/*-------------------------------------------------------------------- * The MB-system: mbr_reson7kr.c 4/4/2004 * $Id: mbr_reson7kr.c 1994 2012-10-27 07:49:28Z caress $ * * Copyright (c) 2004-2012 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_reson7kr.c contains the functions for reading and writing * multibeam data in the RESON7KR format. * These functions include: * mbr_alm_reson7kr - allocate read/write memory * mbr_dem_reson7kr - deallocate read/write memory * mbr_rt_reson7kr - read and translate data * mbr_wt_reson7kr - translate and write data * * Author: D. W. Caress * Date: April 4,2004 * $Log: mbr_reson7kr.c,v $ * Revision 5.21 2008/09/27 03:27:10 caress * Working towards release 5.1.1beta24 * * Revision 5.20 2008/09/20 00:57:41 caress * Release 5.1.1beta23 * * Revision 5.19 2008/05/16 22:56:24 caress * Release 5.1.1beta18. * * Revision 5.18 2008/03/01 09:14:03 caress * Some housekeeping changes. * * Revision 5.17 2008/01/14 18:11:55 caress * Fixes to handling beamflagging following upgrades to Reson 7k multibeams. * * Revision 5.16 2007/07/03 17:25:51 caress * Changes to handle new time lag value in bluefin nav records. * * Revision 5.15 2006/11/10 22:36:05 caress * Working towards release 5.1.0 * * Revision 5.14 2006/09/11 18:55:53 caress * Changes during Western Flyer and Thomas Thompson cruises, August-September * 2006. * * Revision 5.13 2006/04/11 19:14:46 caress * Various fixes. * * Revision 5.12 2006/03/14 01:44:02 caress * Added test for reasonable altitude value derived from Bluefin records. * * Revision 5.11 2005/11/05 00:48:05 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.10 2005/06/15 15:20:16 caress * Fixed problems with writing Bluefin records in 7k data and improved support for Edgetech Jstar data. * * Revision 5.9 2005/06/04 04:15:59 caress * Support for Edgetech Jstar format (id 132 and 133). * * Revision 5.8 2005/04/07 04:24:33 caress * 5.0.7 Release. * * Revision 5.7 2005/03/25 04:33:30 caress * Improved handling of interpolated asynchronous data, particularly sonar depth. * * Revision 5.6 2004/12/02 06:33:31 caress * Fixes while supporting Reson 7k data. * * Revision 5.5 2004/11/08 05:47:19 caress * Now gets sidescan from snippet data, maybe even properly... * * Revision 5.4 2004/11/06 03:55:16 caress * Working to support the Reson 7k format. * * Revision 5.3 2004/07/15 19:25:05 caress * Progress in supporting Reson 7k data. * * Revision 5.2 2004/06/18 05:22:32 caress * Working on adding support for segy i/o and for Reson 7k format 88. * * Revision 5.1 2004/05/21 23:44:49 caress * Progress supporting Reson 7k data, including support for extracing subbottom profiler data. * * Revision 5.0 2004/04/27 01:50:16 caress * Adding support for Reson 7k sonar data, including segy extensions. * * * */ /* 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_reson7k.h" /* include for byte swapping */ #include "../../include/mb_swap.h" /* turn on debug statements here */ /* #define MBR_RESON7KR_DEBUG 1 */ /* #define MBR_RESON7KR_DEBUG2 1 */ /* essential function prototypes */ int mbr_register_reson7kr(int verbose, void *mbio_ptr, int *error); int mbr_info_reson7kr(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_reson7kr(int verbose, void *mbio_ptr, int *error); int mbr_dem_reson7kr(int verbose, void *mbio_ptr, int *error); int mbr_rt_reson7kr(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_wt_reson7kr(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_reson7kr_chk_header(int verbose, void *mbio_ptr, char *buffer, int *recordid, int *deviceid, unsigned short *enumerator, int *size); int mbr_reson7kr_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_reson7kr_chk_label(int verbose, void *mbio_ptr, short type); int mbr_reson7kr_chk_pingnumber(int verbose, int recordid, char *buffer, int *ping_number); int mbr_reson7kr_rd_header(int verbose, char *buffer, int *index, s7k_header *header, int *error); int mbr_reson7kr_rd_reference(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_sensoruncal(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_sensorcal(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_position(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_customattitude(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_tide(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_altitude(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_motion(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_depth(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_svp(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_ctd(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_geodesy(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_rollpitchheave(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_heading(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_surveyline(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_navigation(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_attitude(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_rec1022(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_fsdwchannel(int verbose, int data_format, char *buffer, int *index, s7k_fsdwchannel *fsdwchannel, int *error); int mbr_reson7kr_rd_fsdwssheader(int verbose, char *buffer, int *index, s7k_fsdwssheader *fsdwssheader, int *error); int mbr_reson7kr_rd_fsdwsegyheader(int verbose, char *buffer, int *index, s7k_fsdwsegyheader *fsdwsegyheader, int *error); int mbr_reson7kr_rd_fsdwsslo(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_fsdwsshi(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_fsdwsb(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_bluefin(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_processedsidescan(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_volatilesonarsettings(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_configuration(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_matchfilter(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2firmwarehardwareconfiguration(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_beamgeometry(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_calibration(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_bathymetry(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_backscatter(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_beam(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_verticaldepth(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_image(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2pingmotion(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2detectionsetup(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2beamformed(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2bite(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v27kcenterversion(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v28kwetendversion(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2detection(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2rawdetection(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_v2snippet(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_installation(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_systemeventmessage(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_fileheader(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_remotecontrolsettings(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_reserved(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_roll(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_pitch(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_soundvelocity(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_absorptionloss(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_rd_spreadingloss(int verbose, char *buffer, void *store_ptr, int *error); int mbr_reson7kr_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error); int mbr_reson7kr_wr_header(int verbose, char *buffer, int *index, s7k_header *header, int *error); int mbr_reson7kr_wr_reference(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_sensoruncal(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_sensorcal(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_position(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_customattitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_tide(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_altitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_motion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_depth(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_svp(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_ctd(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_geodesy(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_rollpitchheave(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_heading(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_surveyline(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_navigation(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_attitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_rec1022(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_fsdwchannel(int verbose, int data_format, char *buffer, int *index, s7k_fsdwchannel *fsdwchannel, int *error); int mbr_reson7kr_wr_fsdwssheader(int verbose, char *buffer, int *index, s7k_fsdwssheader *fsdwssheader, int *error); int mbr_reson7kr_wr_fsdwsegyheader(int verbose, char *buffer, int *index, s7k_fsdwsegyheader *fsdwsegyheader, int *error); int mbr_reson7kr_wr_fsdwsslo(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_fsdwsshi(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_fsdwsb(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_bluefin(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_processedsidescan(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_volatilesonarsettings(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_configuration(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_matchfilter(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2firmwarehardwareconfiguration(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_beamgeometry(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_calibration(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_bathymetry(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_backscatter(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_beam(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_verticaldepth(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_image(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2pingmotion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2detectionsetup(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2beamformed(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2bite(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v27kcenterversion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v28kwetendversion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2detection(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2rawdetection(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_v2snippet(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_installation(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_systemeventmessage(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_fileheader(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_remotecontrolsettings(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_reserved(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_roll(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_pitch(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_soundvelocity(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_absorptionloss(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); int mbr_reson7kr_wr_spreadingloss(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error); static char rcs_id[]="$Id: mbr_reson7kr.c 1994 2012-10-27 07:49:28Z caress $"; /*--------------------------------------------------------------------*/ int mbr_register_reson7kr(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_register_reson7kr"; 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_reson7kr(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_reson7kr; mb_io_ptr->mb_io_format_free = &mbr_dem_reson7kr; mb_io_ptr->mb_io_store_alloc = &mbsys_reson7k_alloc; mb_io_ptr->mb_io_store_free = &mbsys_reson7k_deall; mb_io_ptr->mb_io_read_ping = &mbr_rt_reson7kr; mb_io_ptr->mb_io_write_ping = &mbr_wt_reson7kr; mb_io_ptr->mb_io_dimensions = &mbsys_reson7k_dimensions; mb_io_ptr->mb_io_pingnumber = &mbsys_reson7k_pingnumber; mb_io_ptr->mb_io_sonartype = &mbsys_reson7k_sonartype; mb_io_ptr->mb_io_sidescantype = &mbsys_reson7k_sidescantype; mb_io_ptr->mb_io_extract = &mbsys_reson7k_extract; mb_io_ptr->mb_io_insert = &mbsys_reson7k_insert; mb_io_ptr->mb_io_extract_nav = &mbsys_reson7k_extract_nav; mb_io_ptr->mb_io_extract_nnav = &mbsys_reson7k_extract_nnav; mb_io_ptr->mb_io_insert_nav = &mbsys_reson7k_insert_nav; mb_io_ptr->mb_io_extract_altitude = &mbsys_reson7k_extract_altitude; mb_io_ptr->mb_io_insert_altitude = NULL; mb_io_ptr->mb_io_extract_svp = &mbsys_reson7k_extract_svp; mb_io_ptr->mb_io_insert_svp = &mbsys_reson7k_insert_svp; mb_io_ptr->mb_io_ttimes = &mbsys_reson7k_ttimes; mb_io_ptr->mb_io_detects = &mbsys_reson7k_detects; mb_io_ptr->mb_io_gains = &mbsys_reson7k_gains; mb_io_ptr->mb_io_copyrecord = &mbsys_reson7k_copy; mb_io_ptr->mb_io_extract_rawss = NULL; mb_io_ptr->mb_io_insert_rawss = NULL; mb_io_ptr->mb_io_extract_segytraceheader = &mbsys_reson7k_extract_segytraceheader; mb_io_ptr->mb_io_extract_segy = &mbsys_reson7k_extract_segy; mb_io_ptr->mb_io_insert_segy = &mbsys_reson7k_insert_segy; mb_io_ptr->mb_io_ctd = &mbsys_reson7k_ctd; mb_io_ptr->mb_io_ancilliarysensor = &mbsys_reson7k_ancilliarysensor; /* 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 extract_segytraceheader: %lu\n",(size_t)mb_io_ptr->mb_io_extract_segytraceheader); fprintf(stderr,"dbg2 extract_segy: %lu\n",(size_t)mb_io_ptr->mb_io_extract_segy); fprintf(stderr,"dbg2 insert_segy: %lu\n",(size_t)mb_io_ptr->mb_io_insert_segy); 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_reson7kr(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_reson7kr"; 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_RESON7K; *beams_bath_max = MBSYS_RESON7K_MAX_BEAMS; *beams_amp_max = MBSYS_RESON7K_MAX_BEAMS; *pixels_ss_max = MBSYS_RESON7K_MAX_PIXELS; strncpy(format_name, "RESON7KR", MB_NAME_LENGTH); strncpy(system_name, "RESON7K", MB_NAME_LENGTH); strncpy(format_description, "Format name: MBF_RESON7KR\nInformal Description: Reson 7K multibeam vendor format\nAttributes: Reson 7K series multibeam sonars, \n bathymetry, amplitude, three channels sidescan, and subbottom\n up to 254 beams, variable pixels, binary, Reson.\n", MB_DESCRIPTION_LENGTH); *numfile = 1; *filetype = MB_FILETYPE_SINGLE; *variable_beams = MB_YES; *traveltime = MB_YES; *beam_flagging = MB_YES; *nav_source = MB_DATA_DATA; *heading_source = MB_DATA_DATA; *vru_source = MB_DATA_DATA; *svp_source = MB_DATA_VELOCITY_PROFILE; *beamwidth_xtrack = 1.0; *beamwidth_ltrack = 1.0; /* 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_reson7kr(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_alm_reson7kr"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; int *current_ping; int *last_ping; int *save_flag; int *recordid; int *recordidlast; char **bufferptr; char *buffer; int *bufferalloc; char **buffersaveptr; char *buffersave; int *size; int *nbadrec; int *deviceid; unsigned short *enumerator; int *fileheaders; 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); } /* 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_reson7k_alloc( verbose,mbio_ptr, &mb_io_ptr->store_data,error); save_flag = (int *) &mb_io_ptr->save_flag; current_ping = (int *) &mb_io_ptr->save14; last_ping = (int *) &mb_io_ptr->save1; recordid = (int *) &mb_io_ptr->save3; recordidlast = (int *) &mb_io_ptr->save4; bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; buffersaveptr = (char **) &mb_io_ptr->saveptr2; buffersave = (char *) *buffersaveptr; size = (int *) &mb_io_ptr->save8; nbadrec = (int *) &mb_io_ptr->save9; deviceid = (int *) &mb_io_ptr->save10; enumerator = (unsigned short *) &mb_io_ptr->save11; fileheaders = (int *) &mb_io_ptr->save12; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; *current_ping = -1; *last_ping = -1; *save_flag = MB_NO; *recordid = R7KRECID_None; *recordidlast = R7KRECID_None; *bufferptr = NULL; *bufferalloc = 0; *size = 0; *nbadrec = 0; *deviceid = 0; *enumerator = 0; *fileheaders = 0; *pixel_size = 0.0; *swath_width = 0.0; /* allocate memory if necessary */ if (status == MB_SUCCESS) { status = mb_reallocd(verbose, __FILE__, __LINE__, MBSYS_RESON7K_BUFFER_STARTSIZE, (void **)bufferptr, error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, MBSYS_RESON7K_BUFFER_STARTSIZE, (void **)buffersaveptr, error); if (status == MB_SUCCESS) *bufferalloc = MBSYS_RESON7K_BUFFER_STARTSIZE; } /* 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_reson7kr(int verbose, void *mbio_ptr, int *error) { char *function_name = "mbr_dem_reson7kr"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; char **bufferptr; char *buffer; int *bufferalloc; char **buffersaveptr; char *buffersave; /* 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_reson7k_deall( verbose,mbio_ptr, &mb_io_ptr->store_data,error); /* deallocate memory for reading/writing buffer */ bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; buffersaveptr = (char **) &mb_io_ptr->saveptr2; buffersave = (char *) *buffersaveptr; status = mb_freed(verbose,__FILE__,__LINE__,(void **)bufferptr,error); status = mb_freed(verbose,__FILE__,__LINE__,(void **)buffersaveptr,error); *bufferalloc = 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 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_rt_reson7kr(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_rt_reson7kr"; int status = MB_SUCCESS; int interp_status; int interp_error = MB_ERROR_NO_ERROR; struct mb_io_struct *mb_io_ptr; struct mbsys_reson7k_struct *store; s7kr_position *position; s7kr_navigation *navigation; s7kr_attitude *attitude; s7kr_heading *dheading; s7kr_rollpitchheave *rollpitchheave; s7kr_customattitude *customattitude; s7kr_altitude *altitude; s7kr_depth *depth; s7kr_volatilesettings *volatilesettings; s7kr_beamgeometry *beamgeometry; s7kr_bathymetry *bathymetry; s7kr_backscatter *backscatter; s7kr_beam *beam; s7kr_verticaldepth *verticaldepth; s7kr_image *image; s7kr_v2detection *v2detection; s7kr_v2detectionsetup *v2detectionsetup; s7kr_v2rawdetection *v2rawdetection; s7kr_bluefin *bluefin; s7kr_processedsidescan *processedsidescan; int *current_ping; int ss_source; double speed, heading, longitude, latitude; double roll, pitch, heave; double sonar_depth, sonar_altitude; double soundspeed, alpha, beta, theta, phi; double rr, xx, zz; double *pixel_size, *swath_width; 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 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointers to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* read next data from file */ status = mbr_reson7kr_rd_data(verbose,mbio_ptr,store_ptr,error); /* get pointers to data structures */ store = (struct mbsys_reson7k_struct *) store_ptr; position = &store->position; attitude = &store->attitude; volatilesettings = &store->volatilesettings; beamgeometry = &store->beamgeometry; bathymetry = &store->bathymetry; backscatter = &store->backscatter; beam = &store->beam; image = &store->image; v2detectionsetup = &store->v2detectionsetup; v2detection = &store->v2detection; v2rawdetection = &store->v2rawdetection; bluefin = &store->bluefin; processedsidescan = &store->processedsidescan; current_ping = (int *) &mb_io_ptr->save14; pixel_size = (double *) &mb_io_ptr->saved1; swath_width = (double *) &mb_io_ptr->saved2; /* throw away multibeam data if the time stamp makes no sense */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && store->time_i[0] < 2004) { status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } /* save fix if nav data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV1) { /* add latest fix */ position = &(store->position); mb_navint_add(verbose, mbio_ptr, store->time_d, (double)(RTD * position->longitude), (double)(RTD * position->latitude), error); } /* save nav and attitude if bluefin data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV2) { /* add latest fix */ bluefin = &(store->bluefin); for (i=0;inumber_frames;i++) { /* if (bluefin->nav[i].timedelay != 0) fprintf(stderr,"NAV TIME DIFF: %f %d\n", bluefin->nav[i].position_time,bluefin->nav[i].timedelay);*/ mb_navint_add(verbose, mbio_ptr, (double)(bluefin->nav[i].position_time), (double)(RTD * bluefin->nav[i].longitude), (double)(RTD * bluefin->nav[i].latitude), error); mb_attint_add(verbose, mbio_ptr, (double)(bluefin->nav[i].position_time), (double)(0.0), (double)(RTD * bluefin->nav[i].roll), (double)(RTD * bluefin->nav[i].pitch), error); mb_hedint_add(verbose, mbio_ptr, (double)(bluefin->nav[i].position_time), (double)(RTD * bluefin->nav[i].yaw), error); if (mb_io_ptr->nsonardepth == 0 || (bluefin->nav[i].depth != mb_io_ptr->sonardepth_sonardepth[mb_io_ptr->nsonardepth-1])) { if (bluefin->nav[i].depth_time <= 0.0) bluefin->nav[i].depth_time = bluefin->nav[i].position_time; mb_depint_add(verbose, mbio_ptr, (double)(bluefin->nav[i].depth_time), (double)(bluefin->nav[i].depth), error); } if (bluefin->nav[i].altitude > 0.0 && bluefin->nav[i].altitude < 250.0 && (i == 0 || bluefin->nav[i].altitude != bluefin->nav[i-1].altitude)) { mb_altint_add(verbose, mbio_ptr, (double)(bluefin->nav[i].position_time), (double)(bluefin->nav[i].altitude), error); } } } /* save nav and heading if navigation data */ if (status == MB_SUCCESS && store->kind == MB_DATA_NAV3) { /* add latest fix */ navigation = &(store->navigation); mb_navint_add(verbose, mbio_ptr, store->time_d, (double)(RTD * navigation->longitude), (double)(RTD * navigation->latitude), error); mb_hedint_add(verbose, mbio_ptr, store->time_d, (double)(RTD * navigation->heading), error); } /* save attitude if attitude record */ if (status == MB_SUCCESS && store->kind == MB_DATA_ATTITUDE && store->type == R7KRECID_Attitude) { /* get attitude structure */ attitude = &(store->attitude); /* add latest attitude samples */ for (i=0;in;i++) { mb_attint_add(verbose, mbio_ptr, (double)(store->time_d + 0.001 * ((double)attitude->delta_time[i])), (double)(attitude->heave[i]), (double)(RTD * attitude->roll[i]), (double)(RTD * attitude->pitch[i]), error); mb_hedint_add(verbose, mbio_ptr, (double)(store->time_d + 0.001 * ((double)attitude->delta_time[i])), (double)(RTD * attitude->heading[i]), error); } } /* else save attitude if rollpitchheave record */ else if (status == MB_SUCCESS && store->kind == MB_DATA_ATTITUDE && store->type == R7KRECID_RollPitchHeave) { /* get attitude structure */ rollpitchheave = &(store->rollpitchheave); /* add latest attitude samples */ mb_attint_add(verbose, mbio_ptr, (double)(store->time_d), (double)(rollpitchheave->heave), (double)(RTD * rollpitchheave->roll), (double)(RTD * rollpitchheave->pitch), error); } /* else save attitude if customattitude record */ else if (status == MB_SUCCESS && store->kind == MB_DATA_ATTITUDE && store->type == R7KRECID_CustomAttitude) { /* get attitude structure */ customattitude = &(store->customattitude); /* add latest attitude samples */ for (i=0;in;i++) { mb_attint_add(verbose, mbio_ptr, (double)(store->time_d + ((double)i) / ((double)customattitude->frequency)), (double)(customattitude->heave[i]), (double)(RTD * customattitude->roll[i]), (double)(RTD * customattitude->pitch[i]), error); mb_hedint_add(verbose, mbio_ptr, (double)(store->time_d + ((double)i) / ((double)customattitude->frequency)), (double)(RTD * customattitude->heading[i]), error); } } /* save heading if heading record */ if (status == MB_SUCCESS && store->kind == MB_DATA_HEADING && store->type == R7KRECID_Heading) { /* get attitude structure */ dheading = &(store->heading); /* add latest heading sample */ mb_hedint_add(verbose, mbio_ptr, (double)(store->time_d), (double)(RTD * dheading->heading), error); } /* save altitude if altitude record */ if (status == MB_SUCCESS && store->kind == MB_DATA_HEIGHT && store->type == R7KRECID_Altitude) { /* get attitude structure */ altitude = &(store->altitude); /* add latest heading sample */ mb_altint_add(verbose, mbio_ptr, (double)(store->time_d), (double)(altitude->altitude), error); } /* save sonardepth if depth record */ if (status == MB_SUCCESS && store->kind == MB_DATA_HEIGHT && store->type == R7KRECID_Depth) { /* get attitude structure */ depth = &(store->depth); /* add latest depth sample if sensor depth, not water depth */ if (depth->descriptor == 0 && depth->depth != 0.0) mb_depint_add(verbose, mbio_ptr, (double)(store->time_d), (double)(depth->depth), error); } /* save sonardepth if 7kVerticalDepth record has been read */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && store->read_verticaldepth == MB_YES) { /* get attitude structure */ verticaldepth = &(store->verticaldepth); /* add latest depth sample if sensor depth, not water depth */ if (verticaldepth->vertical_depth != 0.0) mb_depint_add(verbose, mbio_ptr, (double)(store->time_d), (double)(verticaldepth->vertical_depth), error); } #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) fprintf(stderr,"Record returned: type:%d status:%d error:%d\n\n",store->kind, status, *error); #endif /* kluge to reset quality flags */ /* if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && bathymetry->header.Version < 5) { for (i=0;inumber_beams;i++) { if ((bathymetry->quality[i] & 15) < 2) { if (bathymetry->range[i] > 0.007) { bathymetry->quality[i] = (bathymetry->quality[i] & 240) + 15; } else { bathymetry->quality[i] = (bathymetry->quality[i] & 240) + 3; } } } } */ /* calculate bathymetry if only raw detects are available */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && store->read_bathymetry == MB_NO && store->read_v2rawdetection == MB_YES) { bathymetry->header = v2rawdetection->header; bathymetry->header.RecordType = R7KRECID_7kBathymetricData; bathymetry->serial_number = v2rawdetection->serial_number; bathymetry->ping_number = v2rawdetection->ping_number; bathymetry->multi_ping = v2rawdetection->multi_ping; bathymetry->number_beams = v2rawdetection->number_beams; bathymetry->layer_comp_flag = 0; bathymetry->sound_vel_flag = 0; if (volatilesettings->sound_velocity > 0.0) bathymetry->sound_velocity = volatilesettings->sound_velocity; else if (bluefin->environmental[0].sound_speed > 0.0) bathymetry->sound_velocity = bluefin->environmental[0].sound_speed; else bathymetry->sound_velocity = 1500.0; bathymetry->optionaldata = MB_NO; store->read_bathymetry = MB_YES; } /* else calculate bathymetry if only detects are available */ else if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && store->read_bathymetry == MB_NO && store->read_v2detection == MB_YES) { bathymetry->header = v2detection->header; bathymetry->header.RecordType = R7KRECID_7kBathymetricData; bathymetry->serial_number = v2detection->serial_number; bathymetry->ping_number = v2detection->ping_number; bathymetry->multi_ping = v2detection->multi_ping; bathymetry->number_beams = v2detection->number_beams; bathymetry->layer_comp_flag = 0; bathymetry->sound_vel_flag = 0; if (volatilesettings->sound_velocity > 0.0) bathymetry->sound_velocity = volatilesettings->sound_velocity; else if (bluefin->environmental[0].sound_speed > 0.0) bathymetry->sound_velocity = bluefin->environmental[0].sound_speed; else bathymetry->sound_velocity = 1500.0; bathymetry->optionaldata = MB_NO; store->read_bathymetry = MB_YES; } /* get optional values in bathymetry record if needed */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && bathymetry->optionaldata == MB_NO) { /* get navigation */ speed = 0.0; interp_status = mb_hedint_interp(verbose, mbio_ptr, store->time_d, &heading, &interp_error); if (interp_status == MB_SUCCESS) interp_status = mb_navint_interp(verbose, mbio_ptr, store->time_d, heading, speed, &longitude, &latitude, &speed, &interp_error); if (interp_status == MB_SUCCESS) interp_status = mb_depint_interp(verbose, mbio_ptr, store->time_d, &sonar_depth, &interp_error); /* if the optional data are not all available, this ping is not useful. Just use null values here and catch this condition with mb7kpreprocess */ /* if (interp_status == MB_FAILURE) { longitude = 0.0; latitude = 0.0; heading = 0.0; sonar_depth = 0.0; } */ /* get altitude */ interp_status = mb_altint_interp(verbose, mbio_ptr, store->time_d, &sonar_altitude, &interp_error); if (interp_status == MB_FAILURE) { /* set altitude data to zero */ sonar_altitude = 0.0; } /* get attitude */ interp_status = mb_attint_interp(verbose, mbio_ptr, store->time_d, &heave, &roll, &pitch, &interp_error); if (interp_status == MB_FAILURE) { /* set nav & attitude data to zero */ roll = 0.0; pitch = 0.0; heave = 0.0; } /* calculate the optional values in the bathymetry record */ bathymetry->longitude = DTR * longitude; bathymetry->latitude = DTR * latitude; bathymetry->heading = DTR * heading; bathymetry->height_source = 1; bathymetry->tide = 0.0; bathymetry->roll = DTR * roll; bathymetry->pitch = DTR * pitch; bathymetry->heave = heave; bathymetry->vehicle_height = -sonar_depth; /* get ready to calculate bathymetry */ if (volatilesettings->sound_velocity > 0.0) soundspeed = volatilesettings->sound_velocity; else if (bluefin->environmental[0].sound_speed > 0.0) soundspeed = bluefin->environmental[0].sound_speed; else soundspeed = 1500.0; /* loop over detections as available - the 7k format has used several different records over the years, so there are several different cases that must be handled */ /* case of v2rawdetection record */ if (store->read_v2rawdetection == MB_YES) { /* initialize all of the beams */ for (i=0;inumber_beams;i++) { bathymetry->quality[i] = 0; bathymetry->depth[i] = 0.0; bathymetry->acrosstrack[i] = 0.0; bathymetry->alongtrack[i] = 0.0; bathymetry->pointing_angle[i] = 0.0; bathymetry->azimuth_angle[i] = 0.0; } /* now loop over the detects */ for (j=0;jnumber_beams;j++) { i = v2rawdetection->beam_descriptor[j]; bathymetry->range[i] = v2rawdetection->detection_point[j] / v2rawdetection->sampling_rate; bathymetry->quality[i] = v2rawdetection->quality[j]; alpha = RTD * bathymetry->pitch; beta = 90.0 - RTD * (v2rawdetection->rx_angle[j] - bathymetry->roll); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonar_depth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"j:%d i:%d quality:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", j, i, bathymetry->quality[i], roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } } /* case of v2detection record with v2detectionsetup */ else if (store->read_v2detection == MB_YES && store->read_v2detectionsetup == MB_YES) { /* now loop over the detects */ for (j=0;jnumber_beams;j++) { i = v2detectionsetup->beam_descriptor[j]; bathymetry->range[i] = v2detection->range[j]; alpha = RTD * (v2detection->angle_y[j] + bathymetry->pitch); beta = 90.0 - RTD * (v2detection->angle_x[j] - bathymetry->roll); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonar_depth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"i:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", i,roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } } /* case of v2detection record alone */ else if (store->read_v2detection == MB_YES) { /* now loop over the detects */ for (i=0;inumber_beams;i++) { bathymetry->range[i] = v2detection->range[j]; alpha = RTD * (v2detection->angle_y[j] + bathymetry->pitch); beta = 90.0 - RTD * (v2detection->angle_x[j] - bathymetry->roll); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonar_depth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"i:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", i,roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } } /* else default case of beamgeometry record */ else { /* loop over all beams */ for (i=0;inumber_beams;i++) { if ((bathymetry->quality[i] & 15) > 0) { alpha = RTD * (beamgeometry->angle_alongtrack[i] + bathymetry->pitch); beta = 90.0 - RTD * (beamgeometry->angle_acrosstrack[i] - bathymetry->roll); mb_rollpitch_to_takeoff( verbose, alpha, beta, &theta, &phi, error); rr = 0.5 * soundspeed * bathymetry->range[i]; xx = rr * sin(DTR * theta); zz = rr * cos(DTR * theta); bathymetry->acrosstrack[i] = xx * cos(DTR * phi); bathymetry->alongtrack[i] = xx * sin(DTR * phi); bathymetry->depth[i] = zz + sonar_depth; bathymetry->pointing_angle[i] = DTR * theta; bathymetry->azimuth_angle[i] = DTR * phi; /* fprintf(stderr,"i:%d roll:%f %f pitch:%f %f alpha:%f beta:%f theta:%f phi:%f depth:%f %f %f\n", i,roll, bathymetry->roll,pitch, bathymetry->pitch, alpha,beta,theta,phi, bathymetry->depth[i],bathymetry->acrosstrack[i],bathymetry->alongtrack[i]); */ } else { bathymetry->quality[i] = 0; bathymetry->depth[i] = 0.0; bathymetry->acrosstrack[i] = 0.0; bathymetry->alongtrack[i] = 0.0; bathymetry->pointing_angle[i] = 0.0; bathymetry->azimuth_angle[i] = 0.0; } } } /* set flag */ bathymetry->optionaldata = MB_YES; bathymetry->header.OffsetToOptionalData = MBSYS_RESON7K_RECORDHEADER_SIZE + R7KHDRSIZE_7kBathymetricData + bathymetry->number_beams * 9; /* mbsys_reson7k_print_bathymetry(verbose, bathymetry, error);*/ } /* generate processed sidescan if needed */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA && store->read_bathymetry == MB_YES && store->read_processedsidescan == MB_NO) { /* set source of processed sidescan to be best available data */ if (store->read_v2snippet == MB_YES) ss_source = R7KRECID_7kV2SnippetData; else if (store->read_beam == MB_YES) ss_source = R7KRECID_7kBeamData; else if (store->read_backscatter == MB_YES) ss_source = R7KRECID_7kBackscatterImageData; else ss_source = 0; status = mbsys_reson7k_makess(verbose, mbio_ptr, store_ptr, ss_source, MB_NO, pixel_size, MB_NO, swath_width, MB_YES, error); } /* set error and kind in mb_io_ptr */ mb_io_ptr->new_error = *error; mb_io_ptr->new_kind = 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_wt_reson7kr(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_wt_reson7kr"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_reson7k_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_reson7k_struct *) store_ptr; /* write next data to file */ status = mbr_reson7kr_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_reson7kr_rd_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwss *fsdwsslo; s7kr_fsdwss *fsdwsshi; s7kr_fsdwsb *fsdwsb; s7k_fsdwssheader *fsdwssheader; s7k_fsdwsegyheader *fsdwsegyheader; s7kr_bathymetry *bathymetry; s7kr_backscatter *backscatter; s7kr_beam *beam; s7kr_image *image; s7kr_beamgeometry *beamgeometry; s7kr_v2detection *v2detection; s7kr_v2rawdetection *v2rawdetection; double *edgetech_time_d; double *edgetech_dt; double *last_7k_time_d; FILE *mbfp; size_t read_len; int done; int *current_ping; int *last_ping; int *new_ping; int *save_flag; int *recordid; int *recordidlast; int *deviceid; unsigned short *enumerator; int *fileheaders; char **bufferptr; char *buffer; int *bufferalloc; char **buffersaveptr; char *buffersave; int *size; int *nbadrec; int skip; int ping_record; int time_j[5], time_i[7]; double time_d; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; mbfp = mb_io_ptr->mbfp; /* get saved values */ save_flag = (int *) &mb_io_ptr->save_flag; current_ping = (int *) &mb_io_ptr->save14; last_ping = (int *) &mb_io_ptr->save1; new_ping = (int *) &mb_io_ptr->save2; recordid = (int *) &mb_io_ptr->save3; recordidlast = (int *) &mb_io_ptr->save4; bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; buffersaveptr = (char **) &mb_io_ptr->saveptr2; buffersave = (char *) *buffersaveptr; size = (int *) &mb_io_ptr->save8; nbadrec = (int *) &mb_io_ptr->save9; deviceid = (int *) &mb_io_ptr->save10; enumerator = (unsigned short *) &mb_io_ptr->save11; fileheaders = (int *) &mb_io_ptr->save12; edgetech_time_d = (double *) &mb_io_ptr->saved3; edgetech_dt = (double *) &mb_io_ptr->saved4; last_7k_time_d = (double *) &mb_io_ptr->saved5; /* 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 header saved get next record label */ if (*save_flag == MB_NO) { /* read next record header into buffer */ read_len = (size_t)MBSYS_RESON7K_VERSIONSYNCSIZE; status = mb_fileio_get(verbose, mbio_ptr, buffer, &read_len, error); /* check header - if not a good header read a byte at a time until a good header is found */ skip = 0; while (status == MB_SUCCESS && mbr_reson7kr_chk_header(verbose, mbio_ptr, buffer, recordid, deviceid, enumerator, size) != MB_SUCCESS) { /* get next byte */ for (i=0;i 0 && verbose >= 0) { if (*nbadrec == 0) fprintf(stderr, "\nThe MBF_RESON7KR module skipped data between identified\n\ data records. Something is broken, most probably the data...\n\ However, the data may include a data record type that we\n\ haven't seen yet, or there could be an error in the code.\n\ If skipped data are reported multiple times, \n\ we recommend you send a data sample and problem \n\ description to the MB-System team \n\ (caress@mbari.org and dale@ldeo.columbia.edu)\n\ Have a nice day...\n"); fprintf(stderr, "MBF_RESON7KR skipped %d bytes between records %4.4hX:%d and %4.4hX:%d\n", skip, *recordidlast, *recordidlast, *recordid, *recordid); (*nbadrec)++; } *recordidlast = *recordid; store->type = *recordid; /* allocate memory to read rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)buffersaveptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; done = MB_YES; } else { *bufferalloc = *size; buffer = (char *) *bufferptr; buffersave = (char *) *buffersaveptr; } } /* read the rest of the record */ if (status == MB_SUCCESS) { read_len = (size_t)(*size - MBSYS_RESON7K_VERSIONSYNCSIZE); status = mb_fileio_get(verbose, mbio_ptr, &buffer[MBSYS_RESON7K_VERSIONSYNCSIZE], &read_len, error); } #ifndef MBR_RESON7KR_DEBUG if (skip > 0) fprintf(stderr,"RESON7KR record:skip:%d recordid:%x %d deviceid:%x %d enumerator:%x %d size:%d done:%d\n", skip, *recordid, *recordid, *deviceid, *deviceid, *enumerator, *enumerator, *size, done); #endif } /* else use saved record */ else { *save_flag = MB_NO; mbr_reson7kr_chk_header(verbose, mbio_ptr, buffersave, recordid, deviceid, enumerator, size); for (i=0;i<*size;i++) buffer[i] = buffersave[i]; } /* check for ping record and ping number */ ping_record = MB_NO; if (status == MB_SUCCESS) { if (*recordid == R7KRECID_7kVolatileSonarSettings || *recordid == R7KRECID_7kMatchFilter || *recordid == R7KRECID_7kBeamGeometry || *recordid == R7KRECID_7kRemoteControlSonarSettings || *recordid == R7KRECID_7kBathymetricData || *recordid == R7KRECID_ProcessedSidescan || *recordid == R7KRECID_7kBackscatterImageData || *recordid == R7KRECID_7kBeamData || *recordid == R7KRECID_7kVerticalDepth || *recordid == R7KRECID_7kImageData || *recordid == R7KRECID_7kV2PingMotion || *recordid == R7KRECID_7kV2DetectionSetup || *recordid == R7KRECID_7kV2BeamformedData || *recordid == R7KRECID_7kV2Detection || *recordid == R7KRECID_7kV2RawDetection || *recordid == R7KRECID_7kV2SnippetData) { /* check for ping number */ ping_record = MB_YES; mbr_reson7kr_chk_pingnumber(verbose, *recordid, buffer, new_ping); #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"called mbr_reson7kr_chk_pingnumber recordid:%d last_ping:%d new_ping:%d\n", *recordid,*last_ping,*new_ping); fprintf(stderr,"current ping:%d records read: %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d %d\n", store->current_ping_number, store->read_volatilesettings, store->read_matchfilter, store->read_beamgeometry, store->read_remotecontrolsettings, store->read_bathymetry, store->read_backscatter, store->read_beam, store->read_verticaldepth, store->read_image, store->read_v2pingmotion, store->read_v2detectionsetup, store->read_v2beamformed, store->read_v2detection, store->read_v2rawdetection, store->read_v2snippet, store->read_processedsidescan); #endif /* fix lack of ping number for backscatter and beam geometry records */ if (*recordid == R7KRECID_7kBackscatterImageData && *new_ping <= 0) *new_ping = *last_ping; else if (*recordid == R7KRECID_7kBeamGeometry && *new_ping <= 0) *new_ping = *last_ping; /* determine if record is continuation of the last ping or a new ping - if new ping and last ping not yet output then save the new record and output the last ping as fully read */ if (*last_ping >= 0 && *new_ping >= 0 && *last_ping != *new_ping) { /* good ping if bathymetry record is read */ if (store->read_bathymetry == MB_YES) { done = MB_YES; store->kind = MB_DATA_DATA; *save_flag = MB_YES; *current_ping = *last_ping; *last_ping = -1; for (i=0;i<*size;i++) buffersave[i] = buffer[i]; /* get the time */ bathymetry = &(store->bathymetry); header = &(bathymetry->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } /* good ping if at least the detects are available */ else if (store->read_v2detection == MB_YES) { done = MB_YES; store->kind = MB_DATA_DATA; *save_flag = MB_YES; *current_ping = *last_ping; *last_ping = -1; for (i=0;i<*size;i++) buffersave[i] = buffer[i]; /* get the time */ v2detection = &(store->v2detection); header = &(v2detection->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } /* good ping if at least the raw detects are available */ else if (store->read_v2rawdetection == MB_YES) { done = MB_YES; store->kind = MB_DATA_DATA; *save_flag = MB_YES; *current_ping = *last_ping; *last_ping = -1; for (i=0;i<*size;i++) buffersave[i] = buffer[i]; /* get the time */ v2rawdetection = &(store->v2rawdetection); header = &(v2rawdetection->header); time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } /* not a complete record unless there is bathymetry, drop the partial ping */ else { done = MB_NO; *last_ping = -1; *last_ping = *new_ping; *save_flag = MB_NO; } } else if (*last_ping >= 0 && *new_ping >= 0 && *last_ping == *new_ping) { done = MB_NO; } else if (*last_ping == -1 && *new_ping >= 0) { done = MB_NO; *current_ping = -1; *last_ping = *new_ping; store->read_volatilesettings = MB_NO; store->read_matchfilter = MB_NO; store->read_beamgeometry = MB_NO; store->read_bathymetry = MB_NO; store->read_remotecontrolsettings = MB_NO; store->read_backscatter = MB_NO; store->read_beam = MB_NO; store->read_verticaldepth = MB_NO; store->read_image = MB_NO; store->read_v2pingmotion = MB_NO; store->read_v2detectionsetup = MB_NO; store->read_v2beamformed = MB_NO; store->read_v2detection = MB_NO; store->read_v2rawdetection = MB_NO; store->read_v2snippet = MB_NO; store->read_processedsidescan = MB_NO; } } } /* fprintf(stderr,"ping_record:%d last_ping:%d new_ping:%d current_ping:%d done:%d status:%d error:%d\n", ping_record,*last_ping,*new_ping,*current_ping,done,status,*error); */ /* check for ping data already read in read error case */ if (status == MB_FAILURE && *last_ping >= 0) { status = MB_SUCCESS; *error = MB_ERROR_NO_ERROR; done = MB_YES; *save_flag = MB_NO; *last_ping = -1; store->kind = MB_DATA_DATA; store->time_d = *last_7k_time_d; mb_get_date(verbose, store->time_d, store->time_i); } #ifdef MBR_RESON7KR_DEBUG if (status == MB_SUCCESS && done == MB_NO && *save_flag == MB_NO) { fprintf(stderr, "Reading record id: %4.4hX %4.4d | %4.4hX %4.4d | %4.4hX %4.4d |", *recordid, *recordid, *deviceid, *deviceid, *enumerator, *enumerator); if (*recordid == R7KRECID_ReferencePoint) fprintf(stderr," R7KRECID_ReferencePoint %d\n",*recordid); if (*recordid == R7KRECID_UncalibratedSensorOffset) fprintf(stderr," R7KRECID_UncalibratedSensorOffset %d\n",*recordid); if (*recordid == R7KRECID_CalibratedSensorOffset) fprintf(stderr," R7KRECID_CalibratedSensorOffset %d\n",*recordid); if (*recordid == R7KRECID_Position) fprintf(stderr," R7KRECID_Position %d\n",*recordid); if (*recordid == R7KRECID_CustomAttitude) fprintf(stderr," R7KRECID_CustomAttitude %d\n",*recordid); if (*recordid == R7KRECID_Tide) fprintf(stderr," R7KRECID_Tide %d\n",*recordid); if (*recordid == R7KRECID_Altitude) fprintf(stderr," R7KRECID_Altitude %d\n",*recordid); if (*recordid == R7KRECID_MotionOverGround) fprintf(stderr," R7KRECID_MotionOverGround %d\n",*recordid); if (*recordid == R7KRECID_Depth) fprintf(stderr," R7KRECID_Depth %d\n",*recordid); if (*recordid == R7KRECID_SoundVelocityProfile) fprintf(stderr," R7KRECID_SoundVelocityProfile %d\n",*recordid); if (*recordid == R7KRECID_CTD) fprintf(stderr," R7KRECID_CTD %d\n",*recordid); if (*recordid == R7KRECID_Geodesy) fprintf(stderr," R7KRECID_Geodesy %d\n",*recordid); if (*recordid == R7KRECID_RollPitchHeave) fprintf(stderr," R7KRECID_RollPitchHeave %d\n",*recordid); if (*recordid == R7KRECID_Heading) fprintf(stderr," R7KRECID_Heading %d\n",*recordid); if (*recordid == R7KRECID_SurveyLine) fprintf(stderr," R7KRECID_SurveyLine %d\n",*recordid); if (*recordid == R7KRECID_Navigation) fprintf(stderr," R7KRECID_Navigation %d\n",*recordid); if (*recordid == R7KRECID_Attitude) fprintf(stderr," R7KRECID_Attitude %d\n",*recordid); if (*recordid == R7KRECID_Rec1022) fprintf(stderr," R7KRECID_Rec1022 %d\n",*recordid); if (*recordid == R7KRECID_GenericSensorCalibration) fprintf(stderr," R7KRECID_GenericSensorCalibration %d\n",*recordid); if (*recordid == R7KRECID_GenericSidescan) fprintf(stderr," R7KRECID_GenericSidescan %d\n",*recordid); if (*recordid == R7KRECID_FSDWsidescan) fprintf(stderr," R7KRECID_FSDWsidescan %d\n",*recordid); if (*recordid == R7KRECID_FSDWsubbottom) fprintf(stderr," R7KRECID_FSDWsubbottom %d\n",*recordid); if (*recordid == R7KRECID_Bluefin) fprintf(stderr," R7KRECID_Bluefin %d\n",*recordid); if (*recordid == R7KRECID_ProcessedSidescan) fprintf(stderr," R7KRECID_ProcessedSidescan %d\n",*recordid); if (*recordid == R7KRECID_7kVolatileSonarSettings) fprintf(stderr," R7KRECID_7kVolatileSonarSettings %d\n",*recordid); if (*recordid == R7KRECID_7kConfiguration) fprintf(stderr," R7KRECID_7kConfiguration %d\n",*recordid); if (*recordid == R7KRECID_7kMatchFilter) fprintf(stderr," R7KRECID_7kMatchFilter %d\n",*recordid); if (*recordid == R7KRECID_7kV2FirmwareHardwareConfiguration) fprintf(stderr," R7KRECID_7kV2FirmwareHardwareConfiguration %d\n",*recordid); if (*recordid == R7KRECID_7kBeamGeometry) fprintf(stderr," R7KRECID_7kBeamGeometry %d\n",*recordid); if (*recordid == R7KRECID_7kCalibrationData) fprintf(stderr," R7KRECID_7kCalibrationData %d\n",*recordid); if (*recordid == R7KRECID_7kBathymetricData) fprintf(stderr," R7KRECID_7kBathymetricData %d\n",*recordid); if (*recordid == R7KRECID_7kBackscatterImageData) fprintf(stderr," R7KRECID_7kBackscatterImageData %d\n",*recordid); if (*recordid == R7KRECID_7kBeamData) fprintf(stderr," R7KRECID_7kBeamData %d\n",*recordid); if (*recordid == R7KRECID_7kVerticalDepth) fprintf(stderr," R7KRECID_7kVerticalDepth %d\n",*recordid); if (*recordid == R7KRECID_7kImageData) fprintf(stderr," R7KRECID_7kImageData %d\n",*recordid); if (*recordid == R7KRECID_7kV2PingMotion) fprintf(stderr," R7KRECID_7kV2PingMotion %d\n",*recordid); if (*recordid == R7KRECID_7kV2DetectionSetup) fprintf(stderr," R7KRECID_7kV2DetectionSetup %d\n",*recordid); if (*recordid == R7KRECID_7kV2BeamformedData) fprintf(stderr," R7KRECID_7kV2BeamformedData %d\n",*recordid); if (*recordid == R7KRECID_7kV2BITEData) fprintf(stderr," R7KRECID_7kV2BITEData %d\n",*recordid); if (*recordid == R7KRECID_7kV27kCenterVersion) fprintf(stderr," R7KRECID_7kV27kCenterVersion %d\n",*recordid); if (*recordid == R7KRECID_7kV28kWetEndVersion) fprintf(stderr," R7KRECID_7kV28kWetEndVersion %d\n",*recordid); if (*recordid == R7KRECID_7kV2Detection) fprintf(stderr," R7KRECID_7kV2Detection %d\n",*recordid); if (*recordid == R7KRECID_7kV2RawDetection) fprintf(stderr," R7KRECID_7kV2RawDetection %d\n",*recordid); if (*recordid == R7KRECID_7kV2SnippetData) fprintf(stderr," R7KRECID_7kV2SnippetData %d\n",*recordid); if (*recordid == R7KRECID_7kInstallationParameters) fprintf(stderr," R7KRECID_7kInstallationParameters %d\n",*recordid); if (*recordid == R7KRECID_7kSystemEventMessage) fprintf(stderr,"R7KRECID_7kSystemEventMessage %d\n",*recordid); if (*recordid == R7KRECID_7kDataStorageStatus) fprintf(stderr," R7KRECID_7kDataStorageStatus %d\n",*recordid); if (*recordid == R7KRECID_7kFileHeader) fprintf(stderr," R7KRECID_7kFileHeader %d\n",*recordid); if (*recordid == R7KRECID_7kTrigger) fprintf(stderr," R7KRECID_7kTrigger %d\n",*recordid); if (*recordid == R7KRECID_7kTriggerSequenceSetup) fprintf(stderr," R7KRECID_7kTriggerSequenceSetup %d\n",*recordid); if (*recordid == R7KRECID_7kTriggerSequenceDone) fprintf(stderr," R7KRECID_7kTriggerSequenceDone %d\n",*recordid); if (*recordid == R7KRECID_7kTimeMessage) fprintf(stderr," R7KRECID_7kTimeMessage %d\n",*recordid); if (*recordid == R7KRECID_7kRemoteControl) fprintf(stderr," R7KRECID_7kRemoteControl %d\n",*recordid); if (*recordid == R7KRECID_7kRemoteControlAcknowledge) fprintf(stderr," R7KRECID_7kRemoteControlAcknowledge %d\n",*recordid); if (*recordid == R7KRECID_7kRemoteControlNotAcknowledge) fprintf(stderr," R7KRECID_7kRemoteControlNotAcknowledge %d\n",*recordid); if (*recordid == R7KRECID_7kRemoteControlSonarSettings) fprintf(stderr," R7KRECID_7kRemoteControlSonarSettings %d\n",*recordid); if (*recordid == R7KRECID_7kReserved) fprintf(stderr," R7KRECID_7kReserved %d\n",*recordid); if (*recordid == R7KRECID_7kRoll) fprintf(stderr," R7KRECID_7kRoll %d\n",*recordid); if (*recordid == R7KRECID_7kPitch) fprintf(stderr," R7KRECID_7kPitch %d\n",*recordid); if (*recordid == R7KRECID_7kSoundVelocity) fprintf(stderr," R7KRECID_7kSoundVelocity %d\n",*recordid); if (*recordid == R7KRECID_7kAbsorptionLoss) fprintf(stderr," R7KRECID_7kAbsorptionLoss %d\n",*recordid); if (*recordid == R7KRECID_7kSpreadingLoss) fprintf(stderr," R7KRECID_7kSpreadingLoss %d\n",*recordid); if (*recordid == R7KRECID_8100SonarData) fprintf(stderr," R7KRECID_8100SonarData %d\n",*recordid); } #endif /* set done if read failure */ if (status == MB_FAILURE) { #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"call nothing, read failure\n"); #endif done = MB_YES; } /* if needed parse the data record */ if (status == MB_SUCCESS && done == MB_NO) { if (*recordid == R7KRECID_7kFileHeader) { status = mbr_reson7kr_rd_fileheader(verbose, buffer, store_ptr, error); (*fileheaders)++; done = MB_YES; /* kluge to set bogus background navigation */ /*klugelon = -121.0; klugelat = 36.0; mb_navint_add(verbose, mbio_ptr, store->time_d, klugelon, klugelat, error); klugelon = -121.0; klugelat = 37.168; mb_navint_add(verbose, mbio_ptr, store->time_d + 86400.0, klugelon, klugelat, error);*/ } else if (*recordid == R7KRECID_ReferencePoint) { status = mbr_reson7kr_rd_reference(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_UncalibratedSensorOffset) { status = mbr_reson7kr_rd_sensoruncal(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_CalibratedSensorOffset) { status = mbr_reson7kr_rd_sensorcal(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Position) { status = mbr_reson7kr_rd_position(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_CustomAttitude) { status = mbr_reson7kr_rd_customattitude(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Tide) { status = mbr_reson7kr_rd_tide(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Altitude) { status = mbr_reson7kr_rd_altitude(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_MotionOverGround) { status = mbr_reson7kr_rd_motion(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Depth) { status = mbr_reson7kr_rd_depth(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_SoundVelocityProfile) { status = mbr_reson7kr_rd_svp(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_CTD) { status = mbr_reson7kr_rd_ctd(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Geodesy) { status = mbr_reson7kr_rd_geodesy(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_RollPitchHeave) { status = mbr_reson7kr_rd_rollpitchheave(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Heading) { status = mbr_reson7kr_rd_heading(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_SurveyLine) { status = mbr_reson7kr_rd_surveyline(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Navigation) { status = mbr_reson7kr_rd_navigation(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Attitude) { status = mbr_reson7kr_rd_attitude(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_Rec1022) { status = mbr_reson7kr_rd_rec1022(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_FSDWsidescan && *deviceid == R7KDEVID_EdgetechFSDW && *enumerator == 20) { status = mbr_reson7kr_rd_fsdwsslo(verbose, buffer, store_ptr, error); done = MB_YES; /* store the Edgetech timestamp for possible use in fixing 7k time */ fsdwsslo = &(store->fsdwsslo); header = &(fsdwsslo->header); fsdwssheader = &(fsdwsslo->ssheader[0]); time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (*edgetech_time_d > 0.0 && time_d - *edgetech_time_d > 0.002) *edgetech_dt = time_d - *edgetech_time_d; *edgetech_time_d = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"mbr_reson7kr_rd_fsdwsslo: EDGETECH TIME: %f %f\n", *edgetech_time_d, *edgetech_dt); #endif } else if (*recordid == R7KRECID_FSDWsidescan && *deviceid == R7KDEVID_EdgetechFSDWSSLF) { status = mbr_reson7kr_rd_fsdwsslo(verbose, buffer, store_ptr, error); done = MB_YES; /* store the Edgetech timestamp for possible use in fixing 7k time */ fsdwsslo = &(store->fsdwsslo); header = &(fsdwsslo->header); fsdwssheader = &(fsdwsslo->ssheader[0]); time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (*edgetech_time_d > 0.0 && time_d - *edgetech_time_d > 0.002) *edgetech_dt = time_d - *edgetech_time_d; *edgetech_time_d = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"mbr_reson7kr_rd_fsdwsslo: EDGETECH TIME: %f %f\n", *edgetech_time_d, *edgetech_dt); #endif } else if (*recordid == R7KRECID_FSDWsidescan && *deviceid == R7KDEVID_EdgetechFSDW && *enumerator == 21) { status = mbr_reson7kr_rd_fsdwsshi(verbose, buffer, store_ptr, error); done = MB_YES; /* store the Edgetech timestamp for possible use in fixing 7k time */ fsdwsshi = &(store->fsdwsshi); header = &(fsdwsshi->header); fsdwssheader = &(fsdwsshi->ssheader[0]); time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (*edgetech_time_d > 0.0 && time_d - *edgetech_time_d > 0.002) *edgetech_dt = time_d - *edgetech_time_d; *edgetech_time_d = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"mbr_reson7kr_rd_fsdwsshi: EDGETECH TIME: %f %f\n", *edgetech_time_d, *edgetech_dt); #endif } else if (*recordid == R7KRECID_FSDWsidescan && *deviceid == R7KDEVID_EdgetechFSDWSSHF) { status = mbr_reson7kr_rd_fsdwsshi(verbose, buffer, store_ptr, error); done = MB_YES; /* store the Edgetech timestamp for possible use in fixing 7k time */ fsdwsshi = &(store->fsdwsshi); header = &(fsdwsshi->header); fsdwssheader = &(fsdwsshi->ssheader[0]); time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (*edgetech_time_d > 0.0 && time_d - *edgetech_time_d > 0.002) *edgetech_dt = time_d - *edgetech_time_d; *edgetech_time_d = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"mbr_reson7kr_rd_fsdwsshi: EDGETECH TIME: %f %f\n", *edgetech_time_d, *edgetech_dt); #endif } else if (*recordid == R7KRECID_FSDWsubbottom) { status = mbr_reson7kr_rd_fsdwsb(verbose, buffer, store_ptr, error); done = MB_YES; /* store the Edgetech timestamp for possible use in fixing 7k time */ fsdwsb = &(store->fsdwsb); header = &(fsdwsb->header); fsdwsegyheader = &(fsdwsb->segyheader); time_j[0] = fsdwsegyheader->year; time_j[1] = fsdwsegyheader->day; time_j[2] = 60 * fsdwsegyheader->hour + fsdwsegyheader->minute; time_j[3] = fsdwsegyheader->second; time_j[4] = 1000 * (fsdwsegyheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwsegyheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &time_d); if (*edgetech_time_d > 0.0 && time_d - *edgetech_time_d > 0.002) *edgetech_dt = time_d - *edgetech_time_d; *edgetech_time_d = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"mbr_reson7kr_rd_fsdwsb: EDGETECH TIME: %f %f\n", *edgetech_time_d, *edgetech_dt); #endif } else if (*recordid == R7KRECID_Bluefin) { status = mbr_reson7kr_rd_bluefin(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_ProcessedSidescan) { status = mbr_reson7kr_rd_processedsidescan(verbose, buffer, store_ptr, error); store->read_processedsidescan = MB_YES; } else if (*recordid == R7KRECID_7kVolatileSonarSettings) { status = mbr_reson7kr_rd_volatilesonarsettings(verbose, buffer, store_ptr, error); store->read_volatilesettings = MB_YES; } else if (*recordid == R7KRECID_7kConfiguration) { status = mbr_reson7kr_rd_configuration(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kMatchFilter) { status = mbr_reson7kr_rd_matchfilter(verbose, buffer, store_ptr, error); store->read_matchfilter = MB_YES; } else if (*recordid == R7KRECID_7kV2FirmwareHardwareConfiguration) { status = mbr_reson7kr_rd_v2firmwarehardwareconfiguration(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kBeamGeometry) { status = mbr_reson7kr_rd_beamgeometry(verbose, buffer, store_ptr, error); store->read_beamgeometry = MB_YES; done = MB_NO; /* set beam widths */ beamgeometry = &(store->beamgeometry); mb_io_ptr->beamwidth_xtrack = RTD * beamgeometry->beamwidth_acrosstrack[beamgeometry->number_beams/2]; mb_io_ptr->beamwidth_ltrack = RTD * beamgeometry->beamwidth_alongtrack[beamgeometry->number_beams/2]; } else if (*recordid == R7KRECID_7kCalibrationData) { status = mbr_reson7kr_rd_calibration(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kBathymetricData) { status = mbr_reson7kr_rd_bathymetry(verbose, buffer, store_ptr, error); store->read_bathymetry = MB_YES; /* if needed use most recent Edgetech timestamp to fix 7k time */ bathymetry = &(store->bathymetry); header = &(bathymetry->header); *last_7k_time_d = store->time_d; if (header->s7kTime.Year < 2004 && *edgetech_time_d > 0.0 && *edgetech_dt > 0.0 && *edgetech_dt < 2.0) { if (*edgetech_time_d + *edgetech_dt > *last_7k_time_d + 0.002) { store->time_d = *edgetech_time_d + *edgetech_dt; } else { store->time_d = *edgetech_time_d + 2 * (*edgetech_dt); } mb_get_date(verbose, store->time_d, store->time_i); mb_get_jtime(verbose, store->time_i, time_j); header->s7kTime.Year = store->time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = store->time_i[3]; header->s7kTime.Minutes = store->time_i[4]; header->s7kTime.Seconds = store->time_i[5] + 0.000001 * store->time_i[6]; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"TIME CORRECTION: R7KRECID_7kBathymetricData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,bathymetry->ping_number); #endif } /*mbsys_reson7k_print_bathymetry(verbose, &(store->bathymetry), error);*/ } else if (*recordid == R7KRECID_7kBackscatterImageData) { status = mbr_reson7kr_rd_backscatter(verbose, buffer, store_ptr, error); store->read_backscatter = MB_YES; /* if needed use most recent Edgetech timestamp to fix 7k time */ backscatter = &(store->backscatter); header = &(backscatter->header); *last_7k_time_d = store->time_d; if (header->s7kTime.Year < 2004 && *edgetech_time_d > 0.0 && *edgetech_dt > 0.0 && *edgetech_dt < 2.0) { if (*edgetech_time_d + *edgetech_dt > *last_7k_time_d + 0.002) { store->time_d = *edgetech_time_d + *edgetech_dt; } else { store->time_d = *edgetech_time_d + 2 * (*edgetech_dt); } mb_get_date(verbose, store->time_d, store->time_i); mb_get_jtime(verbose, store->time_i, time_j); header->s7kTime.Year = store->time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = store->time_i[3]; header->s7kTime.Minutes = store->time_i[4]; header->s7kTime.Seconds = store->time_i[5] + 0.000001 * store->time_i[6]; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"TIME CORRECTION: R7KRECID_7kBackscatterImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,backscatter->ping_number); #endif } } else if (*recordid == R7KRECID_7kBeamData) { status = mbr_reson7kr_rd_beam(verbose, buffer, store_ptr, error); store->read_beam = MB_YES; /* if needed use most recent Edgetech timestamp to fix 7k time */ beam = &(store->beam); header = &(beam->header); *last_7k_time_d = store->time_d; if (header->s7kTime.Year < 2004 && *edgetech_time_d > 0.0 && *edgetech_dt > 0.0 && *edgetech_dt < 2.0) { if (*edgetech_time_d + *edgetech_dt > *last_7k_time_d + 0.002) { store->time_d = *edgetech_time_d + *edgetech_dt; } else { store->time_d = *edgetech_time_d + 2 * (*edgetech_dt); } mb_get_date(verbose, store->time_d, store->time_i); mb_get_jtime(verbose, store->time_i, time_j); header->s7kTime.Year = store->time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = store->time_i[3]; header->s7kTime.Minutes = store->time_i[4]; header->s7kTime.Seconds = store->time_i[5] + 0.000001 * store->time_i[6]; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"TIME CORRECTION: R7KRECID_7kBeamData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,beam->ping_number); #endif } } else if (*recordid == R7KRECID_7kVerticalDepth) { status = mbr_reson7kr_rd_verticaldepth(verbose, buffer, store_ptr, error); store->read_verticaldepth = MB_YES; } else if (*recordid == R7KRECID_7kImageData) { status = mbr_reson7kr_rd_image(verbose, buffer, store_ptr, error); store->read_image = MB_YES; /* if needed use most recent Edgetech timestamp to fix 7k time */ image = &(store->image); header = &(image->header); *last_7k_time_d = store->time_d; if (header->s7kTime.Year < 2004 && *edgetech_time_d > 0.0 && *edgetech_dt > 0.0 && *edgetech_dt < 2.0) { if (*edgetech_time_d + *edgetech_dt > *last_7k_time_d + 0.002) { store->time_d = *edgetech_time_d + *edgetech_dt; } else { store->time_d = *edgetech_time_d + 2 * (*edgetech_dt); } mb_get_date(verbose, store->time_d, store->time_i); mb_get_jtime(verbose, store->time_i, time_j); header->s7kTime.Year = store->time_i[0]; header->s7kTime.Day = time_j[1]; header->s7kTime.Hours = store->time_i[3]; header->s7kTime.Minutes = store->time_i[4]; header->s7kTime.Seconds = store->time_i[5] + 0.000001 * store->time_i[6]; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"TIME CORRECTION: R7KRECID_7kImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,image->ping_number); #endif } } else if (*recordid == R7KRECID_7kV2PingMotion) { status = mbr_reson7kr_rd_v2pingmotion(verbose, buffer, store_ptr, error); store->read_v2pingmotion = MB_YES; } else if (*recordid == R7KRECID_7kV2DetectionSetup) { status = mbr_reson7kr_rd_v2detectionsetup(verbose, buffer, store_ptr, error); store->read_v2detectionsetup = MB_YES; } else if (*recordid == R7KRECID_7kV2BeamformedData) { status = mbr_reson7kr_rd_v2beamformed(verbose, buffer, store_ptr, error); store->read_v2beamformed = MB_YES; } else if (*recordid == R7KRECID_7kV2BITEData) { status = mbr_reson7kr_rd_v2bite(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kV27kCenterVersion) { status = mbr_reson7kr_rd_v27kcenterversion(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kV28kWetEndVersion) { status = mbr_reson7kr_rd_v28kwetendversion(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kV2Detection) { status = mbr_reson7kr_rd_v2detection(verbose, buffer, store_ptr, error); store->read_v2detection = MB_YES; } else if (*recordid == R7KRECID_7kV2RawDetection) { status = mbr_reson7kr_rd_v2rawdetection(verbose, buffer, store_ptr, error); store->read_v2rawdetection = MB_YES; } else if (*recordid == R7KRECID_7kV2SnippetData) { status = mbr_reson7kr_rd_v2snippet(verbose, buffer, store_ptr, error); store->read_v2snippet = MB_YES; } else if (*recordid == R7KRECID_7kInstallationParameters) { status = mbr_reson7kr_rd_installation(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kSystemEventMessage) { status = mbr_reson7kr_rd_systemeventmessage(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kRemoteControlSonarSettings) { status = mbr_reson7kr_rd_remotecontrolsettings(verbose, buffer, store_ptr, error); store->read_remotecontrolsettings = MB_YES; done = MB_NO; } else if (*recordid == R7KRECID_7kReserved) { status = mbr_reson7kr_rd_reserved(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kRoll) { status = mbr_reson7kr_rd_roll(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kPitch) { status = mbr_reson7kr_rd_pitch(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kSoundVelocity) { status = mbr_reson7kr_rd_soundvelocity(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kAbsorptionLoss) { status = mbr_reson7kr_rd_absorptionloss(verbose, buffer, store_ptr, error); done = MB_YES; } else if (*recordid == R7KRECID_7kSpreadingLoss) { status = mbr_reson7kr_rd_spreadingloss(verbose, buffer, store_ptr, error); done = MB_YES; } else { #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"Record type %d - recognized but not supported.\n",*recordid); #endif done = MB_NO; } /* check if ping record is known to be done */ if (status == MB_SUCCESS && ping_record == MB_YES && store->read_v2detectionsetup == MB_YES) { if (status == MB_SUCCESS && ping_record == MB_YES && store->read_volatilesettings == MB_YES && store->read_matchfilter == MB_YES && store->read_beamgeometry == MB_YES && store->read_bathymetry == MB_YES && store->read_remotecontrolsettings == MB_YES && store->read_backscatter == MB_YES && store->read_beam == MB_YES && store->read_verticaldepth == MB_YES && store->read_image == MB_YES && store->read_v2pingmotion == MB_YES && store->read_v2detectionsetup == MB_YES && store->read_v2beamformed == MB_YES && store->read_v2detection == MB_YES && store->read_v2rawdetection == MB_YES && store->read_v2snippet == MB_YES) { done = MB_YES; *current_ping = *last_ping; *last_ping = -1; } } } /* bail out if there is a parsing error */ if (status == MB_FAILURE) done = MB_YES; #ifdef MBR_RESON7KR_DEBUG if (verbose >= 0) { fprintf(stderr,"done:%d kind:%d recordid:%x size:%d status:%d error:%d\n", done, store->kind, *recordid, *size, status, *error); fprintf(stderr,"end of mbr_reson7kr_rd_data loop:\n\n"); } /*if (status == MB_SUCCESS) { if (*save_flag == MB_YES) fprintf(stderr,"RECORD SAVED\n"); else fprintf(stderr,"status:%d recordid:%d ping_record:%d current:%d last:%d new:%d done:%d recs:%d %d %d %d %d %d %d %d\n", status,*recordid,ping_record,*current_ping,*last_ping,*new_ping,done, store->read_volatilesettings,store->read_matchfilter, store->read_beamgeometry,store->read_bathymetry,store->read_backscatter, store->read_beam,store->read_verticaldepth,store->read_image); }*/ #endif } #ifdef MBR_RESON7KR_DEBUG if (status == MB_SUCCESS) fprintf(stderr,"RESON7KR DATA READ: type:%d status:%d error:%d\n\n", store->kind, status, *error); #endif /* get file position */ if (*save_flag == MB_YES) mb_io_ptr->file_bytes = ftell(mbfp) - *size; else mb_io_ptr->file_bytes = ftell(mbfp); /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_reson7kr_chk_header(int verbose, void *mbio_ptr, char *buffer, int *recordid, int *deviceid, unsigned short *enumerator, int *size) { char *function_name = "mbr_reson7kr_chk_label"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; unsigned short version; unsigned short offset; unsigned int sync; unsigned short reserved; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr); } /* get pointer to mbio descriptor */ mb_io_ptr = (struct mb_io_struct *) mbio_ptr; /* get values to check */ mb_get_binary_short(MB_YES, &buffer[0], &version); mb_get_binary_short(MB_YES, &buffer[2], &offset); mb_get_binary_int(MB_YES, &buffer[4], &sync); mb_get_binary_int(MB_YES, &buffer[8], size); mb_get_binary_int(MB_YES, &buffer[32], recordid); mb_get_binary_int(MB_YES, &buffer[36], deviceid); mb_get_binary_short(MB_YES, &buffer[40], &reserved); mb_get_binary_short(MB_YES, &buffer[42], enumerator); #ifdef MBR_RESON7KR_DEBUG2 fprintf(stderr, "\nChecking header in mbr_reson7kr_chk_header:\n"); fprintf(stderr, "Version: %4.4hX | %d\n", version, version); fprintf(stderr, "Offset: %4.4hX | %d\n", offset, offset); fprintf(stderr, "Sync: %4.4hX | %d\n", sync, sync); fprintf(stderr, "Size: %4.4hX | %d\n", *size, *size); fprintf(stderr, "Record id: %4.4hX | %d\n", *recordid, *recordid); fprintf(stderr, "Device id: %4.4hX | %d\n", *deviceid, *deviceid); fprintf(stderr, "Reserved: %4.4hX | %d\n", reserved, reserved); fprintf(stderr, "Enumerator: %4.4hX | %d\n", *enumerator, *enumerator); #endif /* reset enumerator if version 2 */ if (version == 2) *enumerator = reserved; /* check sync */ if (sync != 0x0000FFFF) { status = MB_FAILURE; } /* check recordid */ else if (*recordid != R7KRECID_ReferencePoint && *recordid != R7KRECID_UncalibratedSensorOffset && *recordid != R7KRECID_CalibratedSensorOffset && *recordid != R7KRECID_Position && *recordid != R7KRECID_CustomAttitude && *recordid != R7KRECID_Tide && *recordid != R7KRECID_Altitude && *recordid != R7KRECID_MotionOverGround && *recordid != R7KRECID_Depth && *recordid != R7KRECID_SoundVelocityProfile && *recordid != R7KRECID_CTD && *recordid != R7KRECID_Geodesy && *recordid != R7KRECID_RollPitchHeave && *recordid != R7KRECID_Heading && *recordid != R7KRECID_SurveyLine && *recordid != R7KRECID_Navigation && *recordid != R7KRECID_Attitude && *recordid != R7KRECID_Rec1022 && *recordid != R7KRECID_FSDWsidescan && *recordid != R7KRECID_FSDWsubbottom && *recordid != R7KRECID_Bluefin && *recordid != R7KRECID_ProcessedSidescan && *recordid != R7KRECID_7kVolatileSonarSettings && *recordid != R7KRECID_7kConfiguration && *recordid != R7KRECID_7kMatchFilter && *recordid != R7KRECID_7kV2FirmwareHardwareConfiguration && *recordid != R7KRECID_7kBeamGeometry && *recordid != R7KRECID_7kCalibrationData && *recordid != R7KRECID_7kBathymetricData && *recordid != R7KRECID_7kBackscatterImageData && *recordid != R7KRECID_7kBeamData && *recordid != R7KRECID_7kVerticalDepth && *recordid != R7KRECID_7kImageData && *recordid != R7KRECID_7kV2PingMotion && *recordid != R7KRECID_7kV2DetectionSetup && *recordid != R7KRECID_7kV2BeamformedData && *recordid != R7KRECID_7kV2BITEData && *recordid != R7KRECID_7kV27kCenterVersion && *recordid != R7KRECID_7kV28kWetEndVersion && *recordid != R7KRECID_7kV2Detection && *recordid != R7KRECID_7kV2RawDetection && *recordid != R7KRECID_7kV2SnippetData && *recordid != R7KRECID_7kInstallationParameters && *recordid != R7KRECID_7kSystemEventMessage && *recordid != R7KRECID_7kDataStorageStatus && *recordid != R7KRECID_7kFileHeader && *recordid != R7KRECID_7kTrigger && *recordid != R7KRECID_7kTriggerSequenceSetup && *recordid != R7KRECID_7kTriggerSequenceDone && *recordid != R7KRECID_7kTimeMessage && *recordid != R7KRECID_7kRemoteControl && *recordid != R7KRECID_7kRemoteControlAcknowledge && *recordid != R7KRECID_7kRemoteControlNotAcknowledge && *recordid != R7KRECID_7kRemoteControlSonarSettings && *recordid != R7KRECID_7kReserved && *recordid != R7KRECID_7kRoll && *recordid != R7KRECID_7kPitch && *recordid != R7KRECID_7kSoundVelocity && *recordid != R7KRECID_7kAbsorptionLoss && *recordid != R7KRECID_7kSpreadingLoss && *recordid != R7KRECID_8100SonarData) { status = MB_FAILURE; } else { status = MB_SUCCESS; #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) { fprintf(stderr, "Good record id: %4.4hX | %d", *recordid, *recordid); if (*recordid == R7KRECID_ReferencePoint) fprintf(stderr," R7KRECID_ReferencePoint\n"); if (*recordid == R7KRECID_UncalibratedSensorOffset) fprintf(stderr," R7KRECID_UncalibratedSensorOffset\n"); if (*recordid == R7KRECID_CalibratedSensorOffset) fprintf(stderr," R7KRECID_CalibratedSensorOffset\n"); if (*recordid == R7KRECID_Position) fprintf(stderr," R7KRECID_Position\n"); if (*recordid == R7KRECID_CustomAttitude) fprintf(stderr," R7KRECID_CustomAttitude\n"); if (*recordid == R7KRECID_Tide) fprintf(stderr," R7KRECID_Tide\n"); if (*recordid == R7KRECID_Altitude) fprintf(stderr," R7KRECID_Altitude\n"); if (*recordid == R7KRECID_MotionOverGround) fprintf(stderr," R7KRECID_MotionOverGround\n"); if (*recordid == R7KRECID_Depth) fprintf(stderr," R7KRECID_Depth\n"); if (*recordid == R7KRECID_SoundVelocityProfile) fprintf(stderr," R7KRECID_SoundVelocityProfile\n"); if (*recordid == R7KRECID_CTD) fprintf(stderr," R7KRECID_CTD\n"); if (*recordid == R7KRECID_Geodesy) fprintf(stderr," R7KRECID_Geodesy\n"); if (*recordid == R7KRECID_RollPitchHeave) fprintf(stderr," R7KRECID_RollPitchHeave\n"); if (*recordid == R7KRECID_Heading) fprintf(stderr," R7KRECID_Heading\n"); if (*recordid == R7KRECID_SurveyLine) fprintf(stderr," R7KRECID_Heading\n"); if (*recordid == R7KRECID_Navigation) fprintf(stderr," R7KRECID_Heading\n"); if (*recordid == R7KRECID_Attitude) fprintf(stderr," R7KRECID_Attitude\n"); if (*recordid == R7KRECID_Rec1022) fprintf(stderr," R7KRECID_Rec1022\n"); if (*recordid == R7KRECID_FSDWsidescan) fprintf(stderr," R7KRECID_FSDWsidescan\n"); if (*recordid == R7KRECID_FSDWsubbottom) fprintf(stderr," R7KRECID_FSDWsubbottom\n"); if (*recordid == R7KRECID_Bluefin) fprintf(stderr," R7KRECID_Bluefin\n"); if (*recordid == R7KRECID_ProcessedSidescan) fprintf(stderr," R7KRECID_ProcessedSidescan\n"); if (*recordid == R7KRECID_7kVolatileSonarSettings) fprintf(stderr," R7KRECID_7kVolatileSonarSettings\n"); if (*recordid == R7KRECID_7kConfiguration) fprintf(stderr," R7KRECID_7kConfiguration\n"); if (*recordid == R7KRECID_7kMatchFilter) fprintf(stderr," R7KRECID_7kMatchFilter\n"); if (*recordid == R7KRECID_7kV2FirmwareHardwareConfiguration) fprintf(stderr," R7KRECID_7kV2FirmwareHardwareConfiguration\n"); if (*recordid == R7KRECID_7kBeamGeometry) fprintf(stderr," R7KRECID_7kBeamGeometry\n"); if (*recordid == R7KRECID_7kCalibrationData) fprintf(stderr," R7KRECID_7kCalibrationData\n"); if (*recordid == R7KRECID_7kBathymetricData) fprintf(stderr," R7KRECID_7kBathymetricData\n"); if (*recordid == R7KRECID_7kBackscatterImageData) fprintf(stderr," R7KRECID_7kBackscatterImageData\n"); if (*recordid == R7KRECID_7kBeamData) fprintf(stderr," R7KRECID_7kBeamData\n"); if (*recordid == R7KRECID_7kVerticalDepth) fprintf(stderr," R7KRECID_7kVerticalDepth\n"); if (*recordid == R7KRECID_7kImageData) fprintf(stderr," R7KRECID_7kImageData\n"); if (*recordid == R7KRECID_7kV2PingMotion) fprintf(stderr," R7KRECID_7kV2PingMotion\n"); if (*recordid == R7KRECID_7kV2DetectionSetup) fprintf(stderr," R7KRECID_7kV2DetectionSetup\n"); if (*recordid == R7KRECID_7kV2BeamformedData) fprintf(stderr," R7KRECID_7kV2BeamformedData\n"); if (*recordid == R7KRECID_7kV2BITEData) fprintf(stderr," R7KRECID_7kV2BITEData\n"); if (*recordid == R7KRECID_7kV27kCenterVersion) fprintf(stderr," R7KRECID_7kV27kCenterVersion\n"); if (*recordid == R7KRECID_7kV28kWetEndVersion) fprintf(stderr," R7KRECID_7kV28kWetEndVersion\n"); if (*recordid == R7KRECID_7kV2Detection) fprintf(stderr," R7KRECID_7kV2Detection\n"); if (*recordid == R7KRECID_7kV2RawDetection) fprintf(stderr," R7KRECID_7kV2RawDetection\n"); if (*recordid == R7KRECID_7kV2SnippetData) fprintf(stderr," R7KRECID_7kV2SnippetData\n"); if (*recordid == R7KRECID_7kInstallationParameters) fprintf(stderr," R7KRECID_7kInstallationParameters\n"); if (*recordid == R7KRECID_7kSystemEventMessage) fprintf(stderr,"R7KRECID_7kSystemEventMessage\n"); if (*recordid == R7KRECID_7kDataStorageStatus) fprintf(stderr," R7KRECID_7kDataStorageStatus\n"); if (*recordid == R7KRECID_7kFileHeader) fprintf(stderr," R7KRECID_7kFileHeader\n"); if (*recordid == R7KRECID_7kTrigger) fprintf(stderr," R7KRECID_7kTrigger\n"); if (*recordid == R7KRECID_7kTriggerSequenceSetup) fprintf(stderr," R7KRECID_7kTriggerSequenceSetup\n"); if (*recordid == R7KRECID_7kTriggerSequenceDone) fprintf(stderr," R7KRECID_7kTriggerSequenceDone\n"); if (*recordid == R7KRECID_7kTimeMessage) fprintf(stderr," R7KRECID_7kTimeMessage\n"); if (*recordid == R7KRECID_7kRemoteControl) fprintf(stderr," R7KRECID_7kRemoteControl\n"); if (*recordid == R7KRECID_7kRemoteControlAcknowledge) fprintf(stderr," R7KRECID_7kRemoteControlAcknowledge\n"); if (*recordid == R7KRECID_7kRemoteControlNotAcknowledge) fprintf(stderr," R7KRECID_7kRemoteControlNotAcknowledge\n"); if (*recordid == R7KRECID_7kRemoteControlSonarSettings) fprintf(stderr," R7KRECID_7kRemoteControlSonarSettings\n"); if (*recordid == R7KRECID_7kReserved) fprintf(stderr," R7KRECID_7kReserved\n"); if (*recordid == R7KRECID_7kRoll) fprintf(stderr," R7KRECID_7kRoll\n"); if (*recordid == R7KRECID_7kPitch) fprintf(stderr," R7KRECID_7kPitch\n"); if (*recordid == R7KRECID_7kSoundVelocity) fprintf(stderr," R7KRECID_7kSoundVelocity\n"); if (*recordid == R7KRECID_7kAbsorptionLoss) fprintf(stderr," R7KRECID_7kAbsorptionLoss\n"); if (*recordid == R7KRECID_7kSpreadingLoss) fprintf(stderr," R7KRECID_7kSpreadingLoss\n"); if (*recordid == R7KRECID_8100SonarData) fprintf(stderr," R7KRECID_8100SonarData\n"); } #endif } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Output arguments:\n"); fprintf(stderr,"dbg2 recordid: %d\n",*recordid); fprintf(stderr,"dbg2 deviceid: %d\n",*deviceid); fprintf(stderr,"dbg2 enumerator: %d\n",*enumerator); fprintf(stderr,"dbg2 size: %d\n",*size); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_reson7kr_chk_pingnumber(int verbose, int recordid, char *buffer, int *ping_number) { char *function_name = "mbr_reson7kr_chk_pingnumber"; int status = MB_SUCCESS; unsigned short offset; int index; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 recordid: %d\n",recordid); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); } /* get offset to data section */ mb_get_binary_short(MB_YES, &buffer[2], &offset); /* check ping number if one of the ping records */ if (recordid == R7KRECID_7kVolatileSonarSettings) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kMatchFilter) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kBathymetricData) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kBackscatterImageData) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kBeamData) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kVerticalDepth) { index = offset + 8; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kImageData) { index = offset + 4; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kV2PingMotion) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kV2DetectionSetup) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kV2BeamformedData) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kV2Detection) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kV2RawDetection) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kV2SnippetData) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_7kRemoteControlSonarSettings) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else if (recordid == R7KRECID_ProcessedSidescan) { index = offset + 12; mb_get_binary_int(MB_YES, &buffer[index], ping_number); status = MB_SUCCESS; } else { status = MB_FAILURE; *ping_number = 0; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Output arguments:\n"); fprintf(stderr,"dbg2 ping_number: %d\n",*ping_number); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/ int mbr_reson7kr_rd_header(int verbose, char *buffer, int *index, s7k_header *header, int *error) { char *function_name = "mbr_reson7kr_rd_header"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 header: %lu\n",(size_t)header); } /* extract the header */ mb_get_binary_short(MB_YES, &buffer[*index], &(header->Version)); *index +=2; mb_get_binary_short(MB_YES, &buffer[*index], &(header->Offset)); *index +=2; mb_get_binary_int(MB_YES, &buffer[*index], &(header->SyncPattern)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->Size)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->OffsetToOptionalData)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->OptionalDataIdentifier)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(header->s7kTime.Year)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(header->s7kTime.Day)); *index += 2; mb_get_binary_float(MB_YES, &buffer[*index], &(header->s7kTime.Seconds)); *index += 4; header->s7kTime.Hours = (mb_u_char) buffer[*index]; (*index)++; header->s7kTime.Minutes = (mb_u_char) buffer[*index]; (*index)++; mb_get_binary_short(MB_YES, &buffer[*index], &(header->Reserved)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(header->RecordType)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->DeviceId)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(header->Reserved2)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(header->SystemEnumerator)); *index += 2; if (header->Version == 2) header->SystemEnumerator = header->Reserved2; if (header->Version == 2) mb_get_binary_int(MB_YES, &buffer[*index], &(header->DataSetNumber)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->RecordNumber)); *index += 4; if (header->Version == 2) { for (i=0;i<8;i++) { header->PreviousRecord[i] = buffer[*index]; (*index)++; } for (i=0;i<8;i++) { header->NextRecord[i] = buffer[*index]; (*index)++; } } mb_get_binary_short(MB_YES, &buffer[*index], &(header->Flags)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(header->Reserved3)); *index += 2; if (header->Version == 2) { mb_get_binary_int(MB_YES, &buffer[*index], &(header->Reserved4)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->FragmentedTotal)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(header->FragmentNumber)); *index += 4; } /* print out the results */ /* mbsys_reson7k_print_header(verbose, header, 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 index: %d\n",*index); 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_reson7kr_rd_reference(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_reference"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_reference *reference; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; reference = &(store->reference); header = &(reference->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(reference->offset_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(reference->offset_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(reference->offset_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(reference->water_z)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_ReferencePoint; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_ReferencePoint: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_reference(verbose, reference, 