currently unused by MB-System */ } /* handle sensors group */ else if (group_id == MBSYS_XSE_SHP_GROUP_SENSORS) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_ship_nsensor); index += 4; for (i=0;ipar_ship_nsensor;i++) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_ship_sensor_id[i]); index += 4; } for (i=0;ipar_ship_nsensor;i++) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_ship_sensor_type[i]); index += 4; } for (i=0;ipar_ship_nsensor;i++) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_ship_sensor_frequency[i]); index += 4; } } /* handle motion group */ else if (group_id == MBSYS_XSE_SHP_GROUP_MOTION) { /* currently unused by MB-System */ } /* handle geometry group */ else if (group_id == MBSYS_XSE_SHP_GROUP_GEOMETRY) { /* currently unused by MB-System */ } /* handle description group */ else if (group_id == MBSYS_XSE_SHP_GROUP_DESCRIPTION) { /* currently unused by MB-System */ } /* handle parameter group */ else if (group_id == MBSYS_XSE_SHP_GROUP_PARAMETER) { store->par_parameter = MB_YES; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_roll_bias); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_pitch_bias); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_heading_bias); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_time_delay); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_x_port); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_y_port); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_z_port); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_x_stbd); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_y_stbd); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_z_stbd); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_err_port); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_trans_err_stbd); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_nav_x); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_nav_y); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_nav_z); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_hrp_x); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_hrp_y); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->par_hrp_z); index += 4; } /* handle navigation and motion group */ else if (group_id == MBSYS_XSE_SHP_GROUP_NAVIGATIONANDMOTION) { store->par_navigationandmotion = MB_YES; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_roll_bias); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_pitch_bias); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_heave_bias); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_heading_bias); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_time_delay); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_nav_x); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_nav_y); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_nav_z); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_hrp_x); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_hrp_y); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_nam_hrp_z); index += 8; } /* handle transducer group */ else if (group_id == MBSYS_XSE_SHP_GROUP_TRANSDUCER) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_xdr_num_transducer); index += 4; for (i=0;ipar_xdr_num_transducer;i++) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_xdr_sensorid[i]); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->par_xdr_frequency[i]); index += 4; store->par_xdr_transducer[i] = buffer[index]; index++; store->par_xdr_side[i] = buffer[index]; index++; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_mountingroll[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_mountingpitch[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_mountingazimuth[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_mountingdistance[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_x[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_y[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_z[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_roll[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_pitch[i]); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->par_xdr_azimuth[i]); index += 8; } } /* handle tranducer extended group */ else if (group_id == MBSYS_XSE_SHP_GROUP_TRANSDUCEREXTENDED) { mb_get_binary_int(SWAPFLAG, &buffer[index], &store->par_xdx_num_transducer); index += 4; for (i=0;ipar_xdx_num_transducer;i++) { store->par_xdx_roll[i] = buffer[index]; index++; store->par_xdx_pitch[i] = buffer[index]; index++; store->par_xdx_azimuth[i] = buffer[index]; index++; index += 48; } } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 par_source: %d\n",store->par_source); fprintf(stderr,"dbg5 par_sec: %u\n",store->par_sec); fprintf(stderr,"dbg5 par_usec: %u\n",store->par_usec); fprintf(stderr,"dbg5 par_ship_name: %s\n",store->par_ship_name); fprintf(stderr,"dbg5 par_ship_length: %f\n",store->par_ship_length); fprintf(stderr,"dbg5 par_ship_beam: %f\n",store->par_ship_beam); fprintf(stderr,"dbg5 par_ship_draft: %f\n",store->par_ship_draft); fprintf(stderr,"dbg5 par_ship_height: %f\n",store->par_ship_height); fprintf(stderr,"dbg5 par_ship_displacement: %f\n",store->par_ship_displacement); fprintf(stderr,"dbg5 par_ship_weight: %f\n",store->par_ship_weight); for (i=0;ipar_ship_nsensor;i++) { fprintf(stderr,"dbg5 par_ship_sensor_id[%d]: %d\n",i,store->par_ship_sensor_id[i]); fprintf(stderr,"dbg5 par_ship_sensor_type[%d]: %d\n",i,store->par_ship_sensor_type[i]); fprintf(stderr,"dbg5 par_ship_sensor_frequency[%d]: %d\n",i,store->par_ship_sensor_frequency[i]); } fprintf(stderr,"dbg5 par_parameter: %d\n",store->par_parameter); fprintf(stderr,"dbg5 par_roll_bias: %f\n",store->par_roll_bias); fprintf(stderr,"dbg5 par_pitch_bias: %f\n",store->par_pitch_bias); fprintf(stderr,"dbg5 par_heading_bias: %f\n",store->par_heading_bias); fprintf(stderr,"dbg5 par_time_delay: %f\n",store->par_time_delay); fprintf(stderr,"dbg5 par_trans_x_port: %f\n",store->par_trans_x_port); fprintf(stderr,"dbg5 par_trans_y_port: %f\n",store->par_trans_y_port); fprintf(stderr,"dbg5 par_trans_z_port: %f\n",store->par_trans_z_port); fprintf(stderr,"dbg5 par_trans_x_stbd: %f\n",store->par_trans_x_stbd); fprintf(stderr,"dbg5 par_trans_y_stbd: %f\n",store->par_trans_y_stbd); fprintf(stderr,"dbg5 par_trans_z_stbd: %f\n",store->par_trans_z_stbd); fprintf(stderr,"dbg5 par_trans_err_port: %f\n",store->par_trans_err_port); fprintf(stderr,"dbg5 par_trans_err_stbd: %f\n",store->par_trans_err_stbd); fprintf(stderr,"dbg5 par_nav_x: %f\n",store->par_nav_x); fprintf(stderr,"dbg5 par_nav_y: %f\n",store->par_nav_y); fprintf(stderr,"dbg5 par_nav_z: %f\n",store->par_nav_z); fprintf(stderr,"dbg5 par_hrp_x: %f\n",store->par_hrp_x); fprintf(stderr,"dbg5 par_hrp_y: %f\n",store->par_hrp_y); fprintf(stderr,"dbg5 par_hrp_z: %f\n",store->par_hrp_z); fprintf(stderr,"dbg5 par_navigationandmotion: %d\n",store->par_navigationandmotion); fprintf(stderr,"dbg5 par_nam_roll_bias: %f\n",store->par_nam_roll_bias); fprintf(stderr,"dbg5 par_nam_pitch_bias: %f\n",store->par_nam_pitch_bias); fprintf(stderr,"dbg5 par_nam_heave_bias: %f\n",store->par_nam_heave_bias); fprintf(stderr,"dbg5 par_nam_heading_bias: %f\n",store->par_nam_heading_bias); fprintf(stderr,"dbg5 par_nam_time_delay: %f\n",store->par_nam_time_delay); fprintf(stderr,"dbg5 par_nam_nav_x: %f\n",store->par_nam_nav_x); fprintf(stderr,"dbg5 par_nam_nav_y: %f\n",store->par_nam_nav_y); fprintf(stderr,"dbg5 par_nam_nav_z: %f\n",store->par_nam_nav_z); fprintf(stderr,"dbg5 par_nam_hrp_x: %f\n",store->par_nam_hrp_x); fprintf(stderr,"dbg5 par_nam_hrp_y: %f\n",store->par_nam_hrp_y); fprintf(stderr,"dbg5 par_nam_hrp_z: %f\n",store->par_nam_hrp_z); fprintf(stderr,"dbg5 par_xdr_num_transducer: %d\n",store->par_xdr_num_transducer); fprintf(stderr,"dbg5 # sensor xducer freq side roll pitch azi dist\n"); for (i=0;ipar_xdr_num_transducer;i++) fprintf(stderr,"dbg5 %d %d %d %d %d %f %f %f %f\n", i, store->par_xdr_sensorid[i], store->par_xdr_transducer[i], store->par_xdr_frequency[i], store->par_xdr_side[i], store->par_xdr_mountingroll[i], store->par_xdr_mountingpitch[i], store->par_xdr_mountingazimuth[i], store->par_xdr_mountingdistance[i]); fprintf(stderr,"dbg5 # x y z roll pitch azimuth\n"); for (i=0;ipar_xdr_num_transducer;i++) fprintf(stderr,"dbg5 %d %f %f %f %f %f %f\n", i, store->par_xdr_x[i], store->par_xdr_y[i], store->par_xdr_z[i], store->par_xdr_roll[i], store->par_xdr_pitch[i], store->par_xdr_azimuth[i]); fprintf(stderr,"dbg5 par_xdx_num_transducer: %d\n",store->par_xdx_num_transducer); fprintf(stderr,"dbg5 # roll pitch azimuth\n"); for (i=0;ipar_xdx_num_transducer;i++) fprintf(stderr,"dbg5 %d %d %d %d\n", i, store->par_xdx_roll[i], store->par_xdx_pitch[i], store->par_xdx_azimuth[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_l3xseraw_rd_sidescan(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_sidescan"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; int ngoodss; double xmin, xmax, binsize; int skip; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_usec); index += 4; /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle general group */ if (group_id == MBSYS_XSE_SSN_GROUP_GEN) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SSN_GROUP_GEN\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_ping); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sid_frequency); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sid_pulse); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sid_power); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sid_bandwidth); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sid_sample); index += 4; #ifdef MB_DEBUG2 fprintf(stderr, "ping=%u\n", store->sid_ping); fprintf(stderr, "frequency=%g\n", store->sid_frequency); fprintf(stderr, "pulse=%g\n", store->sid_pulse); fprintf(stderr, "power=%g\n", store->sid_power); fprintf(stderr, "bandwidth=%g\n", store->sid_bandwidth); fprintf(stderr, "sample=%g\n", store->sid_sample); #endif } /* handle amplitude vs traveltime group */ else if (group_id == MBSYS_XSE_SSN_GROUP_AMPVSTT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SSN_GROUP_AMPVSTT\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_avt_sampleus); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], &store->sid_avt_offset); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], &store->sid_avt_num_samples); index += 4; for (i=0;isid_avt_num_samples;i++) if (i < MBSYS_XSE_MAXPIXELS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_avt_amp[i]); index += 2; } store->sid_group_avt = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_avt_sampleus=%d\n", store->sid_avt_sampleus); fprintf(stderr, "sid_avt_offset=%d\n", store->sid_avt_offset); fprintf(stderr, "sid_avt_num_samples=%d\n", store->sid_avt_num_samples); for (i=0;isid_avt_num_samples;i++) fprintf(stderr, "sid_avt_amp[%d]:%d\n", i, store->sid_avt_amp[i]); #endif } /* handle phase vs traveltime group */ else if (group_id == MBSYS_XSE_SSN_GROUP_PHASEVSTT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SSN_GROUP_PHASEVSTT\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_pvt_sampleus); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], &store->sid_pvt_offset); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], &store->sid_pvt_num_samples); index += 4; for (i=0;isid_pvt_num_samples;i++) if (i < MBSYS_XSE_MAXPIXELS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_pvt_phase[i]); index += 2; } store->sid_group_pvt = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_pvt_sampleus=%d\n", store->sid_pvt_sampleus); fprintf(stderr, "sid_pvt_offset=%d\n", store->sid_pvt_offset); fprintf(stderr, "sid_pvt_num_samples=%d\n", store->sid_pvt_num_samples); for (i=0;isid_pvt_num_samples;i++) fprintf(stderr, "sid_pvt_phase[%d]:%d\n", i, store->sid_pvt_phase[i]); #endif } /* handle amplitude vs lateral group */ else if (group_id == MBSYS_XSE_SSN_GROUP_AMPVSLAT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SSN_GROUP_AMPVSLAT\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_avl_binsize); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_avl_offset); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_avl_num_samples); index += 4; for (i=0;isid_avl_num_samples;i++) if (i < MBSYS_XSE_MAXPIXELS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_avl_amp[i]); index += 2; } store->sid_group_avl = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_avl_binsize=%d\n", store->sid_avl_binsize); fprintf(stderr, "sid_avl_offset=%d\n", store->sid_avl_offset); fprintf(stderr, "sid_avl_num_samples=%d\n", store->sid_avl_num_samples); for (i=0;isid_avl_num_samples;i++) fprintf(stderr, "sid_avl_amp[%d]:%d\n", i, store->sid_avl_amp[i]); #endif } else if (group_id == MBSYS_XSE_SSN_GROUP_PHASEVSLAT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SSN_GROUP_PHASEVSLAT\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_pvl_binsize); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_pvl_offset); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_pvl_num_samples); index += 4; for (i=0;isid_pvl_num_samples;i++) if (i < MBSYS_XSE_MAXPIXELS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_pvl_phase[i]); index += 2; } store->sid_group_pvl = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_pvl_binsize=%d\n", store->sid_pvl_binsize); fprintf(stderr, "sid_pvl_offset=%d\n", store->sid_pvl_offset); fprintf(stderr, "sid_pvl_num_samples=%d\n", store->sid_pvl_num_samples); for (i=0;isid_pvl_num_samples;i++) fprintf(stderr, "sid_pvl_phase[%d]:%d\n", i, store->sid_pvl_phase[i]); #endif } else if (group_id == MBSYS_XSE_SSN_GROUP_SIGNAL) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBSYS_XSE_SSN_GROUP_SIGNAL\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_sig_ping); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_sig_channel); index += 4; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_sig_offset); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_sig_sample); index += 8; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_sig_num_samples); index += 4; for (i=0;isid_sig_num_samples;i++) if (i < MBSYS_XSE_MAXPIXELS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_sig_phase[i]); index += 2; } store->sid_group_signal = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_sig_ping=%d\n", store->sid_sig_ping); fprintf(stderr, "sid_sig_channel=%d\n", store->sid_sig_channel); fprintf(stderr, "sid_sig_offset=%g\n", store->sid_sig_offset); fprintf(stderr, "sid_sig_sample=%g\n", store->sid_sig_sample); fprintf(stderr, "sid_sig_num_samples=%d\n", store->sid_sig_num_samples); for (i=0;isid_sig_num_samples;i++) fprintf(stderr, "sid_sig_phase[%d]:%d\n", i, store->sid_sig_phase[i]); #endif } else if (group_id == MBSYS_XSE_SSN_GROUP_PINGTYPE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBSYS_XSE_SSN_GROUP_PINGTYPE\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_png_pulse); index += 4; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_png_startfrequency); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_png_endfrequency); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_png_duration); index += 8; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_png_mancode); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_png_pulseid); index += 4; for (i=0;isid_png_pulsename[i] = buffer[index]; index++; } store->sid_group_ping = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_png_pulse=%d\n", store->sid_png_pulse); fprintf(stderr, "sid_png_startfrequency=%f\n", store->sid_png_startfrequency); fprintf(stderr, "sid_png_endfrequency=%f\n", store->sid_png_endfrequency); fprintf(stderr, "sid_png_duration=%f\n", store->sid_png_duration); fprintf(stderr, "sid_png_mancode=%d\n", store->sid_png_mancode); fprintf(stderr, "sid_png_pulseid=%d\n", store->sid_png_pulseid); fprintf(stderr, "sid_png_pulsename=%s\n", store->sid_png_pulsename); #endif } else if (group_id == MBSYS_XSE_SSN_GROUP_COMPLEXSIGNAL) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBSYS_XSE_SSN_GROUP_COMPLEXSIGNAL\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_cmp_ping); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_cmp_channel); index += 4; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_cmp_offset); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->sid_cmp_sample); index += 8; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_cmp_num_samples); index += 4; for (i=0;isid_cmp_num_samples;i++) if (i < MBSYS_XSE_MAXPIXELS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_cmp_real[i]); index += 2; mb_get_binary_short(SWAPFLAG, &buffer[index], &store->sid_cmp_imaginary[i]); index += 2; } store->sid_group_complex = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_cmp_ping=%d\n", store->sid_cmp_ping); fprintf(stderr, "sid_cmp_channel=%d\n", store->sid_cmp_channel); fprintf(stderr, "sid_cmp_offset=%f\n", store->sid_cmp_offset); fprintf(stderr, "sid_cmp_sample=%f\n", store->sid_cmp_sample); fprintf(stderr, "sid_cmp_num_samples=%d\n", store->sid_cmp_num_samples); for (i=0;isid_cmp_num_samples;i++) fprintf(stderr, "sid_cmp_real[%d]:%d sid_cmp_imaginary[%d]:%d\n", i, store->sid_cmp_real[i], i, store->sid_cmp_imaginary[i]); #endif } else if (group_id == MBSYS_XSE_SSN_GROUP_WEIGHTING) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBSYS_XSE_SSN_GROUP_WEIGHTING\n",__FILE__,__LINE__); #endif mb_get_binary_short(SWAPFLAG, &buffer[index], (short *) &store->sid_wgt_factorleft); index += 2; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_wgt_samplesleft); index += 4; mb_get_binary_short(SWAPFLAG, &buffer[index], (short *) &store->sid_wgt_factorright); index += 2; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sid_wgt_samplesright); index += 4; store->sid_group_weighting = MB_YES; #ifdef MB_DEBUG2 fprintf(stderr, "sid_wgt_factorleft=%d\n", store->sid_wgt_factorleft); fprintf(stderr, "sid_wgt_samplesleft=%d\n", store->sid_wgt_samplesleft); fprintf(stderr, "sid_wgt_factorright=%d\n", store->sid_wgt_factorright); fprintf(stderr, "sid_wgt_samplesright=%d\n", store->sid_wgt_samplesright); #endif } else { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SSN_GROUP_OTHER\n",__FILE__,__LINE__); #endif } } } /* now if multibeam already read but bin size lacking then calculate bin size from bathymetry */ if (store->mul_frame == MB_YES && store->mul_num_beams > 1 && store->sid_avl_num_samples > 1 && store->sid_avl_binsize <= 0) { /* get width of bathymetry swath size */ xmin = 9999999.9; xmax = -9999999.9; for (i=0;imul_num_beams;i++) { xmin = MIN(xmin, store->beams[i].lateral); xmax = MAX(xmax, store->beams[i].lateral); } /* get number of nonzero pixels */ ngoodss = 0; for (i=0;isid_avl_num_samples;i++) if (store->sid_avl_amp[i] != 0) ngoodss++; /* get bin size */ if (xmax > xmin && ngoodss > 1) { binsize = (xmax - xmin) / (ngoodss - 1); store->sid_avl_binsize = 1000 * binsize; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 sid_frame: %d\n",store->sid_frame); fprintf(stderr,"dbg5 sid_group_avt: %d\n",store->sid_group_avt); fprintf(stderr,"dbg5 sid_group_pvt: %d\n",store->sid_group_pvt); fprintf(stderr,"dbg5 sid_group_avl: %d\n",store->sid_group_avl); fprintf(stderr,"dbg5 sid_group_pvl: %d\n",store->sid_group_pvl); fprintf(stderr,"dbg5 sid_group_signal: %d\n",store->sid_group_signal); fprintf(stderr,"dbg5 sid_group_ping: %d\n",store->sid_group_ping); fprintf(stderr,"dbg5 sid_group_complex: %d\n",store->sid_group_complex); fprintf(stderr,"dbg5 sid_group_weighting: %d\n",store->sid_group_weighting); fprintf(stderr,"dbg5 sid_source: %d\n",store->sid_source); fprintf(stderr,"dbg5 sid_sec: %d\n",store->sid_sec); fprintf(stderr,"dbg5 sid_usec: %u\n",store->sid_usec); fprintf(stderr,"dbg5 sid_ping: %u\n",store->sid_ping); fprintf(stderr,"dbg5 sid_frequency: %f\n",store->sid_frequency); fprintf(stderr,"dbg5 sid_pulse: %f\n",store->sid_pulse); fprintf(stderr,"dbg5 sid_power: %f\n",store->sid_power); fprintf(stderr,"dbg5 sid_bandwidth: %f\n",store->sid_bandwidth); fprintf(stderr,"dbg5 sid_sample: %f\n",store->sid_sample); fprintf(stderr,"dbg5 sid_avt_sampleus: %d\n",store->sid_avt_sampleus); fprintf(stderr,"dbg5 sid_avt_offset: %d\n",store->sid_avt_offset); fprintf(stderr,"dbg5 sid_avt_num_samples: %d\n",store->sid_avt_num_samples); for (i=0;isid_avt_num_samples;i++) fprintf(stderr,"dbg5 sid_avt_amp[%d]:%d\n",i,store->sid_avt_amp[i]); fprintf(stderr,"dbg5 sid_pvt_sampleus: %d\n",store->sid_pvt_sampleus); fprintf(stderr,"dbg5 sid_pvt_offset: %d\n",store->sid_pvt_offset); fprintf(stderr,"dbg5 sid_pvt_num_samples: %d\n",store->sid_pvt_num_samples); for (i=0;isid_pvt_num_samples;i++) fprintf(stderr,"dbg5 sid_pvt_phase[%d]:%d\n",i,store->sid_pvt_phase[i]); fprintf(stderr,"dbg5 sid_avl_binsize: %d\n",store->sid_avl_binsize); fprintf(stderr,"dbg5 sid_avl_offset: %d\n",store->sid_avl_offset); fprintf(stderr,"dbg5 sid_avl_num_samples: %d\n",store->sid_avl_num_samples); for (i=0;isid_avl_num_samples;i++) fprintf(stderr,"dbg5 sid_avl_amp[%d]:%d\n",i,store->sid_avl_amp[i]); fprintf(stderr,"dbg5 sid_pvl_binsize: %d\n",store->sid_pvl_binsize); fprintf(stderr,"dbg5 sid_pvl_offset: %d\n",store->sid_pvl_offset); fprintf(stderr,"dbg5 sid_pvl_num_samples: %d\n",store->sid_pvl_num_samples); for (i=0;isid_pvl_num_samples;i++) fprintf(stderr,"dbg5 sid_pvl_phase[%d]:%d\n",i,store->sid_pvl_phase[i]); fprintf(stderr,"dbg5 sid_sig_ping: %d\n",store->sid_sig_ping); fprintf(stderr,"dbg5 sid_sig_channel: %d\n",store->sid_sig_channel); fprintf(stderr,"dbg5 sid_sig_offset: %f\n",store->sid_sig_offset); fprintf(stderr,"dbg5 sid_sig_sample: %f\n",store->sid_sig_sample); fprintf(stderr,"dbg5 sid_sig_num_samples: %d\n",store->sid_sig_num_samples); for (i=0;isid_sig_num_samples;i++) fprintf(stderr,"dbg5 sid_sig_phase[%d]:%d\n",i,store->sid_sig_phase[i]); fprintf(stderr,"dbg5 sid_png_pulse: %u\n",store->sid_png_pulse); fprintf(stderr,"dbg5 sid_png_startfrequency: %f\n",store->sid_png_startfrequency); fprintf(stderr,"dbg5 sid_png_endfrequency: %f\n",store->sid_png_endfrequency); fprintf(stderr,"dbg5 sid_png_duration: %f\n",store->sid_png_duration); fprintf(stderr,"dbg5 sid_png_mancode: %d\n",store->sid_png_mancode); fprintf(stderr,"dbg5 sid_png_pulseid: %d\n",store->sid_png_pulseid); fprintf(stderr,"dbg5 sid_png_pulsename: %s\n",store->sid_png_pulsename); fprintf(stderr,"dbg5 sid_cmp_ping: %d\n",store->sid_cmp_ping); fprintf(stderr,"dbg5 sid_cmp_channel: %d\n",store->sid_cmp_channel); fprintf(stderr,"dbg5 sid_cmp_offset: %f\n",store->sid_cmp_offset); fprintf(stderr,"dbg5 sid_cmp_sample: %f\n",store->sid_cmp_sample); fprintf(stderr,"dbg5 sid_cmp_num_samples: %d\n",store->sid_cmp_num_samples); for (i=0;isid_sig_num_samples;i++) fprintf(stderr,"dbg5 sid_cmp_real[%d]:%d sid_cmp_imaginary[%d]:%d\n", i,store->sid_cmp_real[i],i,store->sid_cmp_imaginary[i]); fprintf(stderr,"dbg5 sid_wgt_factorleft: %d\n",store->sid_wgt_factorleft); fprintf(stderr,"dbg5 sid_wgt_samplesleft: %d\n",store->sid_wgt_samplesleft); fprintf(stderr,"dbg5 sid_wgt_factorright: %d\n",store->sid_wgt_factorright); fprintf(stderr,"dbg5 sid_wgt_samplesright: %d\n",store->sid_wgt_samplesright); } /* 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_l3xseraw_rd_multibeam(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_multibeam"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; double alpha, beta, theta, phi; double rr, xx, zz; double xmin, xmax, binsize; int ngoodss; int skip; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* set group flags off */ store->mul_group_beam = MB_NO; /* boolean flag - beam group read */ store->mul_group_tt = MB_NO; /* boolean flag - tt group read */ store->mul_group_quality = MB_NO;/* boolean flag - quality group read */ store->mul_group_amp = MB_NO; /* boolean flag - amp group read */ store->mul_group_delay = MB_NO; /* boolean flag - delay group read */ store->mul_group_lateral = MB_NO;/* boolean flag - lateral group read */ store->mul_group_along = MB_NO; /* boolean flag - along group read */ store->mul_group_depth = MB_NO; /* boolean flag - depth group read */ store->mul_group_angle = MB_NO; /* boolean flag - angle group read */ store->mul_group_heave = MB_NO; /* boolean flag - heave group read */ store->mul_group_roll = MB_NO; /* boolean flag - roll group read */ store->mul_group_pitch = MB_NO; /* boolean flag - pitch group read */ store->mul_group_gates = MB_NO; /* boolean flag - gates group read */ store->mul_group_noise = MB_NO; /* boolean flag - noise group read */ store->mul_group_length = MB_NO; /* boolean flag - length group read */ store->mul_group_hits = MB_NO; /* boolean flag - hits group read */ store->mul_group_heavereceive = MB_NO; /* boolean flag - heavereceive group read */ store->mul_group_azimuth = MB_NO; /* boolean flag - azimuth group read */ store->mul_group_properties = MB_NO; /* boolean flag - properties group read */ store->mul_group_normamp = MB_NO; /* boolean flag - normalized amplitude group read */ store->mul_group_mbsystemnav = MB_NO; /* boolean flag - mbsystemnav group read */ /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_usec); index += 4; /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle general group */ if (group_id == MBSYS_XSE_MBM_GROUP_GEN) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_GEN\n",__FILE__,__LINE__); #endif mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_ping); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->mul_frequency); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->mul_pulse); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->mul_power); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->mul_bandwidth); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->mul_sample); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->mul_swath); index += 4; #ifdef MB_DEBUG2 fprintf(stderr, "ping=%u\n", store->mul_ping); fprintf(stderr, "frequency=%f\n", store->mul_frequency); fprintf(stderr, "pulse=%f\n", store->mul_pulse); fprintf(stderr, "power=%f\n", store->mul_power); fprintf(stderr, "bandwidth=%f\n", store->mul_bandwidth); fprintf(stderr, "sample=%f\n", store->mul_sample); fprintf(stderr, "swath=%f\n", store->mul_swath); #endif } /* handle beam group */ else if (group_id == MBSYS_XSE_MBM_GROUP_BEAM) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_BEAM\n",__FILE__,__LINE__); #endif store->mul_group_beam = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->beams[i].beam); index += 2; } } } /* handle traveltime group */ else if (group_id == MBSYS_XSE_MBM_GROUP_TT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_TT\n",__FILE__,__LINE__); #endif store->mul_group_tt = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].tt); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "tt[%d]=%f\n", i, store->beams[i].tt); #endif } /* handle quality group */ else if (group_id == MBSYS_XSE_MBM_GROUP_QUALITY) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_QUALITY\n",__FILE__,__LINE__); #endif store->mul_group_quality = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) store->beams[i].quality = buffer[index++]; } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "quality[%d]=%u\n", i, store->beams[i].quality); #endif } /* handle amplitude group */ else if (group_id == MBSYS_XSE_MBM_GROUP_AMP) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_AMP\n",__FILE__,__LINE__); #endif store->mul_group_amp = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_short(SWAPFLAG, &buffer[index], &store->beams[i].amplitude); index += 2; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "amp[%d]=%d\n", i, store->beams[i].amplitude); #endif } /* handle delay group */ else if (group_id == MBSYS_XSE_MBM_GROUP_DELAY) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_DELAY\n",__FILE__,__LINE__); #endif store->mul_group_delay = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].delay); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "delay[%d]=%lf\n", i, store->beams[i].delay); #endif } /* handle lateral group */ else if (group_id == MBSYS_XSE_MBM_GROUP_LATERAL) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_LATERAL\n",__FILE__,__LINE__); #endif store->mul_group_lateral = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].lateral); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "lateral[%d]=%lf\n", i, store->beams[i].lateral); #endif } /* handle along group */ else if (group_id == MBSYS_XSE_MBM_GROUP_ALONG) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_ALONG\n",__FILE__,__LINE__); #endif store->mul_group_along = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].along); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "along[%d]=%lf\n", i, store->beams[i].along); #endif } /* handle depth group */ else if (group_id == MBSYS_XSE_MBM_GROUP_DEPTH) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_DEPTH\n",__FILE__,__LINE__); #endif store->mul_group_depth = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].depth); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "depth[%d]=%lf\n", i, store->beams[i].depth); #endif } /* handle