/*-------------------------------------------------------------------- * The MB-system: mbr_emoldraw.c 3/4/2001 * $Id: mbr_emoldraw.c 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 2001-2012 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_emoldraw.c contains the functions for reading and writing * multibeam data in the emoldraw format. * These functions include: * mbr_alm_emoldraw - allocate read/write memory * mbr_dem_emoldraw - deallocate read/write memory * mbr_rt_emoldraw - read and translate data * mbr_wt_emoldraw - translate and write data * * Author: D. W. Caress * Date: March 4, 2001 * * $Log: mbr_emoldraw.c,v $ * Revision 5.12 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.11 2007/06/18 01:19:48 caress * Changes as of 17 June 2007. * * Revision 5.10 2006/01/24 19:11:17 caress * Version 5.0.8 beta. * * Revision 5.9 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 5.8 2003/12/04 23:10:23 caress * Fixed problems with format 54 EM12DARW due to old code assuming how internal structure was packed. Also changed handling of beamflags for formats that don't support beamflags. Now flagged beams will always be nulled in such cases. * * Revision 5.7 2003/05/20 18:05:32 caress * Added svp_source to data source parameters. * * Revision 5.6 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.5 2002/10/02 23:55:42 caress * Release 5.0.beta24 * * Revision 5.4 2002/08/21 00:55:46 caress * Release 5.0.beta22 * * Revision 5.3 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.2 2001/07/20 00:31:11 caress * Release 5.0.beta03 * * Revision 5.1 2001/06/08 21:44:01 caress * Version 5.0.beta01 * * Revision 5.0 2001/03/22 20:49:19 caress * Trying to make version 5.0.beta0 * * * */ /* 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_simrad.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* turn on debug statements here */ /*#define MBR_EMOLDRAW_DEBUG 1*/ /* essential function prototypes */ int mbr_register_emoldraw(int verbose, void *mbio_ptr, int *error); int mbr_info_emoldraw(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_emoldraw(int verbose, void *mbio_ptr, int *error); int mbr_dem_emoldraw(int verbose, void *mbio_ptr, int *error); int mbr_rt_emoldraw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_emoldraw(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_emoldraw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_emoldraw_chk_label(int verbose, void *mbio_ptr, short type); int mbr_emoldraw_rd_start(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_stop(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_parameter(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_pos(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_svp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_em1000bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_em12bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int swath_id, int *error); int mbr_emoldraw_rd_em121bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_rd_ss(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int swath_id, int first, int *more, int *error); int mbr_emoldraw_rd_ssp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int swath_id, int first, int *more, int *error); int mbr_emoldraw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_emoldraw_wr_start(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_stop(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_parameter(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_pos(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_svp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_em1000bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_em12bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_em121bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_ss(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); int mbr_emoldraw_wr_ssp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error); static char rcs_id[]="$Id: mbr_emoldraw.c 1917 2012-01-10 19:25:33Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_emoldraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_emoldraw"; 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_emoldraw(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_emoldraw; mb_io_ptr->mb_io_format_free = &mbr_dem_emoldraw; mb_io_ptr->mb_io_store_alloc = &mbsys_simrad_alloc; mb_io_ptr->mb_io_store_free = &mbsys_simrad_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_emoldraw; mb_io_ptr->mb_io_write_ping = &mbr_wt_emoldraw; mb_io_ptr->mb_io_dimensions = &mbsys_simrad_dimensions; mb_io_ptr->mb_io_extract = &mbsys_simrad_extract; mb_io_ptr->mb_io_insert = &mbsys_simrad_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_simrad_extract_nav; mb_io_ptr->mb_io_insert_nav = &mbsys_simrad_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_simrad_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_simrad_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_simrad_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_simrad_ttimes; mb_io_ptr->mb_io_detects = &mbsys_simrad_detects; mb_io_ptr->mb_io_gains = &mbsys_simrad_gains; mb_io_ptr->mb_io_copyrecord = &mbsys_simrad_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_emoldraw(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_emoldraw"; 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_SIMRAD; *beams_bath_max = MBSYS_SIMRAD_MAXBEAMS; *beams_amp_max = MBSYS_SIMRAD_MAXBEAMS; *pixels_ss_max = MBSYS_SIMRAD_MAXPIXELS; strncpy(format_name, "EMOLDRAW", MB_NAME_LENGTH); strncpy(system_name, "SIMRAD", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_EMOLDRAW\nInformal Description: Old Simrad vendor multibeam format\nAttributes: Simrad EM1000, EM12S, EM12D, \n and EM121 multibeam sonars,\n bathymetry, amplitude, and sidescan,\n 60 beams for EM1000, 81 beams for EM12S/D,\n 121 beams for EM121, variable pixels,\n ascii + binary, Simrad.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_NORMAL; *variable_beams = MB_NO; *traveltime = MB_YES; *beam_flagging = MB_NO; *nav_source = MB_DATA_NAV; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 2.0; *beamwidth_ltrack = 2.0; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 system: %d\n",*system); fprintf(stderr,"dbg2 beams_bath_max: %d\n",*beams_bath_max); fprintf(stderr,"dbg2 beams_amp_max: %d\n",*beams_amp_max); fprintf(stderr,"dbg2 pixels_ss_max: %d\n",*pixels_ss_max); fprintf(stderr,"dbg2 format_name: %s\n",format_name); fprintf(stderr,"dbg2 system_name: %s\n",system_name); fprintf(stderr,"dbg2 format_description: %s\n",format_description); fprintf(stderr,"dbg2 numfile: %d\n",*numfile); fprintf(stderr,"dbg2 filetype: %d\n",*filetype); fprintf(stderr,"dbg2 variable_beams: %d\n",*variable_beams); fprintf(stderr,"dbg2 traveltime: %d\n",*traveltime); fprintf(stderr,"dbg2 beam_flagging: %d\n",*beam_flagging); fprintf(stderr,"dbg2 nav_source: %d\n",*nav_source); fprintf(stderr,"dbg2 heading_source: %d\n",*heading_source); fprintf(stderr,"dbg2 vru_source: %d\n",*vru_source); fprintf(stderr,"dbg2 svp_source: %d\n",*svp_source); fprintf(stderr,"dbg2 beamwidth_xtrack: %f\n",*beamwidth_xtrack); fprintf(stderr,"dbg2 beamwidth_ltrack: %f\n",*beamwidth_ltrack); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_alm_emoldraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_emoldraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; int *wrapper; double *pixel_size; double *swath_width; int *num_bathrec; int *num_ssrec; int *file_has_ss; /* 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 = 0; mb_io_ptr->data_structure_size = 0; status = mbsys_simrad_alloc( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* initialize saved variables */ wrapper = (int *) &mb_io_ptr->save5; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; num_bathrec = (int *) &mb_io_ptr->save6; num_ssrec = (int *) &mb_io_ptr->save7; file_has_ss = (int *) &mb_io_ptr->save8; *wrapper = -1; *pixel_size = 0.0; *swath_width = 0.0; *num_bathrec = 0; *num_ssrec = 0; *file_has_ss = MB_YES; /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_dem_emoldraw(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_emoldraw"; 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 = mbsys_simrad_deall( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_rt_emoldraw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_emoldraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; int ntime_i[7]; double ntime_d; int ptime_i[7]; double ptime_d; double rawspeed, pheading; double plon, plat, pspeed; double *pixel_size; double *swath_width; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor and data structures */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; store = (struct mbsys_simrad_struct *) store_ptr; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; /* read next data from file */ status = mbr_emoldraw_rd_data(verbose,mbio_ptr,store_ptr,error); /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = store->kind; /* save fix if nav data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV) { /* get nav time */ mb_fix_y2k(verbose, store->pos_year, &ntime_i[0]); ntime_i[1] = store->pos_month; ntime_i[2] = store->pos_day; ntime_i[3] = store->pos_hour; ntime_i[4] = store->pos_minute; ntime_i[5] = store->pos_second; ntime_i[6] = 10000 * store->pos_centisecond; mb_get_time(verbose, ntime_i, &ntime_d); /* add latest fix */ mb_navint_add(verbose, mbio_ptr, ntime_d, store->pos_longitude, store->pos_latitude, error); } /* handle navigation interpolation and generate sidescan */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* get ping time */ mb_fix_y2k(verbose, store->year, &ptime_i[0]); ptime_i[1] = store->month; ptime_i[2] = store->day; ptime_i[3] = store->hour; ptime_i[4] = store->minute; ptime_i[5] = store->second; ptime_i[6] = 10000*store->centisecond; mb_get_time(verbose, ptime_i, &ptime_d); /* interpolate from saved nav */ rawspeed = 3.6 * store->speed; pheading = store->line_heading; mb_navint_interp(verbose, mbio_ptr, ptime_d, pheading, rawspeed, &plon, &plat, &pspeed, error); /* print debug statements */ if (verbose >= 4) { fprintf(stderr,"dbg4 Interpolated Navigation:\n"); fprintf(stderr,"dbg4 longitude: %f\n", plon); fprintf(stderr,"dbg4 latitude: %f\n", plat); fprintf(stderr,"dbg4 speed: %f\n", pspeed); } /* adopt interpolated navigation */ ping->longitude = plon; ping->latitude = plat; /* generate sidescan */ ping->pixel_size = 0.0; ping->pixels_ss = 0; status = mbsys_simrad_makess(verbose, mbio_ptr, store_ptr, MB_NO, pixel_size, MB_NO, swath_width, 0, 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_wt_emoldraw(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_emoldraw"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_simrad_struct *) store_ptr; /* write next data to file */ status = mbr_emoldraw_wr_data(verbose,mbio_ptr,store_ptr,error); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_emoldraw_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; FILE *mbfp; int done; int *wrapper; char *label; int *label_save_flag; short int expect; short int *type; short int first_type; int first_ss; int more_ss; short int *expect_save; int *expect_save_flag; short int *first_type_save; int *first_ss_save; int *more_ss_save; int *num_bathrec; int *num_ssrec; int *file_has_ss; int read_len; int skip = 0; /* 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; mbfp = mb_io_ptr->mbfp; store = (struct mbsys_simrad_struct *) store_ptr; /* get saved values */ wrapper = (int *) &mb_io_ptr->save5; label = (char *) mb_io_ptr->save_label; type = (short int *) mb_io_ptr->save_label; label_save_flag = (int *) &mb_io_ptr->save_label_flag; expect_save_flag = (int *) &mb_io_ptr->save_flag; expect_save = (short int *) &mb_io_ptr->save1; first_type_save = (short int *) &mb_io_ptr->save2; first_ss_save = (int *) &mb_io_ptr->save3; more_ss_save = (int *) &mb_io_ptr->save4; num_bathrec = (int *) &mb_io_ptr->save6; num_ssrec = (int *) &mb_io_ptr->save7; file_has_ss = (int *) &mb_io_ptr->save8; if (*expect_save_flag == MB_YES) { expect = *expect_save; first_type = *first_type_save; first_ss = *first_ss_save; more_ss = *more_ss_save; *expect_save_flag = MB_NO; } else { expect = EM_NONE; first_type = EM_NONE; first_ss = MB_YES; more_ss = MB_NO; } /* check if sidescan is to be expected */ if (*num_bathrec > 3 && *num_ssrec == 0) *file_has_ss = MB_NO; else *file_has_ss = MB_YES; /* set file position */ mb_io_ptr->file_pos = mb_io_ptr->file_bytes; /* loop over reading data until a record is ready for return */ done = MB_NO; *error = MB_ERROR_NO_ERROR; while (done == MB_NO) { /* if no label saved get next record label */ if (*label_save_flag == MB_NO) { /* read four byte wrapper if data stream is known to have wrappers */ if (*wrapper == MB_YES) { if ((read_len = fread(label, 1,4,mb_io_ptr->mbfp)) != 4) { status = MB_FAILURE; *error = MB_ERROR_EOF; } } /* look for label */ if (status == MB_SUCCESS && (read_len = fread(label, 1,2,mb_io_ptr->mbfp)) != 2) { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* check label - if not a good label read a byte at a time until a good label is found */ skip = 0; while (status == MB_SUCCESS && mbr_emoldraw_chk_label(verbose, mbio_ptr, *type) != MB_SUCCESS) { /* get next byte */ label[0] = label[1]; if ((read_len = fread(&label[1], 1,1,mb_io_ptr->mbfp)) != 1) { status = MB_FAILURE; *error = MB_ERROR_EOF; } skip++; } /* set wrapper status if needed */ if (*wrapper < 0) { if (skip == 0) *wrapper = MB_NO; else if (skip == 4) *wrapper = MB_YES; } } /* else use saved label */ else *label_save_flag = MB_NO; /* swap bytes if necessary */ #ifdef BYTESWAPPED *type = (short int) mb_swap_short(*type); #endif #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"\nstart of mbr_emoldraw_rd_data loop:\n"); fprintf(stderr,"done:%d\n",done); fprintf(stderr,"wrapper:%d\n",*wrapper); fprintf(stderr,"num_bathrec:%d\n",*num_bathrec); fprintf(stderr,"num_ssrec:%d\n",*num_ssrec); fprintf(stderr,"file_has_ss:%d\n",*file_has_ss); fprintf(stderr,"skip:%d\n",skip); fprintf(stderr,"expect:%x\n",expect); fprintf(stderr,"type:%x\n",*type); fprintf(stderr,"first_type:%x\n",first_type); fprintf(stderr,"first_ss:%d\n",first_ss); fprintf(stderr,"more_ss:%d\n",more_ss); #endif /* allocate secondary data structure for survey data if needed */ if (status == MB_SUCCESS && (*type == EM_12S_BATH || *type == EM_12DP_BATH || *type == EM_12DS_BATH || *type == EM_121_BATH || *type == EM_1000_BATH || *type == EM_12S_SS || *type == EM_12DP_SS || *type == EM_12DS_SS || *type == EM_12S_SSP || *type == EM_12DP_SSP || *type == EM_12DS_SSP) && store->ping == NULL) { status = mbsys_simrad_survey_alloc( verbose,mbio_ptr, store_ptr,error); } /* read the appropriate data records */ if (status == MB_FAILURE && expect == EM_NONE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, read failure, no expect\n"); #endif done = MB_YES; } else if (status == MB_FAILURE && expect != EM_NONE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, read failure, expect %x\n",expect); #endif store->kind = MB_DATA_DATA; done = MB_YES; *error = MB_ERROR_NO_ERROR; status = MB_SUCCESS; } else if (*type != EM_START && *type != EM_STOP && *type != EM_PARAMETER && *type != EM_POS && *type != EM_SVP && *type != EM_12S_BATH && *type != EM_12DP_BATH && *type != EM_12DS_BATH && *type != EM_121_BATH && *type != EM_1000_BATH && *type != EM_12S_SS && *type != EM_12DP_SS && *type != EM_12DS_SS && *type != EM_12S_SSP && *type != EM_12DP_SSP && *type != EM_12DS_SSP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, try again\n"); #endif done = MB_NO; } else if (*type == EM_START) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_start type %x\n",*type); #endif status = mbr_emoldraw_rd_start( verbose,mbfp,store,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_START; if (expect != EM_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; *first_ss_save = first_ss; *more_ss_save = more_ss; } else *expect_save_flag = MB_NO; } } else if (*type == EM_STOP && expect != EM_NONE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_STOP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_stop type %x\n",*type); #endif status = mbr_emoldraw_rd_stop( verbose,mbfp,store,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_STOP; if (expect != EM_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; *first_ss_save = first_ss; *more_ss_save = more_ss; } else *expect_save_flag = MB_NO; } } else if (*type == EM_PARAMETER) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_parameter type %x\n",*type); #endif status = mbr_emoldraw_rd_parameter( verbose,mbfp,store,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_COMMENT; if (expect != EM_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; *first_ss_save = first_ss; *more_ss_save = more_ss; } else *expect_save_flag = MB_NO; } } else if (*type == EM_POS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_pos type %x\n",*type); #endif status = mbr_emoldraw_rd_pos( verbose,mbfp,store,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_NAV; if (expect != EM_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; *first_ss_save = first_ss; *more_ss_save = more_ss; } else *expect_save_flag = MB_NO; } } else if (*type == EM_SVP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_svp type %x\n",*type); #endif status = mbr_emoldraw_rd_svp( verbose,mbfp,store,error); if (status == MB_SUCCESS) { done = MB_YES; store->kind = MB_DATA_VELOCITY_PROFILE; if (expect != EM_NONE) { *expect_save = expect; *expect_save_flag = MB_YES; *first_type_save = first_type; *first_ss_save = first_ss; *more_ss_save = more_ss; } else *expect_save_flag = MB_NO; } } else if (*type == EM_12S_BATH && expect != EM_NONE && expect != EM_12S_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12S_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_em12bath type %x\n",*type); #endif store->sonar = MBSYS_SIMRAD_EM12S; status = mbr_emoldraw_rd_em12bath( verbose,mbfp,store, EM_SWATH_CENTER,error); if (status == MB_SUCCESS) { (*num_bathrec)++; #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"check num_bathrec:%d\n",*num_bathrec); #endif store->kind = MB_DATA_DATA; if (first_type == EM_NONE && *file_has_ss == MB_YES) { done = MB_NO; first_type = EM_12S_BATH; expect = EM_12S_SS; } else { done = MB_YES; expect = EM_NONE; } } } else if (*type == EM_12DP_BATH && expect != EM_NONE && expect != EM_12DP_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12DP_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_em12bath type %x\n",*type); #endif store->sonar = MBSYS_SIMRAD_EM12D; status = mbr_emoldraw_rd_em12bath( verbose,mbfp,store, EM_SWATH_PORT,error); if (status == MB_SUCCESS) { (*num_bathrec)++; #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"num_bathrec:%d\n",*num_bathrec); #endif store->kind = MB_DATA_DATA; if (first_type == EM_NONE && *file_has_ss == MB_YES) { done = MB_NO; first_type = EM_12DP_BATH; expect = EM_12DP_SS; } else { done = MB_YES; expect = EM_NONE; } } } else if (*type == EM_12DS_BATH && expect != EM_NONE && expect != EM_12DS_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12DS_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_em12bath type %x\n",*type); #endif store->sonar = MBSYS_SIMRAD_EM12D; status = mbr_emoldraw_rd_em12bath( verbose,mbfp,store, EM_SWATH_STARBOARD,error); if (status == MB_SUCCESS) { (*num_bathrec)++; #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"num_bathrec:%d\n",*num_bathrec); #endif store->kind = MB_DATA_DATA; if (first_type == EM_NONE && *file_has_ss == MB_YES) { done = MB_NO; first_type = EM_12DS_BATH; expect = EM_12DS_SS; } else { done = MB_YES; expect = EM_NONE; } } } else if (*type == EM_121_BATH && expect != EM_NONE && expect != EM_12S_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_121_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_em121bath type %x\n",*type); #endif store->sonar = MBSYS_SIMRAD_EM121; status = mbr_emoldraw_rd_em121bath( verbose,mbfp,store,error); if (status == MB_SUCCESS) { (*num_bathrec)++; #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"num_bathrec:%d\n",*num_bathrec); #endif store->kind = MB_DATA_DATA; if (first_type == EM_NONE && *file_has_ss == MB_YES) { done = MB_NO; first_type = EM_121_BATH; expect = EM_12S_SS; } else { done = MB_YES; expect = EM_NONE; } } } else if (*type == EM_1000_BATH && expect != EM_NONE && expect != EM_12S_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_1000_BATH) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_em1000bath type %x\n",*type); #endif status = mbr_emoldraw_rd_em1000bath( verbose,mbfp,store,error); if (status == MB_SUCCESS) { (*num_bathrec)++; #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"num_bathrec:%d\n",*num_bathrec); #endif store->sonar = MBSYS_SIMRAD_EM1000; store->kind = MB_DATA_DATA; if (first_type == EM_NONE && *file_has_ss == MB_YES) { done = MB_NO; first_type = EM_12DS_BATH; expect = EM_12S_SS; } else { done = MB_YES; expect = EM_NONE; } } } else if (*type == EM_12S_SS && expect != EM_NONE && expect != EM_12S_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12S_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_ss type %x\n",*type); #endif status = mbr_emoldraw_rd_ss( verbose,mbfp,store, EM_SWATH_CENTER, first_ss,&more_ss,error); if (status == MB_SUCCESS && first_ss == MB_YES) (*num_ssrec)++; if (status == MB_SUCCESS && more_ss == MB_NO) { *file_has_ss = MB_YES; if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12S_SS; expect = EM_12S_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } else if (status == MB_SUCCESS && more_ss == MB_YES) { done = MB_NO; expect = EM_12S_SS; first_ss = MB_NO; } else if (status == MB_FAILURE) { if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12S_SS; expect = EM_12S_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } } else if (*type == EM_12DP_SS && expect != EM_NONE && expect != EM_12DP_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12DP_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_ss type %x\n",*type); #endif status = mbr_emoldraw_rd_ss( verbose,mbfp,store, EM_SWATH_PORT, first_ss,&more_ss,error); if (status == MB_SUCCESS && first_ss == MB_YES) (*num_ssrec)++; if (status == MB_SUCCESS && more_ss == MB_NO) { *file_has_ss = MB_YES; if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DP_SS; expect = EM_12DP_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } else if (status == MB_SUCCESS && more_ss == MB_YES) { done = MB_NO; expect = EM_12DP_SS; first_ss = MB_NO; } else if (status == MB_FAILURE) { if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DP_SS; expect = EM_12DP_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } } else if (*type == EM_12DS_SS && expect != EM_NONE && expect != EM_12DS_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12DS_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_ss type %x\n",*type); #endif status = mbr_emoldraw_rd_ss( verbose,mbfp,store, EM_SWATH_STARBOARD, first_ss,&more_ss,error); if (status == MB_SUCCESS && first_ss == MB_YES) (*num_ssrec)++; if (status == MB_SUCCESS && more_ss == MB_NO) { *file_has_ss = MB_YES; if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DS_SS; expect = EM_12DS_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } else if (status == MB_SUCCESS && more_ss == MB_YES) { done = MB_NO; expect = EM_12DS_SS; first_ss = MB_NO; } else if (status == MB_FAILURE) { if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DS_SS; expect = EM_12DS_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } } else if (*type == EM_12S_SSP && expect != EM_NONE && expect != EM_12S_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12S_SSP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_ssp type %x\n",*type); #endif status = mbr_emoldraw_rd_ssp( verbose,mbfp,store, EM_SWATH_CENTER, first_ss,&more_ss,error); if (status == MB_SUCCESS && first_ss == MB_YES) (*num_ssrec)++; if (status == MB_SUCCESS && more_ss == MB_NO) { *file_has_ss = MB_YES; if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12S_SSP; expect = EM_12S_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } else if (status == MB_SUCCESS && more_ss == MB_YES) { done = MB_NO; expect = EM_12S_SS; first_ss = MB_NO; } else if (status == MB_FAILURE) { if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12S_SSP; expect = EM_12S_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } } else if (*type == EM_12DP_SSP && expect != EM_NONE && expect != EM_12DP_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12DP_SSP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_ssp type %x\n",*type); #endif status = mbr_emoldraw_rd_ssp( verbose,mbfp,store, EM_SWATH_PORT, first_ss,&more_ss,error); if (status == MB_SUCCESS && first_ss == MB_YES) (*num_ssrec)++; if (status == MB_SUCCESS && more_ss == MB_NO) { *file_has_ss = MB_YES; if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DP_SSP; expect = EM_12DP_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } else if (status == MB_SUCCESS && more_ss == MB_YES) { done = MB_NO; expect = EM_12DP_SS; first_ss = MB_NO; } else if (status == MB_FAILURE) { if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DP_SSP; expect = EM_12DP_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } } else if (*type == EM_12DS_SSP && expect != EM_NONE && expect != EM_12DS_SS) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing, expect %x but got type %x\n",expect,*type); #endif store->kind = MB_DATA_DATA; done = MB_YES; expect = EM_NONE; *label_save_flag = MB_YES; } else if (*type == EM_12DS_SSP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_rd_ssp type %x\n",*type); #endif status = mbr_emoldraw_rd_ssp( verbose,mbfp,store, EM_SWATH_STARBOARD, first_ss,&more_ss,error); if (status == MB_SUCCESS && first_ss == MB_YES) (*num_ssrec)++; if (status == MB_SUCCESS && more_ss == MB_NO) { *file_has_ss = MB_YES; if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DS_SSP; expect = EM_12DS_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } else if (status == MB_SUCCESS && more_ss == MB_YES) { done = MB_NO; expect = EM_12DS_SS; first_ss = MB_NO; } else if (status == MB_FAILURE) { if (first_type == EM_NONE) { done = MB_NO; first_type = EM_12DS_SSP; expect = EM_12DS_BATH; } else { done = MB_YES; expect = EM_NONE; } first_ss = MB_YES; } } /* bail out if there is an error */ if (status == MB_FAILURE) done = MB_YES; #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"end of mbr_emoldraw_rd_data loop:\n"); fprintf(stderr,"status:%d error:%d\n",status, *error); fprintf(stderr,"done:%d\n",done); fprintf(stderr,"expect:%x\n",expect); fprintf(stderr,"type:%x\n",*type); #endif } /* get file position */ if (*label_save_flag == MB_YES) mb_io_ptr->file_bytes = ftell(mbfp) - 2; else if (*expect_save_flag != MB_YES) mb_io_ptr->file_bytes = ftell(mbfp); /* swap label if saved and byteswapped */ #ifdef BYTESWAPPED if (*label_save_flag == MB_YES) *type = (short int) mb_swap_short(*type); #endif /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_chk_label(int verbose, void *mbio_ptr, short type) { char *function_name = "mbr_emoldraw_chk_label"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; char *startid; /* 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 type: %d\n",type); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* swap bytes if necessary */ #ifdef BYTESWAPPED type = (short) mb_swap_short(type); if (verbose >= 2) { fprintf(stderr,"dbg2 Input values byte swapped:\n"); fprintf(stderr,"dbg2 type: %d\n",type); } #endif /* check for valid label */ if (type != EM_START && type != EM_STOP && type != EM_PARAMETER && type != EM_POS && type != EM_SVP && type != EM_12DS_BATH && type != EM_12DP_BATH && type != EM_12S_BATH && type != EM_121_BATH && type != EM_1000_BATH && type != EM_12DP_SS && type != EM_12DS_SS && type != EM_12S_SS && type != EM_12DP_SSP && type != EM_12DS_SSP && type != EM_12S_SSP) { status = MB_FAILURE; startid = (char *) &type; if (verbose >= 1 && *startid == 2) { fprintf(stderr, "Bad datagram type: %4.4hX %d\n", type, type); } } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_rd_start(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_start"; int status = MB_SUCCESS; char line[EM_START_SIZE]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* read record into char array */ status = fread(line,1,EM_START_SIZE,mbfp); if (status == EM_START_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { store->kind = MB_DATA_START; mb_get_int(&(store->par_day), line, 2); mb_get_int(&(store->par_month), line+2, 2); mb_get_int(&(store->par_year), line+4, 2); mb_get_int(&(store->par_hour), line+7, 2); mb_get_int(&(store->par_minute), line+9, 2); mb_get_int(&(store->par_second), line+11, 2); mb_get_int(&(store->par_centisecond), line+13, 2); mb_get_int(&(store->pos_type), line+20, 1); mb_get_double(&(store->pos_delay), line+26, 5); mb_get_double(&(store->roll_offset), line+36, 5); mb_get_double(&(store->pitch_offset), line+46, 5); mb_get_double(&(store->heading_offset),line+56, 5); mb_get_double(&(store->em100_td), line+70, 5); mb_get_double(&(store->em100_tx), line+84, 5); mb_get_double(&(store->em100_ty), line+98, 5); mb_get_double(&(store->em12_td), line+111, 5); mb_get_double(&(store->em12_tx), line+124, 5); mb_get_double(&(store->em12_ty), line+137, 5); mb_get_double(&(store->em1000_td), line+152, 5); mb_get_double(&(store->em1000_tx), line+167, 5); mb_get_double(&(store->em1000_ty), line+182, 5); for(i=0;i<128;i++) store->spare_parameter[i] = line[188+i]; mb_get_int(&(store->survey_line), line+328, 4); for(i=0;i<80;i++) store->comment[i] = line[341+i]; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->par_year); fprintf(stderr,"dbg5 month: %d\n",store->par_month); fprintf(stderr,"dbg5 day: %d\n",store->par_day); fprintf(stderr,"dbg5 hour: %d\n",store->par_hour); fprintf(stderr,"dbg5 minute: %d\n",store->par_minute); fprintf(stderr,"dbg5 sec: %d\n",store->par_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->par_centisecond); fprintf(stderr,"dbg5 pos_type: %d\n",store->pos_type); fprintf(stderr,"dbg5 pos_delay: %f\n",store->pos_delay); fprintf(stderr,"dbg5 roll_offset: %f\n",store->roll_offset); fprintf(stderr,"dbg5 pitch_offset: %f\n",store->pitch_offset); fprintf(stderr,"dbg5 heading_offset: %f\n",store->heading_offset); fprintf(stderr,"dbg5 em100_td: %f\n",store->em100_td); fprintf(stderr,"dbg5 em100_tx: %f\n",store->em100_tx); fprintf(stderr,"dbg5 em100_ty: %f\n",store->em100_ty); fprintf(stderr,"dbg5 em12_td: %f\n",store->em12_td); fprintf(stderr,"dbg5 em12_tx: %f\n",store->em12_tx); fprintf(stderr,"dbg5 em12_ty: %f\n",store->em12_ty); fprintf(stderr,"dbg5 em1000_td: %f\n",store->em1000_td); fprintf(stderr,"dbg5 em1000_tx: %f\n",store->em1000_tx); fprintf(stderr,"dbg5 em1000_ty: %f\n",store->em1000_ty); fprintf(stderr,"dbg5 survey_line: %d\n",store->survey_line); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_rd_stop(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_stop"; int status = MB_SUCCESS; char line[EM_STOP_SIZE]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* read record into char array */ status = fread(line,1,EM_STOP_SIZE,mbfp); if (status == EM_STOP_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { store->kind = MB_DATA_STOP; mb_get_int(&(store->par_day), line, 2); mb_get_int(&(store->par_month), line+2, 2); mb_get_int(&(store->par_year), line+4, 2); mb_get_int(&(store->par_hour), line+7, 2); mb_get_int(&(store->par_minute), line+9, 2); mb_get_int(&(store->par_second), line+11, 2); mb_get_int(&(store->par_centisecond), line+13, 2); mb_get_int(&(store->pos_type), line+20, 1); mb_get_double(&(store->pos_delay), line+26, 5); mb_get_double(&(store->roll_offset), line+36, 5); mb_get_double(&(store->pitch_offset), line+46, 5); mb_get_double(&(store->heading_offset),line+56, 5); mb_get_double(&(store->em100_td), line+70, 5); mb_get_double(&(store->em100_tx), line+84, 5); mb_get_double(&(store->em100_ty), line+98, 5); mb_get_double(&(store->em12_td), line+111, 5); mb_get_double(&(store->em12_tx), line+124, 5); mb_get_double(&(store->em12_ty), line+137, 5); mb_get_double(&(store->em1000_td), line+152, 5); mb_get_double(&(store->em1000_tx), line+167, 5); mb_get_double(&(store->em1000_ty), line+182, 5); for(i=0;i<128;i++) store->spare_parameter[i] = line[188+i]; mb_get_int(&(store->survey_line), line+328, 4); for(i=0;i<80;i++) store->comment[i] = line[341+i]; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->par_year); fprintf(stderr,"dbg5 month: %d\n",store->par_month); fprintf(stderr,"dbg5 day: %d\n",store->par_day); fprintf(stderr,"dbg5 hour: %d\n",store->par_hour); fprintf(stderr,"dbg5 minute: %d\n",store->par_minute); fprintf(stderr,"dbg5 sec: %d\n",store->par_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->par_centisecond); fprintf(stderr,"dbg5 pos_type: %d\n",store->pos_type); fprintf(stderr,"dbg5 pos_delay: %f\n",store->pos_delay); fprintf(stderr,"dbg5 roll_offset: %f\n",store->roll_offset); fprintf(stderr,"dbg5 pitch_offset: %f\n",store->pitch_offset); fprintf(stderr,"dbg5 heading_offset: %f\n",store->heading_offset); fprintf(stderr,"dbg5 em100_td: %f\n",store->em100_td); fprintf(stderr,"dbg5 em100_tx: %f\n",store->em100_tx); fprintf(stderr,"dbg5 em100_ty: %f\n",store->em100_ty); fprintf(stderr,"dbg5 em12_td: %f\n",store->em12_td); fprintf(stderr,"dbg5 em12_tx: %f\n",store->em12_tx); fprintf(stderr,"dbg5 em12_ty: %f\n",store->em12_ty); fprintf(stderr,"dbg5 em1000_td: %f\n",store->em1000_td); fprintf(stderr,"dbg5 em1000_tx: %f\n",store->em1000_tx); fprintf(stderr,"dbg5 em1000_ty: %f\n",store->em1000_ty); fprintf(stderr,"dbg5 survey_line: %d\n",store->survey_line); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_rd_parameter(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_parameter"; int status = MB_SUCCESS; char line[EM_PARAMETER_SIZE]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* read record into char array */ status = fread(line,1,EM_PARAMETER_SIZE,mbfp); if (status == EM_PARAMETER_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { store->kind = MB_DATA_COMMENT; mb_get_int(&(store->par_day), line, 2); mb_get_int(&(store->par_month), line+2, 2); mb_get_int(&(store->par_year), line+4, 2); mb_get_int(&(store->par_hour), line+7, 2); mb_get_int(&(store->par_minute), line+9, 2); mb_get_int(&(store->par_second), line+11, 2); mb_get_int(&(store->par_centisecond), line+13, 2); mb_get_int(&(store->pos_type), line+20, 1); mb_get_double(&(store->pos_delay), line+26, 5); mb_get_double(&(store->roll_offset), line+36, 5); mb_get_double(&(store->pitch_offset), line+46, 5); mb_get_double(&(store->heading_offset),line+56, 5); mb_get_double(&(store->em100_td), line+70, 5); mb_get_double(&(store->em100_tx), line+84, 5); mb_get_double(&(store->em100_ty), line+98, 5); mb_get_double(&(store->em12_td), line+111, 5); mb_get_double(&(store->em12_tx), line+124, 5); mb_get_double(&(store->em12_ty), line+137, 5); mb_get_double(&(store->em1000_td), line+152, 5); mb_get_double(&(store->em1000_tx), line+167, 5); mb_get_double(&(store->em1000_ty), line+182, 