/*-------------------------------------------------------------------- * The MB-system: mbr_dsl120pf.c 8/6/96 * $Id: mbr_dsl120pf.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1996-2012 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. *--------------------------------------------------------------------*/ /* * mbr_dsl120pf.c contains the functions for reading and writing * multibeam data in the DSL120SF format. * These functions include: * mbr_alm_dsl120pf - allocate read/write memory * mbr_dem_dsl120pf - deallocate read/write memory * mbr_rt_dsl120pf - read and translate data * mbr_wt_dsl120pf - translate and write data * * Author: D. W. Caress * Date: August 6, 1996 * $Log: mbr_dsl120pf.c,v $ * Revision 5.9 2005/11/05 00:48:03 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.8 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.7 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.6 2002/09/25 20:41:04 caress * Fixed old DSL120 format. * * Revision 5.5 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.4 2001/07/20 00:31:11 caress * Release 5.0.beta03 * * Revision 5.3 2001/03/22 20:45:56 caress * Trying to make 5.0.beta0... * * Revision 5.2 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.1 2000/12/10 20:26:50 caress * Version 5.0.alpha02 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.5 2000/10/11 01:02:30 caress * Convert to ANSI C * * Revision 4.4 2000/09/30 06:34:20 caress * Snapshot for Dale. * * Revision 4.3 1999/12/29 00:34:06 caress * Release 4.6.8 * * Revision 4.2 1998/10/05 17:46:15 caress * MB-System version 4.6beta * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1997/04/17 15:07:36 caress * MB-System 4.5 Beta Release * * Revision 4.0 1996/08/26 17:29:56 caress * Release 4.4 revision. * * Revision 1.1 1996/08/26 17:24:56 caress * Initial revision * * * */ /* 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_dsl.h" #include "../../include/mbf_dsl120pf.h" /* essential function prototypes */ int mbr_register_dsl120pf(int verbose, void *mbio_ptr, int *error); int mbr_info_dsl120pf(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_dsl120pf(int verbose, void *mbio_ptr, int *error); int mbr_dem_dsl120pf(int verbose, void *mbio_ptr, int *error); int mbr_zero_dsl120pf(int verbose, char *data_ptr, int *error); int mbr_rt_dsl120pf(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_dsl120pf(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_dsl120pf_rd_data(int verbose, void *mbio_ptr, int *error); int mbr_dsl120pf_rd_header(int verbose, void *mbio_ptr, FILE *mbfp, int *error); int mbr_dsl120pf_rd_dataheader(int verbose, void *mbio_ptr, FILE *mbfp, char *type, int *len, int *hdr_len, int *error); int mbr_dsl120pf_rd_bath(int verbose, void *mbio_ptr, FILE *mbfp, int *error); int mbr_dsl120pf_rd_amp(int verbose, void *mbio_ptr, FILE *mbfp, int *error); int mbr_dsl120pf_rd_comment(int verbose, void *mbio_ptr, FILE *mbfp, int *error); int mbr_dsl120pf_wr_data(int verbose, void *mbio_ptr, char *data_ptr, int *error); int mbr_dsl120pf_wr_bath(int verbose, void *mbio_ptr, FILE *mbfp, int *error); int mbr_dsl120pf_wr_amp(int verbose, void *mbio_ptr, FILE *mbfp, int *error); int mbr_dsl120pf_wr_comment(int verbose, void *mbio_ptr, FILE *mbfp, int *error); static char rcs_id[]="$Id: mbr_dsl120pf.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_dsl120pf(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_dsl120pf"; 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_dsl120pf(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_dsl120pf; mb_io_ptr->mb_io_format_free = &mbr_dem_dsl120pf; mb_io_ptr->mb_io_store_alloc = &mbsys_dsl_alloc; mb_io_ptr->mb_io_store_free = &mbsys_dsl_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_dsl120pf; mb_io_ptr->mb_io_write_ping = &mbr_wt_dsl120pf; mb_io_ptr->mb_io_dimensions = &mbsys_dsl_dimensions; mb_io_ptr->mb_io_extract = &mbsys_dsl_extract; mb_io_ptr->mb_io_insert = &mbsys_dsl_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_dsl_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_dsl_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_dsl_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = NULL; mb_io_ptr->mb_io_insert_svp = NULL; mb_io_ptr->mb_io_ttimes = &mbsys_dsl_ttimes; mb_io_ptr->mb_io_detects = &mbsys_dsl_detects; mb_io_ptr->mb_io_copyrecord = &mbsys_dsl_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_dsl120pf(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_dsl120pf"; 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_DSL; *beams_bath_max = 2048; *beams_amp_max = 0; *pixels_ss_max = 8192; strncpy(format_name, "DSL120PF", MB_NAME_LENGTH); strncpy(system_name, "DSL", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_DSL120PF\nInformal Description: WHOI DSL AMS-120 processed format\nAttributes: 2048 beam bathymetry, 8192 pixel sidescan,\n binary, parallel bathymetry and amplitude files, WHOI DSL.