/*-------------------------------------------------------------------- * The MB-system: mbhysweeppreprocess.c 1/1/2012 * $Id: mbhysweeppreprocess.c 1985 2012-09-11 08:02:53Z caress $ * * Copyright (c) 2012 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbhysweeppreprocess reads a HYSWEEP HSX format file, interpolates the * asynchronous navigation and attitude onto the multibeam data, * and writes a new HSX file with that information correctly embedded * in the multibeam data. This program can also fix various problems * with the data, including sensor offsets. * * Author: D. W. Caress * Date: January 1, 2012 * * $Log: mbhysweeppreprocess.c,v $ * */ /* standard include files */ #include #include #include #include #include #include #include /* MBIO include files */ #include "../../include/mb_status.h" #include "../../include/mb_format.h" #include "../../include/mb_define.h" #include "../../include/mb_io.h" #include "../../include/mb_aux.h" #include "../../include/mbsys_hysweep.h" #define MBHYSWEEPPREPROCESS_ALLOC_CHUNK 1000 #define MBHYSWEEPPREPROCESS_PROCESS 1 #define MBHYSWEEPPREPROCESS_TIMESTAMPLIST 2 #define MBHYSWEEPPREPROCESS_TIMELAG_OFF 0 #define MBHYSWEEPPREPROCESS_TIMELAG_CONSTANT 1 #define MBHYSWEEPPREPROCESS_TIMELAG_MODEL 2 #define MBHYSWEEPPREPROCESS_SONAR_OFFSET_NONE 0 #define MBHYSWEEPPREPROCESS_SONAR_OFFSET_SONAR 1 #define MBHYSWEEPPREPROCESS_SONAR_OFFSET_MRU 2 #define MBHYSWEEPPREPROCESS_SONAR_OFFSET_NAVIGATION 3 #define MBHYSWEEPPREPROCESS_OFFSET_MAX 12 #define MBHYSWEEPPREPROCESS_NAVFORMAT_NONE 0 #define MBHYSWEEPPREPROCESS_NAVFORMAT_OFG 1 static char rcs_id[] = "$Id: mbhysweeppreprocess.c 1985 2012-09-11 08:02:53Z caress $"; /*--------------------------------------------------------------------*/ int main (int argc, char **argv) { char program_name[] = "mbhysweeppreprocess"; char help_message[] = "mbhysweeppreprocess reads a Hysweep HSX format file, interpolates the\nasynchronous navigation and attitude onto the multibeam data, \nand writes a new HSX file with that information correctly embedded\nin the multibeam data."; char usage_message[] = "mbhysweeppreprocess [-Aoffsettype/x/y/z/t -Brollbias/pitchbias/headingbias -Dsonardepthfile -Idatalist -Jprojection -L -Mnavformat -Nnavfile -Ttimelag -H -V]"; extern char *optarg; int errflg = 0; int c; int help = 0; int flag = 0; /* MBIO status variables */ int status = MB_SUCCESS; int verbose = 0; int error = MB_ERROR_NO_ERROR; char *message; /* MBIO read control parameters */ int read_datalist = MB_NO; char read_file[MB_PATH_MAXLINE]; void *datalist; int look_processed = MB_DATALIST_LOOK_UNSET; double file_weight; int format = 0; int pings; int lonflip; double bounds[4]; int btime_i[7]; int etime_i[7]; double btime_d; double etime_d; double speedmin; double timegap; char ifile[MB_PATH_MAXLINE]; char ofile[MB_PATH_MAXLINE]; int ofile_set = MB_NO; int beams_bath; int beams_amp; int pixels_ss; int obeams_bath; int obeams_amp; int opixels_ss; /* MBIO read values */ void *imbio_ptr = NULL; struct mb_io_struct *imb_io_ptr = NULL; void *istore_ptr = NULL; struct mbsys_hysweep_struct *istore = NULL; struct mbsys_hysweep_device_struct *device; void *ombio_ptr = NULL; int kind; int time_i[7]; double time_d; double navlon; double navlat; double speed; double heading; double distance; double altitude; double sonardepth; double roll; double pitch; char *beamflag = NULL; double *bath = NULL; double *bathacrosstrack = NULL; double *bathalongtrack = NULL; double *amp = NULL; double *ss = NULL; double *ssacrosstrack = NULL; double *ssalongtrack = NULL; char comment[MB_COMMENT_MAXLINE]; /* program mode */ int mode = MBHYSWEEPPREPROCESS_PROCESS; /* counting variables */ int nrec_POS = 0; int nrec_POSunused = 0; int nrec_GYR = 0; int nrec_HCP = 0; int nrec_EC1 = 0; int nrec_DFT = 0; int nrec_RMB = 0; int nrec_other = 0; int nrec_POS_tot = 0; int nrec_POSunused_tot = 0; int nrec_GYR_tot = 0; int nrec_HCP_tot = 0; int nrec_EC1_tot = 0; int nrec_DFT_tot = 0; int nrec_RMB_tot = 0; int nrec_other_tot = 0; /* projection */ int projection_set = MB_NO; mb_path proj4command; void *pjptr = NULL; /* merge navigation data file */ char navfile[MB_PATH_MAXLINE]; int navdata = MB_NO; int navformat = MBHYSWEEPPREPROCESS_NAVFORMAT_OFG; int nnav = 0; double *nav_time_d = NULL; double *nav_lon = NULL; double *nav_lat = NULL; double *nav_heading = NULL; double *nav_sonardepth = NULL; double *nav_altitude = NULL; /* merge sonardepth from separate data file */ char sonardepthfile[MB_PATH_MAXLINE]; int sonardepthdata = MB_NO; int nsonardepth = 0; double *sonardepth_time_d = NULL; double *sonardepth_sonardepth = NULL; /* asynchronous navigation, heading, attitude data */ int ndat_nav = 0; int ndat_nav_alloc = 0; double *dat_nav_time_d = NULL; double *dat_nav_lon = NULL; double *dat_nav_lat = NULL; int ndat_sonardepth = 0; int ndat_sonardepth_alloc = 0; double *dat_sonardepth_time_d = NULL; double *dat_sonardepth_sonardepth = NULL; int ndat_heading = 0; int ndat_heading_alloc = 0; double *dat_heading_time_d = NULL; double *dat_heading_heading = NULL; int ndat_rph = 0; int ndat_rph_alloc = 0; double *dat_rph_time_d = NULL; double *dat_rph_roll = NULL; double *dat_rph_pitch = NULL; double *dat_rph_heave = NULL; int ndat_altitude = 0; int ndat_altitude_alloc = 0; double *dat_altitude_time_d = NULL; double *dat_altitude_altitude = NULL; /* timelag parameters */ int timelagmode = MBHYSWEEPPREPROCESS_TIMELAG_OFF; double timelag = 0.0; double timelagm = 0.0; double timelagconstant = 0.0; char timelagfile[MB_PATH_MAXLINE]; int ntimelag = 0; double *timelag_time_d = NULL; double *timelag_model = NULL; /* sensor offset parameters */ double offset_sonar_roll = 0.0; double offset_sonar_pitch = 0.0; double offset_sonar_heading = 0.0; double offset_sonar_x = 0.0; double offset_sonar_y = 0.0; double offset_sonar_z = 0.0; double offset_sonar_t = 0.0; double