5); for(i=0;i<128;i++) store->spare_parameter[i] = line[188+i]; mb_get_int(&(store->survey_line), line+328, 4); for(i=0;i<80;i++) store->comment[i] = line[341+i]; /* infer sonar type from transducer depths */ if (store->em12_td != 0.0) store->sonar = MBSYS_SIMRAD_EM12S; else if (store->em1000_td != 0.0) store->sonar = MBSYS_SIMRAD_EM1000; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->par_year); fprintf(stderr,"dbg5 month: %d\n",store->par_month); fprintf(stderr,"dbg5 day: %d\n",store->par_day); fprintf(stderr,"dbg5 hour: %d\n",store->par_hour); fprintf(stderr,"dbg5 minute: %d\n",store->par_minute); fprintf(stderr,"dbg5 sec: %d\n",store->par_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->par_centisecond); fprintf(stderr,"dbg5 pos_type: %d\n",store->pos_type); fprintf(stderr,"dbg5 pos_delay: %f\n",store->pos_delay); fprintf(stderr,"dbg5 roll_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 pitch_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 heading_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 survey_line: %d\n",store->survey_line); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_rd_pos(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_pos"; int status = MB_SUCCESS; char line[EM_POS_SIZE]; int degree; double minute; char hemisphere; /* 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* read record into char array */ status = fread(line,1,EM_POS_SIZE,mbfp); if (status == EM_POS_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { store->kind = MB_DATA_NAV; mb_get_int(&(store->pos_day), line, 2); mb_get_int(&(store->pos_month), line+2, 2); mb_get_int(&(store->pos_year), line+4, 2); mb_get_int(&(store->pos_hour), line+7, 2); mb_get_int(&(store->pos_minute), line+9, 2); mb_get_int(&(store->pos_second), line+11, 2); mb_get_int(&(store->pos_centisecond), line+13, 2); mb_get_int(°ree, line+16, 2); mb_get_double(&minute, line+18, 7); hemisphere = line[25]; store->pos_latitude = degree + minute/60.0; if (hemisphere == 'S' || hemisphere == 's') store->pos_latitude = -store->pos_latitude; mb_get_int(°ree, line+27, 3); mb_get_double(&minute, line+30, 7); hemisphere = line[37]; store->pos_longitude = degree + minute/60.0; if (hemisphere == 'W' || hemisphere == 'w') store->pos_longitude = -store->pos_longitude; mb_get_double(&(store->utm_northing), line+39, 11); mb_get_double(&(store->utm_easting), line+51, 9); mb_get_int(&(store->utm_zone), line+61, 2); mb_get_int(°ree, line+64, 3); mb_get_double(&minute, line+67, 7); hemisphere = line[74]; store->utm_zone_lon = degree + minute/60.0; if (hemisphere == 'W' || hemisphere == 'w') store->utm_zone_lon = -store->utm_zone_lon; mb_get_int(&(store->utm_system), line+76, 1); mb_get_int(&(store->pos_quality), line+78, 1); mb_get_double(&(store->speed), line+80, 4); mb_get_double(&(store->line_heading), line+85, 5); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->pos_year); fprintf(stderr,"dbg5 month: %d\n",store->pos_month); fprintf(stderr,"dbg5 day: %d\n",store->pos_day); fprintf(stderr,"dbg5 hour: %d\n",store->pos_hour); fprintf(stderr,"dbg5 minute: %d\n",store->pos_minute); fprintf(stderr,"dbg5 sec: %d\n",store->pos_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->pos_centisecond); fprintf(stderr,"dbg5 longitude: %f\n",store->pos_longitude); fprintf(stderr,"dbg5 latitude: %f\n",store->pos_latitude); fprintf(stderr,"dbg5 utm_northing: %f\n",store->utm_northing); fprintf(stderr,"dbg5 utm_easting: %f\n",store->utm_easting); fprintf(stderr,"dbg5 utm_zone: %d\n",store->utm_zone); fprintf(stderr,"dbg5 utm_zone_lon: %f\n",store->utm_zone_lon); fprintf(stderr,"dbg5 utm_system: %d\n",store->utm_system); fprintf(stderr,"dbg5 pos_quality: %d\n",store->pos_quality); fprintf(stderr,"dbg5 speed: %f\n",store->speed); fprintf(stderr,"dbg5 line_heading: %f\n",store->line_heading); } /* 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_emoldraw_rd_svp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_svp"; int status = MB_SUCCESS; char line[EM_SVP_SIZE]; short short_val; 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 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* read record into char array */ status = fread(line,1,EM_SVP_SIZE,mbfp); if (status == EM_SVP_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { store->kind = MB_DATA_VELOCITY_PROFILE; mb_get_int(&(store->svp_day), line, 2); mb_get_int(&(store->svp_month), line+2, 2); mb_get_int(&(store->svp_year), line+4, 2); mb_get_int(&(store->svp_hour), line+6, 2); mb_get_int(&(store->svp_minute), line+8, 2); mb_get_int(&(store->svp_second), line+10, 2); mb_get_int(&(store->svp_centisecond), line+12, 2); mb_get_binary_short(MB_YES, &line[14], &short_val); store->svp_num = short_val; for (i=0;isvp_num;i++) { mb_get_binary_short(MB_YES, &line[16+4*i], &short_val); store->svp_depth[i] = short_val; mb_get_binary_short(MB_YES, &line[18+4*i], &short_val); store->svp_vel[i] = short_val; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->svp_year); fprintf(stderr,"dbg5 month: %d\n",store->svp_month); fprintf(stderr,"dbg5 day: %d\n",store->svp_day); fprintf(stderr,"dbg5 hour: %d\n",store->svp_hour); fprintf(stderr,"dbg5 minute: %d\n",store->svp_minute); fprintf(stderr,"dbg5 sec: %d\n",store->svp_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->svp_centisecond); fprintf(stderr,"dbg5 svp_num: %d\n",store->svp_num); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 depth: %d vel: %d\n", store->svp_depth[i],store->svp_vel[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_emoldraw_rd_em1000bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_em1000bath"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_1000_BATH_SIZE]; char beamarray[11]; short int short_val; short int *short_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* read record into char array */ status = fread(line,1,EM_1000_BATH_SIZE,mbfp); if (status == EM_1000_BATH_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* set sonar id */ store->sonar = MBSYS_SIMRAD_EM1000; /* get ascii stuff */ store->kind = MB_DATA_DATA; mb_get_int(&(store->day), line, 2); mb_get_int(&(store->month), line+2, 2); mb_get_int(&(store->year), line+4, 2); mb_get_int(&(store->hour), line+6, 2); mb_get_int(&(store->minute), line+8, 2); mb_get_int(&(store->second), line+10, 2); mb_get_int(&(store->centisecond), line+12, 2); /* get binary stuff */ mb_get_binary_short(MB_YES, &line[14], &short_val); ping->ping_number = (int) short_val; ping->bath_mode = (int) line[16]; ping->bath_quality = (int) line[17]; mb_get_binary_short(MB_YES, &line[18], &short_val); ping->keel_depth = (int) short_val; mb_get_binary_short(MB_YES, &line[20], &short_val); ping->heading = (int) short_val; mb_get_binary_short(MB_YES, &line[22], &short_val); ping->roll = (int) short_val; mb_get_binary_short(MB_YES, &line[24], &short_val); ping->pitch = (int) short_val; mb_get_binary_short(MB_YES, &line[26], &short_val); ping->xducer_pitch = (int) short_val; mb_get_binary_short(MB_YES, &line[28], &short_val); ping->ping_heave = (int) short_val; mb_get_binary_short(MB_YES, &line[30], &short_val); ping->sound_vel = (int) short_val; for (i=0;ibath[i]); mb_get_binary_short(MB_YES, &short_ptr[1], &ping->bath_acrosstrack[i]); mb_get_binary_short(MB_YES, &short_ptr[2], &ping->bath_alongtrack[i]); mb_get_binary_short(MB_YES, &short_ptr[3], &ping->tt[i]); ping->amp[i] = (mb_s_char) beamarray[8]; ping->quality[i] = (mb_u_char) beamarray[9]; ping->heave[i] = (mb_s_char) beamarray[10]; if (ping->bath[i] == 0) ping->beamflag[i] = MB_FLAG_NULL; else ping->beamflag[i] = MB_FLAG_NONE; } ping->bath_res = 0; if (ping->bath_mode >= 3 && ping->bath_mode <= 7) ping->beams_bath = MBSYS_EM1000_MAXBEAMS; else ping->beams_bath = 48; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 beams_bath: %d\n",ping->beams_bath); fprintf(stderr,"dbg5 bath_mode: %d\n",ping->bath_mode); fprintf(stderr,"dbg5 bath_res: %d\n",ping->bath_res); fprintf(stderr,"dbg5 bath_quality: %d\n",ping->ping_number); fprintf(stderr,"dbg5 keel_depth: %d\n",ping->keel_depth); fprintf(stderr,"dbg5 heading: %d\n",ping->heading); fprintf(stderr,"dbg5 roll: %d\n",ping->roll); fprintf(stderr,"dbg5 pitch: %d\n",ping->pitch); fprintf(stderr,"dbg5 xducer_pitch: %d\n",ping->xducer_pitch); fprintf(stderr,"dbg5 ping_heave: %d\n",ping->ping_heave); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 beam bath xtrack ltrack tt amp qual heave\n"); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg5 beam:%d bath:%d xtrck:%d ltrck:%d tt:%d amp:%d qual:%d heave:%d\n", i,ping->bath[i],ping->bath_acrosstrack[i], ping->bath_alongtrack[i],ping->tt[i], ping->amp[i],ping->quality[i],ping->heave[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_emoldraw_rd_em12bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int swath_id, int *error) { char *function_name = "mbr_emoldraw_rd_em12bath"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_12S_BATH_SIZE]; char beamarray[11]; short int short_val; short int *short_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 swath_id: %d\n",swath_id); } /* read record into char array */ status = fread(line,1,EM_12S_BATH_SIZE,mbfp); if (status == EM_12S_BATH_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* set sonar id */ if (swath_id == EM_SWATH_CENTER) store->sonar = MBSYS_SIMRAD_EM12S; else store->sonar = MBSYS_SIMRAD_EM12D; /* get ascii stuff */ store->kind = MB_DATA_DATA; mb_get_int(&(store->day), line, 2); mb_get_int(&(store->month), line+2, 2); mb_get_int(&(store->year), line+4, 2); mb_get_int(&(store->hour), line+6, 2); mb_get_int(&(store->minute), line+8, 2); mb_get_int(&(store->second), line+10, 2); mb_get_int(&(store->centisecond), line+12, 2); /* set swath id */ ping->swath_id = swath_id; /* get binary stuff */ mb_get_binary_short(MB_YES, &line[14], &short_val); ping->ping_number = (int) short_val; ping->beams_bath = MBSYS_EM12_MAXBEAMS; ping->bath_res = (int) line[16]; ping->bath_quality = (int) line[17]; mb_get_binary_short(MB_YES, &line[18], &short_val); ping->keel_depth = (int) short_val; mb_get_binary_short(MB_YES, &line[20], &short_val); ping->heading = (int) short_val; mb_get_binary_short(MB_YES, &line[22], &short_val); ping->roll = (int) short_val; mb_get_binary_short(MB_YES, &line[24], &short_val); ping->pitch = (int) short_val; mb_get_binary_short(MB_YES, &line[26], &short_val); ping->ping_heave = (int) short_val; mb_get_binary_short(MB_YES, &line[28], &short_val); ping->sound_vel = (int) short_val; ping->bath_mode = (int) line[30]; for (i=0;ibeams_bath;i++) { for (j=0;j<11;j++) beamarray[j] = line[32+11*i+j]; short_ptr = (short int *) beamarray; mb_get_binary_short(MB_YES, &short_ptr[0], (short *) &ping->bath[i]); mb_get_binary_short(MB_YES, &short_ptr[1], &ping->bath_acrosstrack[i]); mb_get_binary_short(MB_YES, &short_ptr[2], &ping->bath_alongtrack[i]); mb_get_binary_short(MB_YES, &short_ptr[3], &ping->tt[i]); ping->amp[i] = (mb_s_char) beamarray[8]; ping->quality[i] = (mb_u_char) beamarray[9]; ping->heave[i] = (mb_s_char) beamarray[10]; if (ping->bath[i] == 0) ping->beamflag[i] = MB_FLAG_NULL; else ping->beamflag[i] = MB_FLAG_NONE; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 beams_bath: %d\n",ping->beams_bath); fprintf(stderr,"dbg5 bath_mode: %d\n",ping->bath_mode); fprintf(stderr,"dbg5 bath_res: %d\n",ping->bath_res); fprintf(stderr,"dbg5 bath_quality: %d\n",ping->bath_quality); fprintf(stderr,"dbg5 keel_depth: %d\n",ping->keel_depth); fprintf(stderr,"dbg5 heading: %d\n",ping->heading); fprintf(stderr,"dbg5 roll: %d\n",ping->roll); fprintf(stderr,"dbg5 pitch: %d\n",ping->pitch); fprintf(stderr,"dbg5 ping_heave: %d\n",ping->ping_heave); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 beam bath xtrack ltrack tt amp qual heave\n"); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg5 