\n", MB_DESCRIPTION_LENGTH); *numfile = -2; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_NO; *traveltime = MB_NO; *beam_flagging = MB_YES; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_NONE; *beamwidth_xtrack = 0.0; *beamwidth_ltrack = 0.0; /* 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_dsl120pf(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_dsl120pf"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; char *tag_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 */ mb_io_ptr->structure_size = sizeof(struct mbf_dsl120pf_struct); mb_io_ptr->data_structure_size = 0; status = mb_malloc(verbose,mb_io_ptr->structure_size, &mb_io_ptr->raw_data,error); status = mbsys_dsl_alloc( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* initialize everything to zeros */ mbr_zero_dsl120pf(verbose,mb_io_ptr->raw_data,error); /* get pointer to data descriptor */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; /* now handle parallel files - find if the user specified file is the bathymetry or amplitude and construct the second filename from the first - files actually opened in mb_read_init.c and mb_write_init.c */ if ((tag_ptr = strstr(mb_io_ptr->file, "bat")) != NULL) { /* get the corresponding amp file name */ strcpy(mb_io_ptr->file2, mb_io_ptr->file); tag_ptr = strstr(mb_io_ptr->file2, "bat"); tag_ptr[0] = 'a'; tag_ptr[1] = 'm'; tag_ptr[2] = 'p'; } else if ((tag_ptr = strstr(mb_io_ptr->file, "amp")) != NULL) { /* move the amp file name to second position */ strcpy(mb_io_ptr->file2, mb_io_ptr->file); /* get the corresponding amp file name */ tag_ptr = strstr(mb_io_ptr->file, "amp"); tag_ptr[0] = 'b'; tag_ptr[1] = 'a'; tag_ptr[2] = 't'; } /* 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_dsl120pf(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_dsl120pf"; 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_free(verbose,&mb_io_ptr->raw_data,error); status = mbsys_dsl_deall( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_zero_dsl120pf(int verbose, char *data_ptr, int *error) { char *function_name = "mbr_zero_dsl120pf"; int status = MB_SUCCESS; struct mbf_dsl120pf_struct *data; 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 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to data descriptor */ data = (struct mbf_dsl120pf_struct *) data_ptr; /* initialize everything to zeros */ if (data != NULL) { /* initialize everything */ data->kind = MB_DATA_NONE; data->rec_type = DSL_NONE; data->rec_len = 0; data->rec_hdr_len = 0; data->p_flags = 0; data->num_data_types = 0; data->ping = 0; for (i=0;i<4;i++) data->sonar_cmd[i] = '\0'; for (i=0;i<24;i++) data->time_stamp[i] = '\0'; data->nav_x = 0.0; data->nav_y = 0.0; data->depth = 0.0; data->heading = 0.0; data->pitch = 0.0; data->roll = 0.0; data->alt = 0.0; data->ang_offset = 0.0; data->transmit_pwr = 0; data->gain_port = 0; data->gain_starbd = 0; data->pulse_width = 0.0; data->swath_width = 0; data->side = 0; data->swapped = 3; data->tv_sec = 0; data->tv_usec = 0; data->interface = 0; for (i=0;i<5;i++) data->reserved[i] = 0; data->bat_type = DSL_BATH; data->bat_len = 0; data->bat_hdr_len = 0; data->bat_num_bins = 0; data->bat_sampleSize = 0.0; data->bat_p_flags = 0; data->bat_max_range = 0.0; for (i=0;i<10;i++) data->bat_future[i] = 0; for (i=0;ibat_port[i] = 0.0; data->bat_stbd[i] = 0.0; } data->amp_type = DSL_AMP; data->amp_len = 0; data->amp_hdr_len = 0; data->amp_num_samp = 0; data->amp_sampleSize = 0.0; data->amp_p_flags = 0; data->amp_max_range = 0.0; data->amp_channel = 0.0; for (i=0;i<9;i++) data->amp_future[i] = 0; for (i=0;iamp_port[i] = 0.0; data->amp_stbd[i] = 0.0; } for (i=0;icomment[i] = '\0'; } /* assume success */ status = MB_SUCCESS; *error = MB_ERROR_NO_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_dsl120pf(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_dsl120pf"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; struct mbsys_dsl_struct *store; 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); 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; data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; store = (struct mbsys_dsl_struct *) store_ptr; /* read next data from file */ status = mbr_dsl120pf_rd_data(verbose,mbio_ptr,error); /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = data->kind; /* translate values to dsl data storage structure */ if (status == MB_SUCCESS && store != NULL) { store->kind = data->kind; store->rec_type = data->rec_type; store->rec_len = data->rec_len; store->rec_hdr_len = data->rec_hdr_len; store->p_flags = data->p_flags; store->num_data_types = data->num_data_types; store->ping = data->ping; for (i=0;i<4;i++) store->sonar_cmd[i] = data->sonar_cmd[i]; for (i=0;i<24;i++) store->time_stamp[i] = data->time_stamp[i]; store->nav_x = data->nav_x; store->nav_y = data->nav_y; store->depth = data->depth; store->heading = data->heading; store->pitch = data->pitch; store->roll = data->roll; store->alt = data->alt; store->ang_offset = data->ang_offset; store->transmit_pwr = data->transmit_pwr; store->gain_port = data->gain_port; store->gain_starbd = data->gain_starbd; store->pulse_width = data->pulse_width; store->swath_width = data->swath_width; store->side = data->side; store->swapped = data->swapped; store->tv_sec = data->tv_sec; store->tv_usec = data->tv_usec; store->interface = data->interface; for (i=0;i<5;i++) store->reserved[i] = data->reserved[i]; store->bat_type = data->bat_type; store->bat_len = data->bat_len; store->bat_hdr_len = data->bat_hdr_len; store->bat_num_bins = data->bat_num_bins; store->bat_sampleSize = data->bat_sampleSize; store->bat_p_flags = data->bat_p_flags; store->bat_max_range = data->bat_max_range; for (i=0;i<10;i++) store->bat_future[i] = data->bat_future[i]; for (i=0;ibat_port[i] = data->bat_port[i]; store->bat_stbd[i] = data->bat_stbd[i]; } store->amp_type = data->amp_type; store->amp_len = data->amp_len; store->amp_hdr_len = data->amp_hdr_len; store->amp_num_samp = data->amp_num_samp; store->amp_sampleSize = data->amp_sampleSize; store->amp_p_flags = data->amp_p_flags; store->amp_max_range = data->amp_max_range; store->amp_channel = data->amp_channel; for (i=0;i<9;i++) store->amp_future[i] = data->amp_future[i]; for (i=0;iamp_port[i] = data->amp_port[i]; store->amp_stbd[i] = data->amp_stbd[i]; } strncpy(store->comment, data->comment, MBSYS_DSL_COMMENT_LENGTH - 1); } /* 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_dsl120pf(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_dsl120pf"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; struct mbsys_dsl_struct *store; char *data_ptr; 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); 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 raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; store = (struct mbsys_dsl_struct *) store_ptr; /* first translate values from data storage structure */ if (store != NULL) { data->kind = store->kind; data->rec_type = store->rec_type; data->rec_len = store->rec_len; data->rec_hdr_len = store->rec_hdr_len; data->p_flags = store->p_flags; data->num_data_types = store->num_data_types; data->ping = store->ping; for (i=0;i<4;i++) data->sonar_cmd[i] = store->sonar_cmd[i]; for (i=0;i<24;i++) data->time_stamp[i] = store->time_stamp[i]; data->nav_x = store->nav_x; data->nav_y = store->nav_y; data->depth = store->depth; data->heading = store->heading; data->pitch = store->pitch; data->roll = store->roll; data->alt = store->alt; data->ang_offset = store->ang_offset; data->transmit_pwr = store->transmit_pwr; data->gain_port = store->gain_port; data->gain_starbd = store->gain_starbd; data->pulse_width = store->pulse_width; data->swath_width = store->swath_width; data->side = store->side; data->swapped = store->swapped; data->tv_sec = store->tv_sec; data->tv_usec = store->tv_usec; data->interface = store->interface; for (i=0;i<5;i++) data->reserved[i] = store->reserved[i]; data->bat_type = store->bat_type; data->bat_len = store->bat_len; data->bat_hdr_len = store->bat_hdr_len; data->bat_num_bins = store->bat_num_bins; data->bat_sampleSize = store->bat_sampleSize; data->bat_p_flags = store->bat_p_flags; data->bat_max_range = store->bat_max_range; for (i=0;i<10;i++) data->bat_future[i] = store->bat_future[i]; for (i=0;ibat_port[i] = store->bat_port[i]; data->bat_stbd[i] = store->bat_stbd[i]; } data->amp_type = store->amp_type; data->amp_len = store->amp_len; data->amp_hdr_len = store->amp_hdr_len; data->amp_num_samp = store->amp_num_samp; data->amp_sampleSize = store->amp_sampleSize; data->amp_p_flags = store->amp_p_flags; data->amp_max_range = store->amp_max_range; data->amp_channel = store->amp_channel; for (i=0;i<9;i++) data->amp_future[i] = store->amp_future[i]; for (i=0;iamp_port[i] = store->amp_port[i]; data->amp_stbd[i] = store->amp_stbd[i]; } strncpy(data->comment, store->comment, MBF_DSL120PF_COMMENT_LENGTH - 1); } /* write next data to file */ status = mbr_dsl120pf_wr_data(verbose,mbio_ptr,data_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_dsl120pf_rd_data(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dsl120pf_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; char *data_ptr; char tag[5]; char type[5]; int len; int hdr_len; int found; 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 raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* read first file */ if (mb_io_ptr->mbfp != NULL) { /* read next four bytes */ found = MB_NO; status = fread(tag, 1, 4, mb_io_ptr->mbfp); if (status == 4) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* if tag not found read single bytes until found or end of file */ while (found == MB_NO && status == MB_SUCCESS) { /* look for "DSL " tag at start of record */ if (strncmp(tag, "DSL ", 4) == 0) found = MB_YES; /* read next byte */ if (found == MB_NO) { for (i=0;i<3;i++) tag[i] = tag[i+1]; status = fread(&tag[3], 1, 1, mb_io_ptr->mbfp); if (status == 1) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* now read the rest of the header */ if (status == MB_SUCCESS) status = mbr_dsl120pf_rd_header(verbose,mbio_ptr, mb_io_ptr->mbfp,error); /* now read each of the data records */ if (status == MB_SUCCESS) for (i=0;inum_data_types;i++) { status = mbr_dsl120pf_rd_dataheader( verbose,mbio_ptr, mb_io_ptr->mbfp, type,&len,&hdr_len,error); if (status == MB_SUCCESS && strncmp(type, "BATH", 4) == 0) { data->bat_len = len; data->bat_hdr_len = hdr_len; status = mbr_dsl120pf_rd_bath( verbose,mbio_ptr, mb_io_ptr->mbfp,error); if (status == MB_SUCCESS) data->kind = MB_DATA_DATA; } else if (status == MB_SUCCESS && strncmp(type, "AMP ", 4) == 0) { data->amp_len = len; data->amp_hdr_len = hdr_len; status = mbr_dsl120pf_rd_amp( verbose,mbio_ptr, mb_io_ptr->mbfp,error); if (status == MB_SUCCESS) data->kind = MB_DATA_DATA; } else if (status == MB_SUCCESS && strncmp(type, "COMM", 4) == 0) { status = mbr_dsl120pf_rd_comment( verbose,mbio_ptr, mb_io_ptr->mbfp,error); if (status == MB_SUCCESS) data->kind = MB_DATA_COMMENT; } } } /* read second file */ if (status == MB_SUCCESS && data->kind == MB_DATA_DATA && mb_io_ptr->mbfp2 != NULL) { /* read next four bytes */ found = MB_NO; status = fread(tag, 1, 4, mb_io_ptr->mbfp2); if (status == 4) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* if tag not found read single bytes until found or end of file */ while (found == MB_NO && status == MB_SUCCESS) { /* look for "DSL " tag at start of record */ if (strncmp(tag, "DSL ", 4) == 0) found = MB_YES; /* read next byte */ if (found == MB_NO) { for (i=0;i<3;i++) tag[i] = tag[i+1]; status = fread(&tag[3], 1, 1, mb_io_ptr->mbfp2); if (status == 1) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } } } /* now read the rest of the header */ if (status == MB_SUCCESS) status = mbr_dsl120pf_rd_header(verbose,mbio_ptr, mb_io_ptr->mbfp2,error); /* now read each of the data records */ if (status == MB_SUCCESS) for (i=0;inum_data_types;i++) { status = mbr_dsl120pf_rd_dataheader( verbose,mbio_ptr, mb_io_ptr->mbfp2, type,&len,&hdr_len,error); if (status == MB_SUCCESS && strncmp(type, "BATH", 4) == 0) { data->bat_len = len; data->bat_hdr_len = hdr_len; status = mbr_dsl120pf_rd_bath( verbose,mbio_ptr, mb_io_ptr->mbfp2,error); if (status == MB_SUCCESS) data->kind = MB_DATA_DATA; } else if (status == MB_SUCCESS && strncmp(type, "AMP ", 4) == 0) { data->amp_len = len; data->amp_hdr_len = hdr_len; status = mbr_dsl120pf_rd_amp( verbose,mbio_ptr, mb_io_ptr->mbfp2,error); if (status == MB_SUCCESS) data->kind = MB_DATA_DATA; } else if (status == MB_SUCCESS && strncmp(type, "COMM", 4) == 0) { status = mbr_dsl120pf_rd_comment( verbose,mbio_ptr, mb_io_ptr->mbfp2,error); if (status == MB_SUCCESS) data->kind = MB_DATA_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_dsl120pf_rd_header(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_rd_header"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; char *data_ptr; char buffer[124]; int tmp_int; float tmp_float; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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 raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* read header */ status = fread(buffer, 1, 124, mbfp); if (status == 124) { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* translate header */ if (status == MB_SUCCESS) { data->rec_type = DSL_HEADER; index = 0; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->rec_len); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->rec_hdr_len); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&tmp_int); if (tmp_int != 0) data->p_flags = tmp_int; index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->num_data_types); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->ping); index += 4; for (i=0;i<4;i++) { data->sonar_cmd[i] = buffer[index]; index++; } for (i=0;i<24;i++) { data->time_stamp[i] = buffer[index]; index++; } mb_get_binary_float(MB_NO, &buffer[index], &data->nav_x); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->nav_y); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->depth); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->heading); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->pitch); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->roll); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &tmp_float); if (tmp_int != 0) data->alt = tmp_float; index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->ang_offset); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->transmit_pwr); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->gain_port); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->gain_starbd); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->pulse_width); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->swath_width); index += 4; data->side = buffer[index]; index++; data->swapped = buffer[index]; index++; index += 2; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->tv_sec); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->tv_usec); index += 4; mb_get_binary_short(MB_NO,&buffer[index],&data->interface); index += 2; for (i=0;i<5;i++) { mb_get_binary_short(MB_NO,&buffer[index],&data->reserved[i]); index += 2; } } /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 rec_type: %d\n",data->rec_type); fprintf(stderr,"dbg5 rec_len: %d\n",data->rec_len); fprintf(stderr,"dbg5 rec_hdr_len: %d\n",data->rec_hdr_len); fprintf(stderr,"dbg5 p_flags: %d (actually: %d)\n",data->p_flags, tmp_int); fprintf(stderr,"dbg5 num_data_types: %d\n",data->num_data_types); fprintf(stderr,"dbg5 ping: %d\n",data->ping); fprintf(stderr,"dbg5 sonar_cmd: %c%c%c%c\n", data->sonar_cmd[0], data->sonar_cmd[1], data->sonar_cmd[2], data->sonar_cmd[3]); fprintf(stderr,"dbg5 time_stamp: "); for (i=0;i<24;i++) fprintf(stderr,"%c", data->time_stamp[i]); fprintf(stderr, "\n"); fprintf(stderr,"dbg5 nav_x: %f\n",data->nav_x); fprintf(stderr,"dbg5 nav_y: %f\n",data->nav_y); fprintf(stderr,"dbg5 depth: %f\n",data->depth); fprintf(stderr,"dbg5 heading: %f\n",data->heading); fprintf(stderr,"dbg5 