offset_mru_x = 0.0; double offset_mru_y = 0.0; double offset_mru_z = 0.0; double offset_mru_t = 0.0; double offset_nav_x = 0.0; double offset_nav_y = 0.0; double offset_nav_z = 0.0; double offset_nav_t = 0.0; /* processing kluge modes */ int klugemode; int interp_status; double alpha, beta, theta, phi; double rr, xx, zz; FILE *tfp = NULL; struct stat file_status; int fstat; char buffer[MB_PATH_MAXLINE]; char *result; int read_data; char fileroot[MB_PATH_MAXLINE]; int nscan; int year, month, day, hour, minute; double second, yearsecond; double easting, northing; int testformat; int type; double offset_roll, offset_pitch, offset_heading; double offset_x, offset_y, offset_z, offset_t; double lever_x, lever_y, lever_z; int i, j; /* get current default values */ status = mb_defaults(verbose,&format,&pings,&lonflip,bounds, btime_i,etime_i,&speedmin,&timegap); /* set default input to datalist.mb-1 */ strcpy (read_file, "datalist.mb-1"); /* process argument list */ while ((c = getopt(argc, argv, "A:a:B:b:D:d:F:f:I:i:J:j:K:k:LlM:m:N:n:O:o:T:t:VvHh")) != -1) switch (c) { case 'H': case 'h': help++; break; case 'V': case 'v': verbose++; break; case 'A': case 'a': nscan = sscanf (optarg,"%d/%lf/%lf/%lf/%lf", &type, &offset_x, &offset_y, &offset_z, &offset_t); if (nscan == 5) { if (type == MBHYSWEEPPREPROCESS_SONAR_OFFSET_SONAR) { offset_sonar_x = offset_x; offset_sonar_y = offset_y; offset_sonar_z = offset_z; offset_sonar_t = offset_t; } else if (type == MBHYSWEEPPREPROCESS_SONAR_OFFSET_MRU) { offset_mru_x = offset_x; offset_mru_y = offset_y; offset_mru_z = offset_z; offset_mru_t = offset_t; } else if (type == MBHYSWEEPPREPROCESS_SONAR_OFFSET_NAVIGATION) { offset_nav_x = offset_x; offset_nav_y = offset_y; offset_nav_z = offset_z; offset_nav_t = offset_t; } } flag++; break; case 'B': case 'b': nscan = sscanf (optarg,"%lf/%lf/%lf", &offset_roll, &offset_pitch, &offset_heading); if (nscan == 3) { offset_sonar_roll = offset_roll; offset_sonar_pitch = offset_pitch; offset_sonar_heading = offset_heading; } flag++; break; case 'D': case 'd': sscanf (optarg,"%s", buffer); if ((fstat = stat(buffer, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { sonardepthdata = MB_YES; strcpy(sonardepthfile,buffer); } flag++; break; case 'F': case 'f': sscanf (optarg,"%d", &format); flag++; break; case 'I': case 'i': sscanf (optarg,"%s", read_file); flag++; break; case 'J': case 'j': sscanf (optarg,"%s", proj4command); projection_set = MB_YES; flag++; break; case 'K': case 'k': sscanf (optarg,"%d", &klugemode); flag++; break; case 'L': case 'l': mode = MBHYSWEEPPREPROCESS_TIMESTAMPLIST; flag++; break; case 'M': case 'm': sscanf (optarg,"%d", &navformat); flag++; break; case 'N': case 'n': sscanf (optarg,"%s", buffer); if ((fstat = stat(buffer, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { navdata = MB_YES; strcpy(navfile,buffer); } flag++; break; case 'O': case 'o': sscanf (optarg,"%s", ofile); ofile_set = MB_YES; flag++; break; case 'T': case 't': sscanf (optarg,"%s", timelagfile); if ((fstat = stat(timelagfile, &file_status)) == 0 && (file_status.st_mode & S_IFMT) != S_IFDIR) { timelagmode = MBHYSWEEPPREPROCESS_TIMELAG_MODEL; } else { sscanf (optarg,"%lf", &timelagconstant); timelagmode = MBHYSWEEPPREPROCESS_TIMELAG_CONSTANT; } flag++; break; case '?': errflg++; } /* if error flagged then print it and exit */ if (errflg) { fprintf(stderr,"usage: %s\n", usage_message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); error = MB_ERROR_BAD_USAGE; exit(error); } /* print starting message */ if (verbose == 1 || help) { fprintf(stderr,"\nProgram %s\n",program_name); fprintf(stderr,"Version %s\n",rcs_id); fprintf(stderr,"MB-system Version %s\n",MB_VERSION); } /* print starting debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s>\n",program_name); fprintf(stderr,"dbg2 Version %s\n",rcs_id); fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION); fprintf(stderr,"dbg2 Control Parameters:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 help: %d\n",help); fprintf(stderr,"dbg2 format: %d\n",format); fprintf(stderr,"dbg2 pings: %d\n",pings); fprintf(stderr,"dbg2 lonflip: %d\n",lonflip); fprintf(stderr,"dbg2 bounds[0]: %f\n",bounds[0]); fprintf(stderr,"dbg2 bounds[1]: %f\n",bounds[1]); fprintf(stderr,"dbg2 bounds[2]: %f\n",bounds[2]); fprintf(stderr,"dbg2 bounds[3]: %f\n",bounds[3]); fprintf(stderr,"dbg2 btime_i[0]: %d\n",btime_i[0]); fprintf(stderr,"dbg2 btime_i[1]: %d\n",btime_i[1]); fprintf(stderr,"dbg2 btime_i[2]: %d\n",btime_i[2]); fprintf(stderr,"dbg2 btime_i[3]: %d\n",btime_i[3]); fprintf(stderr,"dbg2 btime_i[4]: %d\n",btime_i[4]); fprintf(stderr,"dbg2 btime_i[5]: %d\n",btime_i[5]); fprintf(stderr,"dbg2 btime_i[6]: %d\n",btime_i[6]); fprintf(stderr,"dbg2 etime_i[0]: %d\n",etime_i[0]); fprintf(stderr,"dbg2 etime_i[1]: %d\n",etime_i[1]); fprintf(stderr,"dbg2 etime_i[2]: %d\n",etime_i[2]); fprintf(stderr,"dbg2 etime_i[3]: %d\n",etime_i[3]); fprintf(stderr,"dbg2 etime_i[4]: %d\n",etime_i[4]); fprintf(stderr,"dbg2 etime_i[5]: %d\n",etime_i[5]); fprintf(stderr,"dbg2 etime_i[6]: %d\n",etime_i[6]); fprintf(stderr,"dbg2 speedmin: %f\n",speedmin); fprintf(stderr,"dbg2 timegap: %f\n",timegap); fprintf(stderr,"dbg2 read_file: %s\n",read_file); fprintf(stderr,"dbg2 ofile: %s\n",ofile); fprintf(stderr,"dbg2 ofile_set: %d\n",ofile_set); fprintf(stderr,"dbg2 projection_set: %d\n",projection_set); fprintf(stderr,"dbg2 proj4command: %s\n",proj4command); fprintf(stderr,"dbg2 navfile: %s\n",navfile); fprintf(stderr,"dbg2 navdata: %d\n",navdata); fprintf(stderr,"dbg2 sonardepthfile: %s\n",sonardepthfile); fprintf(stderr,"dbg2 sonardepthdata: %d\n",sonardepthdata); fprintf(stderr,"dbg2 timelagmode: %d\n",timelagmode); if (timelagmode == MBHYSWEEPPREPROCESS_TIMELAG_MODEL) { fprintf(stderr,"dbg2 timelagfile: %s\n",timelagfile); fprintf(stderr,"dbg2 ntimelag: %d\n",ntimelag); for (i=0;i for