beam:%d bath:%d xtrck:%d ltrck:%d tt:%d amp:%d qual:%d heave:%d\n", i,ping->bath[i],ping->bath_acrosstrack[i], ping->bath_alongtrack[i],ping->tt[i], ping->amp[i],ping->quality[i],ping->heave[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_emoldraw_rd_em121bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_rd_em121bath"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_121_BATH_SIZE]; char beamarray[11]; short int short_val; short int *short_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* read record into char array */ status = fread(line,1,EM_121_BATH_SIZE,mbfp); if (status == EM_121_BATH_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { /* get ascii stuff */ store->kind = MB_DATA_DATA; mb_get_int(&(store->day), line, 2); mb_get_int(&(store->month), line+2, 2); mb_get_int(&(store->year), line+4, 2); mb_get_int(&(store->hour), line+6, 2); mb_get_int(&(store->minute), line+8, 2); mb_get_int(&(store->second), line+10, 2); mb_get_int(&(store->centisecond), line+12, 2); /* get binary stuff */ mb_get_binary_short(MB_YES, &line[14], &short_val); ping->ping_number = (int) short_val; ping->bath_mode = (int) line[16]; ping->bath_res = 0; ping->bath_quality = (int) line[17]; ping->bath_num = (int) line[18]; ping->beams_bath = ping->bath_num; ping->pulse_length = (int) line[19]; ping->beam_width = (int) line[20]; ping->power_level = (int) line[21]; ping->tx_status = (int) line[22]; ping->rx_status = (int) line[23]; mb_get_binary_short(MB_YES, &line[24], &short_val); ping->keel_depth = (int) short_val; mb_get_binary_short(MB_YES, &line[26], &short_val); ping->heading = (int) short_val; mb_get_binary_short(MB_YES, &line[28], &short_val); ping->roll = (int) short_val; mb_get_binary_short(MB_YES, &line[30], &short_val); ping->pitch = (int) short_val; mb_get_binary_short(MB_YES, &line[32], &short_val); ping->ping_heave = (int) short_val; mb_get_binary_short(MB_YES, &line[34], &short_val); ping->sound_vel = (int) short_val; ping->along_res = (int) line[36]; ping->across_res = (int) line[37]; ping->depth_res = (int) line[38]; ping->range_res = (int) line[39]; for (i=0;ibeams_bath;i++) { for (j=0;j<11;j++) beamarray[j] = line[44+11*i+j]; short_ptr = (short int *) beamarray; mb_get_binary_short(MB_YES, &short_ptr[0], (short *) &ping->bath[i]); mb_get_binary_short(MB_YES, &short_ptr[1], &ping->bath_acrosstrack[i]); mb_get_binary_short(MB_YES, &short_ptr[2], &ping->bath_alongtrack[i]); mb_get_binary_short(MB_YES, &short_ptr[3], &ping->tt[i]); ping->amp[i] = (mb_s_char) beamarray[8]; ping->quality[i] = (mb_u_char) beamarray[9]; ping->heave[i] = (mb_s_char) beamarray[10]; if (ping->bath[i] == 0) ping->beamflag[i] = MB_FLAG_NULL; else ping->beamflag[i] = MB_FLAG_NONE; } } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 beams_bath: %d\n",ping->beams_bath); fprintf(stderr,"dbg5 bath_mode: %d\n",ping->bath_mode); fprintf(stderr,"dbg5 bath_quality: %d\n",ping->bath_quality); fprintf(stderr,"dbg5 bath_num: %d\n",ping->bath_num); fprintf(stderr,"dbg5 pulse_length: %d\n",ping->pulse_length); fprintf(stderr,"dbg5 beam_width: %d\n",ping->beam_width); fprintf(stderr,"dbg5 power_level: %d\n",ping->power_level); fprintf(stderr,"dbg5 tx_status: %d\n",ping->tx_status); fprintf(stderr,"dbg5 rx_status: %d\n",ping->rx_status); fprintf(stderr,"dbg5 along_res: %d\n",ping->along_res); fprintf(stderr,"dbg5 across_res: %d\n",ping->across_res); fprintf(stderr,"dbg5 depth_res: %d\n",ping->depth_res); fprintf(stderr,"dbg5 range_res: %d\n",ping->range_res); fprintf(stderr,"dbg5 keel_depth: %d\n",ping->keel_depth); fprintf(stderr,"dbg5 heading: %d\n",ping->heading); fprintf(stderr,"dbg5 roll: %d\n",ping->roll); fprintf(stderr,"dbg5 pitch: %d\n",ping->pitch); fprintf(stderr,"dbg5 ping_heave: %d\n",ping->ping_heave); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 beam bath xtrack ltrack tt amp qual heave\n"); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg5 beam:%d bath:%d xtrck:%d ltrck:%d tt:%d amp:%d qual:%d heave:%d\n", i,ping->bath[i],ping->bath_acrosstrack[i], ping->bath_alongtrack[i],ping->tt[i], ping->amp[i],ping->quality[i],ping->heave[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_emoldraw_rd_ss(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int swath_id, int first, int *more, int *error) { char *function_name = "mbr_emoldraw_rd_ss"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_SS_SIZE]; int num_datagrams; int datagram; int num_beams; int beamlist[MBSYS_SIMRAD_MAXBEAMS]; mb_s_char *beam_ss; int ioffset; int npixelsum; short int short_val; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 swath_id: %d\n",swath_id); fprintf(stderr,"dbg2 first: %d\n",first); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* if first call for current ping, initialize */ if (first == MB_YES) { ping->pixels_ssraw = 0; for (i=0;ibeams_bath;i++) { ping->beam_samples[i] = 0; ping->beam_center_sample[i] = 0; ping->beam_start_sample[i] = 0; } } /* read first record into char array */ status = fread(line,1,EM_SS_SIZE,mbfp); if (status == EM_SS_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { /* get ascii stuff */ store->kind = MB_DATA_DATA; mb_get_int(&(store->day), line, 2); mb_get_int(&(store->month), line+2, 2); mb_get_int(&(store->year), line+4, 2); mb_get_int(&(store->hour), line+6, 2); mb_get_int(&(store->minute), line+8, 2); mb_get_int(&(store->second), line+10, 2); mb_get_int(&(store->centisecond), line+12, 2); /* set swath id */ ping->swath_id = swath_id; /* get binary stuff */ mb_get_binary_short(MB_YES, &line[14], &short_val); ping->ping_number = (int) short_val; /* mb_get_binary_short(MB_YES, &line[16], &short_val); ping->sound_vel = (int) short_val;*/ ping->ss_mode = (int) line[18]; num_datagrams = (int) line[19]; datagram = (int) line[20]; num_beams = (int) line[21]; /* check for good values */ if (num_datagrams < 1 || num_datagrams > 255 || datagram < 1 || datagram > 255 || num_beams < 1 || num_beams > MBSYS_SIMRAD_MAXBEAMS) { num_beams = 0; } /* get number of pixels */ npixelsum = 0; for (i=0;ibeam_frequency[beamlist[i]] = (short int) line[23+6*i]; mb_get_binary_short(MB_YES, &line[24+6*i], &ping->beam_samples[beamlist[i]]); mb_get_binary_short(MB_YES, &line[26+6*i], &ping->beam_center_sample[beamlist[i]]); npixelsum += ping->beam_samples[beamlist[i]]; } /* check for bad numbers of pixels indicating a broken record */ if (npixelsum > 523) for (i=0;ibeam_samples[beamlist[i]] = 0; } /* load up the sidescan for each beam */ ioffset = 22+6*num_beams; for (i=0;ipixels_ssraw + ping->beam_samples[beamlist[i]] > MBSYS_SIMRAD_MAXRAWPIXELS) ping->beam_samples[beamlist[i]] = 0; /* get the sidescan */ ping->beam_start_sample[beamlist[i]] = ping->pixels_ssraw; for (j=0;jbeam_samples[beamlist[i]];j++) { ping->ssraw[ping->pixels_ssraw] = (mb_s_char) line[ioffset]; ioffset++; ping->pixels_ssraw++; } } } /* set status */ if (status == MB_SUCCESS) ping->ss_status = EM_SS_AMPONLY; else ping->ss_status = EM_SS_NONE; /* set flag if another sidescan record needs to be read */ if (status == MB_SUCCESS && datagram < num_datagrams) *more = MB_YES; else *more = MB_NO; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 ss_mode: %d\n",ping->ss_mode); fprintf(stderr,"dbg5 num_datagrams: %d\n",num_datagrams); fprintf(stderr,"dbg5 datagram: %d\n",datagram); fprintf(stderr,"dbg5 num_beams: %d\n",num_beams); fprintf(stderr,"dbg5 beam frequency samples center\n"); for (i=0;ibeam_frequency[beamlist[i]], ping->beam_samples[beamlist[i]], ping->beam_center_sample[beamlist[i]], ping->beam_start_sample[beamlist[i]]); for (i=0;issraw[ping->beam_start_sample[beamlist[i]]]; for (j=0;jbeam_samples[beamlist[i]];j++) fprintf(stderr,"dbg5 beam:%d pixel:%d amp:%d\n", beamlist[i],j,beam_ss[j]); } } /* 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 more: %d\n",*more); 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_emoldraw_rd_ssp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int swath_id, int first, int *more, int *error) { char *function_name = "mbr_emoldraw_rd_ssp"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_SSP_SIZE]; char *char_ptr; int num_datagrams; int datagram; int num_beams; int beamlist[MBSYS_SIMRAD_MAXBEAMS]; mb_s_char *beam_ss; short int *beam_ssp; int ioffset; int npixelsum; short int short_val; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); fprintf(stderr,"dbg2 swath_id: %d\n",swath_id); fprintf(stderr,"dbg2 first: %d\n",first); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* if first call for current ping, initialize */ if (first == MB_YES) { ping->pixels_ssraw = 0; for (i=0;ibeams_bath;i++) { ping->beam_samples[i] = 0; ping->beam_center_sample[i] = 0; ping->beam_start_sample[i] = 0; } } /* read first record into char array */ status = fread(line,1,EM_SSP_SIZE,mbfp); if (status == EM_SSP_SIZE) status = MB_SUCCESS; else { status = MB_FAILURE; *error = MB_ERROR_EOF; } /* get data */ if (status == MB_SUCCESS) { /* get ascii stuff */ store->kind = MB_DATA_DATA; mb_get_int(&(store->day), line, 2); mb_get_int(&(store->month), line+2, 2); mb_get_int(&(store->year), line+4, 2); mb_get_int(&(store->hour), line+6, 2); mb_get_int(&(store->minute), line+8, 2); mb_get_int(&(store->second), line+10, 2); mb_get_int(&(store->centisecond), line+12, 2); /* set swath id */ ping->swath_id = swath_id; /* get binary stuff */ mb_get_binary_short(MB_YES, &line[14], &short_val); ping->ping_number = (int) short_val; /* mb_get_binary_short(MB_YES, &line[16], &short_val); ping->sound_vel = (int) short_val;*/ ping->ss_mode = (int) line[18]; num_datagrams = (int) line[19]; datagram = (int) line[20]; num_beams = (int) line[21]; /* check for good values */ if (num_datagrams < 1 || num_datagrams > 255 || datagram < 1 || datagram > 255 || num_beams < 1 || num_beams > MBSYS_SIMRAD_MAXBEAMS) { num_beams = 0; } /* get number of pixels */ npixelsum = 0; for (i=0;ibeam_frequency[beamlist[i]] = (short int) line[23+6*i]; mb_get_binary_short(MB_YES, &line[24+6*i], &ping->beam_samples[beamlist[i]]); mb_get_binary_short(MB_YES, &line[26+6*i], &ping->beam_center_sample[beamlist[i]]); npixelsum += ping->beam_samples[beamlist[i]]; } /* check for bad numbers of pixels indicating a broken record */ if (npixelsum > 523) for (i=0;ibeam_samples[beamlist[i]] = 0; } /* load up the sidescan for each beam */ ioffset = 22+6*num_beams; char_ptr = (char *) &short_val; for (i=0;ipixels_ssraw + ping->beam_samples[beamlist[i]] > MBSYS_SIMRAD_MAXRAWPIXELS) ping->beam_samples[beamlist[i]] = 0; /* get the sidescan */ ping->beam_start_sample[beamlist[i]] = ping->pixels_ssraw; for (j=0;jbeam_samples[beamlist[i]];j++) { ping->ssraw[ping->pixels_ssraw] = (mb_s_char) line[ioffset]; char_ptr[0] = line[ioffset+1]; char_ptr[1] = line[ioffset+2]; mb_get_binary_short(MB_YES, (short *)char_ptr, &ping->ssp[ping->pixels_ssraw]); ioffset += 3; ping->pixels_ssraw++; } } } /* set status */ if (status == MB_SUCCESS) ping->ss_status = EM_SS_AMPPHASE; else ping->ss_status = EM_SS_NONE; /* set flag if another sidescan record needs to be read */ if (status == MB_SUCCESS && datagram < num_datagrams) *more = MB_YES; else *more = MB_NO; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values read in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 ss_mode: %d\n",ping->ss_mode); fprintf(stderr,"dbg5 num_datagrams: %d\n",num_datagrams); fprintf(stderr,"dbg5 datagram: %d\n",datagram); fprintf(stderr,"dbg5 num_beams: %d\n",num_beams); fprintf(stderr,"dbg5 beam frequency samples center\n"); for (i=0;ibeam_frequency[beamlist[i]], ping->beam_samples[beamlist[i]], ping->beam_center_sample[beamlist[i]], ping->beam_start_sample[beamlist[i]]); for (i=0;issraw[ping->beam_start_sample[beamlist[i]]]; beam_ssp = &ping->ssp[ping->beam_start_sample[beamlist[i]]]; for (j=0;jbeam_samples[beamlist[i]];j++) fprintf(stderr,"dbg5 beam:%d pixel:%d amp:%d phase:%d\n", beamlist[i],j,beam_ss[j],beam_ssp[j]); } } /* 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 more: %d\n",*more); 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_emoldraw_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_emoldraw_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_simrad_struct *store; struct mbsys_simrad_survey_struct *ping; FILE *mbfp; /* 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 */ store = (struct mbsys_simrad_struct *) store_ptr; ping = (struct mbsys_simrad_survey_struct *) store->ping; mbfp = mb_io_ptr->mbfp; if (store->kind == MB_DATA_COMMENT) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_parameter\n"); #endif status = mbr_emoldraw_wr_parameter(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_START) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_start\n"); #endif status = mbr_emoldraw_wr_start(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_STOP) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_stop\n"); #endif status = mbr_emoldraw_wr_stop(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_NAV) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_pos\n"); #endif status = mbr_emoldraw_wr_pos(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_VELOCITY_PROFILE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_svp\n"); #endif status = mbr_emoldraw_wr_svp(verbose,mbfp,store,error); } else if (store->kind == MB_DATA_DATA && (store->sonar == MBSYS_SIMRAD_EM12S || store->sonar == MBSYS_SIMRAD_EM12D)) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_em12bath\n"); #endif status = mbr_emoldraw_wr_em12bath(verbose,mbfp,store,error); if (ping->ss_status == EM_SS_AMPONLY) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_ss\n"); #endif status = mbr_emoldraw_wr_ss(verbose,mbfp,store,error); } else if (ping->ss_status == EM_SS_AMPPHASE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_ssp\n"); #endif status = mbr_emoldraw_wr_ssp(verbose,mbfp,store,error); } } else if (store->kind == MB_DATA_DATA && (store->sonar == MBSYS_SIMRAD_EM1000)) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_em1000bath\n"); #endif status = mbr_emoldraw_wr_em1000bath(verbose,mbfp,store,error); if (ping->ss_status == EM_SS_AMPONLY) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_ss\n"); #endif status = mbr_emoldraw_wr_ss(verbose,mbfp,store,error); } else if (ping->ss_status == EM_SS_AMPPHASE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_ssp\n"); #endif status = mbr_emoldraw_wr_ssp(verbose,mbfp,store,error); } } else if (store->kind == MB_DATA_DATA && (store->sonar == MBSYS_SIMRAD_EM121)) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_em121bath\n"); #endif status = mbr_emoldraw_wr_em121bath(verbose,mbfp,store,error); if (ping->ss_status == EM_SS_AMPONLY) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_ss\n"); #endif status = mbr_emoldraw_wr_ss(verbose,mbfp,store,error); } else if (ping->ss_status == EM_SS_AMPPHASE) { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call mbr_emoldraw_wr_ssp\n"); #endif status = mbr_emoldraw_wr_ssp(verbose,mbfp,store,error); } } else { #ifdef MBR_EMOLDRAW_DEBUG fprintf(stderr,"call nothing - kind:%d sonar:%d\n", store->kind, store->sonar); #endif status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* print output debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Data record kind in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 kind: %d\n",store->kind); } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_emoldraw_wr_start(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_start"; int status = MB_SUCCESS; char line[EM_START_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->par_year); fprintf(stderr,"dbg5 month: %d\n",store->par_month); fprintf(stderr,"dbg5 day: %d\n",store->par_day); fprintf(stderr,"dbg5 hour: %d\n",store->par_hour); fprintf(stderr,"dbg5 minute: %d\n",store->par_minute); fprintf(stderr,"dbg5 sec: %d\n",store->par_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->par_centisecond); fprintf(stderr,"dbg5 pos_type: %d\n",store->pos_type); fprintf(stderr,"dbg5 pos_delay: %f\n",store->pos_delay); fprintf(stderr,"dbg5 roll_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 pitch_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 heading_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 survey_line: %d\n",store->survey_line); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_START_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_START, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d,", store->par_day,store->par_month,store->par_year); sprintf(line+7,"%2.2d%2.2d%2.2d%2.2d,", store->par_hour,store->par_minute, store->par_second,store->par_centisecond); sprintf(line+16, "PIS=%1d,", store->pos_type); sprintf(line+22, "PTD=%5.1f,", store->pos_delay); sprintf(line+32, "MSR=%5.2f,", store->roll_offset); sprintf(line+42, "MSP=%5.2f,", store->pitch_offset); sprintf(line+52, "MSG=%5.2f,", store->heading_offset); sprintf(line+62, "EM100TD=%5.1f,", store->em100_td); sprintf(line+76, "EM100TX=%5.1f,", store->em100_tx); sprintf(line+90, "EM100TY=%5.1f,", store->em100_ty); sprintf(line+104, "EM12TD=%5.1f,", store->em12_td); sprintf(line+117, "EM12TX=%5.1f,", store->em12_tx); sprintf(line+130, "EM12TY=%5.1f,", store->em12_ty); sprintf(line+143, "EM1000TD=%5.1f,", store->em1000_td); sprintf(line+158, "EM1000TX=%5.1f,", store->em1000_tx); sprintf(line+173, "EM1000TY=%5.1f,", store->em1000_ty); for (i=0;i<128;i++) line[188+i] = store->spare_parameter[i]; sprintf(line+316, "SURVEY_LINE_%4.4d,", store->survey_line); sprintf(line+333, "COMMENT:"); for (i=0;i<80;i++) line[341+i] = store->comment[i]; line[EM_START_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_stop(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_stop"; int status = MB_SUCCESS; char line[EM_STOP_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->par_year); fprintf(stderr,"dbg5 month: %d\n",store->par_month); fprintf(stderr,"dbg5 day: %d\n",store->par_day); fprintf(stderr,"dbg5 hour: %d\n",store->par_hour); fprintf(stderr,"dbg5 minute: %d\n",store->par_minute); fprintf(stderr,"dbg5 sec: %d\n",store->par_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->par_centisecond); fprintf(stderr,"dbg5 pos_type: %d\n",store->pos_type); fprintf(stderr,"dbg5 pos_delay: %f\n",store->pos_delay); fprintf(stderr,"dbg5 roll_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 pitch_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 heading_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 survey_line: %d\n",store->survey_line); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_STOP_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_STOP, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d,", store->par_day,store->par_month,store->par_year); sprintf(line+7,"%2.2d%2.2d%2.2d%2.2d,", store->par_hour,store->par_minute, store->par_second,store->par_centisecond); sprintf(line+16, "PIS=%1d,", store->pos_type); sprintf(line+22, "PTD=%5.1f,", store->pos_delay); sprintf(line+32, "MSR=%5.2f,", store->roll_offset); sprintf(line+42, "MSP=%5.2f,", store->pitch_offset); sprintf(line+52, "MSG=%5.2f,", store->heading_offset); sprintf(line+62, "EM100TD=%5.1f,", store->em100_td); sprintf(line+76, "EM100TX=%5.1f,", store->em100_tx); sprintf(line+90, "EM100TY=%5.1f,", store->em100_ty); sprintf(line+104, "EM12TD=%5.1f,", store->em12_td); sprintf(line+117, "EM12TX=%5.1f,", store->em12_tx); sprintf(line+130, "EM12TY=%5.1f,", store->em12_ty); sprintf(line+143, "EM1000TD=%5.1f,", store->em1000_td); sprintf(line+158, "EM1000TX=%5.1f,", store->em1000_tx); sprintf(line+173, "EM1000TY=%5.1f,", store->em1000_ty); for (i=0;i<128;i++) line[188+i] = store->spare_parameter[i]; sprintf(line+316, "SURVEY_LINE_%4.4d,", store->survey_line); sprintf(line+333, "COMMENT:"); for (i=0;i<80;i++) line[341+i] = store->comment[i]; line[EM_STOP_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_parameter(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_parameter"; int status = MB_SUCCESS; char line[EM_PARAMETER_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->par_year); fprintf(stderr,"dbg5 month: %d\n",store->par_month); fprintf(stderr,"dbg5 day: %d\n",store->par_day); fprintf(stderr,"dbg5 hour: %d\n",store->par_hour); fprintf(stderr,"dbg5 minute: %d\n",store->par_minute); fprintf(stderr,"dbg5 sec: %d\n",store->par_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->par_centisecond); fprintf(stderr,"dbg5 pos_type: %d\n",store->pos_type); fprintf(stderr,"dbg5 pos_delay: %f\n",store->pos_delay); fprintf(stderr,"dbg5 roll_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 pitch_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 heading_offset: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em100_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em12_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_td: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_tx: %f\n",store->pos_delay); fprintf(stderr,"dbg5 em1000_ty: %f\n",store->pos_delay); fprintf(stderr,"dbg5 survey_line: %d\n",store->survey_line); fprintf(stderr,"dbg5 comment: %s\n",store->comment); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_PARAMETER_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_PARAMETER, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d,", store->par_day,store->par_month,store->par_year); sprintf(line+7,"%2.2d%2.2d%2.2d%2.2d,", store->par_hour,store->par_minute, store->par_second,store->par_centisecond); sprintf(line+16, "PIS=%1d,", store->pos_type); sprintf(line+22, "PTD=%5.1f,", store->pos_delay); sprintf(line+32, "MSR=%5.2f,", store->roll_offset); sprintf(line+42, "MSP=%5.2f,", store->pitch_offset); sprintf(line+52, "MSG=%5.2f,", store->heading_offset); sprintf(line+62, "EM100TD=%5.1f,", store->em100_td); sprintf(line+76, "EM100TX=%5.1f,", store->em100_tx); sprintf(line+90, "EM100TY=%5.1f,", store->em100_ty); sprintf(line+104, "EM12TD=%5.1f,", store->em12_td); sprintf(line+117, "EM12TX=%5.1f,", store->em12_tx); sprintf(line+130, "EM12TY=%5.1f,", store->em12_ty); sprintf(line+143, "EM1000TD=%5.1f,", store->em1000_td); sprintf(line+158, "EM1000TX=%5.1f,", store->em1000_tx); sprintf(line+173, "EM1000TY=%5.1f,", store->em1000_ty); for (i=0;i<128;i++) line[188+i] = store->spare_parameter[i]; sprintf(line+316, "SURVEY_LINE_%4.4d,", store->survey_line); sprintf(line+333, "COMMENT:"); for (i=0;i<80;i++) line[341+i] = store->comment[i]; line[EM_PARAMETER_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_pos(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_pos"; int status = MB_SUCCESS; char line[EM_POS_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; double degree_dec; int degree; double minute; char hemisphere; int j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->pos_year); fprintf(stderr,"dbg5 month: %d\n",store->pos_month); fprintf(stderr,"dbg5 day: %d\n",store->pos_day); fprintf(stderr,"dbg5 hour: %d\n",store->pos_hour); fprintf(stderr,"dbg5 minute: %d\n",store->pos_minute); fprintf(stderr,"dbg5 sec: %d\n",store->pos_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->pos_centisecond); fprintf(stderr,"dbg5 longitude: %f\n",store->pos_longitude); fprintf(stderr,"dbg5 latitude: %f\n",store->pos_latitude); fprintf(stderr,"dbg5 utm_northing: %f\n",store->utm_northing); fprintf(stderr,"dbg5 utm_easting: %f\n",store->utm_easting); fprintf(stderr,"dbg5 utm_zone: %d\n",store->utm_zone); fprintf(stderr,"dbg5 utm_zone_lon: %f\n",store->utm_zone_lon); fprintf(stderr,"dbg5 utm_system: %d\n",store->utm_system); fprintf(stderr,"dbg5 pos_quality: %d\n",store->pos_quality); fprintf(stderr,"dbg5 speed: %f\n",store->speed); fprintf(stderr,"dbg5 line_heading: %f\n",store->line_heading); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_POS_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_POS, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d,", store->pos_day,store->pos_month,store->pos_year); sprintf(line+7,"%2.2d%2.2d%2.2d%2.2d,", store->pos_hour,store->pos_minute, store->pos_second,store->pos_centisecond); if (store->pos_latitude > 0.0) { hemisphere = 'N'; degree_dec = store->pos_latitude; } else { hemisphere = 'S'; degree_dec = -store->pos_latitude; } degree = (int) floor(degree_dec); minute = 60.0*(degree_dec - degree); sprintf(line+16,"%2.2d%7.4f%c,",degree,minute,hemisphere); if (store->pos_longitude > 180.0) store->pos_longitude = store->pos_longitude - 360.0; if (store->pos_longitude <= -180.0) store->pos_longitude = store->pos_longitude + 360.0; if (store->pos_longitude > 0.0) { hemisphere = 'E'; degree_dec = store->pos_longitude; } else { hemisphere = 'W'; degree_dec = -store->pos_longitude; } degree = (int) floor(degree_dec); minute = 60.0*(degree_dec - degree); sprintf(line+27,"%3.3d%7.4f%c,",degree,minute,hemisphere); sprintf(line+39,"%11.1f,%9.1f,%2.2d,", store->utm_northing,store->utm_easting,store->utm_zone); if (store->utm_zone_lon > 180.0) store->utm_zone_lon = store->utm_zone_lon - 360.0; if (store->utm_zone_lon <= -180.0) store->utm_zone_lon = store->utm_zone_lon + 360.0; if (store->utm_zone_lon > 0.0) { hemisphere = 'E'; degree_dec = store->utm_zone_lon; } else { hemisphere = 'W'; degree_dec = -store->utm_zone_lon; } degree = (int) floor(degree_dec); minute = 60.0*(degree_dec - degree); sprintf(line+64,"%3.3d%7.4f%c,",degree,minute,hemisphere); sprintf(line+76,"%1.1d,%1.1d,%4.1f,%5.1f", store->utm_system,store->pos_quality, store->speed,store->line_heading); line[EM_POS_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_svp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_svp"; int status = MB_SUCCESS; char line[EM_SVP_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->svp_year); fprintf(stderr,"dbg5 month: %d\n",store->svp_month); fprintf(stderr,"dbg5 day: %d\n",store->svp_day); fprintf(stderr,"dbg5 hour: %d\n",store->svp_hour); fprintf(stderr,"dbg5 minute: %d\n",store->svp_minute); fprintf(stderr,"dbg5 sec: %d\n",store->svp_second); fprintf(stderr,"dbg5 centisecond: %d\n",store->svp_centisecond); fprintf(stderr,"dbg5 svp_num: %d\n",store->svp_num); for (i=0;isvp_num;i++) fprintf(stderr,"dbg5 depth: %d vel: %d\n", store->svp_depth[i],store->svp_vel[i]); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_SVP_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_SVP, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d", store->svp_day,store->svp_month,store->svp_year); sprintf(line+6,"%2.2d%2.2d%2.2d%2.2d", store->svp_hour,store->svp_minute, store->svp_second,store->svp_centisecond); mb_put_binary_short(MB_YES, (short) store->svp_num, (void *) &line[14]); for (i=0;isvp_num;i++) { mb_put_binary_short(MB_YES, (short) store->svp_depth[i], (void *) &line[16+4*i]); mb_put_binary_short(MB_YES, (short) store->svp_vel[i], (void *) &line[18+4*i]); } for (i=store->svp_num;i<100;i++) { mb_put_binary_short(MB_YES, (short) 0, (void *) &line[16+4*i]); mb_put_binary_short(MB_YES, (short) 0, (void *) &line[18+4*i]); } line[EM_SVP_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_em1000bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_em1000bath"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_1000_BATH_SIZE]; char beamarray[11]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 beams_bath: %d\n",ping->beams_bath); fprintf(stderr,"dbg5 bath_mode: %d\n",ping->bath_mode); fprintf(stderr,"dbg5 bath_res: %d\n",ping->bath_res); fprintf(stderr,"dbg5 bath_quality: %d\n",ping->ping_number); fprintf(stderr,"dbg5 keel_depth: %d\n",ping->keel_depth); fprintf(stderr,"dbg5 heading: %d\n",ping->heading); fprintf(stderr,"dbg5 roll: %d\n",ping->roll); fprintf(stderr,"dbg5 pitch: %d\n",ping->pitch); fprintf(stderr,"dbg5 xducer_pitch: %d\n",ping->xducer_pitch); fprintf(stderr,"dbg5 ping_heave: %d\n",ping->ping_heave); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 beam bath xtrack ltrack tt amp qual heave\n"); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg5 beam:%d bath:%d xtrck:%d ltrck:%d tt:%d amp:%d qual:%d heave:%d\n", i,ping->bath[i],ping->bath_acrosstrack[i], ping->bath_alongtrack[i],ping->tt[i], ping->amp[i],ping->quality[i],ping->heave[i]); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_1000_BATH_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_1000_BATH, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d", store->day,store->month,store->year); sprintf(line+6,"%2.2d%2.2d%2.2d%2.2d", store->hour,store->minute, store->second,store->centisecond); mb_put_binary_short(MB_YES, (short) ping->ping_number, (void *) &line[14]); line[16] = (char) ping->bath_mode; line[17] = (char) ping->bath_quality; mb_put_binary_short(MB_YES, (short) ping->keel_depth, (void *) &line[18]); mb_put_binary_short(MB_YES, (short) ping->heading, (void *) &line[20]); mb_put_binary_short(MB_YES, (short) ping->roll, (void *) &line[22]); mb_put_binary_short(MB_YES, (short) ping->pitch, (void *) &line[24]); mb_put_binary_short(MB_YES, (short) ping->xducer_pitch, (void *) &line[26]); mb_put_binary_short(MB_YES, (short) ping->ping_heave, (void *) &line[28]); mb_put_binary_short(MB_YES, (short) ping->sound_vel, (void *) &line[30]); for (i=0;ibeamflag[i])) ping->bath[i] = 0; mb_put_binary_short(MB_YES, (short) ping->bath[i], (void *) &beamarray[0]); mb_put_binary_short(MB_YES, (short) ping->bath_acrosstrack[i], (void *) &beamarray[2]); mb_put_binary_short(MB_YES, (short) ping->bath_alongtrack[i], (void *) &beamarray[4]); mb_put_binary_short(MB_YES, (short) ping->tt[i], (void *) &beamarray[6]); beamarray[8] = (char) ping->amp[i]; beamarray[9] = (char) ping->quality[i]; beamarray[10] = (char) ping->heave[i]; for (j=0;j<11;j++) line[32+11*i+j] = beamarray[j]; } line[EM_1000_BATH_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_em12bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_em12bath"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_12S_BATH_SIZE]; char beamarray[11]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 beams_bath: %d\n",ping->beams_bath); fprintf(stderr,"dbg5 bath_mode: %d\n",ping->bath_mode); fprintf(stderr,"dbg5 bath_res: %d\n",ping->bath_res); fprintf(stderr,"dbg5 bath_quality: %d\n",ping->bath_quality); fprintf(stderr,"dbg5 keel_depth: %d\n",ping->keel_depth); fprintf(stderr,"dbg5 heading: %d\n",ping->heading); fprintf(stderr,"dbg5 roll: %d\n",ping->roll); fprintf(stderr,"dbg5 pitch: %d\n",ping->pitch); fprintf(stderr,"dbg5 ping_heave: %d\n",ping->ping_heave); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 beam bath xtrack ltrack tt amp qual heave\n"); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg5 beam:%d bath:%d xtrck:%d ltrck:%d tt:%d amp:%d qual:%d heave:%d\n", i,ping->bath[i],ping->bath_acrosstrack[i], ping->bath_alongtrack[i],ping->tt[i], ping->amp[i],ping->quality[i],ping->heave[i]); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_12S_BATH_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (ping->swath_id == EM_SWATH_CENTER) mb_put_binary_short(MB_NO, (short) EM_12S_BATH, (void *) &label); else if (ping->swath_id == EM_SWATH_PORT) mb_put_binary_short(MB_NO, (short) EM_12DP_BATH, (void *) &label); else mb_put_binary_short(MB_NO, (short) EM_12DS_BATH, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d", store->day,store->month,store->year); sprintf(line+6,"%2.2d%2.2d%2.2d%2.2d", store->hour,store->minute, store->second,store->centisecond); mb_put_binary_short(MB_YES, (short) ping->ping_number, (void *) &line[14]); line[16] = (char) ping->bath_res; line[17] = (char) ping->bath_quality; mb_put_binary_short(MB_YES, (short) ping->keel_depth, (void *) &line[18]); mb_put_binary_short(MB_YES, (short) ping->heading, (void *) &line[20]); mb_put_binary_short(MB_YES, (short) ping->roll, (void *) &line[22]); mb_put_binary_short(MB_YES, (short) ping->pitch, (void *) &line[24]); mb_put_binary_short(MB_YES, (short) ping->ping_heave, (void *) &line[26]); mb_put_binary_short(MB_YES, (short) ping->sound_vel, (void *) &line[28]); line[30] = (char) ping->bath_mode; line[31] = (char) 0; for (i=0;ibeamflag[i])) ping->bath[i] = 0; mb_put_binary_short(MB_YES, (short) ping->bath[i], (void *) &beamarray[0]); mb_put_binary_short(MB_YES, (short) ping->bath_acrosstrack[i], (void *) &beamarray[2]); mb_put_binary_short(MB_YES, (short) ping->bath_alongtrack[i], (void *) &beamarray[4]); mb_put_binary_short(MB_YES, (short) ping->tt[i], (void *) &beamarray[6]); beamarray[8] = (char) ping->amp[i]; beamarray[9] = (char) ping->quality[i]; beamarray[10] = (char) ping->heave[i]; for (j=0;j<11;j++) line[32+11*i+j] = beamarray[j]; } line[EM_12S_BATH_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_em121bath(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_em121bath"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_121_BATH_SIZE]; char beamarray[11]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 beams_bath: %d\n",ping->beams_bath); fprintf(stderr,"dbg5 bath_mode: %d\n",ping->bath_mode); fprintf(stderr,"dbg5 bath_quality: %d\n",ping->bath_quality); fprintf(stderr,"dbg5 bath_num: %d\n",ping->bath_num); fprintf(stderr,"dbg5 pulse_length: %d\n",ping->pulse_length); fprintf(stderr,"dbg5 beam_width: %d\n",ping->beam_width); fprintf(stderr,"dbg5 power_level: %d\n",ping->power_level); fprintf(stderr,"dbg5 tx_status: %d\n",ping->tx_status); fprintf(stderr,"dbg5 rx_status: %d\n",ping->rx_status); fprintf(stderr,"dbg5 along_res: %d\n",ping->along_res); fprintf(stderr,"dbg5 across_res: %d\n",ping->across_res); fprintf(stderr,"dbg5 depth_res: %d\n",ping->depth_res); fprintf(stderr,"dbg5 range_res: %d\n",ping->range_res); fprintf(stderr,"dbg5 keel_depth: %d\n",ping->keel_depth); fprintf(stderr,"dbg5 heading: %d\n",ping->heading); fprintf(stderr,"dbg5 roll: %d\n",ping->roll); fprintf(stderr,"dbg5 pitch: %d\n",ping->pitch); fprintf(stderr,"dbg5 ping_heave: %d\n",ping->ping_heave); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 beam bath xtrack ltrack tt amp qual heave\n"); for (i=0;ibeams_bath;i++) fprintf(stderr,"dbg5 beam:%d bath:%d xtrck:%d ltrck:%d tt:%d amp:%d qual:%d heave:%d\n", i,ping->bath[i],ping->bath_acrosstrack[i], ping->bath_alongtrack[i],ping->tt[i], ping->amp[i],ping->quality[i],ping->heave[i]); } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_121_BATH_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ mb_put_binary_short(MB_NO, (short) EM_121_BATH, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d", store->day,store->month,store->year); sprintf(line+6,"%2.2d%2.2d%2.2d%2.2d", store->hour,store->minute, store->second,store->centisecond); mb_put_binary_short(MB_YES, (short) ping->ping_number, (void *) &line[14]); line[16] = (char) ping->bath_mode; line[17] = (char) ping->bath_quality; line[18] = (char) ping->bath_num; line[19] = (char) ping->pulse_length; line[20] = (char) ping->beam_width; line[21] = (char) ping->power_level; line[22] = (char) ping->tx_status; line[23] = (char) ping->rx_status; mb_put_binary_short(MB_YES, (short) ping->keel_depth, (void *) &line[24]); mb_put_binary_short(MB_YES, (unsigned short) ping->heading, (void *) &line[26]); mb_put_binary_short(MB_YES, (short) ping->roll, (void *) &line[28]); mb_put_binary_short(MB_YES, (short) ping->pitch, (void *) &line[30]); mb_put_binary_short(MB_YES, (short) ping->ping_heave, (void *) &line[32]); mb_put_binary_short(MB_YES, (short) ping->sound_vel, (void *) &line[34]); line[36] = (char) ping->along_res; line[37] = (char) ping->across_res; line[38] = (char) ping->depth_res; line[39] = (char) ping->range_res; for (i=0;ibeamflag[i])) ping->bath[i] = 0; mb_put_binary_short(MB_YES, (short) ping->bath[i], (void *) &beamarray[0]); mb_put_binary_short(MB_YES, (short) ping->bath_acrosstrack[i], (void *) &beamarray[2]); mb_put_binary_short(MB_YES, (short) ping->bath_alongtrack[i], (void *) &beamarray[4]); mb_put_binary_short(MB_YES, (short) ping->tt[i], (void *) &beamarray[6]); beamarray[8] = (char) ping->amp[i]; beamarray[9] = (char) ping->quality[i]; beamarray[10] = (char) ping->heave[i]; for (j=0;j<11;j++) line[44+11*i+j] = beamarray[j]; } line[EM_121_BATH_SIZE-3] = 0x03; /* compute and set checksum */ uchar_ptr = (mb_u_char *) line; checksum = 0; for (j=0;j= 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_emoldraw_wr_ss(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_ss"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_SS_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int num_datagrams; int datagram; int num_beams; int datagram_start[MBSYS_EM1000_MAXBEAMS+1]; int datagram_end[MBSYS_EM1000_MAXBEAMS+1]; int datagram_size[MBSYS_EM1000_MAXBEAMS+1]; int new_datagram_size; mb_s_char *beam_ss; int ioffset; int odatagram; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 ss_mode: %d\n",ping->ss_mode); fprintf(stderr,"dbg5 beam frequency samples center start\n"); for (i=0;ibeam_frequency[i], ping->beam_samples[i], ping->beam_center_sample[i], ping->beam_start_sample[i]); for (i=0;issraw[ping->beam_start_sample[i]]; for (j=0;jbeam_samples[i];j++) fprintf(stderr,"dbg5 beam:%d pixel:%d amp:%d\n", i,j,beam_ss[j]); } } /* preprocess data to figure out how many sidescan datagrams to output */ num_datagrams = 0; datagram_size[0] = 22; datagram_start[0] = 0; datagram_end[0] = 0; for (i=0;ibeam_samples[i]; if (new_datagram_size > 551 && i == MBSYS_EM1000_MAXBEAMS - 1) { datagram_end[num_datagrams] = i - 1; num_datagrams++; datagram_start[num_datagrams] = i; datagram_end[num_datagrams] = MBSYS_EM1000_MAXBEAMS - 1; datagram_size[num_datagrams] = 22 + 6 + ping->beam_samples[i]; num_datagrams++; } else if (new_datagram_size > 551) { datagram_end[num_datagrams] = i - 1; num_datagrams++; datagram_start[num_datagrams] = i; datagram_end[num_datagrams] = MBSYS_EM1000_MAXBEAMS - 1; datagram_size[num_datagrams] = 22 + 6 + ping->beam_samples[i]; } else if (new_datagram_size == 551) { datagram_end[num_datagrams] = i; datagram_size[num_datagrams] = new_datagram_size; num_datagrams++; datagram_start[num_datagrams] = i + 1; datagram_end[num_datagrams] = MBSYS_EM1000_MAXBEAMS - 1; datagram_size[num_datagrams] = 22; } else if (i == MBSYS_EM1000_MAXBEAMS - 1) { datagram_end[num_datagrams] = i; datagram_size[num_datagrams] = new_datagram_size; num_datagrams++; } else datagram_size[num_datagrams] = new_datagram_size; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 num_datagrams: %d\n",num_datagrams); for (datagram=0;datagrambeam_frequency[i], ping->beam_samples[i], ping->beam_center_sample[i]); } } /* now loop over all of the sidescan datagrams to be written */ for (datagram=0;datagram= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 ss_mode: %d\n",ping->ss_mode); fprintf(stderr,"dbg5 num_datagrams: %d\n",num_datagrams); fprintf(stderr,"dbg5 datagram: %d\n",datagram); fprintf(stderr,"dbg5 num_beams: %d\n",num_beams); for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) fprintf(stderr,"dbg5 beam:%d frequency:%d samples:%d center:%d start:%d\n", i,ping->beam_frequency[i], ping->beam_samples[i], ping->beam_center_sample[i], ping->beam_start_sample[i]); for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) { beam_ss = &ping->ssraw[ping->beam_start_sample[i]]; for (j=0;jbeam_samples[i];j++) fprintf(stderr,"dbg5 beam:%d pixel:%d amp:%d\n", i,j,beam_ss[j]); } } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_SS_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (ping->swath_id == EM_SWATH_CENTER) mb_put_binary_short(MB_NO, (short) EM_12S_SS, (void *) &label); else if (ping->swath_id == EM_SWATH_PORT) mb_put_binary_short(MB_NO, (short) EM_12DP_SS, (void *) &label); else mb_put_binary_short(MB_NO, (short) EM_12DS_SS, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d", store->day,store->month,store->year); sprintf(line+6,"%2.2d%2.2d%2.2d%2.2d", store->hour,store->minute, store->second,store->centisecond); mb_put_binary_short(MB_YES, (short) ping->ping_number, (void *) &line[14]); mb_put_binary_short(MB_YES, (short) ping->sound_vel, (void *) &line[16]); line[18] = (char) ping->ss_mode; line[19] = (char) num_datagrams; odatagram = datagram + 1; line[20] = (char) odatagram; line[21] = (char) num_beams; j=0; for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) { line[22 + 6*j] = (char) (i + 1); line[23 + 6*j] = (char) ping->beam_frequency[i]; mb_put_binary_short(MB_YES, (short) ping->beam_samples[i], (void *) &line[24 + 6*j]); mb_put_binary_short(MB_YES, (short) ping->beam_center_sample[i], (void *) &line[26 + 6*j]); j++; } ioffset = 22 + 6*num_beams; for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) { beam_ss = &ping->ssraw[ping->beam_start_sample[i]]; for (j=0;jbeam_samples[i];j++) { line[ioffset + j] = (char) beam_ss[j]; } ioffset = ioffset + ping->beam_samples[i]; } for (i=ioffset;i= 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_emoldraw_wr_ssp(int verbose, FILE *mbfp, struct mbsys_simrad_struct *store, int *error) { char *function_name = "mbr_emoldraw_wr_ssp"; int status = MB_SUCCESS; struct mbsys_simrad_survey_struct *ping; char line[EM_SSP_SIZE]; short int label; int write_len; int write_size; unsigned short checksum; short int short_val; mb_u_char *uchar_ptr; char *char_ptr; int num_datagrams; int datagram; int num_beams; int datagram_start[MBSYS_SIMRAD_MAXBEAMS+1]; int datagram_end[MBSYS_SIMRAD_MAXBEAMS+1]; int datagram_size[MBSYS_SIMRAD_MAXBEAMS+1]; int new_datagram_size; mb_s_char *beam_ss; short int *beam_ssp; int ioffset; int odatagram; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbfp: %lu\n",(size_t)mbfp); fprintf(stderr,"dbg2 store: %lu\n",(size_t)store); } /* get ping structure */ ping = (struct mbsys_simrad_survey_struct *) store->ping; /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 ss_mode: %d\n",ping->ss_mode); fprintf(stderr,"dbg5 beam frequency samples center start\n"); for (i=0;ibeam_frequency[i], ping->beam_samples[i], ping->beam_center_sample[i], ping->beam_start_sample[i]); for (i=0;issraw[ping->beam_start_sample[i]]; beam_ssp = &ping->ssp[ping->beam_start_sample[i]]; for (j=0;jbeam_samples[i];j++) fprintf(stderr,"dbg5 beam:%d pixel:%d amp:%d phase:%d\n", i,j,beam_ss[j],beam_ssp[j]); } } /* preprocess data to figure out how many sidescan datagrams to output */ num_datagrams = 0; datagram_size[0] = 22; datagram_start[0] = 0; datagram_end[0] = 0; for (i=0;ibeam_samples[i]; if (new_datagram_size > 1465 && i == MBSYS_SIMRAD_MAXBEAMS - 1) { datagram_end[num_datagrams] = i - 1; num_datagrams++; datagram_start[num_datagrams] = i; datagram_end[num_datagrams] = MBSYS_SIMRAD_MAXBEAMS - 1; datagram_size[num_datagrams] = 22 + 6 + 3 * ping->beam_samples[i]; num_datagrams++; } else if (new_datagram_size > 1465) { datagram_end[num_datagrams] = i - 1; num_datagrams++; datagram_start[num_datagrams] = i; datagram_end[num_datagrams] = MBSYS_SIMRAD_MAXBEAMS - 1; datagram_size[num_datagrams] = 22 + 6 + 3 * ping->beam_samples[i]; } else if (new_datagram_size == 1465) { datagram_end[num_datagrams] = i; datagram_size[num_datagrams] = new_datagram_size; num_datagrams++; datagram_start[num_datagrams] = i + 1; datagram_end[num_datagrams] = MBSYS_SIMRAD_MAXBEAMS - 1; datagram_size[num_datagrams] = 22; } else if (i == MBSYS_SIMRAD_MAXBEAMS - 1) { datagram_end[num_datagrams] = i; datagram_size[num_datagrams] = new_datagram_size; num_datagrams++; } else datagram_size[num_datagrams] = new_datagram_size; } /* print debug statements */ if (verbose >= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 num_datagrams: %d\n",num_datagrams); for (datagram=0;datagrambeam_frequency[i], ping->beam_samples[i], ping->beam_center_sample[i]); } } /* now loop over all of the sidescan datagrams to be written */ for (datagram=0;datagram= 5) { fprintf(stderr,"\ndbg5 Values to be written in MBIO function <%s>\n",function_name); fprintf(stderr,"dbg5 year: %d\n",store->year); fprintf(stderr,"dbg5 month: %d\n",store->month); fprintf(stderr,"dbg5 day: %d\n",store->day); fprintf(stderr,"dbg5 hour: %d\n",store->hour); fprintf(stderr,"dbg5 minute: %d\n",store->minute); fprintf(stderr,"dbg5 sec: %d\n",store->second); fprintf(stderr,"dbg5 centisecond: %d\n",store->centisecond); fprintf(stderr,"dbg5 ping_number: %d\n",ping->ping_number); fprintf(stderr,"dbg5 sound_vel: %d\n",ping->sound_vel); fprintf(stderr,"dbg5 ss_mode: %d\n",ping->ss_mode); fprintf(stderr,"dbg5 num_datagrams: %d\n",num_datagrams); fprintf(stderr,"dbg5 datagram: %d\n",datagram); fprintf(stderr,"dbg5 num_beams: %d\n",num_beams); for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) fprintf(stderr,"dbg5 beam:%d frequency:%d samples:%d center:%d start:%d\n", i,ping->beam_frequency[i], ping->beam_samples[i], ping->beam_center_sample[i], ping->beam_start_sample[i]); for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) { beam_ss = &ping->ssraw[ping->beam_start_sample[i]]; beam_ssp = &ping->ssp[ping->beam_start_sample[i]]; for (j=0;jbeam_samples[i];j++) fprintf(stderr,"dbg5 beam:%d pixel:%d amp:%d phase:%d\n", i,j,beam_ss[j],beam_ssp[j]); } } /* write the record size */ mb_put_binary_int(MB_NO, (int) (EM_12S_SSP_SIZE + 2), (void *) &write_size); write_len = fwrite(&write_size,1,4,mbfp); if (write_len != 4) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write the record label */ if (ping->swath_id == EM_SWATH_CENTER) mb_put_binary_short(MB_NO, (short) EM_12S_SSP, (void *) &label); else if (ping->swath_id == EM_SWATH_PORT) mb_put_binary_short(MB_NO, (short) EM_12DP_SSP, (void *) &label); else mb_put_binary_short(MB_NO, (short) EM_12DS_SSP, (void *) &label); write_len = fwrite(&label,1,2,mbfp); if (write_len != 2) { status = MB_FAILURE; *error = MB_ERROR_WRITE_FAIL; } else status = MB_SUCCESS; /* write out the data */ if (status == MB_SUCCESS) { /* construct record */ sprintf(line,"%2.2d%2.2d%2.2d", store->day,store->month,store->year); sprintf(line+6,"%2.2d%2.2d%2.2d%2.2d", store->hour,store->minute, store->second,store->centisecond); mb_put_binary_short(MB_YES, (short) ping->ping_number, (void *) &line[14]); mb_put_binary_short(MB_YES, (short) ping->sound_vel, (void *) &line[16]); line[18] = (char) ping->ss_mode; line[19] = (char) num_datagrams; odatagram = datagram + 1; line[20] = (char) odatagram; line[21] = (char) num_beams; j=0; for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) { line[22 + 6*j] = (char) (i + 1); line[23 + 6*j] = (char) ping->beam_frequency[i]; mb_put_binary_short(MB_YES, (short) ping->beam_samples[i], (void *) &line[24 + 6*j]); mb_put_binary_short(MB_YES, (short) ping->beam_center_sample[i], (void *) &line[26 + 6*j]); j++; } ioffset = 22 + 6*num_beams; char_ptr = (char *) &short_val; for (i=datagram_start[datagram];i<=datagram_end[datagram];i++) { beam_ss = &ping->ssraw[ping->beam_start_sample[i]]; beam_ssp = &ping->ssp[ping->beam_start_sample[i]]; for (j=0;jbeam_samples[i];j++) { line[ioffset] = (char) beam_ss[j]; mb_put_binary_short(MB_YES, (short) beam_ssp[j], (void *) &short_val); line[ioffset+1] = char_ptr[0]; line[ioffset+2] = char_ptr[1]; ioffset += 3; } } for (i=ioffset;i= 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); } /*--------------------------------------------------------------------*/