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_reson7kr_rd_sensoruncal(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_sensoruncal"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_sensoruncal *sensoruncal; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; sensoruncal = &(store->sensoruncal); header = &(sensoruncal->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensoruncal->offset_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensoruncal->offset_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensoruncal->offset_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensoruncal->offset_roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensoruncal->offset_pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensoruncal->offset_yaw)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_UncalibratedSensorOffset; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_UncalibratedSensorOffset: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_sensoruncal(verbose, sensoruncal, 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_reson7kr_rd_sensorcal(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_sensorcal"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_sensorcal *sensorcal; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; sensorcal = &(store->sensorcal); header = &(sensorcal->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensorcal->offset_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensorcal->offset_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensorcal->offset_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensorcal->offset_roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensorcal->offset_pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(sensorcal->offset_yaw)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_CalibratedSensorOffset; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_CalibratedSensorOffset: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_sensorcal(verbose, sensorcal, 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_reson7kr_rd_position(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_position"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_position *position; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; position = &(store->position); header = &(position->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(position->datum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(position->latency)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(position->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(position->longitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(position->height)); index += 8; position->type = buffer[index]; index++; position->utm_zone = buffer[index]; index++; position->quality = buffer[index]; index++; position->method = buffer[index]; index++; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_NAV1; store->type = R7KRECID_Position; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Position: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_position(verbose, position, 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_reson7kr_rd_customattitude(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_customattitude"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_customattitude *customattitude; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; customattitude = &(store->customattitude); header = &(customattitude->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; customattitude->bitfield = (mb_u_char) buffer[index]; index++; customattitude->reserved = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(customattitude->n)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->frequency)); index += 4; /* make sure enough memory is allocated for channel data */ if (customattitude->nalloc < customattitude->n) { data_size = customattitude->n * sizeof(float); status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->pitch), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->roll), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->heading), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->heave), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->pitchrate), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->rollrate), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->headingrate), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(customattitude->heaverate), error); if (status == MB_SUCCESS) { customattitude->nalloc = customattitude->n; } else { customattitude->nalloc = 0; customattitude->n = 0; } } if (customattitude->bitfield & 1) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->pitch[i])); index += 4; } if (customattitude->bitfield & 2) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->roll[i])); index += 4; } if (customattitude->bitfield & 4) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->heading[i])); index += 4; } if (customattitude->bitfield & 8) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->heave[i])); index += 4; } if (customattitude->bitfield & 16) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->pitchrate[i])); index += 4; } if (customattitude->bitfield & 32) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->rollrate[i])); index += 4; } if (customattitude->bitfield & 64) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->headingrate[i])); index += 4; } if (customattitude->bitfield & 128) for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(customattitude->heaverate[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_ATTITUDE; store->type = R7KRECID_CustomAttitude; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_CustomAttitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_customattitude(verbose, customattitude, 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_reson7kr_rd_tide(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_tide"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_tide *tide; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; tide = &(store->tide); header = &(tide->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(tide->tide)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(tide->source)); index += 2; tide->flags = buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(tide->gauge)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(tide->datum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(tide->latency)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(tide->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(tide->longitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(tide->height)); index += 8; tide->type = buffer[index]; index++; tide->utm_zone = buffer[index]; index++; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_TIDE; store->type = R7KRECID_Tide; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Tide: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_tide(verbose, tide, 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_reson7kr_rd_altitude(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_altitude"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_altitude *altitude; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; altitude = &(store->altitude); header = &(altitude->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(altitude->altitude)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_HEIGHT; store->type = R7KRECID_Altitude; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Altitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_altitude(verbose, altitude, 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_reson7kr_rd_motion(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_motion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_motion *motion; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; motion = &(store->motion); header = &(motion->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; motion->bitfield = (mb_u_char) buffer[index]; index++; motion->reserved = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(motion->n)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(motion->frequency)); index += 4; /* make sure enough memory is allocated for channel data */ if (motion->nalloc < motion->n) { data_size = motion->n * sizeof(float); status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(motion->x), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(motion->y), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(motion->z), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(motion->xa), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(motion->ya), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(motion->za), error); if (status == MB_SUCCESS) { motion->nalloc = motion->n; } else { motion->nalloc = 0; motion->n = 0; } } if (motion->bitfield & 1) { for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(motion->x[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(motion->y[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(motion->z[i])); index += 4; } } if (motion->bitfield & 2) { for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(motion->xa[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(motion->ya[i])); index += 4; } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(motion->za[i])); index += 4; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_MOTION; store->type = R7KRECID_MotionOverGround; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_MotionOverGround: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_motion(verbose, motion, 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_reson7kr_rd_depth(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_depth"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_depth *depth; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; depth = &(store->depth); header = &(depth->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; depth->descriptor = (mb_u_char) buffer[index]; index++; depth->correction = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(depth->reserved)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(depth->depth)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_HEIGHT; store->type = R7KRECID_Depth; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Depth: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_depth(verbose, depth, 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_reson7kr_rd_svp(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_svp"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_svp *svp; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; svp = &(store->svp); header = &(svp->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; svp->position_flag = (mb_u_char) buffer[index]; index++; svp->reserved1 = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(svp->reserved2)); index += 2; mb_get_binary_double(MB_YES, &buffer[index], &(svp->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(svp->longitude)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(svp->n)); index += 4; /* make sure enough memory is allocated for channel data */ if (svp->nalloc < svp->n) { data_size = svp->n * sizeof(float); status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(svp->depth), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(svp->sound_velocity), error); if (status == MB_SUCCESS) { svp->nalloc = svp->n; } else { svp->nalloc = 0; svp->n = 0; } } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(svp->depth[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(svp->sound_velocity[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_VELOCITY_PROFILE; store->type = R7KRECID_SoundVelocityProfile; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_SoundVelocityProfile: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_svp(verbose, svp, 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_reson7kr_rd_ctd(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_ctd"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_ctd *ctd; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; ctd = &(store->ctd); header = &(ctd->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(ctd->frequency)); index += 4; ctd->velocity_source_flag = (mb_u_char) buffer[index]; index++; ctd->velocity_algorithm = (mb_u_char) buffer[index]; index++; ctd->conductivity_flag = (mb_u_char) buffer[index]; index++; ctd->pressure_flag = (mb_u_char) buffer[index]; index++; ctd->position_flag = (mb_u_char) buffer[index]; index++; ctd->validity = (mb_u_char) buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(ctd->reserved)); index += 2; mb_get_binary_double(MB_YES, &buffer[index], &(ctd->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(ctd->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(ctd->sample_rate)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(ctd->n)); index += 4; /* make sure enough memory is allocated for channel data */ if (ctd->nalloc < ctd->n) { data_size = ctd->n * sizeof(float); status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(ctd->conductivity_salinity), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(ctd->temperature), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(ctd->pressure_depth), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(ctd->sound_velocity), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(ctd->absorption), error); if (status == MB_SUCCESS) { ctd->nalloc = ctd->n; } else { ctd->nalloc = 0; ctd->n = 0; } } for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(ctd->conductivity_salinity[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(ctd->temperature[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(ctd->pressure_depth[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(ctd->sound_velocity[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(ctd->absorption[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_CTD; store->type = R7KRECID_CTD; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_CTD: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_ctd(verbose, ctd, 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_reson7kr_rd_geodesy(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_geodesy"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_geodesy *geodesy; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; geodesy = &(store->geodesy); header = &(geodesy->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; for (i=0;i<32;i++) { geodesy->spheroid[i] = (mb_u_char) buffer[index]; index++; } mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->semimajoraxis)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->flattening)); index += 8; for (i=0;i<16;i++) { geodesy->reserved1[i] = (mb_u_char) buffer[index]; index++; } for (i=0;i<32;i++) { geodesy->datum[i] = (mb_u_char) buffer[index]; index++; } mb_get_binary_int(MB_YES, &buffer[index], &(geodesy->calculation_method)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(geodesy->number_parameters)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->dx)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->dy)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->dz)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->rx)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->ry)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->rz)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->scale)); index += 8; for (i=0;i<35;i++) { geodesy->reserved2[i] = (mb_u_char) buffer[index]; index++; } for (i=0;i<32;i++) { geodesy->grid_name[i] = (mb_u_char) buffer[index]; index++; } geodesy->distance_units = (mb_u_char) buffer[index]; index++; geodesy->angular_units = (mb_u_char) buffer[index]; index++; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->latitude_origin)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->central_meriidan)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->false_easting)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->false_northing)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(geodesy->central_scale_factor)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(geodesy->custum_identifier)); index += 4; for (i=0;i<50;i++) { geodesy->reserved3[i] = (mb_u_char) buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_Geodesy; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Geodesy: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_geodesy(verbose, geodesy, 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_reson7kr_rd_rollpitchheave(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_rollpitchheave"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_rollpitchheave *rollpitchheave; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; rollpitchheave = &(store->rollpitchheave); header = &(rollpitchheave->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(rollpitchheave->roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(rollpitchheave->pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(rollpitchheave->heave)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_ATTITUDE; store->type = R7KRECID_RollPitchHeave; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_RollPitchHeave: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_rollpitchheave(verbose, rollpitchheave, 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_reson7kr_rd_heading(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_heading"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_heading *heading; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; heading = &(store->heading); header = &(heading->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(heading->heading)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_HEADING; store->type = R7KRECID_Heading; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Heading: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_heading(verbose, heading, 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_reson7kr_rd_surveyline(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_surveyline"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_surveyline *surveyline; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; surveyline = &(store->surveyline); header = &(surveyline->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_short(MB_YES, &buffer[index], &(surveyline->n)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(surveyline->type)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(surveyline->turnradius)); index += 4; for (i=0;i<64;i++) { surveyline->name[i] = (char) buffer[index]; index++; } /* make sure enough memory is allocated for channel data */ if (surveyline->nalloc < surveyline->n) { data_size = surveyline->n * sizeof(float); status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(surveyline->latitude), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(surveyline->longitude), error); if (status == MB_SUCCESS) { surveyline->nalloc = surveyline->n; } else { surveyline->nalloc = 0; surveyline->n = 0; } } for (i=0;in;i++) { mb_get_binary_double(MB_YES, &buffer[index], &(surveyline->latitude[i])); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(surveyline->longitude[i])); index += 8; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_SURVEY_LINE; store->type = R7KRECID_SurveyLine; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_SurveyLine: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_surveyline(verbose, surveyline, 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_reson7kr_rd_navigation(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_navigation"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_navigation *navigation; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; navigation = &(store->navigation); header = &(navigation->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; navigation->vertical_reference = (mb_u_char) buffer[index]; index++; mb_get_binary_double(MB_YES, &buffer[index], &(navigation->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(navigation->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(navigation->position_accuracy)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(navigation->height)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(navigation->height_accuracy)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(navigation->speed)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(navigation->course)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(navigation->heading)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_NAV3; store->type = R7KRECID_Navigation; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Navigation: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_navigation(verbose, navigation, 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_reson7kr_rd_attitude(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_attitude"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_attitude *attitude; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; attitude = &(store->attitude); header = &(attitude->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; attitude->n = (mb_u_char) buffer[index]; index++; /* make sure enough memory is allocated for channel data */ if (attitude->nalloc < attitude->n) { data_size = attitude->n * sizeof(unsigned short); status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(attitude->delta_time), error); data_size = attitude->n * sizeof(float); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(attitude->roll), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(attitude->pitch), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(attitude->heave), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(attitude->heading), error); if (status == MB_SUCCESS) { attitude->nalloc = attitude->n; } else { attitude->nalloc = 0; attitude->n = 0; } } for (i=0;in;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(attitude->delta_time[i])); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(attitude->roll[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(attitude->pitch[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(attitude->heave[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(attitude->heading[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_ATTITUDE; store->type = R7KRECID_Attitude; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Attitude: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_attitude(verbose, attitude, 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_reson7kr_rd_rec1022(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_rec1022"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_rec1022 *rec1022; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; rec1022 = &(store->rec1022); header = &(rec1022->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; for (i=0;idata[i] = (mb_u_char) buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_RAW_LINE; store->type = R7KRECID_Rec1022; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_Rec1022: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_rec1022(verbose, rec1022, 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_reson7kr_rd_fsdwchannel(int verbose, int data_format, char *buffer, int *index, s7k_fsdwchannel *fsdwchannel, int *error) { char *function_name = "mbr_reson7kr_rd_fsdwchannel"; int status = MB_SUCCESS; int data_size; short *shortptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 data_format:%d\n",data_format); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 fsdwchannel:%lu\n",(size_t)fsdwchannel); } /* extract the channel header */ fsdwchannel->number = (mb_u_char) buffer[*index]; (*index)++; fsdwchannel->type = (mb_u_char) buffer[*index]; (*index)++; fsdwchannel->data_type = (mb_u_char) buffer[*index]; (*index)++; fsdwchannel->polarity = (mb_u_char) buffer[*index]; (*index)++; fsdwchannel->bytespersample = (mb_u_char) buffer[*index]; (*index)++; for (i=0;i<3;i++) { fsdwchannel->reserved1[i] = buffer[*index]; (*index)++; } mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwchannel->number_samples)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwchannel->start_time)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwchannel->sample_interval)); *index += 4; mb_get_binary_float(MB_YES, &buffer[*index], &(fsdwchannel->range)); *index += 4; mb_get_binary_float(MB_YES, &buffer[*index], &(fsdwchannel->voltage)); *index += 4; for (i=0;i<16;i++) { fsdwchannel->name[i] = buffer[*index]; (*index)++; } for (i=0;i<20;i++) { fsdwchannel->reserved2[i] = buffer[*index]; (*index)++; } /* make sure enough memory is allocated for channel data */ data_size = fsdwchannel->bytespersample * fsdwchannel->number_samples; if (fsdwchannel->data_alloc < data_size) { status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(fsdwchannel->data), error); if (status != MB_SUCCESS) fsdwchannel->data_alloc = 0; else fsdwchannel->data_alloc = data_size; } /* copy over the data */ if (status == MB_SUCCESS) { if (fsdwchannel->bytespersample == 1) { for (i=0;inumber_samples;i++) { fsdwchannel->data[i] = buffer[*index]; (*index)++; } } else if (fsdwchannel->bytespersample == 2) { shortptr = (short *) fsdwchannel->data; for (i=0;inumber_samples;i++) { /*srptr = (short *) &(buffer[*index]); urptr = (unsigned short *) &(buffer[*index]);*/ mb_get_binary_short(MB_YES, &(buffer[*index]), &(shortptr[i])); *index += 2; /*ssptr = (short *) &(shortptr[i]); usptr = (unsigned short *) &(shortptr[i]); fprintf(stderr,"sample:%5d raw:%6d %6d swapped:%6d %6d\n", i,*srptr,*urptr,*ssptr,*usptr);*/ } } else if (fsdwchannel->bytespersample == 4) { shortptr = (short *) fsdwchannel->data; for (i=0;inumber_samples;i++) { /*srptr = (short *) &(buffer[*index]); urptr = (unsigned short *) &(buffer[*index]);*/ mb_get_binary_short(MB_YES, &(buffer[*index]), &(shortptr[2*i])); *index += 2; /*ssptr = (short *) &(shortptr[2*i]); usptr = (unsigned short *) &(shortptr[2*i]); fprintf(stderr,"sample:%5d IMAGINARY: raw:%6d %6d swapped:%6d %6d", i,*srptr,*urptr,*ssptr,*usptr); srptr = (short *) &(buffer[*index]); urptr = (unsigned short *) &(buffer[*index]);*/ mb_get_binary_short(MB_YES, &(buffer[*index]), &(shortptr[2*i+1])); *index += 2; /*ssptr = (short *) &(shortptr[2*i+1]); usptr = (unsigned short *) &(shortptr[2*i+1]); fprintf(stderr," REAL: raw:%6d %6d swapped:%6d %6d\n", *srptr,*urptr,*ssptr,*usptr);*/ } } } /* print out the results */ /*mbsys_reson7k_print_fsdwchannel(verbose, data_format, fsdwchannel, 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 index: %d\n",*index); 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_reson7kr_rd_fsdwssheader(int verbose, char *buffer, int *index, s7k_fsdwssheader *fsdwssheader, int *error) { char *function_name = "mbr_reson7kr_rd_fsdwssheader"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 fsdwssheader: %lu\n",(size_t)fsdwssheader); } /* extract the Edgetech sidescan header */ mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->subsystem)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->channelNum)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwssheader->pingNum)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->packetNum)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->trigSource)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwssheader->samples)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwssheader->sampleInterval)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwssheader->startDepth)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->weightingFactor)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->ADCGain)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->ADCMax)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->rangeSetting)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->pulseID)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->markNumber)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->dataFormat)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->reserved)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwssheader->millisecondsToday)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->year)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->day)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->hour)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->minute)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->second)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->heading)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->pitch)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->roll)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->heave)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->yaw)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwssheader->depth)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwssheader->temperature)); *index += 2; for (i=0;i<10;i++) { fsdwssheader->reserved2[i] = buffer[*index]; (*index)++; } /* print out the results */ /*mbsys_reson7k_print_fsdwssheader(verbose, fsdwssheader, 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 index: %d\n",*index); 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_reson7kr_rd_fsdwsegyheader(int verbose, char *buffer, int *index, s7k_fsdwsegyheader *fsdwsegyheader, int *error) { char *function_name = "mbr_reson7kr_rd_fsdwsegyheader"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 fsdwsegyheader: %lu\n",(size_t)fsdwsegyheader); } /* extract the Edgetech segy header */ mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->sequenceNumber)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->startDepth)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->pingNum)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->channelNum)); *index += 4; for (i=0;i<6;i++) { mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->unused1[i])); *index += 2; } mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->traceIDCode)); *index += 2; for (i=0;i<2;i++) { mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->unused2[i])); *index += 2; } mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->dataFormat)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEAantennaeR)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEAantennaeO)); *index += 2; for (i=0;i<32;i++) { fsdwsegyheader->RS232[i] = buffer[*index]; (*index)++; } mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->sourceCoordX)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->sourceCoordY)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->groupCoordX)); *index += 4; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->groupCoordY)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->coordUnits)); *index += 2; for (i=0;i<24;i++) { fsdwsegyheader->annotation[i] = buffer[*index]; (*index)++; } mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->samples)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->sampleInterval)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->ADCGain)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->pulsePower)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->correlated)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->startFreq)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->endFreq)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->sweepLength)); *index += 2; for (i=0;i<4;i++) { mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->unused7[i])); *index += 2; } mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->aliasFreq)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->pulseID)); *index += 2; for (i=0;i<6;i++) { mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->unused8[i])); *index += 2; } mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->year)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->day)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->hour)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->minute)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->second)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->timeBasis)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->weightingFactor)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->unused9)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->heading)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->pitch)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->roll)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->temperature)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->heaveCompensation)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->trigSource)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->markNumber)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEAHour)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEAMinutes)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEASeconds)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEACourse)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEASpeed)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEADay)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->NMEAYear)); *index += 2; mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->millisecondsToday)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->ADCMax)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->calConst)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->vehicleID)); *index += 2; for (i=0;i<6;i++) { fsdwsegyheader->softwareVersion[i] = buffer[*index]; (*index)++; } mb_get_binary_int(MB_YES, &buffer[*index], &(fsdwsegyheader->sphericalCorrection)); *index += 4; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->packetNum)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->ADCDecimation)); *index += 2; mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->decimation)); *index += 2; for (i=0;i<7;i++) { mb_get_binary_short(MB_YES, &buffer[*index], &(fsdwsegyheader->unuseda[i])); *index += 2; } /* print out the results */ /*mbsys_reson7k_print_fsdwsegyheader(verbose, fsdwsegyheader, 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 index: %d\n",*index); 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_reson7kr_rd_fsdwsslo(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_fsdwsslo"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwss *fsdwsslo; s7k_fsdwchannel *fsdwchannel; s7k_fsdwssheader *fsdwssheader; s7kr_bathymetry *bathymetry; s7kr_bluefin *bluefin; int index; int time_i[7], time_j[5]; double edgetech_time_d, s7k_time_d, bathy_time_d; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fsdwsslo = &(store->fsdwsslo); header = &(fsdwsslo->header); bathymetry = &(store->bathymetry); bluefin = &(store->bluefin); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsslo->msec_timestamp)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsslo->ping_number)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsslo->number_channels)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsslo->total_bytes)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsslo->data_format));index += 4; index += 12; for (i=0;i<2;i++) { fsdwchannel = &(fsdwsslo->channel[i]); mbr_reson7kr_rd_fsdwchannel(verbose, fsdwsslo->data_format, buffer, &index, fsdwchannel, error); } /*fprintf(stderr,"In mbr_reson7kr_rd_fsdwsslo: index:%d OffsetToOptionalData:%d\n", index, header->OffsetToOptionalData); index = header->OffsetToOptionalData;*/ for (i=0;i<2;i++) { fsdwssheader = &(fsdwsslo->ssheader[i]); mbr_reson7kr_rd_fsdwssheader(verbose, buffer, &index, fsdwssheader, error); } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_SIDESCAN2; store->type = R7KRECID_FSDWsidescan; store->sstype = R7KRECID_FSDWsidescanLo; /* get the time from the original Edgetech header */ time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(edgetech_time_d)); /* get the time from the 6046 datalogger header */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(s7k_time_d)); /* get the time from the last bathymetry record */ time_j[0] = bathymetry->header.s7kTime.Year; time_j[1] = bathymetry->header.s7kTime.Day; time_j[2] = 60 * bathymetry->header.s7kTime.Hours + bathymetry->header.s7kTime.Minutes; time_j[3] = (int) bathymetry->header.s7kTime.Seconds; time_j[4] = (int) (1000000 * (bathymetry->header.s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(bathy_time_d)); /* figure out offset between 7k timestamp and Edgetech timestamp */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"%s: 7k time offset: %f 7ktime:%f Edgetech:%f Bathymetry:%f\n", function_name, edgetech_time_d - bathy_time_d, s7k_time_d, edgetech_time_d, bathy_time_d); #endif /* Use the Edgetech timestamp */ store->time_d = edgetech_time_d; mb_get_date(verbose, store->time_d, store->time_i); /* use Edgetech time for early MBARI SBP missions with bad time synching, otherwise use 7K timestamp */ /*if (header->s7kTime.Year == 2004) { /\* get the time from the original Edgetech header *\/ time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); } else { /\* get the time from the 6046 datalogger header *\/ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); } mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d));*/ } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fsdwss(verbose, fsdwsslo, error); #ifdef MBR_RESON7KR_DEBUG for (i=0;inumber_channels;i++) { mb_get_date(verbose, s7k_time_d, time_i); fsdwchannel = &(fsdwsslo->channel[i]); fsdwssheader = &(fsdwsslo->ssheader[i]); fprintf(stderr,"R7KRECID_FSDWsidescanLo: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d %d chan:%d %d sampint:%d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsslo->ping_number,fsdwssheader->pingNum, fsdwchannel->number,fsdwssheader->channelNum, fsdwchannel->sample_interval,fsdwssheader->sampleInterval); } #endif /* get sonar_depth and altitude if possible */ /* if (bluefin->nav[0].depth > 0.0) survey->sonar_depth = bluefin->nav[0].depth; if (bluefin->nav[0].altitude > 0.0) survey->sonar_altitude = bluefin->nav[0].altitude; if (bluefin->environmental[0].sound_speed > 0.0) sound_speed = bluefin->environmental[0].sound_speed; else sound_speed = 1500.0; half_sound_speed = 0.5 * sound_speed; */ /* if necessary get first arrival and treat as altitude */ /* if (survey->sonar_altitude == 0.0) { bottompick = fsdwchannel->number_samples; for (i=0;i<2;i++) { fsdwchannel = &(fsdwsslo->channel[i]); shortptr = (short *) fsdwchannel->data; ushortptr = (unsigned short *) fsdwchannel->data; if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_ENVELOPE) pickvalue = (double) ushortptr[0]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_ANALYTIC) pickvalue = sqrt((double) (shortptr[0] * shortptr[0] + shortptr[1] * shortptr[1])); else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_RAW) pickvalue = fabs((double) ushortptr[0]); else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_REALANALYTIC) pickvalue = fabs((double) ushortptr[0]); else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_PIXEL) pickvalue = (double) ushortptr[0]; pickvalue = MAX(40 * pickvalue, 80.0); for (j=0;jnumber_samples;j++) { if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_ENVELOPE) value = (double) ushortptr[j]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (shortptr[2*j] * shortptr[2*j] + shortptr[2*j+1] * shortptr[2*j+1])); else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_RAW) value = (double) ushortptr[j]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_REALANALYTIC) value = (double) ushortptr[j]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_PIXEL) value = (double) ushortptr[j]; if (bottompick > j && fabs(value) > pickvalue) { bottompick = j; survey->sonar_altitude = half_sound_speed * bottompick * 0.000001 * fsdwchannel->sample_interval; } } } } else { bottompick = survey->sonar_altitude / (half_sound_speed * 0.000001 * fsdwchannel->sample_interval); } */ /* insert sslo data into survey structure */ /* tracemax = 0.0; pixelsize = (fsdwsslo->channel[0].range + fsdwsslo->channel[1].range) / 1024; for (j=0;j<1024;j++) { bin[j] = 0.0; nbin[j] = 0; } for (i=0;i<2;i++) { fsdwchannel = &(fsdwsslo->channel[i]); shortptr = (short *) fsdwchannel->data; ushortptr = (short *) fsdwchannel->data; survey->number_sslow_pixels = 1024; for (j=bottompick;jnumber_samples;j++) { if (i == 0) { sign = -1.0; k = fsdwchannel->number_samples - (j - bottompick); } else { sign = 1.0; k = fsdwchannel->number_samples + (j - bottompick); } if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_ENVELOPE) value = (double) ushortptr[j]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_ANALYTIC) value = sqrt((double) (shortptr[2*j] * shortptr[2*j] + shortptr[2*j+1] * shortptr[2*j+1])); else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_RAW) value = (double) ushortptr[j]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_REALANALYTIC) value = (double) ushortptr[j]; else if (fsdwsslo->data_format == EDGETECH_TRACEFORMAT_PIXEL) value = (double) ushortptr[j]; tracemax = MAX(tracemax, value); range = half_sound_speed * j * 0.000001 * fsdwchannel->sample_interval; xtrack = sign * sqrt(fabs(range * range - survey->sonar_altitude * survey->sonar_altitude)); k = (xtrack / pixelsize) + 512; if (k < 0) k = 0; if (k > 1023) k = 1023; bin[k] += value * value; nbin[k]++; } } for (j=0;j<1024;j++) { if (nbin[j] > 0) survey->sslow[j] = sqrt(bin[j]) / nbin[j]; else survey->sslow[j] = 0.0; survey->sslow_acrosstrack[j] = pixelsize * (j - 512);; survey->sslow_alongtrack[j] = 0.0; } */ /*fprintf(stderr,"altitude:%f depth:%f sv:%f heading:%f bottompick:%d weight:%d ADCGain:%d ADCMax:%d max:%f\n", survey->sonar_altitude,survey->sonar_depth,sound_speed,survey->heading,bottompick, fsdwssheader->weightingFactor,fsdwssheader->ADCGain,fsdwssheader->ADCMax,tracemax); fprintf(stderr,"\n\nbottompick:%d altitude:%f pixelsize:%f\n",bottompick,survey->sonar_altitude,pixelsize); for (j=0;jnumber_samples;j++) { fsdwchannel = &(fsdwsslo->channel[0]); ushortptr = (unsigned short *) fsdwchannel->data; value = (double) ushortptr[j]; fprintf(stderr,"SSL[%5d]: %10.0f",j,value); fsdwchannel = &(fsdwsslo->channel[1]); ushortptr = (unsigned short *) fsdwchannel->data; value = (double) ushortptr[j]; fprintf(stderr," %10.0f",value); if (j == bottompick) fprintf(stderr," BOTTOMPICK"); fprintf(stderr,"\n"); }*/ /* 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_reson7kr_rd_fsdwsshi(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_fsdwsshi"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwss *fsdwsshi; s7k_fsdwchannel *fsdwchannel; s7k_fsdwssheader *fsdwssheader; s7kr_bathymetry *bathymetry; int index; int time_i[7], time_j[5]; double edgetech_time_d, s7k_time_d, bathy_time_d; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fsdwsshi = &(store->fsdwsshi); header = &(fsdwsshi->header); bathymetry = &(store->bathymetry); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsshi->msec_timestamp)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsshi->ping_number)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsshi->number_channels)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsshi->total_bytes)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsshi->data_format));index += 4; index += 12; for (i=0;i<2;i++) { fsdwchannel = &(fsdwsshi->channel[i]); mbr_reson7kr_rd_fsdwchannel(verbose, fsdwsshi->data_format, buffer, &index, fsdwchannel, error); } /*fprintf(stderr,"In mbr_reson7kr_rd_fsdwsshi: index:%d OffsetToOptionalData:%d\n", index, header->OffsetToOptionalData); index = header->OffsetToOptionalData;*/ for (i=0;i<2;i++) { fsdwssheader = &(fsdwsshi->ssheader[i]); mbr_reson7kr_rd_fsdwssheader(verbose, buffer, &index, fsdwssheader, error); } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_SIDESCAN3; store->type = R7KRECID_FSDWsidescan; store->sstype = R7KRECID_FSDWsidescanHi; /* get the time from the original Edgetech header */ time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(edgetech_time_d)); /* get the time from the 6046 datalogger header */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(s7k_time_d)); /* get the time from the last bathymetry record */ time_j[0] = bathymetry->header.s7kTime.Year; time_j[1] = bathymetry->header.s7kTime.Day; time_j[2] = 60 * bathymetry->header.s7kTime.Hours + bathymetry->header.s7kTime.Minutes; time_j[3] = (int) bathymetry->header.s7kTime.Seconds; time_j[4] = (int) (1000000 * (bathymetry->header.s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(bathy_time_d)); /* figure out offset between 7k timestamp and Edgetech timestamp */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"%s: 7k time offset: %f 7ktime:%f Edgetech:%f Bathymetry:%f\n", function_name, edgetech_time_d - bathy_time_d, s7k_time_d, edgetech_time_d, bathy_time_d); #endif /* use Edgetech time */ store->time_d = edgetech_time_d; mb_get_date(verbose, edgetech_time_d, store->time_i); /* use Edgetech time for early MBARI SBP missions with bad time synching, otherwise use 7K timestamp */ /*if (header->s7kTime.Year == 2004) { /\* get the time from the original Edgetech header *\/ time_j[0] = fsdwssheader->year; time_j[1] = fsdwssheader->day; time_j[2] = 60 * fsdwssheader->hour + fsdwssheader->minute; time_j[3] = fsdwssheader->second; time_j[4] = 1000 * (fsdwssheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwssheader->millisecondsToday))); } else { /\* get the time from the 6046 datalogger header *\/ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); } mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d));*/ } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fsdwss(verbose, fsdwsshi, error); #ifdef MBR_RESON7KR_DEBUG for (i=0;inumber_channels;i++) { mb_get_date(verbose, s7k_time_d, time_i); fsdwchannel = &(fsdwsshi->channel[i]); fsdwssheader = &(fsdwsshi->ssheader[i]); fprintf(stderr,"R7KRECID_FSDWsidescanHi: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d %d chan:%d %d sampint:%d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsshi->ping_number,fsdwssheader->pingNum, fsdwchannel->number,fsdwssheader->channelNum, fsdwchannel->sample_interval,fsdwssheader->sampleInterval); } #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_reson7kr_rd_fsdwsb(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_fsdwsb"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwsb *fsdwsb; s7k_fsdwchannel *fsdwchannel; s7k_fsdwsegyheader *fsdwsegyheader; s7kr_bathymetry *bathymetry; int index; int time_i[7], time_j[5]; double edgetech_time_d, s7k_time_d, bathy_time_d; #ifdef MBR_RESON7KR_DEBUG int i; #endif /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fsdwsb = &(store->fsdwsb); header = &(fsdwsb->header); bathymetry = &store->bathymetry; /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsb->msec_timestamp)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsb->ping_number)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsb->number_channels)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsb->total_bytes)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fsdwsb->data_format));index += 4; index += 12; fsdwchannel = &(fsdwsb->channel); mbr_reson7kr_rd_fsdwchannel(verbose, fsdwsb->data_format, buffer, &index, fsdwchannel, error); /* fprintf(stderr,"index:%d offset:%d\n",index,header->OffsetToOptionalData);*/ fsdwsegyheader = &(fsdwsb->segyheader); mbr_reson7kr_rd_fsdwsegyheader(verbose, buffer, &index, fsdwsegyheader, error); /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_SUBBOTTOM_SUBBOTTOM; store->type = R7KRECID_FSDWsubbottom; /* get the time from the original Edgetech header */ time_j[0] = fsdwsegyheader->year; time_j[1] = fsdwsegyheader->day; time_j[2] = 60 * fsdwsegyheader->hour + fsdwsegyheader->minute; time_j[3] = fsdwsegyheader->second; time_j[4] = 1000 * (fsdwsegyheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwsegyheader->millisecondsToday))); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(edgetech_time_d)); /* get the time from the 6046 datalogger header */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(s7k_time_d)); /* get the time from the last bathymetry record */ time_j[0] = bathymetry->header.s7kTime.Year; time_j[1] = bathymetry->header.s7kTime.Day; time_j[2] = 60 * bathymetry->header.s7kTime.Hours + bathymetry->header.s7kTime.Minutes; time_j[3] = (int) bathymetry->header.s7kTime.Seconds; time_j[4] = (int) (1000000 * (bathymetry->header.s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); mb_get_time(verbose, time_i, &(bathy_time_d)); /* figure out offset between 7k timestamp and Edgetech timestamp */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"%s: 7k time offset: %f 7ktime:%f Edgetech:%f Bathymetry:%f\n", function_name, edgetech_time_d - bathy_time_d, s7k_time_d, edgetech_time_d, bathy_time_d); #endif /* Use the Edgetech timestamp */ store->time_d = edgetech_time_d; mb_get_date(verbose, store->time_d, store->time_i); /* use Edgetech time */ store->time_d = edgetech_time_d; mb_get_date(verbose, edgetech_time_d, store->time_i); /* use Edgetech time for early MBARI SBP missions with bad time synching, otherwise use 7K timestamp */ /*if (header->s7kTime.Year == 2004) { /\* get the time from the original Edgetech header *\/ time_j[0] = fsdwsegyheader->year; time_j[1] = fsdwsegyheader->day; time_j[2] = 60 * fsdwsegyheader->hour + fsdwsegyheader->minute; time_j[3] = fsdwsegyheader->second; time_j[4] = 1000 * (fsdwsegyheader->millisecondsToday - 1000 * ((int)(0.001 * fsdwsegyheader->millisecondsToday))); } else { /\* get the time from the 6046 datalogger header *\/ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); } mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d));*/ } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fsdwsb(verbose, fsdwsb, error); #ifdef MBR_RESON7KR_DEBUG for (i=0;inumber_channels;i++) { mb_get_date(verbose, s7k_time_d, time_i); fsdwchannel = &(fsdwsb->channel); fsdwsegyheader = &(fsdwsb->segyheader); fprintf(stderr,"R7KRECID_FSDWsubbottom: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d %d chan:%d %d sampint:%d %d\n", time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], fsdwsegyheader->year,fsdwsegyheader->day,fsdwsegyheader->hour,fsdwsegyheader->minute,fsdwsegyheader->second, fsdwsegyheader->millisecondsToday - 1000 * (int)(0.001 * fsdwsegyheader->millisecondsToday), fsdwsb->ping_number,fsdwsegyheader->pingNum, fsdwchannel->number,fsdwsegyheader->channelNum, fsdwchannel->sample_interval,fsdwsegyheader->sampleInterval); } #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_reson7kr_rd_bluefin(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_bluefin"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_bluefin *bluefin; int index; int time_j[5]; double time_d; int timeproblem; int i, j; #ifdef MBR_RESON7KR_DEBUG int time_i[7]; #endif /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; bluefin = &(store->bluefin); header = &(bluefin->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* get the first cut time from the 6046 datalogger header */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); /* extract the start of the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->msec_timestamp)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->number_frames)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->frame_size)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->data_format)); index += 4; for (i=0;i<16;i++) { bluefin->reserved[i] = buffer[index]; index++; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (bluefin->data_format == R7KRECID_BluefinNav) fprintf(stderr,"R7KRECID_BluefinNav: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); else fprintf(stderr,"R7KRECID_BluefinEnvironmental: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif /* extract the nav or environmental data */ if (bluefin->data_format == R7KRECID_BluefinNav) { for (i=0;inumber_frames;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->nav[i].packet_size)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->nav[i].version)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->nav[i].offset)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->nav[i].data_type)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->nav[i].data_size)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->nav[i].s7kTime.Year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->nav[i].s7kTime.Day)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].s7kTime.Seconds)); index += 4; bluefin->nav[i].s7kTime.Hours = (mb_u_char) buffer[index]; (index)++; bluefin->nav[i].s7kTime.Minutes = (mb_u_char) buffer[index]; (index)++; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->nav[i].checksum)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->nav[i].timedelay)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->nav[i].quality)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->nav[i].latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->nav[i].longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].speed)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->nav[i].depth)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->nav[i].altitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].yaw)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].northing_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].easting_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].depth_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].altitude_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].roll_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].pitch_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->nav[i].yaw_rate)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->nav[i].position_time)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->nav[i].depth_time)); index += 8; /* fprintf(stderr,"Bluefin nav[%d].packet_size: %d\n",i,bluefin->nav[i].packet_size); fprintf(stderr,"Bluefin nav[%d].version: %d\n",i,bluefin->nav[i].version); fprintf(stderr,"Bluefin nav[%d].offset: %d\n",i,bluefin->nav[i].offset); fprintf(stderr,"Bluefin nav[%d].data_type: %d\n",i,bluefin->nav[i].data_type); fprintf(stderr,"Bluefin nav[%d].data_size: %d\n",i,bluefin->nav[i].data_size); fprintf(stderr,"Bluefin nav[%d].s7kTime.Year: %d\n",i,bluefin->nav[i].s7kTime.Year); fprintf(stderr,"Bluefin nav[%d].s7kTime.Day: %d\n",i,bluefin->nav[i].s7kTime.Day); fprintf(stderr,"Bluefin nav[%d].s7kTime.Seconds: %f\n",i,bluefin->nav[i].s7kTime.Seconds); fprintf(stderr,"Bluefin nav[%d].s7kTime.Hours: %d\n",i,bluefin->nav[i].s7kTime.Hours); fprintf(stderr,"Bluefin nav[%d].7kTime->Minutes: %d\n",i,bluefin->nav[i].s7kTime.Minutes); fprintf(stderr,"Bluefin nav[%d].checksum: %d\n",i,bluefin->nav[i].checksum); fprintf(stderr,"Bluefin nav[%d].timedelay: %d\n",i,bluefin->nav[i].timedelay); fprintf(stderr,"Bluefin nav[%d].quality: %x\n",i,bluefin->nav[i].quality); fprintf(stderr,"Bluefin nav[%d].latitude: %f\n",i,bluefin->nav[i].latitude); fprintf(stderr,"Bluefin nav[%d].longitude: %f\n",i,bluefin->nav[i].longitude); fprintf(stderr,"Bluefin nav[%d].speed: %f\n",i,bluefin->nav[i].speed); fprintf(stderr,"Bluefin nav[%d].depth: %f\n",i,bluefin->nav[i].depth); fprintf(stderr,"Bluefin nav[%d].altitude: %f\n",i,bluefin->nav[i].altitude); fprintf(stderr,"Bluefin nav[%d].roll: %f\n",i,bluefin->nav[i].roll); fprintf(stderr,"Bluefin nav[%d].pitch: %f\n",i,bluefin->nav[i].pitch); fprintf(stderr,"Bluefin nav[%d].yaw: %f\n",i,bluefin->nav[i].yaw); fprintf(stderr,"Bluefin nav[%d].northing_rate: %f\n",i,bluefin->nav[i].northing_rate); fprintf(stderr,"Bluefin nav[%d].easting_rate: %f\n",i,bluefin->nav[i].easting_rate); fprintf(stderr,"Bluefin nav[%d].depth_rate: %f\n",i,bluefin->nav[i].depth_rate); fprintf(stderr,"Bluefin nav[%d].altitude_rate: %f\n",i,bluefin->nav[i].altitude_rate); fprintf(stderr,"Bluefin nav[%d].roll_rate: %f\n",i,bluefin->nav[i].roll_rate); fprintf(stderr,"Bluefin nav[%d].pitch_rate: %f\n",i,bluefin->nav[i].pitch_rate); fprintf(stderr,"Bluefin nav[%d].yaw_rate: %f\n",i,bluefin->nav[i].yaw_rate); fprintf(stderr,"Bluefin nav[%d].position_time: %f\n",i,bluefin->nav[i].position_time); fprintf(stderr,"Bluefin nav[%d].depth_time: %f\n",i,bluefin->nav[i].depth_time); */ /* print out the nav point time stamp */ #ifdef MBR_RESON7KR_DEBUG time_j[0] = bluefin->nav[i].s7kTime.Year; time_j[1] = bluefin->nav[i].s7kTime.Day; time_j[2] = 60 * bluefin->nav[i].s7kTime.Hours + bluefin->nav[i].s7kTime.Minutes; time_j[3] = (int) bluefin->nav[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->nav[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) Pos_time:%f\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->nav[i].position_time); #endif } /* The Reson 6046 datalogger has been placing the same time tag in each of the frames - check if this is the case, if it is kluge new time tags spread over a one second interval */ if (bluefin->number_frames > 1) { /* figure out if there is a time problem */ timeproblem = MB_NO; for (i=1;inumber_frames;i++) { if (bluefin->nav[i].position_time == bluefin->nav[i-1].position_time) timeproblem = MB_YES; } timeproblem = MB_NO; /* figure out if the time changes anywhere */ if (timeproblem == MB_YES) { /* change unix times to use 7k time */ for (i=0;inumber_frames;i++) { /* get the time */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"CHANGE TIMESTAMP: %d %2.2d:%2.2d:%6.3f %12f", i,bluefin->nav[i].s7kTime.Hours,bluefin->nav[i].s7kTime.Minutes,bluefin->nav[i].s7kTime.Seconds,time_d); #endif time_j[0] = bluefin->nav[i].s7kTime.Year; time_j[1] = bluefin->nav[i].s7kTime.Day; time_j[2] = 60 * bluefin->nav[i].s7kTime.Hours + bluefin->nav[i].s7kTime.Minutes; time_j[3] = (int) bluefin->nav[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->nav[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &time_d); bluefin->nav[i].position_time = time_d; bluefin->nav[i].depth_time = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr," %12f\n",time_d); #endif } } } } else if (bluefin->data_format == R7KRECID_BluefinEnvironmental) { for (i=0;inumber_frames;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].packet_size)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].version)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].offset)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].data_type)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].data_size)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].s7kTime.Year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].s7kTime.Day)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].s7kTime.Seconds)); index += 4; bluefin->environmental[i].s7kTime.Hours = (mb_u_char) buffer[index]; (index)++; bluefin->environmental[i].s7kTime.Minutes = (mb_u_char) buffer[index]; (index)++; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].checksum)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].reserved1)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].quality)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].sound_speed)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].conductivity)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].temperature)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].pressure)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].salinity)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->environmental[i].ctd_time)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->environmental[i].temperature_time)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(bluefin->environmental[i].surface_pressure)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].temperature_counts)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].conductivity_frequency)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].pressure_counts)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bluefin->environmental[i].pressure_comp_voltage)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor_time_sec)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor_time_nsec)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor1)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor2)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor3)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor4)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor5)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor6)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor7)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(bluefin->environmental[i].sensor8)); index += 2; for (j=0;j<8;j++) { bluefin->environmental[i].reserved2[j] = buffer[index]; index++; } /* print out the environmental point time stamp */ #ifdef MBR_RESON7KR_DEBUG time_j[0] = bluefin->environmental[i].s7kTime.Year; time_j[1] = bluefin->environmental[i].s7kTime.Day; time_j[2] = 60 * bluefin->environmental[i].s7kTime.Hours + bluefin->environmental[i].s7kTime.Minutes; time_j[3] = (int) bluefin->environmental[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->environmental[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, time_i); fprintf(stderr," %2.2d 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) CTD_time:%f T_time:%f S_time:%d.%9.9d\n", i,time_i[0],time_i[1],time_i[2], time_i[3],time_i[4],time_i[5],time_i[6], bluefin->environmental[i].ctd_time, bluefin->environmental[i].temperature_time, bluefin->environmental[i].sensor_time_sec, bluefin->environmental[i].sensor_time_nsec); #endif } /* The Reson 6046 datalogger has been placing the same time tag in each of the frames - check if this is the case, if it is kluge new time tags spread over a one second interval */ if (bluefin->number_frames > 1) { /* figure out if there is a time problem */ timeproblem = MB_NO; for (i=1;inumber_frames;i++) { if (bluefin->environmental[i].ctd_time == bluefin->environmental[i-1].ctd_time || bluefin->environmental[i].ctd_time < 10000000.0) timeproblem = MB_YES; } timeproblem = MB_NO; /* figure out if the time changes anywhere */ if (timeproblem == MB_YES) { /* change unix times to use 7k time */ for (i=0;inumber_frames;i++) { /* get the time */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"CHANGE TIMESTAMP: %d %2.2d:%2.2d:%6.3f %12f", i,bluefin->environmental[i].s7kTime.Hours,bluefin->environmental[i].s7kTime.Minutes,bluefin->environmental[i].s7kTime.Seconds,time_d); #endif time_j[0] = bluefin->environmental[i].s7kTime.Year; time_j[1] = bluefin->environmental[i].s7kTime.Day; time_j[2] = 60 * bluefin->environmental[i].s7kTime.Hours + bluefin->environmental[i].s7kTime.Minutes; time_j[3] = (int) bluefin->environmental[i].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->environmental[i].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &time_d); bluefin->environmental[i].ctd_time = time_d; bluefin->environmental[i].temperature_time = time_d; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr," %12f\n", time_d); #endif } } } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ if (bluefin->data_format == R7KRECID_BluefinNav) { store->kind = MB_DATA_NAV2; store->type = R7KRECID_Bluefin; /* get the time from the 6046 datalogger header */ time_j[0] = bluefin->nav[0].s7kTime.Year; time_j[1] = bluefin->nav[0].s7kTime.Day; time_j[2] = 60 * bluefin->nav[0].s7kTime.Hours + bluefin->nav[0].s7kTime.Minutes; time_j[3] = (int) bluefin->nav[0].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->nav[0].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else if (bluefin->data_format == R7KRECID_BluefinEnvironmental) { store->kind = MB_DATA_SSV; store->type = R7KRECID_Bluefin; /* get the time from the 6046 datalogger header */ time_j[0] = bluefin->environmental[0].s7kTime.Year; time_j[1] = bluefin->environmental[0].s7kTime.Day; time_j[2] = 60 * bluefin->environmental[0].s7kTime.Hours + bluefin->environmental[0].s7kTime.Minutes; time_j[3] = (int) bluefin->environmental[0].s7kTime.Seconds; time_j[4] = (int) (1000000 * (bluefin->environmental[0].s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; status = MB_FAILURE; *error = MB_ERROR_UNINTELLIGIBLE; } } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (bluefin->data_format == R7KRECID_BluefinNav) fprintf(stderr,"R7KRECID_BluefinNav: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); else fprintf(stderr,"R7KRECID_BluefinEnvironmental: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_bluefin(verbose, bluefin, 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_reson7kr_rd_processedsidescan(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_processedsidescan"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_processedsidescan *processedsidescan; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; processedsidescan = &(store->processedsidescan); header = &(processedsidescan->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(processedsidescan->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(processedsidescan->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(processedsidescan->multi_ping)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(processedsidescan->recordversion)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(processedsidescan->ss_source)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(processedsidescan->number_pixels)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(processedsidescan->ss_type)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(processedsidescan->pixelwidth)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(processedsidescan->sonardepth)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(processedsidescan->altitude)); index += 8; /* extract the data */ for (i=0;inumber_pixels;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(processedsidescan->sidescan[i])); index += 4; } for (i=0;inumber_pixels;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(processedsidescan->alongtrack[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_ProcessedSidescan; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_ProcessedSidescan: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_processedsidescan(verbose, processedsidescan, 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_reson7kr_rd_volatilesonarsettings(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_volatilesonarsettings"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_volatilesettings *volatilesettings; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; volatilesettings = &(store->volatilesettings); header = &(volatilesettings->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(volatilesettings->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(volatilesettings->multi_ping)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->frequency)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->sample_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->receiver_bandwidth)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->pulse_width)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->pulse_type)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->pulse_envelope)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->pulse_envelope_par)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->pulse_reserved)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->max_ping_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->ping_period)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->range_selection)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->power_selection)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->gain_selection)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->control_flags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->projector_magic_no)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->steering_vertical)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->steering_horizontal)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->beamwidth_vertical)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->beamwidth_horizontal)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->focal_point)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->projector_weighting)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->projector_weighting_par)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->transmit_flags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->hydrophone_magic_no)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->receive_weighting)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->receive_weighting_par)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(volatilesettings->receive_flags)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->receive_width)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->range_minimum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->range_maximum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->depth_minimum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->depth_maximum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->absorption)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->sound_velocity)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(volatilesettings->spreading)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(volatilesettings->reserved)); index += 2; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_7kVolatileSonarSettings; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kVolatileSonarSettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_volatilesettings(verbose, volatilesettings, 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_reson7kr_rd_configuration(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_configuration"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_configuration *configuration; s7k_device *device; int data_size; int index; int time_j[5]; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; configuration = &(store->configuration); header = &(configuration->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(configuration->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(configuration->number_devices)); index += 4; /* extract the data for each device */ for (i=0;inumber_devices;i++) { device = &(configuration->device[i]); mb_get_binary_int(MB_YES, &buffer[index], &(device->magic_number)); index += 4; for (j=0;j<64;j++) { device->description[j] = buffer[index]; index++; } mb_get_binary_long(MB_YES, &buffer[index], &(device->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(device->info_length)); index += 4; /* make sure enough memory is allocated for info data */ if (device->info_alloc < device->info_length) { data_size = device->info_length + 1; status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(device->info), error); if (status == MB_SUCCESS) { device->info_alloc = device->info_length; } else { device->info_alloc = 0; device->info_length = 0; } } for (j=0;jinfo_length;j++) { device->info[j] = buffer[index]; index++; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_7kConfiguration; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kConfiguration: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_configuration(verbose, configuration, 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_reson7kr_rd_matchfilter(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_matchfilter"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_matchfilter *matchfilter; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; matchfilter = &(store->matchfilter); header = &(matchfilter->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(matchfilter->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(matchfilter->ping_number)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(matchfilter->operation)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(matchfilter->start_frequency)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(matchfilter->end_frequency)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kMatchFilter; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kMatchFilter: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_matchfilter(verbose, matchfilter, 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_reson7kr_rd_v2firmwarehardwareconfiguration(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2firmwarehardwareconfiguration"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2firmwarehardwareconfiguration *v2firmwarehardwareconfiguration; int index; int data_size; int time_j[5]; 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 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2firmwarehardwareconfiguration = &(store->v2firmwarehardwareconfiguration); header = &(v2firmwarehardwareconfiguration->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2firmwarehardwareconfiguration->device_count)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2firmwarehardwareconfiguration->info_length)); index += 4; /* make sure enough memory is allocated for info data */ if (v2firmwarehardwareconfiguration->info_alloc < v2firmwarehardwareconfiguration->info_length) { data_size = v2firmwarehardwareconfiguration->info_length + 1; status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(v2firmwarehardwareconfiguration->info), error); if (status == MB_SUCCESS) { v2firmwarehardwareconfiguration->info_alloc = v2firmwarehardwareconfiguration->info_length; } else { v2firmwarehardwareconfiguration->info_alloc = 0; v2firmwarehardwareconfiguration->info_length = 0; } } for (j=0;jinfo_length;j++) { v2firmwarehardwareconfiguration->info[j] = buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_7kV2FirmwareHardwareConfiguration; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2FirmwareHardwareConfiguration: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2firmwarehardwareconfiguration(verbose, v2firmwarehardwareconfiguration, 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_reson7kr_rd_beamgeometry(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_beamgeometry"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_beamgeometry *beamgeometry; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; beamgeometry = &(store->beamgeometry); header = &(beamgeometry->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(beamgeometry->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(beamgeometry->number_beams)); index += 4; /* extract the data */ for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(beamgeometry->angle_alongtrack[i])); index += 4; } for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(beamgeometry->angle_acrosstrack[i])); index += 4; } for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(beamgeometry->beamwidth_alongtrack[i])); index += 4; } for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(beamgeometry->beamwidth_acrosstrack[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kBeamGeometry; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kBeamGeometry: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_beamgeometry(verbose, beamgeometry, 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_reson7kr_rd_calibration(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_calibration"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_calibration *calibration; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; calibration = &(store->calibration); header = &(calibration->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(calibration->serial_number)); index += 8; mb_get_binary_short(MB_YES, &buffer[index], &(calibration->number_channels)); index += 2; /* extract the data */ for (i=0;inumber_channels;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(calibration->gain[i])); index += 4; } for (i=0;inumber_channels;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(calibration->phase[i])); index += 4; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kCalibrationData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kCalibrationData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_calibration(verbose, calibration, 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_reson7kr_rd_bathymetry(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_bathymetry"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_bathymetry *bathymetry; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; bathymetry = &(store->bathymetry); header = &(bathymetry->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(bathymetry->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(bathymetry->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(bathymetry->multi_ping)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(bathymetry->number_beams)); index += 4; /* deal with version 5 records */ if (header->Version >= 5) { bathymetry->layer_comp_flag = buffer[index]; index++; bathymetry->sound_vel_flag = buffer[index]; index++; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->sound_velocity)); index += 4; } else { bathymetry->layer_comp_flag = 0; bathymetry->sound_vel_flag = 0; bathymetry->sound_velocity = 0.0; } /* extract the data */ for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->range[i])); index += 4; } for (i=0;inumber_beams;i++) { bathymetry->quality[i] = buffer[index]; index++; } for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->intensity[i])); index += 4; } if ((header->OffsetToOptionalData == 0 && header->Size >= 92 + 17 * bathymetry->number_beams) || (header->OffsetToOptionalData > 0 && header->Size >= 137 + 37 * bathymetry->number_beams)) { for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->min_depth_gate[i])); index += 4; } for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->max_depth_gate[i])); index += 4; } } /* extract the optional data */ if (header->OffsetToOptionalData > 0) { index = header->OffsetToOptionalData; bathymetry->optionaldata = MB_YES; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->frequency)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(bathymetry->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(bathymetry->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->heading)); index += 4; bathymetry->height_source = buffer[index]; index++; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->tide)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->heave)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->vehicle_height)); index += 4; for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->depth[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->acrosstrack[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->alongtrack[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->pointing_angle[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bathymetry->azimuth_angle[i])); index += 4; } } else { bathymetry->optionaldata = MB_NO; bathymetry->frequency = 0.0; bathymetry->latitude = 0.0; bathymetry->longitude = 0.0; bathymetry->heading = 0.0; bathymetry->height_source = 0; bathymetry->tide = 0.0; bathymetry->roll = 0.0; bathymetry->pitch = 0.0; bathymetry->heave = 0.0; bathymetry->vehicle_height = 0.0; for (i=0;idepth[i] = 0.0; bathymetry->acrosstrack[i] = 0.0; bathymetry->alongtrack[i] = 0.0; bathymetry->pointing_angle[i] = 0.0; bathymetry->azimuth_angle[i] = 0.0; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kBathymetricData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kBathymetricData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,bathymetry->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_bathymetry(verbose, bathymetry, 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_reson7kr_rd_backscatter(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_backscatter"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_backscatter *backscatter; int data_size; int index; int time_j[5]; short *short_ptr; int *int_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; backscatter = &(store->backscatter); header = &(backscatter->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(backscatter->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(backscatter->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(backscatter->multi_ping)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->beam_position)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(backscatter->control_flags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(backscatter->number_samples)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->port_beamwidth_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->port_beamwidth_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->stbd_beamwidth_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->stbd_beamwidth_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->port_steering_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->port_steering_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->stbd_steering_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->stbd_steering_y)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(backscatter->number_beams)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(backscatter->current_beam)); index += 2; backscatter->sample_size = buffer[index]; index++; backscatter->data_type = buffer[index]; index++; /* allocate memory if required */ data_size = backscatter->number_samples * backscatter->sample_size; if (backscatter->nalloc < data_size) { status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(backscatter->port_data), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(backscatter->stbd_data), error); if (status == MB_SUCCESS) { backscatter->nalloc = data_size; } else { backscatter->nalloc = 0; backscatter->number_samples = 0; } } /* extract backscatter data */ if (backscatter->sample_size == 1) { for (i=0;inumber_samples;i++) { backscatter->port_data[i] = buffer[index]; index++; } for (i=0;inumber_samples;i++) { backscatter->stbd_data[i] = buffer[index]; index++; } } else if (backscatter->sample_size == 2) { short_ptr = (short *) backscatter->port_data; for (i=0;inumber_samples;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(short_ptr[i])); index += 2; } short_ptr = (short *) backscatter->stbd_data; for (i=0;inumber_samples;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(short_ptr[i])); index += 2; } } else if (backscatter->sample_size == 4) { int_ptr = (int *) backscatter->port_data; for (i=0;inumber_samples;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(int_ptr[i])); index += 4; } int_ptr = (int *) backscatter->stbd_data; for (i=0;inumber_samples;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(int_ptr[i])); index += 4; } } /* extract the optional data */ if (header->OffsetToOptionalData > 0) { index = header->OffsetToOptionalData; backscatter->optionaldata = MB_YES; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->frequency)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(backscatter->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(backscatter->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->heading)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(backscatter->altitude)); index += 4; } else { backscatter->optionaldata = MB_NO; backscatter->frequency = 0.0; backscatter->latitude = 0.0; backscatter->longitude = 0.0; backscatter->heading = 0.0; backscatter->altitude = 0.0; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kBackscatterImageData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kBackscatterImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,backscatter->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_backscatter(verbose, backscatter, 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_reson7kr_rd_beam(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_beam"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_beam *beam; s7kr_snippet *snippet; int index; int time_j[5]; int nalloc_amp; int nalloc_phase; int nsamples; int sample_type_amp; int sample_type_phase; int sample_type_iandq; char *charptr; unsigned short *ushortptr; unsigned int *uintptr; short *shortptramp; short *shortptrphase; int *intptramp; int *intptrphase; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; beam = &(store->beam); header = &(beam->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(beam->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(beam->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(beam->multi_ping)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(beam->number_beams)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(beam->reserved)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(beam->number_samples)); index += 4; beam->record_subset_flag = buffer[index]; index++; beam->row_column_flag = buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(beam->sample_header_id)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(beam->sample_type)); index += 4; sample_type_amp = beam->sample_type & 15; sample_type_phase = (beam->sample_type >> 4) & 15; sample_type_iandq = (beam->sample_type >> 8) & 15; for (i=0;inumber_beams;i++) { snippet = &beam->snippets[i]; mb_get_binary_short(MB_YES, &buffer[index], &(snippet->beam_number)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(snippet->begin_sample)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(snippet->end_sample)); index += 4; } for (i=0;inumber_beams;i++) { /* allocate memory for snippet if needed */ snippet = &beam->snippets[i]; nalloc_amp = 0; nalloc_phase = 0; if (sample_type_amp == 1) nalloc_amp += 1; else if (sample_type_amp == 2) nalloc_amp += 2; else if (sample_type_amp == 3) nalloc_amp += 4; if (sample_type_phase == 1) nalloc_phase += 1; else if (sample_type_phase == 2) nalloc_phase += 2; else if (sample_type_phase == 3) nalloc_phase += 4; if (sample_type_iandq == 1) { nalloc_amp += 2; nalloc_phase += 2; } else if (sample_type_iandq == 2) { nalloc_amp += 4; nalloc_phase += 4; } nalloc_amp *= (snippet->end_sample - snippet->begin_sample + 1); nalloc_phase *= (snippet->end_sample - snippet->begin_sample + 1); if (status == MB_SUCCESS && (snippet->nalloc_amp < nalloc_amp || snippet->nalloc_phase < nalloc_phase)) { snippet->nalloc_amp = nalloc_amp; if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, snippet->nalloc_amp, (void **) &(snippet->amplitude), error); snippet->nalloc_phase = nalloc_phase; if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, snippet->nalloc_phase, (void **) &(snippet->phase), error); if (status != MB_SUCCESS) { snippet->nalloc_amp = 0; snippet->nalloc_phase = 0; } } /* extract snippet or beam data */ if (status == MB_SUCCESS) { nsamples = snippet->end_sample - snippet->begin_sample + 1; for (j=0;jamplitude; charptr[j] = buffer[index]; index++; } else if (sample_type_amp == 2) { ushortptr = (unsigned short *)snippet->amplitude; mb_get_binary_short(MB_YES, &buffer[index], &(ushortptr[j])); index += 2; } else if (sample_type_amp == 3) { uintptr = (unsigned int *)snippet->amplitude; mb_get_binary_int(MB_YES, &buffer[index], &(uintptr[j])); index += 4; } if (sample_type_phase == 1) { charptr = (char *)snippet->phase; charptr[j] = buffer[index]; index++; } else if (sample_type_phase == 2) { ushortptr = (unsigned short *)snippet->phase; mb_get_binary_short(MB_YES, &buffer[index], &(ushortptr[j])); index += 2; } else if (sample_type_phase == 3) { uintptr = (unsigned int *)snippet->phase; mb_get_binary_int(MB_YES, &buffer[index], &(uintptr[j])); index += 4; } if (sample_type_iandq == 1) { shortptramp = (short *)snippet->amplitude; shortptrphase = (short *)snippet->phase; mb_get_binary_short(MB_YES, &buffer[index], &(shortptramp[j])); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(shortptrphase[j])); index += 2; } else if (sample_type_iandq == 2) { intptramp = (int *)snippet->amplitude; intptrphase = (int *)snippet->phase; mb_get_binary_int(MB_YES, &buffer[index], &(intptramp[j])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(intptrphase[j])); index += 4; } } } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kBeamData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KHDRSIZE_7kBeamData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,beam->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_beam(verbose, beam, 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_reson7kr_rd_verticaldepth(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_verticaldepth"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_verticaldepth *verticaldepth; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; verticaldepth = &(store->verticaldepth); header = &(verticaldepth->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(verticaldepth->frequency)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(verticaldepth->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(verticaldepth->multi_ping)); index += 2; mb_get_binary_double(MB_YES, &buffer[index], &(verticaldepth->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(verticaldepth->longitude)); index += 8; mb_get_binary_float(MB_YES, &buffer[index], &(verticaldepth->heading)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(verticaldepth->alongtrack)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(verticaldepth->acrosstrack)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(verticaldepth->vertical_depth)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kVerticalDepth; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kVerticalDepth: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,verticaldepth->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_verticaldepth(verbose, verticaldepth, 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_reson7kr_rd_image(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_image"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_image *image; int index; int time_j[5]; int nalloc; char *charptr; unsigned short *ushortptr; unsigned int *uintptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; image = &(store->image); header = &(image->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_int(MB_YES, &buffer[index], &(image->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(image->multi_ping)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(image->width)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(image->height)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(image->color_depth)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(image->width_height_flag)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(image->compression)); index += 2; /* allocate memory for image if needed */ nalloc = image->width * image->height * image->color_depth; if (status == MB_SUCCESS && image->nalloc < nalloc) { image->nalloc = nalloc; if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, image->nalloc, (void **)&(image->image), error); if (status != MB_SUCCESS) { image->nalloc = 0; image->width = 0; image->height = 0; } } /* extract image data */ if (image->color_depth == 1) { charptr = (char *)image->image; for (i=0;iwidth * image->height;i++) { charptr[i] = buffer[index]; index++; } } else if (image->color_depth == 2) { ushortptr = (unsigned short *)image->image; for (i=0;iwidth * image->height;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(ushortptr[i])); index += 2; } } else if (image->color_depth == 4) { uintptr = (unsigned int *)image->image; for (i=0;iwidth * image->height;i++) { mb_get_binary_int(MB_YES, &buffer[index], &(uintptr[i])); index += 4; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kImageData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kImageData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,image->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_image(verbose, image, 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_reson7kr_rd_v2pingmotion(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2pingmotion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2pingmotion *v2pingmotion; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2pingmotion = &(store->v2pingmotion); header = &(v2pingmotion->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2pingmotion->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(v2pingmotion->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2pingmotion->multi_ping)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(v2pingmotion->n)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2pingmotion->flags)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(v2pingmotion->error_flags)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2pingmotion->frequency)); index += 4; if (v2pingmotion->flags & 1) { mb_get_binary_float(MB_YES, &buffer[index], &(v2pingmotion->pitch)); index += 4; } /* allocate memory for v2pingmotion if needed */ if (status == MB_SUCCESS && v2pingmotion->nalloc < v2pingmotion->n) { v2pingmotion->nalloc = sizeof(float) * v2pingmotion->n; if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, v2pingmotion->nalloc, (void **)&(v2pingmotion->roll), error); if (status != MB_SUCCESS) { v2pingmotion->nalloc = 0; } if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, v2pingmotion->nalloc, (void **)&(v2pingmotion->heading), error); if (status != MB_SUCCESS) { v2pingmotion->nalloc = 0; } if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, v2pingmotion->nalloc, (void **)&(v2pingmotion->heave), error); if (status != MB_SUCCESS) { v2pingmotion->nalloc = 0; } } /* extract v2pingmotion data */ if (v2pingmotion->flags & 2) { for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(v2pingmotion->roll[i])); index += 4; } } else { for (i=0;in;i++) { v2pingmotion->roll[i] = 0.0; } } if (v2pingmotion->flags & 4) { for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(v2pingmotion->heading[i])); index += 4; } } else { for (i=0;in;i++) { v2pingmotion->heading[i] = 0.0; } } if (v2pingmotion->flags & 8) { for (i=0;in;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(v2pingmotion->heave[i])); index += 4; } } else { for (i=0;in;i++) { v2pingmotion->heave[i] = 0.0; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kV2PingMotion; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2PingMotion: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,v2pingmotion->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2pingmotion(verbose, v2pingmotion, 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_reson7kr_rd_v2detectionsetup(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2detectionsetup"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2detectionsetup *v2detectionsetup; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2detectionsetup = &(store->v2detectionsetup); header = &(v2detectionsetup->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2detectionsetup->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2detectionsetup->multi_ping)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->number_beams)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->data_field_size)); index += 4; v2detectionsetup->detection_algorithm = buffer[index]; index++; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->detection_flags)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->minimum_depth)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->maximum_depth)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->minimum_range)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->maximum_range)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->minimum_nadir_search)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->maximum_nadir_search)); index += 4; v2detectionsetup->automatic_filter_window = buffer[index]; index++; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->applied_roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->depth_gate_tilt)); index += 4; for (i=0;i<14;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->reserved[i])); index += 4; } /* extract v2detectionsetup data */ for (i=0;inumber_beams;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(v2detectionsetup->beam_descriptor[i])); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->detection_point[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->flags[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->auto_limits_min_sample[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->auto_limits_max_sample[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->user_limits_min_sample[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->user_limits_max_sample[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detectionsetup->quality[i])); index += 4; if (v2detectionsetup->data_field_size >= R7KRDTSIZE_7kV2DetectionSetup + 4) { mb_get_binary_float(MB_YES, &buffer[index], &(v2detectionsetup->uncertainty[i])); index += 4; } else { v2detectionsetup->uncertainty[i] = 0.0; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kV2DetectionSetup; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2DetectionSetup: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,v2detectionsetup->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2detectionsetup(verbose, v2detectionsetup, 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_reson7kr_rd_v2beamformed(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2beamformed"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2beamformed *v2beamformed; s7kr_v2amplitudephase *v2amplitudephase; int index; int time_j[5]; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2beamformed = &(store->v2beamformed); header = &(v2beamformed->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2beamformed->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(v2beamformed->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2beamformed->multi_ping)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(v2beamformed->number_beams)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(v2beamformed->number_samples)); index += 4; for (i=0;i<32;i++) { v2beamformed->reserved[i] = buffer[index]; index++; } /* loop over all beams */ for (i=0;inumber_beams;i++) { v2amplitudephase = &(v2beamformed->amplitudephase[i]); /* allocate memory for v2beamformed if needed */ if (status == MB_SUCCESS && v2amplitudephase->nalloc < sizeof(short) * v2beamformed->number_samples) { v2amplitudephase->nalloc = sizeof(short) * v2beamformed->number_samples; if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, v2amplitudephase->nalloc, (void **)&(v2amplitudephase->amplitude), error); if (status != MB_SUCCESS) { v2amplitudephase->nalloc = 0; } if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, v2amplitudephase->nalloc, (void **)&(v2amplitudephase->phase), error); if (status != MB_SUCCESS) { v2amplitudephase->nalloc = 0; } } /* extract v2beamformed data */ for (j=0;jnumber_samples;j++) { mb_get_binary_short(MB_YES, &buffer[index], &(v2amplitudephase->amplitude[j])); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(v2amplitudephase->phase[j])); index += 2; } v2amplitudephase->beam_number = i; v2amplitudephase->number_samples = v2beamformed->number_samples; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kV2BeamformedData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2BeamformedData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,v2beamformed->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2beamformed(verbose, v2beamformed, 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_reson7kr_rd_v2bite(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2bite"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2bite *v2bite; s7kr_v2bitereport *report; s7k_time *s7ktime; s7kr_v2bitefield *bitefield; int index; int time_j[5]; int i, j, k; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2bite = &(store->v2bite); header = &(v2bite->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2bite->number_reports)); index += 2; /* allocate memory for v2bite->reports if needed */ if (status == MB_SUCCESS && v2bite->nalloc < v2bite->number_reports * sizeof(s7kr_v2bitereport)) { v2bite->nalloc = v2bite->number_reports * sizeof(s7kr_v2bitereport); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, v2bite->nalloc, (void **)&(v2bite->reports), error); if (status != MB_SUCCESS) { v2bite->nalloc = 0; } } /* loop over all bite reports */ for (i=0;inumber_reports;i++) { report = &(v2bite->reports[i]); for (j=0;j<64;j++) { report->source_name[j] = buffer[index]; index++; } report->source_address = buffer[index]; index++; mb_get_binary_float(MB_YES, &buffer[index], &(report->frequency)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(report->enumerator)); index += 2; s7ktime = &(report->downlink_time); mb_get_binary_short(MB_YES, &buffer[index], &(s7ktime->Year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(s7ktime->Day)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(s7ktime->Seconds)); index += 4; s7ktime->Hours = (mb_u_char) buffer[index]; index++; s7ktime->Minutes = (mb_u_char) buffer[index]; index++; s7ktime = &(report->uplink_time); mb_get_binary_short(MB_YES, &buffer[index], &(s7ktime->Year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(s7ktime->Day)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(s7ktime->Seconds)); index += 4; s7ktime->Hours = (mb_u_char) buffer[index]; index++; s7ktime->Minutes = (mb_u_char) buffer[index]; index++; s7ktime = &(report->bite_time); mb_get_binary_short(MB_YES, &buffer[index], &(s7ktime->Year)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(s7ktime->Day)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(s7ktime->Seconds)); index += 4; s7ktime->Hours = (mb_u_char) buffer[index]; index++; s7ktime->Minutes = (mb_u_char) buffer[index]; index++; report->status = buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(report->number_bite)); index += 2; for (j=0;j<32;j++) { report->bite_status[j] = buffer[index]; index++; } /* loop over all bite fields */ for (j=0;jnumber_bite;j++) { bitefield = &(report->bitefield[j]); mb_get_binary_short(MB_YES, &buffer[index], &(bitefield->reserved)); index += 2; for (k=0;k<64;k++) { bitefield->name[k] = buffer[index]; index++; } bitefield->device_type = buffer[index]; index++; mb_get_binary_float(MB_YES, &buffer[index], &(bitefield->minimum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bitefield->maximum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(bitefield->value)); index += 4; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_7kV2BITEData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2BITEData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2bite(verbose, v2bite, 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_reson7kr_rd_v27kcenterversion(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v27kcenterversion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v27kcenterversion *v27kcenterversion; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v27kcenterversion = &(store->v27kcenterversion); header = &(v27kcenterversion->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; for (i=0;i<32;i++) { v27kcenterversion->version[i] = buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_7kV27kCenterVersion; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV27kCenterVersion: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v27kcenterversion(verbose, v27kcenterversion, 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_reson7kr_rd_v28kwetendversion(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v28kwetendversion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v28kwetendversion *v28kwetendversion; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v28kwetendversion = &(store->v28kwetendversion); header = &(v28kwetendversion->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; for (i=0;i<32;i++) { v28kwetendversion->version[i] = buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PARAMETER; store->type = R7KRECID_7kV28kWetEndVersion; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV28kWetEndVersion: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v28kwetendversion(verbose, v28kwetendversion, 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_reson7kr_rd_v2detection(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2detection"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2detection *v2detection; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2detection = &(store->v2detection); header = &(v2detection->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2detection->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(v2detection->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2detection->multi_ping)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(v2detection->number_beams)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2detection->data_field_size)); index += 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2detection->corrections)); index += 8; v2detection->detection_algorithm = buffer[index]; index++; mb_get_binary_int(MB_YES, &buffer[index], &(v2detection->flags)); index += 4; for (i=0;i<64;i++) { v2detection->reserved[i] = buffer[index]; index++; } /* extract the data */ for (i=0;inumber_beams;i++) { mb_get_binary_float(MB_YES, &buffer[index], &(v2detection->range[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detection->angle_x[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detection->angle_y[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detection->range_error[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detection->angle_x_error[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2detection->angle_y_error[i])); index += 4; /* skip extra data if it exists */ if (v2detection->data_field_size > 24) index += v2detection->data_field_size - 24; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kV2Detection; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2Detection: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,v2detection->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2detection(verbose, v2detection, 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_reson7kr_rd_v2rawdetection(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2rawdetection"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2rawdetection *v2rawdetection; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2rawdetection = &(store->v2rawdetection); header = &(v2rawdetection->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2rawdetection->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(v2rawdetection->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2rawdetection->multi_ping)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(v2rawdetection->number_beams)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2rawdetection->data_field_size)); index += 4; v2rawdetection->detection_algorithm = buffer[index]; index++; mb_get_binary_int(MB_YES, &buffer[index], &(v2rawdetection->detection_flags)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2rawdetection->sampling_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2rawdetection->tx_angle)); index += 4; for (i=0;i<64;i++) { v2rawdetection->reserved[i] = buffer[index]; index++; } /* extract the data */ for (i=0;inumber_beams;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(v2rawdetection->beam_descriptor[i])); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(v2rawdetection->detection_point[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2rawdetection->rx_angle[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2rawdetection->flags[i])); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(v2rawdetection->quality[i])); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(v2rawdetection->uncertainty[i])); index += 4; /* skip extra data if it exists */ if (v2rawdetection->data_field_size > 22) index += v2rawdetection->data_field_size - 22; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kV2RawDetection; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2RawDetection: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,v2rawdetection->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2rawdetection(verbose, v2rawdetection, 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_reson7kr_rd_v2snippet(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_v2snippet"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2snippet *v2snippet; s7kr_v2snippettimeseries *snippettimeseries; int index; int time_j[5]; int i, j; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2snippet = &(store->v2snippet); header = &(v2snippet->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(v2snippet->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(v2snippet->ping_number)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(v2snippet->multi_ping)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(v2snippet->number_beams)); index += 2; v2snippet->error_flag = buffer[index]; index++; v2snippet->control_flags = buffer[index]; index++; for (i=0;i<28;i++) { v2snippet->reserved[i] = buffer[index]; index++; } /* loop over all beams to get snippet parameters */ for (i=0;inumber_beams;i++) { snippettimeseries = &(v2snippet->snippettimeseries[i]); /* extract