reading\n",navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* count the binary data records described by the header then rewind the file to the start of the binary data */ nnav = 0; while (fgets(buffer, MB_PATH_MAXLINE, tfp) != NULL) { nnav++; } rewind(tfp); /* allocate arrays for ins data */ if (nnav > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__, nnav * sizeof(double), (void **)&nav_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nnav * sizeof(double), (void **)&nav_lon,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nnav * sizeof(double), (void **)&nav_lat,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nnav * sizeof(double), (void **)&nav_heading,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nnav * sizeof(double), (void **)&nav_sonardepth,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nnav * sizeof(double), (void **)&nav_altitude,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating nav data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no nav data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from nav file <%s>\n",navfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the nav file */ nnav = 0; while (fgets(buffer, MB_PATH_MAXLINE, tfp) != NULL) { if (buffer[0] != '#' && buffer[0] != 'O') { nscan = sscanf(buffer, "%d:%d:%d:%d:%d:%lf %lf %lf %lf %lf %lf %lf", &year, &month, &day, &hour, &minute, &second, &yearsecond, &northing, &easting, &sonardepth, &altitude, &heading); if (nscan == 12) { time_i[0] = year; time_i[1] = month; time_i[2] = day; time_i[3] = hour; time_i[4] = minute; time_i[5] = (int)floor(second); time_i[6] = (int)((second - time_i[5]) * 1000000.0); mb_get_time(verbose, time_i, &time_d); if (projection_set == MB_YES) { mb_proj_inverse(verbose, pjptr, easting, northing, &navlon, &navlat, &error); } else { navlon = easting; navlat = northing; } nav_time_d[nnav] = time_d; nav_lon[nnav] = navlon; nav_lat[nnav] = navlat; nav_heading[nnav] = heading; nav_sonardepth[nnav] = sonardepth; nav_altitude[nnav] = altitude; nnav++; } } } fclose(tfp); } /* set projection for nav data */ if (projection_set == MB_YES) { mb_proj_free(verbose, &pjptr, &error); } /* read sonardepth data from separate file if specified */ if (sonardepthdata == MB_YES) { /* count the data points in the sonardepth file */ if ((tfp = fopen(sonardepthfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open sonardepth data file <%s> for reading\n",sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* count the data records then rewind the file to the start of the binary data */ nsonardepth = 0; while (fgets(buffer, MB_PATH_MAXLINE, tfp) != NULL) { nsonardepth++; } rewind(tfp); /* allocate arrays for sonardepth data */ if (nsonardepth > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__, nsonardepth * sizeof(double), (void **)&sonardepth_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__, nsonardepth * sizeof(double), (void **)&sonardepth_sonardepth,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating sonardepth data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no sonardepth data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from sonardepth file <%s>\n",sonardepthfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the separate file */ nsonardepth = 0; while (fgets(buffer, MB_PATH_MAXLINE, tfp) != NULL) { if (buffer[0] != '#' && buffer[0] != 'O') { nscan = sscanf(buffer, "%d:%d:%d:%d:%d:%lf %lf", &year, &month, &day, &hour, &minute, &second, &sonardepth); if (nscan == 7) { time_i[0] = year; time_i[1] = month; time_i[2] = day; time_i[3] = hour; time_i[4] = minute; time_i[5] = (int)floor(second); time_i[6] = (int)((second - time_i[5]) * 1000000.0); mb_get_time(verbose, time_i, &time_d); sonardepth_time_d[nsonardepth] = time_d; sonardepth_sonardepth[nsonardepth] = sonardepth; nsonardepth++; } } nsonardepth++; } fclose(tfp); } /* get time lag model if specified */ if (timelagmode == MBHYSWEEPPREPROCESS_TIMELAG_MODEL) { /* count the data points in the timelag file */ ntimelag = 0; if ((tfp = fopen(timelagfile, "r")) == NULL) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open time lag model File <%s> for reading\n",timelagfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) if (buffer[0] != '#') ntimelag++; rewind(tfp); /* allocate arrays for time lag */ if (ntimelag > 0) { status = mb_mallocd(verbose, __FILE__, __LINE__,ntimelag * sizeof(double), (void **)&timelag_time_d,&error); if (error == MB_ERROR_NO_ERROR) status = mb_mallocd(verbose, __FILE__, __LINE__,ntimelag * sizeof(double), (void **)&timelag_model,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* if no time lag data then quit */ else { error = MB_ERROR_BAD_DATA; fprintf(stderr,"\nUnable to read data from time lag model file <%s>\n",timelagfile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* read the data points in the timelag file */ ntimelag = 0; while ((result = fgets(buffer,MB_PATH_MAXLINE,tfp)) == buffer) { if (buffer[0] != '#') { /* read the time and time lag pair */ if (sscanf(buffer,"%lf %lf",&timelag_time_d[ntimelag],&timelag_model[ntimelag]) == 2) ntimelag++; } } fclose(tfp); } /* output counts */ fprintf(stdout, "\nData available for merging:\n"); fprintf(stdout, " Navigation (northing easting sonardepth altitude heading): %d\n", nnav); fprintf(stdout, " Sonar depth (sonardepth): %d\n", nsonardepth); fprintf(stdout, " Time lag: %d\n", ntimelag); fprintf(stdout, "\nOffsets to be applied:\n"); fprintf(stdout, " Roll bias: %8.3f\n", offset_sonar_roll); fprintf(stdout, " Pitch bias: %8.3f\n", offset_sonar_pitch); fprintf(stdout, " Heading bias: %8.3f\n", offset_sonar_heading); fprintf(stdout, " X (m) Y (m) Z (m) T (sec)\n"); fprintf(stdout, " Sonar: %8.3f %8.3f %8.3f %8.3f\n", offset_sonar_x, offset_sonar_y, offset_sonar_z, offset_sonar_t); fprintf(stdout, " MRU: %8.3f %8.3f %8.3f %8.3f\n", offset_mru_x, offset_mru_y, offset_mru_z, offset_mru_t); fprintf(stdout, " Nav: %8.3f %8.3f %8.3f %8.3f\n", offset_nav_x, offset_nav_y, offset_nav_z, offset_nav_t); nrec_POS_tot = 0; nrec_POSunused_tot = 0; nrec_GYR_tot = 0; nrec_HCP_tot = 0; nrec_EC1_tot = 0; nrec_DFT_tot = 0; nrec_RMB_tot = 0; nrec_other_tot = 0; /* get format if required */ if (format == 0) mb_get_format(verbose,read_file,NULL,&format,&error); /* determine whether to read one file or a list of files */ if (format < 0) read_datalist = MB_YES; /* open file list */ if (read_datalist == MB_YES) { if ((status = mb_datalist_open(verbose,&datalist, read_file,look_processed,&error)) != MB_SUCCESS) { error = MB_ERROR_OPEN_FAIL; fprintf(stderr,"\nUnable to open data list file: %s\n", read_file); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(ifile, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES && format == MBF_HYSWEEP1) { /* initialize reading the swath file */ if ((status = mb_read_init( verbose,ifile,format,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get pointers to data storage */ imb_io_ptr = (struct mb_io_struct *) imbio_ptr; istore_ptr = imb_io_ptr->store_data; istore = (struct mbsys_hysweep_struct *) istore_ptr; /* set projection if specified */ if (projection_set == MB_YES) { strcpy(istore->PRJ_proj4_command,proj4command); } if (error == MB_ERROR_NO_ERROR) { beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; } if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* reset file record counters */ nrec_POS = 0; nrec_POSunused = 0; nrec_GYR = 0; nrec_HCP = 0; nrec_EC1 = 0; nrec_DFT = 0; nrec_RMB = 0; nrec_other = 0; /* read and print data */ while (error <= MB_ERROR_NO_ERROR) { /* reset error */ error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* some nonfatal errors do not matter */ if (error < MB_ERROR_NO_ERROR && error > MB_ERROR_UNINTELLIGIBLE) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* handle multibeam data */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { nrec_RMB++; } /* save primary navigation data */ else if (status == MB_SUCCESS && (istore->kind == MB_DATA_NAV || istore->kind == MB_DATA_NAV1 || istore->kind == MB_DATA_NAV2)) { /* check device for being enabled */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->POS_device_number]); if (device->DV2_enabled == MB_YES) { nrec_POS++; /* add latest fix */ if (imb_io_ptr->projection_initialized == MB_YES) { mb_proj_inverse(verbose, imb_io_ptr->pjptr, istore->POS_x, istore->POS_y, &navlon, &navlat, &error); } else { navlon = istore->POS_x; navlat = istore->POS_y; } if (MBHYSWEEPPREPROCESS_TIMESTAMPLIST == MB_YES) fprintf(stderr,"Record time: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d POS record:%d\n", istore->time_i[0],istore->time_i[1],istore->time_i[2], istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],nrec_POS); /* allocate memory for position arrays if needed */ if (ndat_nav + 1 >= ndat_nav_alloc) { ndat_nav_alloc += MBHYSWEEPPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lon,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_nav_alloc*sizeof(double),(void **)&dat_nav_lat,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* store the position data */ if (ndat_nav == 0 || dat_nav_time_d[ndat_nav-1] < istore->time_d) { dat_nav_time_d[ndat_nav] = istore->time_d; dat_nav_lon[ndat_nav] = navlon; dat_nav_lat[ndat_nav] = navlat; ndat_nav++; } } else { nrec_POSunused++; } } /* save primary attitude data */ if (status == MB_SUCCESS && kind == MB_DATA_ATTITUDE) { /* check device for being enabled */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->HCP_device_number]); if (device->DV2_enabled == MB_YES) { nrec_HCP++; if (MBHYSWEEPPREPROCESS_TIMESTAMPLIST == MB_YES) fprintf(stderr,"Record time: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d HCP record:%d\n", istore->time_i[0],istore->time_i[1],istore->time_i[2], istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],nrec_HCP); /* allocate memory for position arrays if needed */ if (ndat_rph + 1 >= ndat_rph_alloc) { ndat_rph_alloc += MBHYSWEEPPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_roll,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_pitch,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_rph_alloc*sizeof(double),(void **)&dat_rph_heave,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* store the attitude data */ if (ndat_rph == 0 || dat_rph_time_d[ndat_rph-1] < istore->time_d) { dat_rph_time_d[ndat_rph] = istore->time_d; dat_rph_roll[ndat_rph] = -istore->HCP_roll; dat_rph_pitch[ndat_rph] = -istore->HCP_pitch; dat_rph_heave[ndat_rph] = -istore->HCP_heave; ndat_rph++; } } } /* save primary heading data */ if (status == MB_SUCCESS && kind == MB_DATA_HEADING) { /* check device for being enabled */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->GYR_device_number]); if (device->DV2_enabled == MB_YES) { nrec_GYR++; if (MBHYSWEEPPREPROCESS_TIMESTAMPLIST == MB_YES) fprintf(stderr,"Record time: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d GYR record:%d\n", istore->time_i[0],istore->time_i[1],istore->time_i[2], istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],nrec_GYR); /* allocate memory for position arrays if needed */ if (ndat_heading + 1 >= ndat_heading_alloc) { ndat_heading_alloc += MBHYSWEEPPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_heading_alloc*sizeof(double),(void **)&dat_heading_heading,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* store the heading data */ if (ndat_heading == 0 || dat_heading_time_d[ndat_heading-1] < istore->time_d) { dat_heading_time_d[ndat_heading] = istore->time_d; dat_heading_heading[ndat_heading] = istore->GYR_heading; ndat_heading++; } } } /* save primary sonardepth data */ if (status == MB_SUCCESS && kind == MB_DATA_SONARDEPTH) { /* check device for being enabled */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->DFT_device_number]); if (device->DV2_enabled == MB_YES) { nrec_DFT++; if (MBHYSWEEPPREPROCESS_TIMESTAMPLIST == MB_YES) fprintf(stderr,"Record time: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d DFT record:%d\n", istore->time_i[0],istore->time_i[1],istore->time_i[2], istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],nrec_DFT); /* allocate memory for position arrays if needed */ if (ndat_sonardepth + 1 >= ndat_sonardepth_alloc) { ndat_sonardepth_alloc += MBHYSWEEPPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_sonardepth_alloc*sizeof(double),(void **)&dat_sonardepth_sonardepth,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* store the sonardepth data */ if (ndat_sonardepth == 0 || dat_sonardepth_time_d[ndat_sonardepth-1] < istore->time_d) { dat_sonardepth_time_d[ndat_sonardepth] = istore->time_d; dat_sonardepth_sonardepth[ndat_sonardepth] = istore->DFT_draft; ndat_sonardepth++; } } } /* save primary altitude data */ if (status == MB_SUCCESS && kind == MB_DATA_ALTITUDE) { /* check device for being enabled */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->GYR_device_number]); if (device->DV2_enabled == MB_YES) { nrec_EC1++; if (MBHYSWEEPPREPROCESS_TIMESTAMPLIST == MB_YES) fprintf(stderr,"Record time: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d EC1 record:%d\n", istore->time_i[0],istore->time_i[1],istore->time_i[2], istore->time_i[3],istore->time_i[4],istore->time_i[5],istore->time_i[6],nrec_EC1); /* allocate memory for position arrays if needed */ if (ndat_altitude + 1 >= ndat_altitude_alloc) { ndat_altitude_alloc += MBHYSWEEPPREPROCESS_ALLOC_CHUNK; status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_altitude_alloc*sizeof(double),(void **)&dat_altitude_time_d,&error); status = mb_reallocd(verbose,__FILE__,__LINE__,ndat_altitude_alloc*sizeof(double),(void **)&dat_altitude_altitude,&error); if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } /* store the altitude data */ if (ndat_altitude == 0 || dat_altitude_time_d[ndat_altitude-1] < istore->time_d) { dat_altitude_time_d[ndat_altitude] = istore->time_d; dat_altitude_altitude[ndat_altitude] = istore->EC1_rawdepth; ndat_altitude++; } } } /* handle unknown data */ else if (status == MB_SUCCESS) { /*fprintf(stderr,"DATA TYPE UNKNOWN: status:%d error:%d kind:%d\n",status,error,kind);*/ nrec_other++; } /* handle read error */ else { /*fprintf(stderr,"READ FAILURE: status:%d error:%d kind:%d\n",status,error,kind);*/ } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 status: %d\n",status); } } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); /* output counts */ fprintf(stdout, "\nData records read from: %s\n", ifile); fprintf(stdout, " Positions (POS): %d\n", nrec_POS); fprintf(stdout, " Positions ignored (POS): %d\n", nrec_POSunused); fprintf(stdout, " Heading (GYR): %d\n", nrec_GYR); fprintf(stdout, " Attitude (HCP): %d\n", nrec_HCP); fprintf(stdout, " Echosounder (altitude) (EC1): %d\n", nrec_EC1); fprintf(stdout, " Dynamic draft (DFT): %d\n", nrec_DFT ); fprintf(stdout, " Raw multibeam (RMB): %d\n", nrec_RMB); fprintf(stdout, " Other: %d\n", nrec_other); nrec_POS_tot += nrec_POS; nrec_POSunused_tot += nrec_POSunused; nrec_GYR_tot += nrec_GYR; nrec_HCP_tot += nrec_HCP; nrec_EC1_tot += nrec_EC1; nrec_DFT_tot += nrec_DFT; nrec_RMB_tot += nrec_RMB; nrec_other_tot += nrec_other; /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* apply time lag to all relevant data timelag value calculated either from model imported from file (timelagmode == MBHYSWEEPPREPROCESS_TIMELAG_MODEL) or by a constant offset (timelagmode == MBHYSWEEPPREPROCESS_TIMELAG_CONSTANT) */ if (timelagmode != MBHYSWEEPPREPROCESS_TIMELAG_OFF) { /* correct time of navigation, heading, attitude, sonardepth, altitude read from asynchronous records in files */ fprintf(stderr,"Applying timelag to %d nav data\n", ndat_nav); j = 0; for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_nav_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } dat_nav_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d heading data\n", ndat_heading); j = 0; for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_heading_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } dat_heading_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d attitude data\n", ndat_rph); j = 0; for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_rph_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } dat_rph_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d sonardepth data\n", ndat_sonardepth); j = 0; for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_sonardepth_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } dat_sonardepth_time_d[i] += timelag; } fprintf(stderr,"Applying timelag to %d altitude data\n", ndat_altitude); j = 0; for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, dat_altitude_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } dat_altitude_time_d[i] += timelag; } /* correct time of nav data read from separate file */ fprintf(stderr,"Applying timelag to %d INS data\n", nnav); for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, nav_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } nav_time_d[i] += timelag; } /* correct time of sonar depth data read from separate file */ fprintf(stderr,"Applying timelag to %d sonardepth nav data\n", nsonardepth); for (i=0;i 0) { interp_status = mb_linear_interp(verbose, timelag_time_d-1, timelag_model-1, ntimelag, sonardepth_time_d[i], &timelagm, &j, &error); timelag -= timelagm; } sonardepth_time_d[i] += timelag; } } /* apply roll bias */ if (offset_sonar_roll != 0.0) { for (i=0;i 0 && (verbose > 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST)) fprintf(stdout, "\nTotal navigation data read: %d\n", nnav); if (nnav > 0 && (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST)) { fprintf(stdout, "\nTotal navigation data read: %d\n", nnav); for (i=0;i 0 && (verbose >= 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST)) fprintf(stdout, "\nTotal sonardepth data read: %d\n", nsonardepth); if (nsonardepth > 0 && (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST)) { fprintf(stdout, "\nTotal sonardepth data read: %d\n", nsonardepth); for (i=0;i 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) fprintf(stdout, "\nTotal navigation data read: %d\n", ndat_nav); if (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) for (i=0;i 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) fprintf(stdout, "\nTotal heading data read: %d\n", ndat_heading); if (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) for (i=0;i 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) fprintf(stdout, "\nTotal sonardepth data read: %d\n", ndat_sonardepth); if (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) for (i=0;i 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) fprintf(stdout, "\nTotal altitude data read: %d\n", ndat_altitude); if (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) for (i=0;i 0 || mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) fprintf(stdout, "\nTotal attitude data read: %d\n", ndat_rph); if (mode == MBHYSWEEPPREPROCESS_TIMESTAMPLIST) for (i=0;i Terminated\n", program_name); exit(error); } if ((status = mb_datalist_read(verbose,datalist, ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } /* else copy single filename to be read */ else { strcpy(ifile, read_file); read_data = MB_YES; } /* loop over all files to be read */ while (read_data == MB_YES && format == MBF_HYSWEEP1) { /* figure out the output file name */ status = mb_get_format(verbose, ifile, fileroot, &testformat, &error); if (testformat == MBF_HYSWEEP1 && strncmp(".HSX",&ifile[strlen(ifile)-4],4) == 0) sprintf(ofile, "%s.mb%d", fileroot, testformat); else if (testformat == MBF_HYSWEEP1 && strncmp(".hsx",&ifile[strlen(ifile)-4],4) == 0) sprintf(ofile, "%s.mb%d", fileroot, testformat); else if (testformat == MBF_HYSWEEP1) sprintf(ofile, "%s.mb%d", ifile, testformat); /* initialize reading the input swath file */ if ((status = mb_read_init( verbose,ifile,format,pings,lonflip,bounds, btime_i,etime_i,speedmin,timegap, &imbio_ptr,&btime_d,&etime_d, &beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for reading\n",ifile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* initialize writing the output swath sonar file */ if ((status = mb_write_init( verbose,ofile,format,&ombio_ptr, &obeams_bath,&obeams_amp,&opixels_ss,&error)) != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam File <%s> not initialized for writing\n",ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* get pointers to data storage */ imb_io_ptr = (struct mb_io_struct *) imbio_ptr; istore_ptr = imb_io_ptr->store_data; istore = (struct mbsys_hysweep_struct *) istore_ptr; /* set projection if specified */ if (projection_set == MB_YES) { strcpy(istore->PRJ_proj4_command,proj4command); } if (error == MB_ERROR_NO_ERROR) { beamflag = NULL; bath = NULL; amp = NULL; bathacrosstrack = NULL; bathalongtrack = NULL; ss = NULL; ssacrosstrack = NULL; ssalongtrack = NULL; } if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(char), (void **)&beamflag, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bath, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_AMPLITUDE, sizeof(double), (void **)&, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_BATHYMETRY, sizeof(double), (void **)&bathalongtrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ss, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssacrosstrack, &error); if (error == MB_ERROR_NO_ERROR) status = mb_register_array(verbose, imbio_ptr, MB_MEM_TYPE_SIDESCAN, sizeof(double), (void **)&ssalongtrack, &error); /* if error initializing memory then quit */ if (error != MB_ERROR_NO_ERROR) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n", message); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } /* reset file record counters */ nrec_POS = 0; nrec_POSunused = 0; nrec_GYR = 0; nrec_HCP = 0; nrec_EC1 = 0; nrec_DFT = 0; nrec_RMB = 0; nrec_other = 0; /* read and write data */ while (error <= MB_ERROR_NO_ERROR) { /* reset error */ status = MB_SUCCESS; error = MB_ERROR_NO_ERROR; /* read next data record */ status = mb_get_all(verbose,imbio_ptr,&istore_ptr,&kind, time_i,&time_d,&navlon,&navlat, &speed,&heading, &distance,&altitude,&sonardepth, &beams_bath,&beams_amp,&pixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); /* some nonfatal errors do not matter */ if (error < MB_ERROR_NO_ERROR && error > MB_ERROR_UNINTELLIGIBLE) { error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } /* handle multibeam data */ if (status == MB_SUCCESS && kind == MB_DATA_DATA) { nrec_RMB++; /* merge navigation from best available source */ if (nnav > 0) { interp_status = mb_linear_interp_degrees(verbose, nav_time_d-1, nav_lon-1, nnav, time_d, &navlon, &j, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, nav_time_d-1, nav_lat-1, nnav, time_d, &navlat, &j, &error); } else if (ndat_nav > 0) { interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_lon-1, ndat_nav, time_d, &navlon, &j, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp_degrees(verbose, dat_nav_time_d-1, dat_nav_lat-1, ndat_nav, time_d, &navlat, &j, &error); } else { navlon = 0.0; navlat = 0.0; speed = 0.0; } /* merge heading from best available source */ if (nnav > 0) { interp_status = mb_linear_interp_degrees(verbose, nav_time_d-1, nav_heading-1, nnav, time_d, &heading, &j, &error); } else if (ndat_heading > 0) { interp_status = mb_linear_interp_degrees(verbose, dat_heading_time_d-1, dat_heading_heading-1, ndat_heading, time_d, &heading, &j, &error); } else { heading = 0.0; } /* merge sonardepth from best available source */ if (nsonardepth > 0) { interp_status = mb_linear_interp(verbose, sonardepth_time_d-1, sonardepth_sonardepth-1, nsonardepth, time_d, &sonardepth, &j, &error); } else