angle group */ else if (group_id == MBSYS_XSE_MBM_GROUP_ANGLE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_ANGLE\n",__FILE__,__LINE__); #endif store->mul_group_angle = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].angle); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "angle[%d]=%lf\n", i, store->beams[i].angle); #endif } /* handle heave group */ else if (group_id == MBSYS_XSE_MBM_GROUP_HEAVE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_HEAVE\n",__FILE__,__LINE__); #endif store->mul_group_heave = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].heave); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "heave[%d]=%lf\n", i, store->beams[i].heave); #endif } /* handle roll group */ else if (group_id == MBSYS_XSE_MBM_GROUP_ROLL) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_ROLL\n",__FILE__,__LINE__); #endif store->mul_group_roll = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].roll); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "roll[%d]=%lf\n", i, store->beams[i].roll); #endif } /* handle pitch group */ else if (group_id == MBSYS_XSE_MBM_GROUP_PITCH) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_PITCH\n",__FILE__,__LINE__); #endif store->mul_group_pitch = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].pitch); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "pitch[%d]=%lf\n", i, store->beams[i].pitch); #endif } /* handle gates group */ else if (group_id == MBSYS_XSE_MBM_GROUP_GATES) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_GATES\n",__FILE__,__LINE__); #endif store->mul_group_gates = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].gate_angle); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].gate_start); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->beams[i].gate_stop); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "gate_angle[%d]=%lf gate_start[%d]=%lf gate_stop[%d]=%lf\n", i, store->beams[i].gate_angle, i,store->beams[i].gate_start, i,store->beams[i].gate_stop); #endif } /* handle noise group */ else if (group_id == MBSYS_XSE_MBM_GROUP_NOISE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_NOISE\n",__FILE__,__LINE__); #endif store->mul_group_noise = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_float(SWAPFLAG, &buffer[index], &store->beams[i].noise); index += 4; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "noise[%d]=%f\n", i, store->beams[i].noise); #endif } /* handle length group */ else if (group_id == MBSYS_XSE_MBM_GROUP_LENGTH) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_LENGTH\n",__FILE__,__LINE__); #endif store->mul_group_length = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_float(SWAPFLAG, &buffer[index], &store->beams[i].length); index += 4; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "length[%d]=%f\n", i, store->beams[i].length); #endif } /* handle hits group */ else if (group_id == MBSYS_XSE_MBM_GROUP_HITS) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_HITS\n",__FILE__,__LINE__); #endif store->mul_group_hits = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->beams[i].hits); index += 4; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "hits[%d]=%d\n", i, store->beams[i].hits); #endif } /* handle heavereceive group */ else if (group_id == MBSYS_XSE_MBM_GROUP_HEAVERECEIVE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_HEAVERECEIVE\n",__FILE__,__LINE__); #endif store->mul_group_heavereceive = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->beams[i].heavereceive); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "heavereceive[%d]=%f\n", i, store->beams[i].heavereceive); #endif } /* handle azimuth group */ else if (group_id == MBSYS_XSE_MBM_GROUP_AZIMUTH) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_AZIMUTH\n",__FILE__,__LINE__); #endif store->mul_group_azimuth = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_beams); index += 4; for (i=0;imul_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->beams[i].azimuth); index += 8; } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "azimuth[%d]=%f\n", i, store->beams[i].azimuth); #endif } /* handle properties group */ else if (group_id == MBSYS_XSE_MBM_GROUP_PROPERTIES) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_PROPERTIES\n",__FILE__,__LINE__); #endif store->mul_group_properties = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_num_properties); index += 4; for (i=0;imul_num_properties;i++) { if (i < MBSYS_XSE_MAXPROPERTIES) { mb_get_binary_short(SWAPFLAG, &buffer[index], (double *) &store->mul_properties_type[i]); index += 2; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->mul_properties_value); index += 8; } } for (i=0;i<40;i++) { store->mul_properties_reserved[i] = buffer[index]; index++; } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_properties); for (i=0;imul_num_properties;i++) fprintf(stderr,"dbg5 mul_properties[%d]: %d %f\n", i, store->mul_properties_type[i], store->mul_properties_value[i]); for (i=0;i<40;i++) fprintf(stderr,"dbg5 mul_properties_reserved[%d]: %d\n", i, store->mul_properties_reserved[i]); #endif } /* handle normalized amplitude group */ else if (group_id == MBSYS_XSE_MBM_GROUP_NORMAMP) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_NORMAMP\n",__FILE__,__LINE__); #endif store->mul_group_normamp = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_normamp_num_beams); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->mul_normamp_flags); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->mul_normamp_along_beamwidth); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->mul_normamp_across_beamwidth); index += 4; for (i=0;imul_normamp_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_short(SWAPFLAG, &buffer[index], (double *) &store->beams[i].normamp); index += 2; } } if (store->mul_normamp_flags == 0) { mb_get_binary_float(SWAPFLAG, &buffer[index], (double *) &store->beams[0].frequency); index += 4; for (i=1;imul_normamp_num_beams;i++) { store->beams[i].frequency = store->beams[0].frequency; } } else { for (i=0;imul_normamp_num_beams;i++) { if (i < MBSYS_XSE_MAXBEAMS) { mb_get_binary_float(SWAPFLAG, &buffer[index], (double *) &store->beams[i].frequency); index += 4; } } } #ifdef MB_DEBUG2 fprintf(stderr, "N=%u\n", store->mul_num_beams); for(i=0;imul_num_beams;i++) fprintf(stderr, "beam[%d]: normamp=%d frequency=%f\n", i, store->beams[i].normamp, store->beams[i].frequency); #endif } /* handle mbsystemnav group */ else if (group_id == MBSYS_XSE_MBM_GROUP_MBSYSTEMNAV) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBSYS_XSE_MBM_GROUP_MBSYSTEMNAV\n",__FILE__,__LINE__); #endif store->mul_group_mbsystemnav = MB_YES; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->mul_lon); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->mul_lat); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->mul_heading); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], (double *) &store->mul_speed); index += 8; #ifdef MB_DEBUG2 fprintf(stderr, "lon=%f\n", store->mul_lon); fprintf(stderr, "lat=%f\n", store->mul_lat); fprintf(stderr, "heading=%f\n", store->mul_heading); fprintf(stderr, "speed=%f\n", store->mul_speed); #endif } else { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ MBM_GROUP_OTHER group_id:%d\n",__FILE__,__LINE__, group_id); #endif } } } /* now if tt and angles read but bathymetry not read calculate bathymetry assuming 1500 m/s velocity */ if (status == MB_SUCCESS && store->mul_group_tt == MB_YES && store->mul_group_angle == MB_YES && store->mul_group_heave == MB_YES && store->mul_group_roll == MB_YES && store->mul_group_pitch == MB_YES && store->mul_group_depth == MB_NO) { store->mul_group_lateral = MB_YES; store->mul_group_along = MB_YES; store->mul_group_depth = MB_YES; for (i=0;imul_num_beams;i++) { beta = 90.0 - RTD * store->beams[i].angle; alpha = RTD * store->beams[i].pitch; mb_rollpitch_to_takeoff(verbose, alpha, beta, &theta, &phi, error); /* divide range by 2 because of round trip travel time */ rr = 1500.0 * store->beams[i].tt/2.0; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); store->beams[i].lateral = xx * cos(DTR * phi); store->beams[i].along = xx * sin(DTR * phi) + 0.5 * store->nav_speed_ground * store->beams[i].delay; store->beams[i].depth = zz; } } /* check for sensible bathymetry */ if (status == MB_SUCCESS && store->mul_group_depth == MB_YES) { for (i=0;imul_num_beams;i++) { if (fabs(store->beams[i].depth) > 11000.0) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; if (fabs(store->beams[i].heave) > 100.0) store->beams[i].heave = 0.0; } } } /* now if sidescan already read but bin size lacking then calculate bin size from bathymetry */ if (store->mul_num_beams > 1 && store->sid_frame == MB_YES && store->sid_avl_num_samples > 1 && store->sid_avl_binsize <= 0) { /* get width of bathymetry swath size */ xmin = 9999999.9; xmax = -9999999.9; for (i=0;imul_num_beams;i++) { xmin = MIN(xmin, store->beams[i].lateral); xmax = MAX(xmax, store->beams[i].lateral); } /* get number of nonzero pixels */ ngoodss = 0; for (i=0;isid_avl_num_samples;i++) if (store->sid_avl_amp[i] != 0) ngoodss++; /* get bin size */ if (xmax > xmin && ngoodss > 1) { binsize = (xmax - xmin) / (ngoodss - 1); store->sid_avl_binsize = 1000 * binsize; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 mul_group_beam: %d\n",store->mul_group_beam); fprintf(stderr,"dbg5 mul_group_tt: %d\n",store->mul_group_tt); fprintf(stderr,"dbg5 mul_group_quality: %d\n",store->mul_group_quality); fprintf(stderr,"dbg5 mul_group_amp: %d\n",store->mul_group_amp); fprintf(stderr,"dbg5 mul_group_delay: %d\n",store->mul_group_delay); fprintf(stderr,"dbg5 mul_group_lateral: %d\n",store->mul_group_lateral); fprintf(stderr,"dbg5 mul_group_along: %d\n",store->mul_group_along); fprintf(stderr,"dbg5 mul_group_depth: %d\n",store->mul_group_depth); fprintf(stderr,"dbg5 mul_group_angle: %d\n",store->mul_group_angle); fprintf(stderr,"dbg5 mul_group_heave: %d\n",store->mul_group_heave); fprintf(stderr,"dbg5 mul_group_roll: %d\n",store->mul_group_roll); fprintf(stderr,"dbg5 mul_group_pitch: %d\n",store->mul_group_pitch); fprintf(stderr,"dbg5 mul_group_gates: %d\n",store->mul_group_gates); fprintf(stderr,"dbg5 mul_group_noise: %d\n",store->mul_group_noise); fprintf(stderr,"dbg5 mul_group_length: %d\n",store->mul_group_length); fprintf(stderr,"dbg5 mul_group_hits: %d\n",store->mul_group_hits); fprintf(stderr,"dbg5 mul_group_heavereceive: %d\n",store->mul_group_heavereceive); fprintf(stderr,"dbg5 mul_group_azimuth: %d\n",store->mul_group_azimuth); fprintf(stderr,"dbg5 mul_group_properties: %d\n",store->mul_group_properties); fprintf(stderr,"dbg5 mul_group_normamp: %d\n",store->mul_group_normamp); fprintf(stderr,"dbg5 mul_group_mbsystemnav: %d\n",store->mul_group_mbsystemnav); fprintf(stderr,"dbg5 mul_source: %d\n",store->mul_source); fprintf(stderr,"dbg5 mul_sec: %u\n",store->mul_sec); fprintf(stderr,"dbg5 mul_usec: %u\n",store->mul_usec); fprintf(stderr,"dbg5 mul_ping: %d\n",store->mul_ping); fprintf(stderr,"dbg5 mul_frequency: %f\n",store->mul_frequency); fprintf(stderr,"dbg5 mul_pulse: %f\n",store->mul_pulse); fprintf(stderr,"dbg5 mul_power: %f\n",store->mul_power); fprintf(stderr,"dbg5 mul_bandwidth: %f\n",store->mul_bandwidth); fprintf(stderr,"dbg5 mul_sample: %f\n",store->mul_sample); fprintf(stderr,"dbg5 mul_swath: %f\n",store->mul_swath); fprintf(stderr,"dbg5 mul_num_beams: %d\n",store->mul_num_beams); fprintf(stderr,"dbg5 mul_lon: %f\n",store->mul_lon); fprintf(stderr,"dbg5 mul_lat: %f\n",store->mul_lat); fprintf(stderr,"dbg5 mul_heading: %f\n",store->mul_heading); fprintf(stderr,"dbg5 mul_speed: %f\n",store->mul_speed); for (i=0;imul_num_beams;i++) fprintf(stderr,"dbg5 beam[%d]: %3d %7.2f %7.2f %7.2f %3d %3d %6.3f %6.2f %5.3f %5.2f %6.2f %6.2f %f %f %f %f %f %d %f %f %d %f\n", i, store->beams[i].beam, store->beams[i].lateral, store->beams[i].along, store->beams[i].depth, store->beams[i].amplitude, store->beams[i].quality, store->beams[i].tt, store->beams[i].angle, store->beams[i].delay, store->beams[i].heave, store->beams[i].roll, store->beams[i].pitch, store->beams[i].gate_angle, store->beams[i].gate_start, store->beams[i].gate_stop, store->beams[i].noise, store->beams[i].length, store->beams[i].hits, store->beams[i].heavereceive, store->beams[i].azimuth, store->beams[i].normamp, store->beams[i].frequency); fprintf(stderr,"dbg5 mul_num_properties: %d\n",store->mul_num_properties); for (i=0;imul_num_properties;i++) fprintf(stderr,"dbg5 mun_property[%d]: %d %f\n", i, store->mul_properties_type[i], store->mul_properties_value[i]); for (i=0;i<40;i++) fprintf(stderr,"dbg5 mul_properties_reserved[%d]: %d\n", i, store->mul_properties_reserved[i]); fprintf(stderr,"dbg5 mul_normamp_num_beams: %d\n",store->mul_normamp_num_beams); fprintf(stderr,"dbg5 mul_normamp_flags: %d\n",store->mul_normamp_flags); fprintf(stderr,"dbg5 mul_normamp_along_beamwidth: %f\n",store->mul_normamp_along_beamwidth); fprintf(stderr,"dbg5 mul_normamp_across_beamwidth: %f\n",store->mul_normamp_across_beamwidth); } /* 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_l3xseraw_rd_singlebeam(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_singlebeam"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The singlebeam frame is currently unused by MB-System */ /* 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_l3xseraw_rd_message(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_message"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The message frame is currently unused by MB-System */ /* 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_l3xseraw_rd_seabeam(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_seabeam"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; int skip; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_usec); index += 4; /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle properties group */ if (group_id == MBSYS_XSE_SBM_GROUP_PROPERTIES) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SBM_GROUP_PROPERTIES\n",__FILE__,__LINE__); #endif store->sbm_properties = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_ping); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_ping_gain); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_pulse_width); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_transmit_power); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_pixel_width); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_swath_width); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_time_slice); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_depth_mode); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_beam_mode); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_ssv); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_frequency); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_bandwidth); index += 4; } /* handle hrp group */ if (group_id == MBSYS_XSE_SBM_GROUP_HRP) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SBM_GROUP_HRP\n",__FILE__,__LINE__); #endif store->sbm_hrp = MB_YES; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->sbm_heave); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->sbm_roll); index += 8; mb_get_binary_double(SWAPFLAG, &buffer[index], &store->sbm_pitch); index += 8; } /* handle center group */ if (group_id == MBSYS_XSE_SBM_GROUP_SIGNAL) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SBM_GROUP_SIGNAL\n",__FILE__,__LINE__); #endif store->sbm_signal = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_signal_beam); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_signal_count); index += 4; store->sbm_signal_count = MIN(MBSYS_XSE_MAXSAMPLES, store->sbm_signal_count); for (i=0;isbm_signal_count;i++) { mb_get_binary_float(SWAPFLAG, &buffer[index], &store->sbm_signal_amp[i]); index += 4; } } /* handle message group */ if (group_id == MBSYS_XSE_SBM_GROUP_MESSAGE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SBM_GROUP_MESSAGE\n",__FILE__,__LINE__); #endif store->sbm_message = MB_YES; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_message_id); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_message_len); index += 4; if (store->sbm_message_len > buffer_size) fprintf(stderr,"Read message: %d %d %d\n",buffer_size,store->sbm_message_len,store->sbm_message_id); for (i=0;isbm_message_len;i++) { store->sbm_message_txt[i] = buffer[index]; index++; } store->sbm_message_txt[store->sbm_message_len] = 0; } /* handle sweep segments group */ if (group_id == MBSYS_XSE_SBM_GROUP_SWEEPSEGMENTS) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SBM_GROUP_SWEEPSEGMENTS\n",__FILE__,__LINE__); #endif store->sbm_sweepsegments = MB_YES; store->sbm_sweep_direction = buffer[index]; index++; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_azimuth); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_segments); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_seconds); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_micro); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_extrapolateazimuth); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_interpolatedazimuth); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_extrapolatepitch); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_interpolatedpitch); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_extrapolateroll); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_interpolatedroll); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_sweep_stabilizedangle); index += 4; } /* handle spacing mode group */ if (group_id == MBSYS_XSE_SBM_GROUP_SPACINGMODE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | READ SBM_GROUP_SPACINGMODE\n",__FILE__,__LINE__); #endif store->sbm_spacingmode = MB_YES; store->sbm_spacing_mode = buffer[index]; index++; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_spacing_equidistance); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_spacing_equidistance_min); index += 4; mb_get_binary_float(SWAPFLAG, &buffer[index], (int *) &store->sbm_spacing_equidistance_max); index += 4; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 sbm_source: %d\n",store->sbm_source); fprintf(stderr,"dbg5 sbm_sec: %u\n",store->sbm_sec); fprintf(stderr,"dbg5 sbm_usec: %u\n",store->sbm_usec); } if (verbose >= 5 && store->sbm_properties == MB_YES) { fprintf(stderr,"dbg5 sbm_ping: %d\n",store->sbm_ping); fprintf(stderr,"dbg5 sbm_ping_gain: %f\n",store->sbm_ping_gain); fprintf(stderr,"dbg5 sbm_pulse_width: %f\n",store->sbm_pulse_width); fprintf(stderr,"dbg5 sbm_transmit_power: %f\n",store->sbm_transmit_power); fprintf(stderr,"dbg5 sbm_pixel_width: %f\n",store->sbm_pixel_width); fprintf(stderr,"dbg5 sbm_swath_width: %f\n",store->sbm_swath_width); fprintf(stderr,"dbg5 sbm_time_slice: %f\n",store->sbm_time_slice); fprintf(stderr,"dbg5 sbm_depth_mode: %d\n",store->sbm_depth_mode); fprintf(stderr,"dbg5 sbm_beam_mode: %d\n",store->sbm_beam_mode); fprintf(stderr,"dbg5 sbm_ssv: %f\n",store->sbm_ssv); fprintf(stderr,"dbg5 sbm_frequency: %f\n",store->sbm_frequency); fprintf(stderr,"dbg5 sbm_bandwidth: %f\n",store->sbm_bandwidth); } if (verbose >= 5 && store->sbm_hrp == MB_YES) { fprintf(stderr,"dbg5 sbm_heave: %f\n",store->sbm_heave); fprintf(stderr,"dbg5 sbm_roll: %f\n",store->sbm_roll); fprintf(stderr,"dbg5 sbm_pitch: %f\n",store->sbm_pitch); } if (verbose >= 5 && store->sbm_signal == MB_YES) { fprintf(stderr,"dbg5 sbm_signal_beam: %d\n",store->sbm_signal_beam); fprintf(stderr,"dbg5 sbm_signal_count: %d\n",store->sbm_signal_count); for (i=0;isbm_signal_count;i++) fprintf(stderr,"dbg5 sample[%d]: %f\n", i, store->sbm_signal_amp[i]); } if (verbose >= 5 && store->sbm_message == MB_YES) { fprintf(stderr,"dbg5 sbm_message_id: %d\n",store->sbm_message_id); fprintf(stderr,"dbg5 sbm_message_len: %d\n",store->sbm_message_len); fprintf(stderr,"dbg5 sbm_message_txt: %s\n",store->sbm_message_txt); } if (verbose >= 5 && store->sbm_sweepsegments == MB_YES) { fprintf(stderr,"dbg5 sbm_sweep_direction: %d\n",store->sbm_sweep_direction); fprintf(stderr,"dbg5 sbm_sweep_azimuth: %f\n",store->sbm_sweep_azimuth); fprintf(stderr,"dbg5 sbm_sweep_segments: %d\n",store->sbm_sweep_segments); fprintf(stderr,"dbg5 sbm_sweep_seconds: %d\n",store->sbm_sweep_seconds); fprintf(stderr,"dbg5 sbm_sweep_micro: %d\n",store->sbm_sweep_micro); fprintf(stderr,"dbg5 sbm_sweep_extrapolateazimuth: %f\n",store->sbm_sweep_extrapolateazimuth); fprintf(stderr,"dbg5 sbm_sweep_interpolatedazimuth: %f\n",store->sbm_sweep_interpolatedazimuth); fprintf(stderr,"dbg5 sbm_sweep_extrapolatepitch: %f\n",store->sbm_sweep_extrapolatepitch); fprintf(stderr,"dbg5 sbm_sweep_interpolatedpitch: %f\n",store->sbm_sweep_interpolatedpitch); fprintf(stderr,"dbg5 sbm_sweep_extrapolateroll: %f\n",store->sbm_sweep_extrapolateroll); fprintf(stderr,"dbg5 sbm_sweep_interpolatedroll: %f\n",store->sbm_sweep_interpolatedroll); fprintf(stderr,"dbg5 sbm_sweep_stabilizedangle: %f\n",store->sbm_sweep_stabilizedangle); } if (verbose >= 5 && store->sbm_spacingmode == MB_YES) { fprintf(stderr,"dbg5 sbm_spacing_mode: %d\n",store->sbm_spacing_mode); fprintf(stderr,"dbg5 sbm_spacing_equidistance: %f\n",store->sbm_spacing_equidistance); fprintf(stderr,"dbg5 sbm_spacing_equidistance_min: %f\n",store->sbm_spacing_equidistance_min); fprintf(stderr,"dbg5 sbm_spacing_equidistance_max: %f\n",store->sbm_spacing_equidistance_max); } /* 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_l3xseraw_rd_geodetic(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_geodetic"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The geodetic frame is currently unused by MB-System */ /* 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_l3xseraw_rd_native(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_native"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The native frame is currently unused by MB-System */ /* 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_l3xseraw_rd_product(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_product"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The product frame is currently unused by MB-System */ /* 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_l3xseraw_rd_bathymetry(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_bathymetry"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The bathymetry frame is currently unused by MB-System */ /* 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_l3xseraw_rd_control(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_control"; int status = MB_SUCCESS; struct mbsys_xse_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 buffer_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* The control frame is currently unused by MB-System */ /* 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_l3xseraw_rd_comment(int verbose,int buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_rd_comment"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int byte_count; int group_id; int done; int index; int skip; 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_size:%d\n",buffer_size); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* get source and time */ index = 12; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->com_source); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->com_sec); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &store->com_usec); index += 4; /* loop over groups */ done = MB_NO; while (index <= buffer_size && status == MB_SUCCESS && done == MB_NO) { /* look for group start or frame end */ skip = 0; #ifdef DATAINPCBYTEORDER while (index < buffer_size && strncmp(&buffer[index], "GSH$", 4) && strncmp(&buffer[index], "FSH#", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "FSH#", 4)) done = MB_YES; else index += 4; #else while (index < buffer_size && strncmp(&buffer[index], "$HSG", 4) && strncmp(&buffer[index], "#HSF", 4)) { index++; skip++; } if (index >= buffer_size || !strncmp(&buffer[index], "#HSF", 4)) done = MB_YES; else index += 4; #endif #ifdef MB_DEBUG if (skip > 4) fprintf(stderr, "%s:%d | skipped %d bytes in function <%s>\n",__FILE__,__LINE__, skip-4, function_name); #endif /* deal with group */ if (done == MB_NO) { /* get group size and id */ mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &byte_count); index += 4; mb_get_binary_int(SWAPFLAG, &buffer[index], (int *) &group_id); index += 4; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Group %d of %d bytes to be parsed in MBIO function <%s>\n", group_id, byte_count, function_name); } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | Group %d of %d bytes to be parsed in MBIO function <%s>\n",__FILE__,__LINE__, group_id, byte_count, function_name); #endif /* handle general group */ if (group_id == MBSYS_XSE_COM_GROUP_GEN) { for (i=0;icomment[i] = buffer[index++]; } store->comment[MIN(byte_count-4, MBSYS_XSE_COMMENT_LENGTH-1)] = '\0'; } } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* 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_l3xseraw_wr_data(int verbose,void *mbio_ptr,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_xse_struct *store; FILE *mbfp; int buffer_size; int write_size; char *buffer; /* 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: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; mbfp = mb_io_ptr->mbfp; buffer = mb_io_ptr->hdr_comment; #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE KIND: %d\n",__FILE__,__LINE__,store->kind); #endif if (store->kind == MB_DATA_COMMENT) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE COMMMENT\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_wr_comment(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } else if (store->kind == MB_DATA_NAV) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE NAV\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_wr_nav(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } else if (store->kind == MB_DATA_VELOCITY_PROFILE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE SVP\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_wr_svp(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } else if (store->kind == MB_DATA_PARAMETER) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE SHIP\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_wr_ship(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } else if (store->kind == MB_DATA_DATA) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE MULTIBEAM\n",__FILE__,__LINE__); #endif if (store->mul_frame == MB_YES) { status = mbr_l3xseraw_wr_multibeam(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE SIDESCAN\n",__FILE__,__LINE__); #endif if (store->sid_frame == MB_YES) { status = mbr_l3xseraw_wr_sidescan(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } } else if (store->kind == MB_DATA_RUN_PARAMETER) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE RUN PARAMETER\n",__FILE__,__LINE__); #endif status = mbr_l3xseraw_wr_seabeam(verbose,&buffer_size,buffer,store_ptr,error); if ((write_size = fwrite(buffer,1,buffer_size,mbfp)) != buffer_size) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } else if (store->kind == MB_DATA_RAW_LINE) { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE RAW LINE\n",__FILE__,__LINE__); #endif if (store->rawsize > 0) { if ((write_size = fwrite(store->raw,1,store->rawsize,mbfp)) != store->rawsize) { *error = MB_ERROR_WRITE_FAIL; status = MB_FAILURE; } } } else { #ifdef MB_DEBUG fprintf(stderr, "%s:%d | WRITE FAILURE BAD KIND\n",__FILE__,__LINE__); #endif status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* print output debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Data record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",store->kind); } /* 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_l3xseraw_wr_nav(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_nav"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int frame_count; int group_count; int frame_cnt_index; int group_cnt_index; int frame_id; int group_id; 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 nav_source: %d\n",store->nav_source); fprintf(stderr,"dbg5 nav_sec: %u\n",store->nav_sec); fprintf(stderr,"dbg5 nav_usec: %u\n",store->nav_usec); fprintf(stderr,"dbg5 nav_quality: %d\n",store->nav_quality); fprintf(stderr,"dbg5 nav_status: %d\n",store->nav_status); fprintf(stderr,"dbg5 nav_description_len: %d\n",store->nav_description_len); fprintf(stderr,"dbg5 nav_description: %s\n",store->nav_description); fprintf(stderr,"dbg5 nav_x: %f\n",store->nav_x); fprintf(stderr,"dbg5 nav_y: %f\n",store->nav_y); fprintf(stderr,"dbg5 nav_z: %f\n",store->nav_z); fprintf(stderr,"dbg5 nav_speed_ground: %f\n",store->nav_speed_ground); fprintf(stderr,"dbg5 nav_course_ground: %f\n",store->nav_course_ground); fprintf(stderr,"dbg5 nav_speed_water: %f\n",store->nav_speed_water); fprintf(stderr,"dbg5 nav_course_water: %f\n",store->nav_course_water); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* start the frame byte count, but don't write it to buffer yet */ /* increment index so we skip the count value in the buffer */ frame_count = 0; frame_cnt_index = index; index += 4; /* get frame time */ frame_id = MBSYS_XSE_NAV_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_usec, &buffer[index]); index += 4; frame_count += 16; /*****************************************/ /* write general group */ if (store->nav_group_general == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get pos group */ group_id = MBSYS_XSE_NAV_GROUP_GEN; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_quality, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_status, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += store->nav_description_len + 32; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write position group */ if (store->nav_group_position == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get pos group */ group_id = MBSYS_XSE_NAV_GROUP_POS; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_description_len, &buffer[index]); index += 4; for (i=0;inav_description_len;i++) { buffer[index] = store->nav_description[i]; index++; } mb_put_binary_double(SWAPFLAG, store->nav_x, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_y, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_z, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += store->nav_description_len + 32; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write accuracy group */ if (store->nav_group_accuracy == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get pos group */ group_id = MBSYS_XSE_NAV_GROUP_ACCURACY; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_short(SWAPFLAG, store->nav_acc_quality, &buffer[index]); index += 2; buffer[index] = store->nav_acc_numsatellites; index++; mb_put_binary_float(SWAPFLAG, store->nav_acc_horizdilution, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->nav_acc_diffage, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->nav_acc_diffref, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 19; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write motion ground truth group */ if (store->nav_group_motiongt == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion ground truth group */ group_id = MBSYS_XSE_NAV_GROUP_MOTIONGT; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_speed_ground, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_course_ground, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write motion through water group */ if (store->nav_group_motiontw == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_MOTIONTW; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_speed_water, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_course_water, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write track steering group */ if (store->nav_group_track == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_TRACK; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_trk_offset_track, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_trk_offset_sol, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_trk_offset_eol, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_trk_distance_sol, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_trk_azimuth_sol, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_trk_distance_eol, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_trk_azimuth_eol, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write heave roll pitch group */ if (store->nav_group_hrp == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_HRP; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_hrp_heave, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_hrp_roll, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->nav_hrp_pitch, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write heave group */ if (store->nav_group_hrp == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_HEAVE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_hea_heave, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write roll group */ if (store->nav_group_roll == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_ROLL; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_rol_roll, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write pitch group */ if (store->nav_group_pitch == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_PITCH; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_pit_pitch, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 20; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write heading group */ if (store->nav_group_heading == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_HEADING; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_hdg_heading, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 12; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write speed log group */ if (store->nav_group_log == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_LOG; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->nav_log_speed, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 12; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* write gps altitude group */ if (store->nav_group_gps == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get motion through water group */ group_id = MBSYS_XSE_NAV_GROUP_GPS; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->nav_gps_altitude, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->nav_gps_geoidalseparation, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 12; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; /* go back and fill in frame byte count */ mb_put_binary_int(SWAPFLAG, frame_count, &buffer[frame_cnt_index]); /* set buffer size */ *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_l3xseraw_wr_svp(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_svp"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int frame_count; int group_count; int frame_cnt_index; int group_cnt_index; int frame_id; int group_id; int write_conductivity = MB_NO; int write_salinity = MB_NO; int write_temperature = MB_NO; int write_pressure = MB_NO; 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 svp_source: %d\n",store->svp_source); fprintf(stderr,"dbg5 svp_sec: %u\n",store->svp_sec); fprintf(stderr,"dbg5 svp_usec: %u\n",store->svp_usec); fprintf(stderr,"dbg5 svp_nsvp: %d\n",store->svp_nsvp); fprintf(stderr,"dbg5 svp_nctd: %d\n",store->svp_nctd); fprintf(stderr,"dbg5 svp_ssv: %f\n",store->svp_ssv); for (i=0;isvp_nsvp;i++) fprintf(stderr,"dbg5 svp[%d]: %f %f\n", i, store->svp_depth[i], store->svp_velocity[i]); for (i=0;isvp_nctd;i++) fprintf(stderr,"dbg5 cstd[%d]: %f %f %f %f\n", i, store->svp_conductivity[i], store->svp_salinity[i], store->svp_temperature[i], store->svp_pressure[i]); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* start the frame byte count, but don't write it to buffer yet */ /* increment index so we skip the count value in the buffer */ frame_count = 0; frame_cnt_index = index; index += 4; /* get frame time */ frame_id = MBSYS_XSE_SVP_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_usec, &buffer[index]); index += 4; frame_count += 16; /* get depth and velocity groups */ if (store->svp_nsvp > 0) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get depth array */ group_id = MBSYS_XSE_SVP_GROUP_DEPTH; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_nsvp, &buffer[index]); index += 4; for (i=0;isvp_nsvp;i++) { mb_put_binary_double(SWAPFLAG, store->svp_depth[i], &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->svp_nsvp*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get depth array */ group_id = MBSYS_XSE_SVP_GROUP_VELOCITY; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_nsvp, &buffer[index]); index += 4; for (i=0;isvp_nsvp;i++) { mb_put_binary_double(SWAPFLAG, store->svp_velocity[i], &buffer[index]); index += 8; } mb_put_binary_double(SWAPFLAG, store->svp_ssv_depth, &buffer[index]); index += 8; buffer[index] = store->svp_ssv_depthflag; index++; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 17 + store->svp_nsvp*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* figure out which ctd groups are nonzero */ if (store->svp_nctd > 0) { for (i=0;isvp_nctd;i++) { if (store->svp_conductivity[i] != 0.0) write_conductivity = MB_YES; if (store->svp_salinity[i] != 0.0) write_salinity = MB_YES; if (store->svp_temperature[i] != 0.0) write_temperature = MB_YES; if (store->svp_pressure[i] != 0.0) write_pressure = MB_YES; } } /* get conductivity group */ if (store->svp_nctd > 0 && write_conductivity == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get conductivity array */ group_id = MBSYS_XSE_SVP_GROUP_CONDUCTIVITY; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_nctd, &buffer[index]); index += 4; for (i=0;isvp_nctd;i++) { mb_put_binary_double(SWAPFLAG, store->svp_conductivity[i], &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->svp_nctd*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get salinity group */ if (store->svp_nctd > 0 && write_salinity == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get salinity array */ group_id = MBSYS_XSE_SVP_GROUP_SALINITY; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_nctd, &buffer[index]); index += 4; for (i=0;isvp_nctd;i++) { mb_put_binary_double(SWAPFLAG, store->svp_salinity[i], &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->svp_nctd*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get temperature group */ if (store->svp_nctd > 0 && write_temperature == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get temperature array */ group_id = MBSYS_XSE_SVP_GROUP_TEMP; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_nctd, &buffer[index]); index += 4; for (i=0;isvp_nctd;i++) { mb_put_binary_double(SWAPFLAG, store->svp_temperature[i], &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->svp_nctd*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get pressure group */ if (store->svp_nctd > 0 && write_pressure == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get pressure array */ group_id = MBSYS_XSE_SVP_GROUP_PRESSURE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->svp_nctd, &buffer[index]); index += 4; for (i=0;isvp_nctd;i++) { mb_put_binary_double(SWAPFLAG, store->svp_pressure[i], &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->svp_nctd*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get ssv group */ if (store->svp_ssv > 0.0) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get ssv */ group_id = MBSYS_XSE_SVP_GROUP_SSV; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->svp_ssv, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->svp_ssv_depth, &buffer[index]); index += 8; buffer[index] = store->svp_ssv_depthflag; index++; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 21; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; /* go back and fill in frame byte count */ mb_put_binary_int(SWAPFLAG, frame_count, &buffer[frame_cnt_index]); /* set buffer size */ *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_l3xseraw_wr_ship(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_ship"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int frame_count; int group_count; int frame_cnt_index; int group_cnt_index; int frame_id; int group_id; int nchar; int i, j; /* 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 par_source: %d\n",store->par_source); fprintf(stderr,"dbg5 par_sec: %u\n",store->par_sec); fprintf(stderr,"dbg5 par_usec: %u\n",store->par_usec); fprintf(stderr,"dbg5 par_ship_name: %s\n",store->par_ship_name); fprintf(stderr,"dbg5 par_ship_length: %f\n",store->par_ship_length); fprintf(stderr,"dbg5 par_ship_beam: %f\n",store->par_ship_beam); fprintf(stderr,"dbg5 par_ship_draft: %f\n",store->par_ship_draft); fprintf(stderr,"dbg5 par_ship_height: %f\n",store->par_ship_height); fprintf(stderr,"dbg5 par_ship_displacement: %f\n",store->par_ship_displacement); fprintf(stderr,"dbg5 par_ship_weight: %f\n",store->par_ship_weight); for (i=0;ipar_ship_nsensor;i++) { fprintf(stderr,"dbg5 par_ship_sensor_id[%d]: %d\n",i,store->par_ship_sensor_id[i]); fprintf(stderr,"dbg5 par_ship_sensor_type[%d]: %d\n",i,store->par_ship_sensor_type[i]); fprintf(stderr,"dbg5 par_ship_sensor_frequency[%d]: %d\n",i,store->par_ship_sensor_frequency[i]); } fprintf(stderr,"dbg5 par_parameter: %d\n",store->par_parameter); fprintf(stderr,"dbg5 par_roll_bias: %f\n",store->par_roll_bias); fprintf(stderr,"dbg5 par_pitch_bias: %f\n",store->par_pitch_bias); fprintf(stderr,"dbg5 par_heading_bias: %f\n",store->par_heading_bias); fprintf(stderr,"dbg5 par_time_delay: %f\n",store->par_time_delay); fprintf(stderr,"dbg5 par_trans_x_port: %f\n",store->par_trans_x_port); fprintf(stderr,"dbg5 par_trans_y_port: %f\n",store->par_trans_y_port); fprintf(stderr,"dbg5 par_trans_z_port: %f\n",store->par_trans_z_port); fprintf(stderr,"dbg5 par_trans_x_stbd: %f\n",store->par_trans_x_stbd); fprintf(stderr,"dbg5 par_trans_y_stbd: %f\n",store->par_trans_y_stbd); fprintf(stderr,"dbg5 par_trans_z_stbd: %f\n",store->par_trans_z_stbd); fprintf(stderr,"dbg5 par_trans_err_port: %f\n",store->par_trans_err_port); fprintf(stderr,"dbg5 par_trans_err_stbd: %f\n",store->par_trans_err_stbd); fprintf(stderr,"dbg5 par_nav_x: %f\n",store->par_nav_x); fprintf(stderr,"dbg5 par_nav_y: %f\n",store->par_nav_y); fprintf(stderr,"dbg5 par_nav_z: %f\n",store->par_nav_z); fprintf(stderr,"dbg5 par_hrp_x: %f\n",store->par_hrp_x); fprintf(stderr,"dbg5 par_hrp_y: %f\n",store->par_hrp_y); fprintf(stderr,"dbg5 par_hrp_z: %f\n",store->par_hrp_z); fprintf(stderr,"dbg5 par_navigationandmotion: %d\n",store->par_navigationandmotion); fprintf(stderr,"dbg5 par_nam_roll_bias: %f\n",store->par_nam_roll_bias); fprintf(stderr,"dbg5 par_nam_pitch_bias: %f\n",store->par_nam_pitch_bias); fprintf(stderr,"dbg5 par_nam_heave_bias: %f\n",store->par_nam_heave_bias); fprintf(stderr,"dbg5 par_nam_heading_bias: %f\n",store->par_nam_heading_bias); fprintf(stderr,"dbg5 par_nam_time_delay: %f\n",store->par_nam_time_delay); fprintf(stderr,"dbg5 par_nam_nav_x: %f\n",store->par_nam_nav_x); fprintf(stderr,"dbg5 par_nam_nav_y: %f\n",store->par_nam_nav_y); fprintf(stderr,"dbg5 par_nam_nav_z: %f\n",store->par_nam_nav_z); fprintf(stderr,"dbg5 par_nam_hrp_x: %f\n",store->par_nam_hrp_x); fprintf(stderr,"dbg5 par_nam_hrp_y: %f\n",store->par_nam_hrp_y); fprintf(stderr,"dbg5 par_nam_hrp_z: %f\n",store->par_nam_hrp_z); fprintf(stderr,"dbg5 par_xdr_num_transducer: %d\n",store->par_xdr_num_transducer); fprintf(stderr,"dbg5 # sensor xducer freq side roll pitch azi dist\n"); for (i=0;ipar_xdr_num_transducer;i++) fprintf(stderr,"dbg5 %d %d %d %d %d %f %f %f %f\n", i, store->par_xdr_sensorid[i], store->par_xdr_transducer[i], store->par_xdr_frequency[i], store->par_xdr_side[i], store->par_xdr_mountingroll[i], store->par_xdr_mountingpitch[i], store->par_xdr_mountingazimuth[i], store->par_xdr_mountingdistance[i]); fprintf(stderr,"dbg5 # x y z roll pitch azimuth\n"); for (i=0;ipar_xdr_num_transducer;i++) fprintf(stderr,"dbg5 %d %f %f %f %f %f %f\n", i, store->par_xdr_x[i], store->par_xdr_y[i], store->par_xdr_z[i], store->par_xdr_roll[i], store->par_xdr_pitch[i], store->par_xdr_azimuth[i]); fprintf(stderr,"dbg5 par_xdx_num_transducer: %d\n",store->par_xdx_num_transducer); fprintf(stderr,"dbg5 # roll pitch azimuth\n"); for (i=0;ipar_xdx_num_transducer;i++) fprintf(stderr,"dbg5 %d %d %d %d\n", i, store->par_xdx_roll[i], store->par_xdx_pitch[i], store->par_xdx_azimuth[i]); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* start the frame byte count, but don't write it to buffer yet */ /* increment index so we skip the count value in the buffer */ frame_count = 0; frame_cnt_index = index; index += 4; /* get frame time */ frame_id = MBSYS_XSE_SHP_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_usec, &buffer[index]); index += 4; frame_count += 16; /*****************************************/ /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get general group */ group_id = MBSYS_XSE_SHP_GROUP_GEN; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; nchar = strlen(store->par_ship_name); mb_put_binary_int(SWAPFLAG, nchar, &buffer[index]); index += 4; for (i=0;ipar_ship_name[i]; index++; } mb_put_binary_double(SWAPFLAG, store->par_ship_length, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_ship_beam, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_ship_draft, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_ship_height, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_ship_displacement, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_ship_weight, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += nchar + 56; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; /*****************************************/ if (store->par_ship_nsensor > 0) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get sensors group */ group_id = MBSYS_XSE_SHP_GROUP_SENSORS; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_ship_nsensor, &buffer[index]); index += 4; for (i=0;ipar_ship_nsensor;i++) { mb_put_binary_int(SWAPFLAG, store->par_ship_sensor_id[i], &buffer[index]); index += 4; } for (i=0;ipar_ship_nsensor;i++) { mb_put_binary_int(SWAPFLAG, store->par_ship_sensor_type[i], &buffer[index]); index += 4; } for (i=0;ipar_ship_nsensor;i++) { mb_put_binary_int(SWAPFLAG, store->par_ship_sensor_frequency[i], &buffer[index]); index += 4; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 12 * store->par_ship_nsensor + 8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ if (store->par_parameter == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get parameter group */ group_id = MBSYS_XSE_SHP_GROUP_PARAMETER; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_roll_bias, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_pitch_bias, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_heading_bias, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_time_delay, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_x_port, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_y_port, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_z_port, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_x_stbd, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_y_stbd, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_z_stbd, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_err_port, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_trans_err_stbd, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_nav_x, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_nav_y, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_nav_z, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_hrp_x, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_hrp_y, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->par_hrp_z, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 76; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ if (store->par_navigationandmotion == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get parameter group */ group_id = MBSYS_XSE_SHP_GROUP_NAVIGATIONANDMOTION; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->par_nam_roll_bias, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_pitch_bias, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_heave_bias, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_heading_bias, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_time_delay, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_nav_x, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_nav_y, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_nav_z, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_hrp_x, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_hrp_y, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_nam_hrp_z, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 92; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ if (store->par_xdr_num_transducer >0) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get parameter group */ group_id = MBSYS_XSE_SHP_GROUP_TRANSDUCER; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_xdr_num_transducer, &buffer[index]); index += 4; for (i=0;ipar_xdr_num_transducer;i++) { mb_put_binary_int(SWAPFLAG, store->par_xdr_sensorid[i], &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_xdr_frequency[i], &buffer[index]); index += 4; buffer[index] = store->par_xdr_transducer[i]; index++; buffer[index] = store->par_xdr_side[i]; index++; mb_put_binary_double(SWAPFLAG, store->par_xdr_mountingroll[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_mountingpitch[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_mountingazimuth[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_mountingdistance[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_x[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_y[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_z[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_roll[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_pitch[i], &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->par_xdr_azimuth[i], &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->par_xdr_num_transducer * 90; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ if (store->par_xdx_num_transducer >0) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get parameter group */ group_id = MBSYS_XSE_SHP_GROUP_TRANSDUCEREXTENDED; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->par_xdx_num_transducer, &buffer[index]); index += 4; for (i=0;ipar_xdx_num_transducer;i++) { buffer[index] = store->par_xdx_roll[i]; index++; buffer[index] = store->par_xdx_pitch[i]; index++; buffer[index] = store->par_xdx_azimuth[i]; index++; for (j=0;j<48;j++) { buffer[index] = 0; index++; } } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->par_xdx_num_transducer * 51; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; /* go back and fill in frame byte count */ mb_put_binary_int(SWAPFLAG, frame_count, &buffer[frame_cnt_index]); /* set buffer size */ *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_l3xseraw_wr_multibeam(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_multibeam"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int frame_count; int group_count; int frame_cnt_index; int group_cnt_index; int frame_id; int group_id; 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 mul_group_beam: %d\n",store->mul_group_beam); fprintf(stderr,"dbg5 mul_group_tt: %d\n",store->mul_group_tt); fprintf(stderr,"dbg5 mul_group_quality: %d\n",store->mul_group_quality); fprintf(stderr,"dbg5 mul_group_amp: %d\n",store->mul_group_amp); fprintf(stderr,"dbg5 mul_group_delay: %d\n",store->mul_group_delay); fprintf(stderr,"dbg5 mul_group_lateral: %d\n",store->mul_group_lateral); fprintf(stderr,"dbg5 mul_group_along: %d\n",store->mul_group_along); fprintf(stderr,"dbg5 mul_group_depth: %d\n",store->mul_group_depth); fprintf(stderr,"dbg5 mul_group_angle: %d\n",store->mul_group_angle); fprintf(stderr,"dbg5 mul_group_heave: %d\n",store->mul_group_heave); fprintf(stderr,"dbg5 mul_group_roll: %d\n",store->mul_group_roll); fprintf(stderr,"dbg5 mul_group_pitch: %d\n",store->mul_group_pitch); fprintf(stderr,"dbg5 mul_group_gates: %d\n",store->mul_group_gates); fprintf(stderr,"dbg5 mul_group_noise: %d\n",store->mul_group_noise); fprintf(stderr,"dbg5 mul_group_length: %d\n",store->mul_group_length); fprintf(stderr,"dbg5 mul_group_hits: %d\n",store->mul_group_hits); fprintf(stderr,"dbg5 mul_group_heavereceive: %d\n",store->mul_group_heavereceive); fprintf(stderr,"dbg5 mul_group_azimuth: %d\n",store->mul_group_azimuth); fprintf(stderr,"dbg5 mul_group_properties: %d\n",store->mul_group_properties); fprintf(stderr,"dbg5 mul_group_normamp: %d\n",store->mul_group_normamp); fprintf(stderr,"dbg5 mul_group_mbsystemnav: %d\n",store->mul_group_mbsystemnav); fprintf(stderr,"dbg5 mul_source: %d\n",store->mul_source); fprintf(stderr,"dbg5 mul_sec: %u\n",store->mul_sec); fprintf(stderr,"dbg5 mul_usec: %u\n",store->mul_usec); fprintf(stderr,"dbg5 mul_ping: %d\n",store->mul_ping); fprintf(stderr,"dbg5 mul_frequency: %f\n",store->mul_frequency); fprintf(stderr,"dbg5 mul_pulse: %f\n",store->mul_pulse); fprintf(stderr,"dbg5 mul_power: %f\n",store->mul_power); fprintf(stderr,"dbg5 mul_bandwidth: %f\n",store->mul_bandwidth); fprintf(stderr,"dbg5 mul_sample: %f\n",store->mul_sample); fprintf(stderr,"dbg5 mul_swath: %f\n",store->mul_swath); fprintf(stderr,"dbg5 mul_num_beams: %d\n",store->mul_num_beams); fprintf(stderr,"dbg5 mul_lon: %f\n",store->mul_lon); fprintf(stderr,"dbg5 mul_lat: %f\n",store->mul_lat); fprintf(stderr,"dbg5 mul_heading: %f\n",store->mul_heading); fprintf(stderr,"dbg5 mul_speed: %f\n",store->mul_speed); for (i=0;imul_num_beams;i++) fprintf(stderr,"dbg5 beam[%d]: %3d %7.2f %7.2f %7.2f %3d %3d %6.3f %6.2f %5.3f %5.2f %6.2f %6.2f %f %f %f %f %f %d %f %f %d %f\n", i, store->beams[i].beam, store->beams[i].lateral, store->beams[i].along, store->beams[i].depth, store->beams[i].amplitude, store->beams[i].quality, store->beams[i].tt, store->beams[i].angle, store->beams[i].delay, store->beams[i].heave, store->beams[i].roll, store->beams[i].pitch, store->beams[i].gate_angle, store->beams[i].gate_start, store->beams[i].gate_stop, store->beams[i].noise, store->beams[i].length, store->beams[i].hits, store->beams[i].heavereceive, store->beams[i].azimuth, store->beams[i].normamp, store->beams[i].frequency); fprintf(stderr,"dbg5 mul_num_properties: %d\n",store->mul_num_properties); for (i=0;imul_num_properties;i++) fprintf(stderr,"dbg5 mun_property[%d]: %d %f\n", i, store->mul_properties_type[i], store->mul_properties_value[i]); for (i=0;i<40;i++) fprintf(stderr,"dbg5 mul_properties_reserved[%d]: %d\n", i, store->mul_properties_reserved[i]); fprintf(stderr,"dbg5 mul_normamp_num_beams: %d\n",store->mul_normamp_num_beams); fprintf(stderr,"dbg5 mul_normamp_flags: %d\n",store->mul_normamp_flags); fprintf(stderr,"dbg5 mul_normamp_along_beamwidth: %f\n",store->mul_normamp_along_beamwidth); fprintf(stderr,"dbg5 mul_normamp_across_beamwidth: %f\n",store->mul_normamp_across_beamwidth); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* start the frame byte count, but don't write it to buffer yet */ /* increment index so we skip the count value in the buffer */ frame_count = 0; frame_cnt_index = index; index += 4; /* get frame time */ frame_id = MBSYS_XSE_MBM_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_usec, &buffer[index]); index += 4; frame_count += 16; /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get general group */ group_id = MBSYS_XSE_MBM_GROUP_GEN; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_ping, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_frequency, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_pulse, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_power, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_bandwidth, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_sample, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_swath, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 32; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; /* get beam groups */ if (store->mul_group_beam == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get beam array */ group_id = MBSYS_XSE_MBM_GROUP_BEAM; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_short(SWAPFLAG, store->beams[i].beam, &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*2; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get tt groups */ if (store->mul_group_tt == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get tt array */ group_id = MBSYS_XSE_MBM_GROUP_TT; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].tt, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get quality groups */ if (store->mul_group_quality == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get quality array */ group_id = MBSYS_XSE_MBM_GROUP_QUALITY; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { buffer[index] = store->beams[i].quality; index++; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += sizeof(int); group_count += 8 + store->mul_num_beams; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get amplitude groups */ if (store->mul_group_amp == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_MBM_GROUP_AMP; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_short(SWAPFLAG, store->beams[i].amplitude, &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*2; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get delay groups */ if (store->mul_group_delay == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get delay array */ group_id = MBSYS_XSE_MBM_GROUP_DELAY; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].delay, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get lateral groups */ if (store->mul_group_lateral == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get lateral array */ group_id = MBSYS_XSE_MBM_GROUP_LATERAL; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].lateral, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get along groups */ if (store->mul_group_along == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get