pitch: %f\n",data->pitch); fprintf(stderr,"dbg5 roll: %f\n",data->roll); fprintf(stderr,"dbg5 alt: %f (actually: %f)\n", data->alt, tmp_float); fprintf(stderr,"dbg5 ang_offset: %f\n",data->ang_offset); fprintf(stderr,"dbg5 transmit_pwr: %d\n",data->transmit_pwr); fprintf(stderr,"dbg5 gain_port: %d\n",data->gain_port); fprintf(stderr,"dbg5 gain_starbd: %d\n",data->gain_starbd); fprintf(stderr,"dbg5 pulse_width: %f\n",data->pulse_width); fprintf(stderr,"dbg5 swath_width: %d\n",data->swath_width); fprintf(stderr,"dbg5 side: %c\n",data->side); fprintf(stderr,"dbg5 swapped: %c\n",data->swapped); fprintf(stderr,"dbg5 tv_sec: %d\n",data->tv_sec); fprintf(stderr,"dbg5 tv_usec: %d\n",data->tv_usec); fprintf(stderr,"dbg5 interface: %d\n",data->interface); for (i=0;i<5;i++) fprintf(stderr,"dbg5 reserved: %d\n", data->reserved[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_dsl120pf_rd_dataheader(int verbose, void *mbio_ptr, FILE *mbfp, char *type, int *len, int *hdr_len, int *error) { char *function_name = "mbr_dsl120pf_rd_dataheader"; int status = MB_SUCCESS; char buffer[12]; int index; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); } /* read header */ status = fread(buffer, 1, 12, mbfp); if (status == 12) { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* translate header */ if (status == MB_SUCCESS) { strncpy(type, buffer, 4); index = 4; mb_get_binary_int(MB_NO,&buffer[index],len); index += 4; mb_get_binary_int(MB_NO,&buffer[index],hdr_len); index += 4; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 type: %s\n",type); fprintf(stderr,"dbg2 len: %d\n",*len); fprintf(stderr,"dbg2 hdr_len: %d\n",*hdr_len); 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_dsl120pf_rd_bath(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_rd_bath"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; int read_bytes; char *data_ptr; char buffer[10000]; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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 raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* read bath record */ read_bytes = data->bat_len - 12; status = fread(buffer, 1, read_bytes, mbfp); if (status == read_bytes) { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* translate header and data */ if (status == MB_SUCCESS) { index = 0; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->bat_num_bins); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->bat_sampleSize); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->bat_p_flags); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->bat_max_range); index += 4; for (i=0;i<9;i++) { mb_get_binary_int(MB_NO,&buffer[index], &data->bat_future[i]); index += 4; } for (i=0;ibat_num_bins;i++) { mb_get_binary_float(MB_NO,&buffer[index], &data->bat_port[i]); index += 4; mb_get_binary_float(MB_NO,&buffer[index], &data->bat_stbd[i]); index += 4; } } /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 bat_type: %d\n",data->bat_type); fprintf(stderr,"dbg5 bat_len: %d\n",data->bat_len); fprintf(stderr,"dbg5 bat_hdr_len: %d\n",data->bat_hdr_len); fprintf(stderr,"dbg5 bat_num_bins: %d\n",data->bat_num_bins); fprintf(stderr,"dbg5 bat_sampleSize: %f\n",data->bat_sampleSize); fprintf(stderr,"dbg5 bat_p_flags: %d\n",data->bat_p_flags); fprintf(stderr,"dbg5 bat_max_range: %f\n",data->bat_max_range); for (i=0;i<9;i++) fprintf(stderr,"dbg5 bat_future: %d\n", data->bat_future[i]); for (i=0;ibat_num_bins;i++) fprintf(stderr,"dbg5 bath[%d]: %f\t%f\n", i, data->bat_port[i], data->bat_stbd[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_dsl120pf_rd_amp(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_rd_amp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; int read_bytes; char *data_ptr; char buffer[10000]; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 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 raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* read amp record */ read_bytes = data->amp_len - 12; status = fread(buffer, 1, read_bytes, mbfp); if (status == read_bytes) { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* translate header and data */ if (status == MB_SUCCESS) { index = 0; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->amp_num_samp); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->amp_sampleSize); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->amp_p_flags); index += 4; mb_get_binary_float(MB_NO, &buffer[index], &data->amp_max_range); index += 4; mb_get_binary_int(MB_NO, &buffer[index], (int *)&data->amp_channel); index += 4; for (i=0;i<8;i++) { mb_get_binary_int(MB_NO,&buffer[index], &data->amp_future[i]); index += 4; } for (i=0;ibat_num_bins;i++) { mb_get_binary_float(MB_NO,&buffer[index], &data->amp_port[i]); index += 4; mb_get_binary_float(MB_NO,&buffer[index], &data->amp_stbd[i]); index += 4; } } /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 amp_type: %d\n",data->amp_type); fprintf(stderr,"dbg5 amp_len: %d\n",data->amp_len); fprintf(stderr,"dbg5 amp_hdr_len: %d\n",data->amp_hdr_len); fprintf(stderr,"dbg5 amp_num_samp: %d\n",data->amp_num_samp); fprintf(stderr,"dbg5 amp_sampleSize: %f\n",data->amp_sampleSize); fprintf(stderr,"dbg5 amp_p_flags: %d\n",data->amp_p_flags); fprintf(stderr,"dbg5 