if (nnav > 0) { interp_status = mb_linear_interp(verbose, nav_time_d-1, nav_sonardepth-1, nnav, time_d, &sonardepth, &j, &error); } else if (ndat_sonardepth > 0) { interp_status = mb_linear_interp(verbose, dat_sonardepth_time_d-1, dat_sonardepth_sonardepth-1, ndat_sonardepth, time_d, &sonardepth, &j, &error); } else { sonardepth = 0.0; } /* merge altitude from best available source */ if (nnav > 0) { interp_status = mb_linear_interp(verbose, nav_time_d-1, nav_altitude-1, nnav, time_d, &altitude, &j, &error); } else if (ndat_altitude > 0) { interp_status = mb_linear_interp(verbose, dat_altitude_time_d-1, dat_altitude_altitude-1, ndat_altitude, time_d, &altitude, &j, &error); } else { altitude = 0.0; } /* get attitude from best available source */ if (ndat_rph > 0) { interp_status = mb_linear_interp(verbose, dat_rph_time_d-1, dat_rph_roll-1, ndat_rph, time_d, &roll, &j, &error); if (interp_status == MB_SUCCESS) interp_status = mb_linear_interp(verbose, dat_rph_time_d-1, dat_rph_pitch-1, ndat_rph, time_d, &pitch, &j, &error); } else { roll = 0.0; pitch = 0.0; } /* do lever arm calculation with sensor offsets */ mb_lever(verbose, offset_sonar_x, offset_sonar_y, offset_sonar_z, offset_mru_x, offset_mru_y, offset_mru_z, offset_nav_x, offset_nav_y, offset_nav_z, roll, pitch, &lever_x, &lever_y, &lever_z, &error); /* set values at sonar ping time */ istore->RMBint_lon = navlon; istore->RMBint_lat = navlat; if (imb_io_ptr->projection_initialized == MB_YES) { mb_proj_forward(verbose, imb_io_ptr->pjptr, istore->RMBint_lon, istore->RMBint_lat, &(istore->RMBint_x), &(istore->RMBint_y), &error); } else { istore->RMBint_x = istore->RMBint_lon; istore->RMBint_y = istore->RMBint_lat; } istore->RMBint_heave = 0.0; istore->RMBint_roll = roll; istore->RMBint_pitch = pitch; istore->RMBint_heading = heading; istore->RMBint_draft = sonardepth - lever_z; /* get mapping sonar device pointer */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->RMB_device_number]); /* deal with case of multibeam sonar */ if (istore->RMB_beam_data_available & 0x0001) { /* get beam roll angles if necessary */ if (!(istore->RMB_beam_data_available & 0x0080)) { for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_rollangles[i] = device->MBI_first_beam_angle + i * device->MBI_angle_increment; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0080; } /* get beam pitch angles */ for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_pitchangles[i] = 0.0; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0040; /* get beam takeoff and azimuthal angles */ for (i=0;iRMB_num_beams;i++) { alpha = istore->RMB_sounding_pitchangles[i]; beta = 90.0 + istore->RMB_sounding_rollangles[i]; /* correct alpha for pitch if necessary */ if (!(device->MBI_sonar_flags & 0x0002)) alpha += istore->RMBint_pitch; /* correct beta for roll if necessary */ if (!(device->MBI_sonar_flags & 0x0001)) beta -= istore->RMBint_roll; mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, &error); istore->RMB_sounding_takeoffangles[i] = theta; istore->RMB_sounding_azimuthalangles[i] = phi; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0300; /* get beam bathymetry */ for (i=0;iRMB_num_beams;i++) { rr = istore->RMB_beam_ranges[i]; theta = istore->RMB_sounding_takeoffangles[i]; phi = istore->RMB_sounding_azimuthalangles[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); istore->RMB_sounding_across[i] = xx * cos(DTR * phi); istore->RMB_sounding_along[i] = xx * sin(DTR * phi); istore->RMB_sounding_depths[i] = zz + istore->RMBint_draft - istore->RMBint_heave; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0038; /* get beam flags */ for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_flags[i] = MB_FLAG_NONE; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x2000; } /* deal with case of multiple transducer sonar */ if (istore->RMB_beam_data_available & 0x0002) { /* get beam roll angles if necessary */ if (!(istore->RMB_beam_data_available & 0x0080)) { for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_rollangles[i] = 0.0; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0080; } /* correct beam roll angles for roll if necessary */ if (!(device->MBI_sonar_flags & 0x0001)) { for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_rollangles[i] += istore->RMBint_roll; } } /* get beam pitch angles if necessary */ if (!(istore->RMB_beam_data_available & 0x0040)) { if (!(device->MBI_sonar_flags & 0x0002)) { for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_pitchangles[i] = istore->RMBint_pitch; } } else { for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_pitchangles[i] = 0.0; } } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0040; } /* get beam takeoff and azimuthal angles if necessary */ if (!(istore->RMB_beam_data_available & 0x0100) || !(istore->RMB_beam_data_available & 0x0200)) { for (i=0;iRMB_num_beams;i++) { alpha = istore->RMB_sounding_pitchangles[i]; beta = 90.0 - istore->RMB_sounding_rollangles[i]; mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, &error); istore->RMB_sounding_takeoffangles[i] = theta; istore->RMB_sounding_azimuthalangles[i] = phi; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x0300; } /* get beam bathymetry if necessary */ if (!(istore->RMB_beam_data_available & 0x0004) || !(istore->RMB_beam_data_available & 0x0008) || !(istore->RMB_beam_data_available & 0x0010) || !(istore->RMB_beam_data_available & 0x0020)) { for (i=0;iRMB_num_beams;i++) { rr = istore->RMB_multi_ranges[i]; theta = istore->RMB_sounding_takeoffangles[i]; phi = istore->RMB_sounding_azimuthalangles[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); istore->RMB_sounding_across[i] = xx * cos(DTR * phi); istore->RMB_sounding_along[i] = xx * sin(DTR * phi); istore->RMB_sounding_depths[i] = zz + istore->RMBint_draft - istore->RMBint_heave; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x003C; } /* get beam flags if necessary */ if (!