along array */ group_id = MBSYS_XSE_MBM_GROUP_ALONG; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].along, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += sizeof(int); group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get depth groups */ if (store->mul_group_depth == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get depth array */ group_id = MBSYS_XSE_MBM_GROUP_DEPTH; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].depth, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += sizeof(int); group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get angle groups */ if (store->mul_group_angle == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get angle array */ group_id = MBSYS_XSE_MBM_GROUP_ANGLE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].angle, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get heave groups */ if (store->mul_group_heave == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get heave array */ group_id = MBSYS_XSE_MBM_GROUP_HEAVE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].heave, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get roll groups */ if (store->mul_group_roll == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get roll array */ group_id = MBSYS_XSE_MBM_GROUP_ROLL; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].roll, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get pitch groups */ if (store->mul_group_pitch == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get pitch array */ group_id = MBSYS_XSE_MBM_GROUP_PITCH; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].pitch, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get gates groups */ if (store->mul_group_gates == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get gates array */ group_id = MBSYS_XSE_MBM_GROUP_GATES; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].gate_angle, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->beams[i].gate_start, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->beams[i].gate_stop, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*24; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get noise groups */ if (store->mul_group_noise == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get noise array */ group_id = MBSYS_XSE_MBM_GROUP_NOISE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_float(SWAPFLAG, store->beams[i].noise, &buffer[index]); index += 4; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get length groups */ if (store->mul_group_length == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get length array */ group_id = MBSYS_XSE_MBM_GROUP_LENGTH; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_float(SWAPFLAG, store->beams[i].length, &buffer[index]); index += 4; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get hits groups */ if (store->mul_group_hits == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get hits array */ group_id = MBSYS_XSE_MBM_GROUP_HITS; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_int(SWAPFLAG, store->beams[i].hits, &buffer[index]); index += 4; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get heavereceive groups */ if (store->mul_group_heavereceive == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get heavereceive array */ group_id = MBSYS_XSE_MBM_GROUP_HEAVERECEIVE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].heavereceive, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get azimuth groups */ if (store->mul_group_azimuth == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get azimuth array */ group_id = MBSYS_XSE_MBM_GROUP_AZIMUTH; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_beams, &buffer[index]); index += 4; for (i=0;imul_num_beams;i++) { mb_put_binary_double(SWAPFLAG, store->beams[i].azimuth, &buffer[index]); index += 8; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_beams*8; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get properties groups */ if (store->mul_group_properties == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get properties array */ group_id = MBSYS_XSE_MBM_GROUP_PROPERTIES; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_num_properties, &buffer[index]); index += 4; for (i=0;imul_num_properties;i++) { mb_put_binary_short(SWAPFLAG, store->mul_properties_type[i], &buffer[index]); index += 2; mb_put_binary_double(SWAPFLAG, store->mul_properties_value[i], &buffer[index]); index += 8; } for (i=0;i<40;i++) { buffer[index] = store->mul_properties_reserved[i]; index++; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 8 + store->mul_num_properties*10 + 40; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get normalized amplitude groups */ if (store->mul_group_normamp == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get properties array */ group_id = MBSYS_XSE_MBM_GROUP_NORMAMP; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_normamp_num_beams, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->mul_normamp_flags, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_normamp_along_beamwidth, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->mul_normamp_across_beamwidth, &buffer[index]); index += 4; for (i=0;imul_normamp_num_beams;i++) { mb_put_binary_short(SWAPFLAG, store->beams[i].normamp, &buffer[index]); index += 2; } if (store->mul_normamp_flags == 0) { mb_put_binary_float(SWAPFLAG, store->beams[0].frequency, &buffer[index]); index += 4; } else for (i=0;imul_normamp_num_beams;i++) { mb_put_binary_float(SWAPFLAG, store->beams[i].frequency, &buffer[index]); index += 4; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; if (store->mul_normamp_flags == 0) group_count += 24 + store->mul_normamp_num_beams * 2; else group_count += 20 + store->mul_normamp_num_beams * 2 + store->mul_normamp_num_beams * 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get mbsystemnav groups */ if (store->mul_group_mbsystemnav == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get azimuth array */ group_id = MBSYS_XSE_MBM_GROUP_MBSYSTEMNAV; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->mul_lon, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->mul_lat, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->mul_heading, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->mul_speed, &buffer[index]); index += 8; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 36; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; /* go back and fill in frame byte count */ mb_put_binary_int(SWAPFLAG, frame_count, &buffer[frame_cnt_index]); /* set buffer size */ *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_l3xseraw_wr_sidescan(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_sidescan"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int frame_count; int group_count; int frame_cnt_index; int group_cnt_index; int frame_id; int group_id; 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 sid_frame: %d\n",store->sid_frame); fprintf(stderr,"dbg5 sid_group_avt: %d\n",store->sid_group_avt); fprintf(stderr,"dbg5 sid_group_pvt: %d\n",store->sid_group_pvt); fprintf(stderr,"dbg5 sid_group_avl: %d\n",store->sid_group_avl); fprintf(stderr,"dbg5 sid_group_pvl: %d\n",store->sid_group_pvl); fprintf(stderr,"dbg5 sid_group_signal: %d\n",store->sid_group_signal); fprintf(stderr,"dbg5 sid_group_ping: %d\n",store->sid_group_ping); fprintf(stderr,"dbg5 sid_group_complex: %d\n",store->sid_group_complex); fprintf(stderr,"dbg5 sid_group_weighting: %d\n",store->sid_group_weighting); fprintf(stderr,"dbg5 sid_source: %d\n",store->sid_source); fprintf(stderr,"dbg5 sid_sec: %d\n",store->sid_sec); fprintf(stderr,"dbg5 sid_usec: %u\n",store->sid_usec); fprintf(stderr,"dbg5 sid_ping: %u\n",store->sid_ping); fprintf(stderr,"dbg5 sid_frequency: %f\n",store->sid_frequency); fprintf(stderr,"dbg5 sid_pulse: %f\n",store->sid_pulse); fprintf(stderr,"dbg5 sid_power: %f\n",store->sid_power); fprintf(stderr,"dbg5 sid_bandwidth: %f\n",store->sid_bandwidth); fprintf(stderr,"dbg5 sid_sample: %f\n",store->sid_sample); fprintf(stderr,"dbg5 sid_avt_sampleus: %d\n",store->sid_avt_sampleus); fprintf(stderr,"dbg5 sid_avt_offset: %d\n",store->sid_avt_offset); fprintf(stderr,"dbg5 sid_avt_num_samples: %d\n",store->sid_avt_num_samples); for (i=0;isid_avt_num_samples;i++) fprintf(stderr,"dbg5 sid_avt_amp[%d]:%d\n",i,store->sid_avt_amp[i]); fprintf(stderr,"dbg5 sid_pvt_sampleus: %d\n",store->sid_pvt_sampleus); fprintf(stderr,"dbg5 sid_pvt_offset: %d\n",store->sid_pvt_offset); fprintf(stderr,"dbg5 sid_pvt_num_samples: %d\n",store->sid_pvt_num_samples); for (i=0;isid_pvt_num_samples;i++) fprintf(stderr,"dbg5 sid_pvt_phase[%d]:%d\n",i,store->sid_pvt_phase[i]); fprintf(stderr,"dbg5 sid_avl_binsize: %d\n",store->sid_avl_binsize); fprintf(stderr,"dbg5 sid_avl_offset: %d\n",store->sid_avl_offset); fprintf(stderr,"dbg5 sid_avl_num_samples: %d\n",store->sid_avl_num_samples); for (i=0;isid_avl_num_samples;i++) fprintf(stderr,"dbg5 sid_avl_amp[%d]:%d\n",i,store->sid_avl_amp[i]); fprintf(stderr,"dbg5 sid_pvl_binsize: %d\n",store->sid_pvl_binsize); fprintf(stderr,"dbg5 sid_pvl_offset: %d\n",store->sid_pvl_offset); fprintf(stderr,"dbg5 sid_pvl_num_samples: %d\n",store->sid_pvl_num_samples); for (i=0;isid_pvl_num_samples;i++) fprintf(stderr,"dbg5 sid_pvl_phase[%d]:%d\n",i,store->sid_pvl_phase[i]); fprintf(stderr,"dbg5 sid_sig_ping: %d\n",store->sid_sig_ping); fprintf(stderr,"dbg5 sid_sig_channel: %d\n",store->sid_sig_channel); fprintf(stderr,"dbg5 sid_sig_offset: %f\n",store->sid_sig_offset); fprintf(stderr,"dbg5 sid_sig_sample: %f\n",store->sid_sig_sample); fprintf(stderr,"dbg5 sid_sig_num_samples: %d\n",store->sid_sig_num_samples); for (i=0;isid_sig_num_samples;i++) fprintf(stderr,"dbg5 sid_sig_phase[%d]:%d\n",i,store->sid_sig_phase[i]); fprintf(stderr,"dbg5 sid_png_pulse: %u\n",store->sid_png_pulse); fprintf(stderr,"dbg5 sid_png_startfrequency: %f\n",store->sid_png_startfrequency); fprintf(stderr,"dbg5 sid_png_endfrequency: %f\n",store->sid_png_endfrequency); fprintf(stderr,"dbg5 sid_png_duration: %f\n",store->sid_png_duration); fprintf(stderr,"dbg5 sid_png_mancode: %d\n",store->sid_png_mancode); fprintf(stderr,"dbg5 sid_png_pulseid: %d\n",store->sid_png_pulseid); fprintf(stderr,"dbg5 sid_png_pulsename: %s\n",store->sid_png_pulsename); fprintf(stderr,"dbg5 sid_cmp_ping: %d\n",store->sid_cmp_ping); fprintf(stderr,"dbg5 sid_cmp_channel: %d\n",store->sid_cmp_channel); fprintf(stderr,"dbg5 sid_cmp_offset: %f\n",store->sid_cmp_offset); fprintf(stderr,"dbg5 sid_cmp_sample: %f\n",store->sid_cmp_sample); fprintf(stderr,"dbg5 sid_cmp_num_samples: %d\n",store->sid_cmp_num_samples); for (i=0;isid_sig_num_samples;i++) fprintf(stderr,"dbg5 sid_cmp_real[%d]:%d sid_cmp_imaginary[%d]:%d\n", i,store->sid_cmp_real[i],i,store->sid_cmp_imaginary[i]); fprintf(stderr,"dbg5 sid_wgt_factorleft: %d\n",store->sid_wgt_factorleft); fprintf(stderr,"dbg5 sid_wgt_samplesleft: %d\n",store->sid_wgt_samplesleft); fprintf(stderr,"dbg5 sid_wgt_factorright: %d\n",store->sid_wgt_factorright); fprintf(stderr,"dbg5 sid_wgt_samplesright: %d\n",store->sid_wgt_samplesright); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* start the frame byte count, but don't write it to buffer yet */ /* increment index so we skip the count value in the buffer */ frame_count = 0; frame_cnt_index = index; index += 4; /* get frame time */ frame_id = MBSYS_XSE_SSN_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_usec, &buffer[index]); index += 4; frame_count += 16; /*****************************************/ /* get general group */ /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get general group */ group_id = MBSYS_XSE_SSN_GROUP_GEN; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_ping, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sid_frequency, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sid_pulse, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sid_power, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sid_bandwidth, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sid_sample, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 28; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; /*****************************************/ /* get amplitude vs traveltime group */ if (store->sid_group_avt == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_AMPVSTT; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_avt_sampleus, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_avt_offset, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_avt_num_samples, &buffer[index]); index += 4; for (i=0;isid_avt_num_samples;i++) { mb_put_binary_short(SWAPFLAG, store->sid_avt_amp[i], &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 16 + 2 * store->sid_avt_num_samples; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get phase vs traveltime group */ if (store->sid_group_avt == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_PHASEVSTT; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_pvt_sampleus, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_pvt_offset, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_pvt_num_samples, &buffer[index]); index += 4; for (i=0;isid_pvt_num_samples;i++) { mb_put_binary_short(SWAPFLAG, store->sid_pvt_phase[i], &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 16 + 2 * store->sid_pvt_num_samples; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get amplitude vs lateral group */ if (store->sid_group_avl == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_AMPVSLAT; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_avl_binsize, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_avl_offset, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_avl_num_samples, &buffer[index]); index += 4; for (i=0;isid_avl_num_samples;i++) { mb_put_binary_short(SWAPFLAG, store->sid_avl_amp[i], &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 16 + 2 * store->sid_avl_num_samples; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get phase vs lateral group */ if (store->sid_group_pvl == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_PHASEVSLAT; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_pvl_binsize, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_pvl_offset, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_pvl_num_samples, &buffer[index]); index += 4; for (i=0;isid_pvl_num_samples;i++) { mb_put_binary_short(SWAPFLAG, store->sid_pvl_phase[i], &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 16 + 2 * store->sid_pvl_num_samples; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get signal group */ if (store->sid_group_signal == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_SIGNAL; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_sig_ping, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_sig_channel, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->sid_sig_offset, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->sid_sig_sample, &buffer[index]); index += 8; mb_put_binary_int(SWAPFLAG, store->sid_sig_num_samples, &buffer[index]); index += 4; for (i=0;isid_sig_num_samples;i++) { mb_put_binary_short(SWAPFLAG, store->sid_sig_phase[i], &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 32 + 2 * store->sid_sig_num_samples; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get ping group */ if (store->sid_group_ping == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_PINGTYPE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->sid_png_startfrequency, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->sid_png_endfrequency, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->sid_png_duration, &buffer[index]); index += 8; mb_put_binary_int(SWAPFLAG, store->sid_png_mancode, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_png_pulseid, &buffer[index]); index += 4; strcpy(&buffer[index], store->sid_png_pulsename); index += strlen(store->sid_png_pulsename); buffer[index] = 0; index++; if (strlen(store->sid_png_pulsename) % 2 > 0) { buffer[index] = 0; index++; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 36 + strlen(store->sid_png_pulsename) + 1 + (strlen(store->sid_png_pulsename) % 2); /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get complex signal group */ if (store->sid_group_ping == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_COMPLEXSIGNAL; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_cmp_ping, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sid_cmp_channel, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->sid_cmp_offset, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->sid_cmp_sample, &buffer[index]); index += 8; mb_put_binary_int(SWAPFLAG, store->sid_cmp_num_samples, &buffer[index]); index += 4; for (i=0;isid_cmp_num_samples;i++) { mb_put_binary_short(SWAPFLAG, store->sid_cmp_real[i], &buffer[index]); index += 2; mb_put_binary_short(SWAPFLAG, store->sid_cmp_imaginary[i], &buffer[index]); index += 2; } /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 32 + 4 * store->sid_cmp_num_samples; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get weighting group */ if (store->sid_group_weighting == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get amplitude array */ group_id = MBSYS_XSE_SSN_GROUP_WEIGHTING; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_short(SWAPFLAG, store->sid_wgt_factorleft, &buffer[index]); index += 2; mb_put_binary_int(SWAPFLAG, store->sid_wgt_samplesleft, &buffer[index]); index += 4; mb_put_binary_short(SWAPFLAG, store->sid_wgt_factorright, &buffer[index]); index += 2; mb_put_binary_int(SWAPFLAG, store->sid_wgt_samplesright, &buffer[index]); index += 4; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; group_count += 16; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /*****************************************/ /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; /* go back and fill in frame byte count */ mb_put_binary_int(SWAPFLAG, frame_count, &buffer[frame_cnt_index]); /* set buffer size */ *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_l3xseraw_wr_seabeam(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_seabeam"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int frame_count; int group_count; int frame_cnt_index; int group_cnt_index; int frame_id; int group_id; 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 sbm_source: %d\n",store->sbm_source); fprintf(stderr,"dbg5 sbm_sec: %u\n",store->sbm_sec); fprintf(stderr,"dbg5 sbm_usec: %u\n",store->sbm_usec); } if (verbose >= 5 && store->sbm_properties == MB_YES) { fprintf(stderr,"dbg5 sbm_ping: %d\n",store->sbm_ping); fprintf(stderr,"dbg5 sbm_ping_gain: %f\n",store->sbm_ping_gain); fprintf(stderr,"dbg5 sbm_pulse_width: %f\n",store->sbm_pulse_width); fprintf(stderr,"dbg5 sbm_transmit_power: %f\n",store->sbm_transmit_power); fprintf(stderr,"dbg5 sbm_pixel_width: %f\n",store->sbm_pixel_width); fprintf(stderr,"dbg5 sbm_swath_width: %f\n",store->sbm_swath_width); fprintf(stderr,"dbg5 sbm_time_slice: %f\n",store->sbm_time_slice); fprintf(stderr,"dbg5 sbm_depth_mode: %d\n",store->sbm_depth_mode); fprintf(stderr,"dbg5 sbm_beam_mode: %d\n",store->sbm_beam_mode); fprintf(stderr,"dbg5 sbm_ssv: %f\n",store->sbm_ssv); fprintf(stderr,"dbg5 sbm_frequency: %f\n",store->sbm_frequency); fprintf(stderr,"dbg5 sbm_bandwidth: %f\n",store->sbm_bandwidth); } if (verbose >= 5 && store->sbm_hrp == MB_YES) { fprintf(stderr,"dbg5 sbm_heave: %f\n",store->sbm_heave); fprintf(stderr,"dbg5 sbm_roll: %f\n",store->sbm_roll); fprintf(stderr,"dbg5 sbm_pitch: %f\n",store->sbm_pitch); } if (verbose >= 5 && store->sbm_signal == MB_YES) { fprintf(stderr,"dbg5 sbm_signal_beam: %d\n",store->sbm_signal_beam); fprintf(stderr,"dbg5 sbm_signal_count: %d\n",store->sbm_signal_count); for (i=0;isbm_signal_count;i++) fprintf(stderr,"dbg5 sample[%d]: %f\n", i, store->sbm_signal_amp[i]); } if (verbose >= 5 && store->sbm_message == MB_YES) { fprintf(stderr,"dbg5 sbm_message_id: %d\n",store->sbm_message_id); fprintf(stderr,"dbg5 sbm_message_len: %d\n",store->sbm_message_len); fprintf(stderr,"dbg5 sbm_message_txt: %s\n",store->sbm_message_txt); } if (verbose >= 5 && store->sbm_sweepsegments == MB_YES) { fprintf(stderr,"dbg5 sbm_sweep_direction: %d\n",store->sbm_sweep_direction); fprintf(stderr,"dbg5 sbm_sweep_azimuth: %f\n",store->sbm_sweep_azimuth); fprintf(stderr,"dbg5 sbm_sweep_segments: %d\n",store->sbm_sweep_segments); fprintf(stderr,"dbg5 sbm_sweep_seconds: %d\n",store->sbm_sweep_seconds); fprintf(stderr,"dbg5 sbm_sweep_micro: %d\n",store->sbm_sweep_micro); fprintf(stderr,"dbg5 sbm_sweep_extrapolateazimuth: %f\n",store->sbm_sweep_extrapolateazimuth); fprintf(stderr,"dbg5 sbm_sweep_interpolatedazimuth: %f\n",store->sbm_sweep_interpolatedazimuth); fprintf(stderr,"dbg5 sbm_sweep_extrapolatepitch: %f\n",store->sbm_sweep_extrapolatepitch); fprintf(stderr,"dbg5 sbm_sweep_interpolatedpitch: %f\n",store->sbm_sweep_interpolatedpitch); fprintf(stderr,"dbg5 sbm_sweep_extrapolateroll: %f\n",store->sbm_sweep_extrapolateroll); fprintf(stderr,"dbg5 sbm_sweep_interpolatedroll: %f\n",store->sbm_sweep_interpolatedroll); fprintf(stderr,"dbg5 sbm_sweep_stabilizedangle: %f\n",store->sbm_sweep_stabilizedangle); } if (verbose >= 5 && store->sbm_spacingmode == MB_YES) { fprintf(stderr,"dbg5 sbm_spacing_mode: %d\n",store->sbm_spacing_mode); fprintf(stderr,"dbg5 sbm_spacing_equidistance: %f\n",store->sbm_spacing_equidistance); fprintf(stderr,"dbg5 sbm_spacing_equidistance_min: %f\n",store->sbm_spacing_equidistance_min); fprintf(stderr,"dbg5 sbm_spacing_equidistance_max: %f\n",store->sbm_spacing_equidistance_max); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* start the frame byte count, but don't write it to buffer yet */ /* increment index so we skip the count value in the buffer */ frame_count = 0; frame_cnt_index = index; index += 4; /* get frame time */ frame_id = MBSYS_XSE_SBM_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_usec, &buffer[index]); index += 4; frame_count += 16; /* deal with properties group */ if (store->sbm_properties == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get properties group */ group_id = MBSYS_XSE_SBM_GROUP_PROPERTIES; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_ping, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_ping_gain, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_pulse_width, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_transmit_power, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_pixel_width, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_swath_width, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_time_slice, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_depth_mode, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_beam_mode, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_ssv, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_frequency, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_bandwidth, &buffer[index]); index += 4; group_count += 52; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* deal with hrp group */ if (store->sbm_hrp == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get hrp group */ group_id = MBSYS_XSE_SBM_GROUP_HRP; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_double(SWAPFLAG, store->sbm_heave, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->sbm_roll, &buffer[index]); index += 8; mb_put_binary_double(SWAPFLAG, store->sbm_pitch, &buffer[index]); index += 8; group_count += 28; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* deal with signal group */ if (store->sbm_signal == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get signal group */ group_id = MBSYS_XSE_SBM_GROUP_SIGNAL; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_signal_beam, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_signal_count, &buffer[index]); index += 4; for (i=0;isbm_signal_count;i++) { mb_put_binary_float(SWAPFLAG, store->sbm_signal_amp[i], &buffer[index]); index += 4; } group_count += 12 + 4 * store->sbm_signal_count; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* deal with message group */ if (store->sbm_message == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get message group */ group_id = MBSYS_XSE_SBM_GROUP_MESSAGE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_message_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_message_len, &buffer[index]); index += 4; for (i=0;isbm_message_len;i++) { buffer[index] = store->sbm_message_txt[i]; index++; } group_count += 12 + store->sbm_message_len; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* deal with sweep segments group */ if (store->sbm_sweepsegments == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get sweep segments group */ group_id = MBSYS_XSE_SBM_GROUP_SWEEPSEGMENTS; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; buffer[index] = store->sbm_sweep_direction; index++; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_azimuth, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_sweep_segments, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_sweep_seconds, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->sbm_sweep_micro, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_extrapolateazimuth, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_interpolatedazimuth, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_extrapolatepitch, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_interpolatedpitch, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_extrapolateroll, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_interpolatedroll, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_sweep_stabilizedangle, &buffer[index]); index += 4; group_count += 49; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* deal with spacing mode group */ if (store->sbm_message == MB_YES) { /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* start the group byte count, but don't write it to buffer yet */ /* mark the byte count spot in the buffer and increment index so we skip it */ group_count = 0; group_cnt_index = index; index += 4; /* get spacing mode group */ group_id = MBSYS_XSE_SBM_GROUP_MESSAGE; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; buffer[index] = store->sbm_spacing_mode; index++; mb_put_binary_float(SWAPFLAG, store->sbm_spacing_equidistance, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_spacing_equidistance_min, &buffer[index]); index += 4; mb_put_binary_float(SWAPFLAG, store->sbm_spacing_equidistance_max, &buffer[index]); index += 4; group_count += 17 + store->sbm_message_len; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* go back and fill in group byte count */ mb_put_binary_int(SWAPFLAG, group_count, &buffer[group_cnt_index]); /* add group count to the frame count */ frame_count += group_count + 12; } /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; /* go back and fill in frame byte count */ mb_put_binary_int(SWAPFLAG, frame_count, &buffer[frame_cnt_index]); /* set buffer size */ *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_l3xseraw_wr_comment(int verbose,int *buffer_size,char *buffer,void *store_ptr,int *error) { char *function_name = "mbr_l3xseraw_wr_comment"; int status = MB_SUCCESS; struct mbsys_xse_struct *store; int index; int size; int len; int frame_id; int group_id; /* 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: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to store data structure */ store = (struct mbsys_xse_struct *) store_ptr; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* get the frame label */ index = 0; #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH$", 4); #else strncpy(&buffer[index], "$HSF", 4); #endif index += 4; /* get frame size */ len = strlen(store->comment) + 4; if (len % 4 > 0) len += 4 - (len % 4); size = len + 32; mb_put_binary_int(SWAPFLAG, size, &buffer[index]); index += 4; /* get frame time */ frame_id = MBSYS_XSE_COM_FRAME; mb_put_binary_int(SWAPFLAG, frame_id, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->com_source, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->com_sec, &buffer[index]); index += 4; mb_put_binary_int(SWAPFLAG, store->com_usec, &buffer[index]); index += 4; /* get group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH$", 4); #else strncpy(&buffer[index], "$HSG", 4); #endif index += 4; /* get group size and id */ mb_put_binary_int(SWAPFLAG, (len + 4), &buffer[index]); index += 4; group_id = MBSYS_XSE_COM_GROUP_GEN; mb_put_binary_int(SWAPFLAG, group_id, &buffer[index]); index += 4; strncpy(&buffer[index], store->comment, len); index += len; /* get end of group label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "GSH#", 4); #else strncpy(&buffer[index], "#HSG", 4); #endif index += 4; /* get end of frame label */ #ifdef DATAINPCBYTEORDER strncpy(&buffer[index], "FSH#", 4); #else strncpy(&buffer[index], "#HSF", 4); #endif index += 4; *buffer_size = index; /* 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 buffer_size:%d\n",*buffer_size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/