/*-------------------------------------------------------------------- * The MB-system: mb_get_all.c 1/26/93 * $Id: mb_get_all.c 1985 2012-09-11 08:02:53Z caress $ * * Copyright (c) 1993-2012 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. *--------------------------------------------------------------------*/ /* * mb_get_all.c reads swath data from a file * which has been initialized by mb_read_init(). Crosstrack distances * are not mapped into lon and lat. The data is not averaged, and * values are also read into a storage data structure including * all possible values output by the particular multibeam system * associated with the specified format. * * Author: D. W. Caress * Date: January 26, 1993 * * $Log: mb_get_all.c,v $ * Revision 5.10 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 5.9 2004/12/02 06:33:30 caress * Fixes while supporting Reson 7k data. * * Revision 5.8 2004/04/27 01:46:12 caress * Various updates of April 26, 2004. * * Revision 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2003/04/16 16:47:41 caress * Release 5.0.beta30 * * Revision 5.5 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.4 2002/05/29 23:36:53 caress * Release 5.0.beta18 * * Revision 5.3 2001/07/20 00:31:11 caress * Release 5.0.beta03 * * Revision 5.2 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.1 2001/03/22 20:45:56 caress * Trying to make 5.0.beta0... * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.12 2000/10/16 21:52:54 caress * No longer initializes some null arrays. * * Revision 4.11 2000/10/11 01:02:30 caress * Convert to ANSI C * * Revision 4.10 2000/09/30 06:26:58 caress * Snapshot for Dale. * * Revision 4.9 2000/07/19 03:28:02 caress * Fixed handling of some nonsurvey data records. * * Revision 4.8 1999/08/08 04:12:45 caress * Added ELMK2XSE format. * * Revision 4.7 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.6 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.5 1996/04/22 13:21:19 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.5 1996/04/22 13:21:19 caress * Now have DTR and MIN/MAX defines in mb_define.h * * Revision 4.4 1995/09/28 18:10:48 caress * Various bug fixes working toward release 4.3. * * Revision 4.3 1995/03/06 19:38:54 caress * Changed include strings.h to string.h for POSIX compliance. * * Revision 4.2 1994/10/21 12:11:53 caress * Release V4.0 * * Revision 4.1 1994/07/29 18:46:51 caress * Changes associated with supporting Lynx OS (byte swapped) and * using unix second time base (for time_d values). * * Revision 4.0 1994/03/06 00:01:56 caress * First cut at version 4.0 * * Revision 4.3 1994/03/03 03:39:43 caress * Fixed copyright message. * * Revision 4.2 1994/02/23 00:32:27 caress * Fixed several debug messages plus a couple real bugs. * * Revision 4.1 1994/02/20 03:37:05 caress * Fixed a number of bad variable names. * * Revision 4.0 1994/02/20 01:50:47 caress * First cut of new version. Includes new handling of * sidescan and amplitude data. * * Revision 3.1 1993/05/14 22:35:26 sohara * fixed rcs_id message * * Revision 3.0 1993/04/23 15:57:18 dale * Initial version * */ /* 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" static char rcs_id[]="$Id: mb_get_all.c 1985 2012-09-11 08:02:53Z caress $"; /*--------------------------------------------------------------------*/ int mb_get_all(int verbose, void *mbio_ptr, void **store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *distance, double *altitude, double *sonardepth, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error) { char *function_name = "mb_get_all"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; int i; double mtodeglon, mtodeglat; double dx, dy; double delta_time; double roll, pitch, heave; /* 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 mb_ptr: %lu\n",(size_t)mbio_ptr); } /* get mbio and data structure descriptors */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; *store_ptr = mb_io_ptr->store_data; /* reset status */ status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg2 About to read ping in function <%s>\n", function_name); fprintf(stderr,"dbg2 ping_count: %d\n", mb_io_ptr->ping_count); fprintf(stderr,"dbg2 status: %d\n",status); fprintf(stderr,"dbg2 error: %d\n",*error); } /* get next ping */ status = mb_read_ping(verbose,mbio_ptr,*store_ptr,kind,error); /* if io arrays have been reallocated, update the pointers of arrays passed into this function, as these pointers may have changed */ if (status == MB_SUCCESS && mb_io_ptr->new_kind == MB_DATA_DATA) { if (mb_io_ptr->bath_arrays_reallocated == MB_YES) { status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &beamflag, error); status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bath, error); status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathacrosstrack, error); status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathalongtrack, error); mb_io_ptr->bath_arrays_reallocated = MB_NO; } if (mb_io_ptr->amp_arrays_reallocated == MB_YES) { status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &, error); mb_io_ptr->amp_arrays_reallocated = MB_NO; } if (mb_io_ptr->ss_arrays_reallocated == MB_YES) { status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ss, error); status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssacrosstrack, error); status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssalongtrack, error); mb_io_ptr->ss_arrays_reallocated = MB_NO; } } /* if survey data read into storage array */ if (status == MB_SUCCESS && (*kind == MB_DATA_DATA || *kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3 || *kind == MB_DATA_COMMENT)) { /* initialize return values */ *kind = MB_DATA_NONE; for (i=0;i<7;i++) time_i[i] = 0; *time_d = 0.0; *navlon = 0.0; *navlat = 0.0; *speed = 0.0; *heading = 0.0; *nbath = 0; *namp = 0; *nss = 0; for (i=0;ibeams_bath_max;i++) { beamflag[i] = MB_FLAG_NULL; bath[i] = 0.0; bathacrosstrack[i] = 0.0; bathalongtrack[i] = 0.0; } for (i=0;ibeams_amp_max;i++) { amp[i] = 0.0; } for (i=0;ipixels_ss_max;i++) { ss[i] = 0.0; ssacrosstrack[i] = 0.0; ssalongtrack[i] = 0.0; } strcpy(comment,"\0"); /* get the data */ status = mb_extract(verbose, mbio_ptr, *store_ptr, kind, time_i, time_d, navlon, navlat, speed, heading, nbath, namp, nss, beamflag, bath, amp, bathacrosstrack, bathalongtrack, ss, ssacrosstrack, ssalongtrack, comment, error); if (status == MB_SUCCESS && *kind == MB_DATA_DATA) { status = mb_extract_altitude(verbose, mbio_ptr, *store_ptr, kind, sonardepth, altitude, error); } else if (status == MB_SUCCESS && (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3)) { status = mb_extract_nav(verbose, mbio_ptr, *store_ptr, kind, time_i, time_d, navlon, navlat, speed, heading, sonardepth, &roll, &pitch, &heave, error); } } /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg2 New ping read in function <%s>\n", function_name); fprintf(stderr,"dbg2 status: %d\n", status); fprintf(stderr,"dbg2 error: %d\n", *error); fprintf(stderr,"dbg2 kind: %d\n", mb_io_ptr->new_kind); } /* increment counters */ if (status == MB_SUCCESS) { if (*kind == MB_DATA_DATA) mb_io_ptr->ping_count++; else if (*kind == MB_DATA_NAV) mb_io_ptr->nav_count++; else if (*kind == MB_DATA_COMMENT) mb_io_ptr->comment_count++; } /* if first ping read set "old" navigation values */ if (status == MB_SUCCESS && (*kind == MB_DATA_DATA || *kind == MB_DATA_NAV || *kind == MB_DATA_CALIBRATE) && mb_io_ptr->ping_count == 1) { mb_io_ptr->old_time_d = *time_d; mb_io_ptr->old_lon = *navlon; mb_io_ptr->old_lat = *navlat; } /* if first nav read set "old" navigation values */ if (status == MB_SUCCESS && (*kind == MB_DATA_NAV) && mb_io_ptr->nav_count == 1) { mb_io_ptr->old_ntime_d = *time_d; mb_io_ptr->old_nlon = *navlon; mb_io_ptr->old_nlat = *navlat; } /* calculate speed and distance for ping data */ if (status == MB_SUCCESS && (*kind == MB_DATA_DATA || *kind == MB_DATA_CALIBRATE)) { /* get coordinate scaling */ mb_coor_scale(verbose,*navlat,&mtodeglon,&mtodeglat); /* get