amp_max_range: %f\n",data->amp_max_range); fprintf(stderr,"dbg5 amp_channel: %d\n",data->amp_channel); for (i=0;i<8;i++) fprintf(stderr,"dbg5 amp_future: %d\n", data->amp_future[i]); for (i=0;iamp_num_samp;i++) fprintf(stderr,"dbg5 amp[%d]: %f\t%f\n", i, data->amp_port[i], data->amp_stbd[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_dsl120pf_rd_comment(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_rd_comment"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; int read_bytes; char *data_ptr; char buffer[80]; /* 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 raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* read comment record */ read_bytes = 80; status = fread(buffer, 1, read_bytes, mbfp); if (status == read_bytes) { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; } else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* copy comment */ if (status == MB_SUCCESS) { strncpy(data->comment, buffer, 79); data->comment[79] = '\0'; } /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->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_dsl120pf_wr_data(int verbose, void *mbio_ptr, char *data_ptr, int *error) { char *function_name = "mbr_dsl120pf_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; /* 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 data_ptr: %lu\n",(size_t)data_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_dsl120pf_struct *) data_ptr; if (data->kind == MB_DATA_COMMENT) { status = mbr_dsl120pf_wr_comment(verbose,mbio_ptr,mb_io_ptr->mbfp,error); } else if (data->kind == MB_DATA_DATA) { if (data->bat_num_bins > 0) status = mbr_dsl120pf_wr_bath(verbose, mbio_ptr,mb_io_ptr->mbfp,error); else if (data->amp_num_samp > 0) status = mbr_dsl120pf_wr_amp(verbose, mbio_ptr,mb_io_ptr->mbfp,error); if (mb_io_ptr->mbfp2 != NULL && data->amp_num_samp > 0) status = mbr_dsl120pf_wr_amp(verbose, mbio_ptr,mb_io_ptr->mbfp2,error); } else { 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",data->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_dsl120pf_wr_bath(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_wr_bath"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; char *data_ptr; char buffer[10000]; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values to write in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 rec_type: %d\n",data->rec_type); fprintf(stderr,"dbg5 rec_len: %d\n",data->rec_len); fprintf(stderr,"dbg5 rec_hdr_len: %d\n",data->rec_hdr_len); fprintf(stderr,"dbg5 p_flags: %d\n",data->p_flags); fprintf(stderr,"dbg5 num_data_types: %d\n",data->num_data_types); fprintf(stderr,"dbg5 ping: %d\n",data->ping); fprintf(stderr,"dbg5 sonar_cmd: %c%c%c%c\n", data->sonar_cmd[0], data->sonar_cmd[1], data->sonar_cmd[2], data->sonar_cmd[3]); fprintf(stderr,"dbg5 time_stamp: "); for (i=0;i<24;i++) fprintf(stderr,"%c", data->time_stamp[i]); fprintf(stderr, "\n"); fprintf(stderr,"dbg5 nav_x: %f\n",data->nav_x); fprintf(stderr,"dbg5 nav_y: %f\n",data->nav_y); fprintf(stderr,"dbg5 depth: %f\n",data->depth); fprintf(stderr,"dbg5 heading: %f\n",data->heading); fprintf(stderr,"dbg5 pitch: %f\n",data->pitch); fprintf(stderr,"dbg5 roll: %f\n",data->roll); fprintf(stderr,"dbg5 alt: %f\n",data->alt); fprintf(stderr,"dbg5 ang_offset: %f\n",data->ang_offset); fprintf(stderr,"dbg5 transmit_pwr: %d\n",data->transmit_pwr); fprintf(stderr,"dbg5 gain_port: %d\n",data->gain_port); fprintf(stderr,"dbg5 gain_starbd: %d\n",data->gain_starbd); fprintf(stderr,"dbg5 pulse_width: %f\n",data->pulse_width); fprintf(stderr,"dbg5 swath_width: %d\n",data->swath_width); fprintf(stderr,"dbg5 side: %c\n",data->side); fprintf(stderr,"dbg5 swapped: %c\n",data->swapped); fprintf(stderr,"dbg5 tv_sec: %d\n",data->tv_sec); fprintf(stderr,"dbg5 tv_usec: %d\n",data->tv_usec); fprintf(stderr,"dbg5 interface: %d\n",data->interface); for (i=0;i<5;i++) fprintf(stderr,"dbg5 reserved: %d\n", data->reserved[i]); fprintf(stderr,"dbg5 bat_type: %d\n",data->bat_type); fprintf(stderr,"dbg5 bat_len: %d\n",data->bat_len); fprintf(stderr,"dbg5 bat_hdr_len: %d\n",data->bat_hdr_len); fprintf(stderr,"dbg5 bat_num_bins: %d\n",data->bat_num_bins); fprintf(stderr,"dbg5 bat_sampleSize: %f\n",data->bat_sampleSize); fprintf(stderr,"dbg5 bat_p_flags: %d\n",data->bat_p_flags); fprintf(stderr,"dbg5 bat_max_range: %f\n",data->bat_max_range); for (i=0;i<9;i++) fprintf(stderr,"dbg5 bat_future: %d\n", data->bat_future[i]); for (i=0;ibat_num_bins;i++) fprintf(stderr,"dbg5 bath[%d]: %f\t%f\n", i, data->bat_port[i], data->bat_stbd[i]); } /* construct header record */ index = 0; mb_put_binary_int(MB_NO,DSL_HEADER,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->rec_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->rec_hdr_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->p_flags,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->num_data_types,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->ping,&buffer[index]); index += 4; for (i=0;i<4;i++) { buffer[index] = data->sonar_cmd[i]; index++; } for (i=0;i<24;i++) { buffer[index] = data->time_stamp[i]; index++; } mb_put_binary_float(MB_NO,data->nav_x,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->nav_y,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->depth,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->heading,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->pitch,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->roll,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->alt,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->ang_offset,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->transmit_pwr,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->gain_port,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->gain_starbd,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->pulse_width,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->swath_width,&buffer[index]); index += 4; buffer[index] = data->side; index++; buffer[index] = data->swapped; index++; index += 2; mb_put_binary_int(MB_NO,data->tv_sec,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->tv_usec,&buffer[index]); index += 4; mb_put_binary_short(MB_NO,data->interface,&buffer[index]); index += 2; for (i=0;i<5;i++) { mb_put_binary_short(MB_NO,data->reserved[i],&buffer[index]); index += 2; } /* construct bathymetry record */ mb_put_binary_int(MB_NO,data->bat_type,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->bat_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->bat_hdr_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->bat_num_bins,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->bat_sampleSize,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->bat_p_flags,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->bat_max_range,&buffer[index]); index += 4; for (i=0;i<9;i++) { mb_put_binary_int(MB_NO,data->bat_future[i],&buffer[index]); index += 4; } for (i=0;ibat_num_bins;i++) { mb_put_binary_float(MB_NO,data->bat_port[i],&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->bat_stbd[i],&buffer[index]); index += 4; } /* write the record */ status = fwrite(buffer,1,data->rec_len,mbfp); if (status != data->rec_len) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* 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_dsl120pf_wr_amp(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_wr_amp"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; char *data_ptr; char buffer[10000]; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values to write in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 rec_type: %d\n",data->rec_type); fprintf(stderr,"dbg5 rec_len: %d\n",data->rec_len); fprintf(stderr,"dbg5 rec_hdr_len: %d\n",data->rec_hdr_len); fprintf(stderr,"dbg5 p_flags: %d\n",data->p_flags); fprintf(stderr,"dbg5 num_data_types: %d\n",data->num_data_types); fprintf(stderr,"dbg5 ping: %d\n",data->ping); fprintf(stderr,"dbg5 sonar_cmd: %c%c%c%c\n", data->sonar_cmd[0], data->sonar_cmd[1], data->sonar_cmd[2], data->sonar_cmd[3]); fprintf(stderr,"dbg5 time_stamp: "); for (i=0;i<24;i++) fprintf(stderr,"%c", data->time_stamp[i]); fprintf(stderr, "\n"); fprintf(stderr,"dbg5 nav_x: %f\n",data->nav_x); fprintf(stderr,"dbg5 nav_y: %f\n",data->nav_y); fprintf(stderr,"dbg5 depth: %f\n",data->depth); fprintf(stderr,"dbg5 heading: %f\n",data->heading); fprintf(stderr,"dbg5 pitch: %f\n",data->pitch); fprintf(stderr,"dbg5 roll: %f\n",data->roll); fprintf(stderr,"dbg5 alt: %f\n",data->alt); fprintf(stderr,"dbg5 ang_offset: %f\n",data->ang_offset); fprintf(stderr,"dbg5 transmit_pwr: %d\n",data->transmit_pwr); fprintf(stderr,"dbg5 gain_port: %d\n",data->gain_port); fprintf(stderr,"dbg5 gain_starbd: %d\n",data->gain_starbd); fprintf(stderr,"dbg5 pulse_width: %f\n",data->pulse_width); fprintf(stderr,"dbg5 swath_width: %d\n",data->swath_width); fprintf(stderr,"dbg5 side: %c\n",data->side); fprintf(stderr,"dbg5 swapped: %c\n",data->swapped); fprintf(stderr,"dbg5 tv_sec: %d\n",data->tv_sec); fprintf(stderr,"dbg5 tv_usec: %d\n",data->tv_usec); fprintf(stderr,"dbg5 interface: %d\n",data->interface); for (i=0;i<5;i++) fprintf(stderr,"dbg5 reserved: %d\n", data->reserved[i]); fprintf(stderr,"dbg5 amp_type: %d\n",data->amp_type); fprintf(stderr,"dbg5 amp_len: %d\n",data->amp_len); fprintf(stderr,"dbg5 amp_hdr_len: %d\n",data->amp_hdr_len); fprintf(stderr,"dbg5 amp_num_samp: %d\n",data->amp_num_samp); fprintf(stderr,"dbg5 amp_sampleSize: %f\n",data->amp_sampleSize); fprintf(stderr,"dbg5 amp_p_flags: %d\n",data->amp_p_flags); fprintf(stderr,"dbg5 amp_max_range: %f\n",data->amp_max_range); fprintf(stderr,"dbg5 amp_channel: %d\n",data->amp_channel); for (i=0;i<8;i++) fprintf(stderr,"dbg5 amp_future: %d\n", data->amp_future[i]); for (i=0;iamp_num_samp;i++) fprintf(stderr,"dbg5 amp[%d]: %f\t%f\n", i, data->amp_port[i], data->amp_stbd[i]); } /* construct header record */ index = 0; mb_put_binary_int(MB_NO,DSL_HEADER,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->rec_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->rec_hdr_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,(int)0,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->num_data_types,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->ping,&buffer[index]); index += 4; for (i=0;i<4;i++) { buffer[index] = data->sonar_cmd[i]; index++; } for (i=0;i<24;i++) { buffer[index] = data->time_stamp[i]; index++; } mb_put_binary_float(MB_NO,data->nav_x,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->nav_y,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->depth,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->heading,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->pitch,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->roll,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,(float)-0.1,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->ang_offset,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->transmit_pwr,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->gain_port,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->gain_starbd,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->pulse_width,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->swath_width,&buffer[index]); index += 4; buffer[index] = data->side; index++; buffer[index] = data->swapped; index++; index += 2; mb_put_binary_int(MB_NO,data->tv_sec,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->tv_usec,&buffer[index]); index += 4; mb_put_binary_short(MB_NO,data->interface,&buffer[index]); index += 2; for (i=0;i<5;i++) { mb_put_binary_short(MB_NO,data->reserved[i],&buffer[index]); index += 2; } /* construct amplitude record */ mb_put_binary_int(MB_NO,data->amp_type,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->amp_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->amp_hdr_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->amp_num_samp,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->amp_sampleSize,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->amp_p_flags,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->amp_max_range,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->amp_channel,&buffer[index]); index += 4; for (i=0;i<8;i++) { mb_put_binary_int(MB_NO,data->amp_future[i],&buffer[index]); index += 4; } for (i=0;ibat_num_bins;i++) { mb_put_binary_float(MB_NO,data->amp_port[i],&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->amp_stbd[i],&buffer[index]); index += 4; } /* write the record */ status = fwrite(buffer,1,data->rec_len,mbfp); if (status != data->rec_len) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* 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_dsl120pf_wr_comment(int verbose, void *mbio_ptr, FILE *mbfp, int *error) { char *function_name = "mbr_dsl120pf_wr_comment"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbf_dsl120pf_struct *data; char *data_ptr; char buffer[10000]; int index; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ data = (struct mbf_dsl120pf_struct *) mb_io_ptr->raw_data; data_ptr = (char *) data; /* print debug statements */ if (verbose >= 5 && status == MB_SUCCESS) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 comment: %s\n",data->comment); } /* set record and header sizes */ data->num_data_types = 1; data->rec_len = 128 + 12 + 80; data->rec_hdr_len = 128; /* construct header record */ index = 0; mb_put_binary_int(MB_NO,DSL_HEADER,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->rec_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->rec_hdr_len,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->p_flags,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->num_data_types,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->ping,&buffer[index]); index += 4; for (i=0;i<4;i++) { buffer[index] = data->sonar_cmd[i]; index++; } for (i=0;i<24;i++) { buffer[index] = data->time_stamp[i]; index++; } mb_put_binary_float(MB_NO,data->nav_x,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->nav_y,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->depth,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->heading,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->pitch,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->roll,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->alt,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->ang_offset,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->transmit_pwr,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->gain_port,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->gain_starbd,&buffer[index]); index += 4; mb_put_binary_float(MB_NO,data->pulse_width,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->swath_width,&buffer[index]); index += 4; buffer[index] = data->side; index++; buffer[index] = data->swapped; index++; index += 2; mb_put_binary_int(MB_NO,data->tv_sec,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,data->tv_usec,&buffer[index]); index += 4; mb_put_binary_short(MB_NO,data->interface,&buffer[index]); index += 2; for (i=0;i<5;i++) { mb_put_binary_short(MB_NO,data->reserved[i],&buffer[index]); index += 2; } /* construct comment record */ mb_put_binary_int(MB_NO,DSL_COMMENT,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,12+80,&buffer[index]); index += 4; mb_put_binary_int(MB_NO,12,&buffer[index]); index += 4; strncpy(&buffer[index], data->comment, 79); index += 79; buffer[index] = '\0'; index++; /* write the record */ status = fwrite(buffer,1,data->rec_len,mbfp); if (status != data->rec_len) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* 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); } /*--------------------------------------------------------------------*/