(istore->RMB_beam_data_available & 0x2000)) { for (i=0;iRMB_num_beams;i++) { istore->RMB_sounding_flags[i] = MB_FLAG_NONE; } istore->RMB_beam_data_available = istore->RMB_beam_data_available | 0x2000; } } } /* handle navigation data */ else if (status == MB_SUCCESS && (kind == MB_DATA_NAV || kind == MB_DATA_NAV1 || kind == MB_DATA_NAV2)) { /* check device for being enabled */ device = (struct mbsys_hysweep_device_struct *)&(istore->devices[istore->POS_device_number]); if (device->DV2_enabled == MB_YES) nrec_POS++; else nrec_POSunused++; } /* handle attitude data */ else if (status == MB_SUCCESS && kind == MB_DATA_ATTITUDE) { nrec_HCP++; } /* handle heading data */ else if (status == MB_SUCCESS && kind == MB_DATA_HEADING) { nrec_GYR++; } /* handle altitude data */ else if (status == MB_SUCCESS && kind == MB_DATA_ALTITUDE) { nrec_EC1++; } /* handle sonar depth data */ else if (status == MB_SUCCESS && kind == MB_DATA_SONARDEPTH) { nrec_DFT++; } /* handle unknown data */ else if (status == MB_SUCCESS) { /*fprintf(stderr,"DATA TYPE UNKNOWN: status:%d error:%d kind:%d\n",status,error,kind);*/ } /* handle read error */ else { /*fprintf(stderr,"READ FAILURE: status:%d error:%d kind:%d\n",status,error,kind);*/ } /* print debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Ping read in program <%s>\n", program_name); fprintf(stderr,"dbg2 kind: %d\n",kind); fprintf(stderr,"dbg2 error: %d\n",error); fprintf(stderr,"dbg2 status: %d\n",status); } /*-------------------------------------------- write the processed data --------------------------------------------*/ /* write some data */ if (error == MB_ERROR_NO_ERROR && (nnav < 1 || kind != MB_DATA_NAV2)) { status = mb_put_all(verbose,ombio_ptr, istore_ptr,MB_NO,kind, time_i,time_d, navlon,navlat,speed,heading, obeams_bath,obeams_amp,opixels_ss, beamflag,bath,amp,bathacrosstrack,bathalongtrack, ss,ssacrosstrack,ssalongtrack, comment,&error); if (status != MB_SUCCESS) { mb_error(verbose,error,&message); fprintf(stderr,"\nMBIO Error returned from function :\n%s\n",message); fprintf(stderr,"\nMultibeam Data Not Written To File <%s>\n",ofile); fprintf(stderr,"\nProgram <%s> Terminated\n", program_name); exit(error); } } } /* close the swath file */ status = mb_close(verbose,&imbio_ptr,&error); status = mb_close(verbose,&ombio_ptr,&error); /* output counts */ fprintf(stdout, "\nData records written to: %s\n", ofile); fprintf(stdout, " Positions (POS): %d\n", nrec_POS); fprintf(stdout, " Positions ignored (POS): %d\n", nrec_POSunused); fprintf(stdout, " Heading (GYR): %d\n", nrec_GYR); fprintf(stdout, " Attitude (HCP): %d\n", nrec_HCP); fprintf(stdout, " Echosounder (altitude) (EC1): %d\n", nrec_EC1); fprintf(stdout, " Dynamic draft (DFT): %d\n", nrec_DFT ); fprintf(stdout, " Raw multibeam (RMB): %d\n", nrec_RMB); fprintf(stdout, " Other: %d\n", nrec_other); nrec_POS_tot += nrec_POS; nrec_POSunused_tot += nrec_POSunused; nrec_GYR_tot += nrec_GYR; nrec_HCP_tot += nrec_HCP; nrec_EC1_tot += nrec_EC1; nrec_DFT_tot += nrec_DFT; nrec_RMB_tot += nrec_RMB; nrec_other_tot += nrec_other; /* generate inf fnv and fbt files */ if (status == MB_SUCCESS) { status = mb_make_info(verbose, MB_YES, ofile, format, &error); } /* figure out whether and what to read next */ if (read_datalist == MB_YES) { if ((status = mb_datalist_read(verbose,datalist, ifile,&format,&file_weight,&error)) == MB_SUCCESS) read_data = MB_YES; else read_data = MB_NO; } else { read_data = MB_NO; } /* end loop over files in list */ } if (read_datalist == MB_YES) mb_datalist_close(verbose,&datalist,&error); /* output counts */ fprintf(stdout, "\nTotal data records written from: %s\n", read_file); fprintf(stdout, " Positions (POS): %d\n", nrec_POS_tot); fprintf(stdout, " Positions ignored (POS): %d\n", nrec_POSunused_tot); fprintf(stdout, " Heading (GYR): %d\n", nrec_GYR_tot); fprintf(stdout, " Attitude (HCP): %d\n", nrec_HCP_tot); fprintf(stdout, " Echosounder (altitude) (EC1): %d\n", nrec_EC1_tot); fprintf(stdout, " Dynamic draft (DFT): %d\n", nrec_DFT_tot); fprintf(stdout, " Raw multibeam (RMB): %d\n", nrec_RMB_tot); fprintf(stdout, " Other: %d\n", nrec_other_tot); } /* deallocate navigation arrays */ if (ndat_nav > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_lon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_nav_lat,&error); } if (ndat_sonardepth > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_sonardepth_sonardepth,&error); } if (ndat_heading > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_heading_heading,&error); } if (ndat_rph > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_rph_roll,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_rph_pitch,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_rph_heave,&error); } if (ndat_altitude > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_altitude_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&dat_altitude_altitude,&error); } if (nnav > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_lon,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_lat,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_heading,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_sonardepth,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_altitude,&error); } if (nsonardepth > 0) { status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sonardepth_time_d,&error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)&sonardepth_sonardepth,&error); } /* check memory */ if (verbose >= 4) status = mb_memory_list(verbose,&error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 Program <%s> completed\n", program_name); fprintf(stderr,"dbg2 Ending status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* end it all */ exit(error); } /*--------------------------------------------------------------------*/