distance value */ if (mb_io_ptr->old_time_d > 0.0) { dx = (*navlon - mb_io_ptr->old_lon)/mtodeglon; dy = (*navlat - mb_io_ptr->old_lat)/mtodeglat; *distance = 0.001*sqrt(dx*dx + dy*dy); /* km */ } else *distance = 0.0; /* get speed value */ if (*speed <= 0.0 && mb_io_ptr->old_time_d > 0.0) { delta_time = 0.000277778* (*time_d - mb_io_ptr->old_time_d); /* hours */ if (delta_time > 0.0) *speed = *distance/delta_time; /* km/hr */ else *speed = 0.0; } else if (*speed < 0.0) *speed = 0.0; /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 Distance and Speed Calculated in MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Speed and Distance Related Values:\n"); fprintf(stderr,"dbg4 ping_count: %d\n", mb_io_ptr->ping_count); fprintf(stderr,"dbg4 time: %f\n", *time_d); fprintf(stderr,"dbg4 lon: %f\n", *navlon); fprintf(stderr,"dbg4 lat: %f\n", *navlat); fprintf(stderr,"dbg4 old time: %f\n", mb_io_ptr->old_time_d); fprintf(stderr,"dbg4 old lon: %f\n", mb_io_ptr->old_lon); fprintf(stderr,"dbg4 old lat: %f\n", mb_io_ptr->old_lat); fprintf(stderr,"dbg4 distance: %f\n", *distance); fprintf(stderr,"dbg4 altitude: %f\n", *altitude); fprintf(stderr,"dbg4 sonardepth: %f\n", *sonardepth); fprintf(stderr,"dbg4 delta_time: %f\n", delta_time); fprintf(stderr,"dbg4 raw speed: %f\n", mb_io_ptr->new_speed); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 error: %d\n",*error); fprintf(stderr,"dbg4 status: %d\n",status); } } /* calculate speed and distance for nav data */ else if (status == MB_SUCCESS && (*kind == MB_DATA_NAV || *kind == MB_DATA_NAV || *kind == MB_DATA_NAV1 || *kind == MB_DATA_NAV2 || *kind == MB_DATA_NAV3)) { /* get coordinate scaling */ mb_coor_scale(verbose,*navlat,&mtodeglon,&mtodeglat); /* get distance value */ if (mb_io_ptr->old_ntime_d > 0.0) { dx = (*navlon - mb_io_ptr->old_nlon)/mtodeglon; dy = (*navlat - mb_io_ptr->old_nlat)/mtodeglat; *distance = 0.001*sqrt(dx*dx + dy*dy); /* km */ } else *distance = 0.0; /* get speed value */ if (*speed <= 0.0 && mb_io_ptr->old_ntime_d > 0.0) { delta_time = 0.000277778* (*time_d - mb_io_ptr->old_ntime_d); /* hours */ if (delta_time > 0.0) *speed = *distance/delta_time; /* km/hr */ else *speed = 0.0; } else if (*speed < 0.0) *speed = 0.0; /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 Distance and Speed Calculated in MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 Speed and Distance Related Values:\n"); fprintf(stderr,"dbg4 ping_count: %d\n", mb_io_ptr->ping_count); fprintf(stderr,"dbg4 time: %f\n", *time_d); fprintf(stderr,"dbg4 lon: %f\n", *navlon); fprintf(stderr,"dbg4 lat: %f\n", *navlat); fprintf(stderr,"dbg4 old time: %f\n", mb_io_ptr->old_ntime_d); fprintf(stderr,"dbg4 old lon: %f\n", mb_io_ptr->old_nlon); fprintf(stderr,"dbg4 old lat: %f\n", mb_io_ptr->old_lat); fprintf(stderr,"dbg4 distance: %f\n", *distance); fprintf(stderr,"dbg4 altitude: %f\n", *altitude); fprintf(stderr,"dbg4 sonardepth: %f\n", *sonardepth); fprintf(stderr,"dbg4 delta_time: %f\n", delta_time); fprintf(stderr,"dbg4 raw speed: %f\n", mb_io_ptr->new_speed); fprintf(stderr,"dbg4 speed: %f\n", *speed); fprintf(stderr,"dbg4 error: %d\n",*error); fprintf(stderr,"dbg4 status: %d\n",status); } } /* else set nav values to zero */ else { *navlon = 0.0; *navlat = 0.0; *distance = 0.0; *altitude = 0.0; *sonardepth = 0.0; *speed = 0.0; } /* check for out of location or time bounds */ if (status == MB_SUCCESS && (*kind == MB_DATA_DATA || *kind == MB_DATA_NAV || *kind == MB_DATA_CALIBRATE)) { if (*navlon < mb_io_ptr->bounds[0] || *navlon > mb_io_ptr->bounds[1] || *navlat < mb_io_ptr->bounds[2] || *navlat > mb_io_ptr->bounds[3]) { status = MB_FAILURE; *error = MB_ERROR_OUT_BOUNDS; } else if (mb_io_ptr->etime_d > mb_io_ptr->btime_d && *time_d > MB_TIME_D_UNKNOWN && (*time_d > mb_io_ptr->etime_d || *time_d < mb_io_ptr->btime_d)) { status = MB_FAILURE; *error = MB_ERROR_OUT_TIME; } else if (mb_io_ptr->etime_d < mb_io_ptr->btime_d && *time_d > MB_TIME_D_UNKNOWN && (*time_d > mb_io_ptr->etime_d && *time_d < mb_io_ptr->btime_d)) { status = MB_FAILURE; *error = MB_ERROR_OUT_TIME; } } /* check for time gap */ if (status == MB_SUCCESS && mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN && (*kind == MB_DATA_DATA || *kind == MB_DATA_NAV || *kind == MB_DATA_CALIBRATE) && mb_io_ptr->ping_count > 1) { if ((*time_d - mb_io_ptr->old_ntime_d) > 60*mb_io_ptr->timegap) { status = MB_FAILURE; *error = MB_ERROR_TIME_GAP; } } /* check for less than minimum speed */ if ((*error == MB_ERROR_NO_ERROR || *error == MB_ERROR_TIME_GAP) && (((*kind == MB_DATA_DATA || *kind == MB_DATA_CALIBRATE) && mb_io_ptr->ping_count > 1) || (*kind == MB_DATA_NAV && mb_io_ptr->nav_count > 1))) { if (*time_d > MB_TIME_D_UNKNOWN && *speed < mb_io_ptr->speedmin) { status = MB_FAILURE; *error = MB_ERROR_SPEED_TOO_SMALL; } } /* log errors */ if (*error < MB_ERROR_NO_ERROR) mb_notice_log_error(verbose, mbio_ptr, *error); /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"\ndbg4 New ping checked by MBIO function <%s>\n", function_name); fprintf(stderr,"dbg4 New ping values:\n"); fprintf(stderr,"dbg4 kind: %d\n", *kind); fprintf(stderr,"dbg4 ping_count: %d\n", mb_io_ptr->ping_count); fprintf(stderr,"dbg4 nav_count: %d\n", mb_io_ptr->nav_count); fprintf(stderr,"dbg4 comment_count: %d\n", mb_io_ptr->comment_count); fprintf(stderr,"dbg4 error: %d\n", mb_io_ptr->new_error); fprintf(stderr,"dbg4 status: %d\n", status); } /* reset "old" navigation values */ if (*error <= MB_ERROR_NO_ERROR && *error > MB_ERROR_COMMENT && (*kind == MB_DATA_DATA || *kind == MB_DATA_CALIBRATE)) { mb_io_ptr->old_time_d = *time_d; mb_io_ptr->old_lon = *navlon; mb_io_ptr->old_lat = *navlat; } /* reset "old" navigation values */ if (*error <= MB_ERROR_NO_ERROR && *error > MB_ERROR_COMMENT && *kind == MB_DATA_NAV) { mb_io_ptr->old_ntime_d = *time_d; mb_io_ptr->old_nlon = *navlon; mb_io_ptr->old_nlat = *navlat; } /* 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 store_ptr: %lu\n",(size_t)*store_ptr); fprintf(stderr,"dbg2 kind: %d\n",*kind); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_COMMENT) { fprintf(stderr,"dbg2 comment: \ndbg2 %s\n", comment); } else if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind != MB_DATA_COMMENT) { fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]); fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]); fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]); fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]); fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]); fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]); fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]); fprintf(stderr,"dbg2 time_d: %f\n",*time_d); fprintf(stderr,"dbg2 longitude: %f\n",*navlon); fprintf(stderr,"dbg2 latitude: %f\n",*navlat); fprintf(stderr,"dbg2 speed: %f\n",*speed); fprintf(stderr,"dbg2 heading: %f\n",*heading); fprintf(stderr,"dbg2 distance: %f\n",*distance); fprintf(stderr,"dbg2 altitude: %f\n",*altitude); fprintf(stderr,"dbg2 sonardepth: %f\n",*sonardepth); } if (verbose >= 2 && *error <= MB_ERROR_NO_ERROR && *kind == MB_DATA_DATA) { fprintf(stderr,"dbg2 nbath: %d\n",*nbath); if (verbose >= 3 && *nbath > 0) { fprintf(stderr,"dbg3 beam flag bath crosstrack alongtrack\n"); for (i=0;i<*nbath;i++) fprintf(stderr,"dbg3 %4d %3d %f %f %f\n", i,beamflag[i],bath[i], bathacrosstrack[i],bathalongtrack[i]); } fprintf(stderr,"dbg2 namp: %d\n",*namp); if (verbose >= 3 && *namp > 0) { fprintf(stderr,"dbg3 beam amp crosstrack alongtrack\n"); for (i=0;i<*namp;i++) fprintf(stderr,"dbg3 %4d %f %f %f\n", i,amp[i], bathacrosstrack[i],bathalongtrack[i]); } fprintf(stderr,"dbg2 nss: %d\n",*nss); if (verbose >= 3 && *nss > 0) { fprintf(stderr,"dbg3 pixel sidescan crosstrack alongtrack\n"); for (i=0;i<*nss;i++) fprintf(stderr,"dbg3 %4d %f %f %f\n", i,ss[i], ssacrosstrack[i],ssalongtrack[i]); } } if (verbose >= 2) { fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/