snippettimeseries data */ mb_get_binary_short(MB_YES, &buffer[index], &(snippettimeseries->beam_number)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(snippettimeseries->begin_sample)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(snippettimeseries->detect_sample)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(snippettimeseries->end_sample)); index += 4; /* allocate memory for snippettimeseries if needed */ if (status == MB_SUCCESS && snippettimeseries->nalloc < 2 * (snippettimeseries->end_sample - snippettimeseries->begin_sample + 1)) { snippettimeseries->nalloc = 2 * (snippettimeseries->end_sample - snippettimeseries->begin_sample + 1); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, snippettimeseries->nalloc, (void **)&(snippettimeseries->amplitude), error); if (status != MB_SUCCESS) { snippettimeseries->nalloc = 0; } } } /* loop over all beams to get snippet data */ if (status == MB_SUCCESS) for (i=0;inumber_beams;i++) { snippettimeseries = &(v2snippet->snippettimeseries[i]); for (j=0;j<(snippettimeseries->end_sample - snippettimeseries->begin_sample + 1);j++) { mb_get_binary_short(MB_YES, &buffer[index], &(snippettimeseries->amplitude[j])); index += 2; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kV2SnippetData; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kV2SnippetData: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d ping:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,v2snippet->ping_number); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2snippet(verbose, v2snippet, 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_reson7kr_rd_installation(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_installation"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_installation *installation; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; installation = &(store->installation); header = &(installation->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->frequency)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(installation->firmware_version_len)); index += 2; for (i=0;i<128;i++) { installation->firmware_version[i] = buffer[index]; index++; } mb_get_binary_short(MB_YES, &buffer[index], &(installation->software_version_len)); index += 2; for (i=0;i<128;i++) { installation->software_version[i] = buffer[index]; index++; } mb_get_binary_short(MB_YES, &buffer[index], &(installation->s7k_version_len)); index += 2; for (i=0;i<128;i++) { installation->s7k_version[i] = buffer[index]; index++; } mb_get_binary_short(MB_YES, &buffer[index], &(installation->protocal_version_len)); index += 2; for (i=0;i<128;i++) { installation->protocal_version[i] = buffer[index]; index++; } mb_get_binary_float(MB_YES, &buffer[index], &(installation->transmit_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->transmit_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->transmit_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->transmit_roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->transmit_pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->transmit_heading)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->receive_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->receive_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->receive_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->receive_roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->receive_pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->receive_heading)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->motion_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->motion_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->motion_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->motion_roll)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->motion_pitch)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->motion_heading)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(installation->motion_time_delay)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(installation->position_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->position_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(installation->position_z)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(installation->position_time_delay)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(installation->waterline_z)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_INSTALLATION; store->type = R7KRECID_7kInstallationParameters; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kInstallationParameters: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_installation(verbose, installation, 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_reson7kr_rd_fileheader(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_fileheader"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fileheader *fileheader; s7kr_subsystem *subsystem; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fileheader = &(store->fileheader); header = &(fileheader->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; for (i=0;i<16;i++) { fileheader->file_identifier[i] = buffer[index]; index++; } mb_get_binary_short(MB_YES, &buffer[index], &(fileheader->version)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(fileheader->reserved)); index += 2; for (i=0;i<16;i++) { fileheader->session_identifier[i] = buffer[index]; index++; } mb_get_binary_int(MB_YES, &buffer[index], &(fileheader->record_data_size)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(fileheader->number_subsystems)); index += 4; for (i=0;i<64;i++) { fileheader->recording_name[i] = buffer[index]; index++; } for (i=0;i<16;i++) { fileheader->recording_version[i] = buffer[index]; index++; } for (i=0;i<64;i++) { fileheader->user_defined_name[i] = buffer[index]; index++; } for (i=0;i<128;i++) { fileheader->notes[i] = buffer[index]; index++; } for (i=0;inumber_subsystems;i++) { subsystem = &(fileheader->subsystem[i]); mb_get_binary_int(MB_YES, &buffer[index], &(subsystem->device_identifier)); index += 4; if (header->Version == 2) mb_get_binary_short(MB_YES, &buffer[index], &(subsystem->system_enumerator)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(subsystem->system_enumerator)); index += 2; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_HEADER; store->type = R7KRECID_7kFileHeader; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kFileHeader: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fileheader(verbose, fileheader, 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_reson7kr_rd_systemeventmessage(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_systemeventmessage"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_systemeventmessage *systemeventmessage; int data_size; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; systemeventmessage = &(store->systemeventmessage); header = &(systemeventmessage->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(systemeventmessage->serial_number)); index += 8; mb_get_binary_short(MB_YES, &buffer[index], &(systemeventmessage->event_id)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(systemeventmessage->message_length)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(systemeventmessage->event_identifier)); index += 2; /* make sure enough memory is allocated for channel data */ if (systemeventmessage->message_alloc < systemeventmessage->message_length) { data_size = systemeventmessage->message_length + 1; status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(systemeventmessage->message), error); if (status == MB_SUCCESS) { systemeventmessage->message_alloc = systemeventmessage->message_length; } else { systemeventmessage->message_alloc = 0; systemeventmessage->message_length = 0; } } /* extract the data */ for (i=0;imessage_length;i++) { systemeventmessage->message[i] = buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_COMMENT; store->type = R7KRECID_7kSystemEventMessage; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_systemeventmessage(verbose, systemeventmessage, 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_reson7kr_rd_remotecontrolsettings(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_remotecontrolsettings"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_remotecontrolsettings *remotecontrolsettings; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; remotecontrolsettings = &(store->remotecontrolsettings); header = &(remotecontrolsettings->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_long(MB_YES, &buffer[index], &(remotecontrolsettings->serial_number)); index += 8; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->ping_number)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->frequency)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->sample_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->receiver_bandwidth)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->pulse_width)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->pulse_type)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->pulse_envelope)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->pulse_envelope_par)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->pulse_reserved)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->max_ping_rate)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->ping_period)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->range_selection)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->power_selection)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->gain_selection)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->control_flags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->projector_magic_no)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->steering_vertical)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->steering_horizontal)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->beamwidth_vertical)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->beamwidth_horizontal)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->focal_point)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->projector_weighting)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->projector_weighting_par)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->transmit_flags)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->hydrophone_magic_no)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->receive_weighting)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->receive_weighting_par)); index += 4; mb_get_binary_int(MB_YES, &buffer[index], &(remotecontrolsettings->receive_flags)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->range_minimum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->range_maximum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->depth_minimum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->depth_maximum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->absorption)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->sound_velocity)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->spreading)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(remotecontrolsettings->reserved)); index += 2; if (header->Size >= MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE + R7KHDRSIZE_7kRemoteControlSonarSettings) { mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->tx_offset_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->tx_offset_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->tx_offset_z)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->head_tilt_x)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->head_tilt_y)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->head_tilt_z)); index += 4; mb_get_binary_short(MB_YES, &buffer[index], &(remotecontrolsettings->ping_on_off)); index += 2; remotecontrolsettings->data_sample_types = buffer[index]; index++; remotecontrolsettings->projector_orientation = buffer[index]; index++; mb_get_binary_short(MB_YES, &buffer[index], &(remotecontrolsettings->beam_angle_mode)); index += 2; mb_get_binary_short(MB_YES, &buffer[index], &(remotecontrolsettings->r7kcenter_mode)); index += 2; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->gate_depth_min)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(remotecontrolsettings->gate_depth_max)); index += 4; for (i=0;i<35;i++) { mb_get_binary_short(MB_YES, &buffer[index], &(remotecontrolsettings->reserved2[i])); index += 2; } } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_DATA; store->type = R7KRECID_7kRemoteControlSonarSettings; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kRemoteControlSonarSettings: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_remotecontrolsettings(verbose, remotecontrolsettings, 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_reson7kr_rd_reserved(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_reserved"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_reserved *reserved; int index; int time_j[5]; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; reserved = &(store->reserved); header = &(reserved->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; for (i=0;ireserved[i] = buffer[index]; index++; } /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_RAW_LINE; store->type = R7KRECID_7kReserved; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"R7KRECID_7kReserved: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) record_number:%d size:%d index:%d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], header->RecordNumber,header->Size,index); #endif #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_reserved(verbose, reserved, 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_reson7kr_rd_roll(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_roll"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_roll *roll; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; roll = &(store->roll); header = &(roll->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(roll->roll)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_ROLL; store->type = R7KRECID_7kRoll; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_roll(verbose, roll, 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_reson7kr_rd_pitch(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_pitch"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_pitch *pitch; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; pitch = &(store->pitch); header = &(pitch->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(pitch->pitch)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_PITCH; store->type = R7KRECID_7kPitch; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_pitch(verbose, pitch, 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_reson7kr_rd_soundvelocity(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_soundvelocity"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_soundvelocity *soundvelocity; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; soundvelocity = &(store->soundvelocity); header = &(soundvelocity->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(soundvelocity->soundvelocity)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_SSV; store->type = R7KRECID_7kSoundVelocity; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_soundvelocity(verbose, soundvelocity, 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_reson7kr_rd_absorptionloss(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_absorptionloss"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_absorptionloss *absorptionloss; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; absorptionloss = &(store->absorptionloss); header = &(absorptionloss->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(absorptionloss->absorptionloss)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_ABSORPTIONLOSS; store->type = R7KRECID_7kAbsorptionLoss; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_absorptionloss(verbose, absorptionloss, 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_reson7kr_rd_spreadingloss(int verbose, char *buffer, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_rd_spreadingloss"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_spreadingloss *spreadingloss; int index; int time_j[5]; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; spreadingloss = &(store->spreadingloss); header = &(spreadingloss->header); /* extract the header */ index = 0; status = mbr_reson7kr_rd_header(verbose, buffer, &index, header, error); /* extract the data */ index = header->Offset + 4; mb_get_binary_float(MB_YES, &buffer[index], &(spreadingloss->spreadingloss)); index += 4; /* set kind */ if (status == MB_SUCCESS) { /* set kind */ store->kind = MB_DATA_SPREADINGLOSS; store->type = R7KRECID_7kSpreadingLoss; /* get the time */ time_j[0] = header->s7kTime.Year; time_j[1] = header->s7kTime.Day; time_j[2] = 60 * header->s7kTime.Hours + header->s7kTime.Minutes; time_j[3] = (int) header->s7kTime.Seconds; time_j[4] = (int) (1000000 * (header->s7kTime.Seconds - time_j[3])); mb_get_itime(verbose, time_j, store->time_i); mb_get_time(verbose, store->time_i, &(store->time_d)); } else { store->kind = MB_DATA_NONE; } /* print out the results */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_spreadingloss(verbose, spreadingloss, 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_reson7kr_wr_data(int verbose, void *mbio_ptr, void *store_ptr, int *error) { char *function_name = "mbr_reson7kr_wr_data"; int status = MB_SUCCESS; struct mb_io_struct *mb_io_ptr; struct mbsys_reson7k_struct *store; FILE *mbfp; char **bufferptr; char *buffer; int *bufferalloc; int *fileheaders; int size; size_t write_len; /* 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_reson7k_struct *) store_ptr; mbfp = mb_io_ptr->mbfp; /* get saved values */ bufferptr = (char **) &mb_io_ptr->saveptr1; buffer = (char *) *bufferptr; bufferalloc = (int *) &mb_io_ptr->save6; fileheaders = (int *) &mb_io_ptr->save12; /* write fileheader if needed */ if (status == MB_SUCCESS && (store->type == R7KRECID_7kFileHeader || *fileheaders == 0)) { #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kFileHeader, R7KRECID_7kFileHeader); fprintf(stderr," R7KRECID_7kFileHeader\n"); #endif status = mbr_reson7kr_wr_fileheader(verbose, bufferalloc, bufferptr, store_ptr, &size, error); (*fileheaders)++; /* write the record to the output file */ if (status == MB_SUCCESS) { buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } } /* call appropriate writing routines for ping data */ if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) { /* Reson 7k volatile sonar settings (record 7000) */ if (status == MB_SUCCESS && store->read_volatilesettings == MB_YES) { store->type = R7KRECID_7kVolatileSonarSettings; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kVolatileSonarSettings, R7KRECID_7kVolatileSonarSettings); fprintf(stderr," R7KRECID_7kVolatileSonarSettings\n"); #endif status = mbr_reson7kr_wr_volatilesonarsettings(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k match filter (record 7002) */ if (status == MB_SUCCESS && store->read_matchfilter == MB_YES) { store->type = R7KRECID_7kMatchFilter; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kMatchFilter, R7KRECID_7kMatchFilter); fprintf(stderr," R7KRECID_7kMatchFilter\n"); #endif status = mbr_reson7kr_wr_matchfilter(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k beam geometry (record 7004) */ if (status == MB_SUCCESS && store->read_beamgeometry == MB_YES) { store->type = R7KRECID_7kBeamGeometry; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kBeamGeometry, R7KRECID_7kBeamGeometry); fprintf(stderr," R7KRECID_7kBeamGeometry\n"); #endif status = mbr_reson7kr_wr_beamgeometry(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k remote control settings (record 7503) */ if (status == MB_SUCCESS && store->read_remotecontrolsettings == MB_YES) { store->type = R7KRECID_7kRemoteControlSonarSettings; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kRemoteControlSonarSettings, R7KRECID_7kRemoteControlSonarSettings); fprintf(stderr," R7KRECID_7kRemoteControlSonarSettings\n"); #endif status = mbr_reson7kr_wr_remotecontrolsettings(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k bathymetry (record 7006) */ if (status == MB_SUCCESS && store->read_bathymetry == MB_YES) { store->type = R7KRECID_7kBathymetricData; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kBathymetricData, R7KRECID_7kBathymetricData); fprintf(stderr," R7KRECID_7kBathymetricData\n"); #endif /*mbsys_reson7k_print_bathymetry(verbose, &(store->bathymetry), error);*/ status = mbr_reson7kr_wr_bathymetry(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Processed sidescan - MB-System extension to 7k format (record 3199) */ if (status == MB_SUCCESS && store->read_processedsidescan == MB_YES) { store->type = R7KRECID_ProcessedSidescan; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_ProcessedSidescan, R7KRECID_ProcessedSidescan); fprintf(stderr," R7KRECID_ProcessedSidescan\n"); #endif /*mbsys_reson7k_print_processedsidescan(verbose, &(store->processedsidescan), error);*/ status = mbr_reson7kr_wr_processedsidescan(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k backscatter imagery data (record 7007) */ if (status == MB_SUCCESS && store->read_backscatter == MB_YES) { store->type = R7KRECID_7kBackscatterImageData; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kBackscatterImageData, R7KRECID_7kBackscatterImageData); fprintf(stderr," R7KRECID_7kBackscatterImageData\n"); #endif status = mbr_reson7kr_wr_backscatter(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k beam data (record 7008) */ if (status == MB_SUCCESS && store->read_beam == MB_YES) { store->type = R7KRECID_7kBeamData; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kBeamData, R7KRECID_7kBeamData); fprintf(stderr," R7KRECID_7kBeamData\n"); #endif status = mbr_reson7kr_wr_beam(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k vertical depth (record 7009) */ if (status == MB_SUCCESS && store->read_verticaldepth == MB_YES) { store->type = R7KRECID_7kVerticalDepth; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kVerticalDepth, R7KRECID_7kVerticalDepth); fprintf(stderr," R7KRECID_7kVerticalDepth\n"); #endif status = mbr_reson7kr_wr_verticaldepth(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k image data (record 7011) */ if (status == MB_SUCCESS && store->read_image == MB_YES) { store->type = R7KRECID_7kImageData; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kImageData, R7KRECID_7kImageData); fprintf(stderr," R7KRECID_7kImageData\n"); #endif status = mbr_reson7kr_wr_image(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k Ping motion (record 7012) */ if (status == MB_SUCCESS && store->read_v2pingmotion == MB_YES) { store->type = R7KRECID_7kV2PingMotion; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kV2PingMotion, R7KRECID_7kV2PingMotion); fprintf(stderr," R7KRECID_7kV2PingMotion\n"); #endif status = mbr_reson7kr_wr_v2pingmotion(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k detection setup (record 7017) */ if (status == MB_SUCCESS && store->read_v2detectionsetup == MB_YES) { store->type = R7KRECID_7kV2DetectionSetup; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kV2DetectionSetup, R7KRECID_7kV2DetectionSetup); fprintf(stderr," R7KRECID_7kV2DetectionSetup\n"); #endif status = mbr_reson7kr_wr_v2detectionsetup(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k beamformed magnitude and phase data (record 7018) */ if (status == MB_SUCCESS && store->read_v2beamformed == MB_YES) { store->type = R7KRECID_7kV2BeamformedData; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kV2BeamformedData, R7KRECID_7kV2BeamformedData); fprintf(stderr," R7KRECID_7kV2BeamformedData\n"); #endif status = mbr_reson7kr_wr_v2beamformed(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k version 2 detection (record 7026) */ if (status == MB_SUCCESS && store->read_v2detection == MB_YES) { store->type = R7KRECID_7kV2Detection; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kV2Detection, R7KRECID_7kV2Detection); fprintf(stderr," R7KRECID_7kV2Detection\n"); #endif status = mbr_reson7kr_wr_v2detection(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k version 2 raw detection (record 7027) */ if (status == MB_SUCCESS && store->read_v2rawdetection == MB_YES) { store->type = R7KRECID_7kV2RawDetection; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kV2RawDetection, R7KRECID_7kV2RawDetection); fprintf(stderr," R7KRECID_7kV2RawDetection\n"); #endif status = mbr_reson7kr_wr_v2rawdetection(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } /* Reson 7k version 2 snippet (record 7028) */ if (status == MB_SUCCESS && store->read_v2snippet == MB_YES) { store->type = R7KRECID_7kV2SnippetData; #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", R7KRECID_7kV2SnippetData, R7KRECID_7kV2SnippetData); fprintf(stderr," R7KRECID_7kV2SnippetData\n"); #endif status = mbr_reson7kr_wr_v2snippet(verbose, bufferalloc, bufferptr, store_ptr, &size, error); buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } } /* call appropriate writing routine for other records */ else if (status == MB_SUCCESS && store->type != R7KRECID_7kFileHeader) { #ifdef MBR_RESON7KR_DEBUG fprintf(stderr, "Writing record id: %4.4hX | %d", store->type, store->type); if (store->type == R7KRECID_ReferencePoint) fprintf(stderr," R7KRECID_ReferencePoint\n"); if (store->type == R7KRECID_UncalibratedSensorOffset) fprintf(stderr," R7KRECID_UncalibratedSensorOffset\n"); if (store->type == R7KRECID_CalibratedSensorOffset) fprintf(stderr," R7KRECID_CalibratedSensorOffset\n"); if (store->type == R7KRECID_Position) fprintf(stderr," R7KRECID_Position\n"); if (store->type == R7KRECID_CustomAttitude) fprintf(stderr," R7KRECID_CustomAttitude\n"); if (store->type == R7KRECID_Tide) fprintf(stderr," R7KRECID_Tide\n"); if (store->type == R7KRECID_Altitude) fprintf(stderr," R7KRECID_Altitude\n"); if (store->type == R7KRECID_MotionOverGround) fprintf(stderr," R7KRECID_MotionOverGround\n"); if (store->type == R7KRECID_Depth) fprintf(stderr," R7KRECID_Depth\n"); if (store->type == R7KRECID_SoundVelocityProfile) fprintf(stderr," R7KRECID_SoundVelocityProfile\n"); if (store->type == R7KRECID_CTD) fprintf(stderr," R7KRECID_CTD\n"); if (store->type == R7KRECID_Geodesy) fprintf(stderr," R7KRECID_Geodesy\n"); if (store->type == R7KRECID_RollPitchHeave) fprintf(stderr," R7KRECID_RollPitchHeave\n"); if (store->type == R7KRECID_Heading) fprintf(stderr," R7KRECID_Heading\n"); if (store->type == R7KRECID_SurveyLine) fprintf(stderr," R7KRECID_SurveyLine\n"); if (store->type == R7KRECID_Navigation) fprintf(stderr," R7KRECID_Navigation\n"); if (store->type == R7KRECID_Attitude) fprintf(stderr," R7KRECID_Attitude\n"); if (store->type == R7KRECID_Rec1022) fprintf(stderr," R7KRECID_Rec1022\n"); if (store->type == R7KRECID_GenericSensorCalibration) fprintf(stderr," R7KRECID_GenericSensorCalibration\n"); if (store->type == R7KRECID_GenericSidescan) fprintf(stderr," R7KRECID_GenericSidescan\n"); if (store->type == R7KRECID_FSDWsidescan) { if (store->sstype == R7KRECID_FSDWsidescanLo) fprintf(stderr," R7KRECID_FSDWsidescan R7KRECID_FSDWsidescanLo\n"); if (store->sstype == R7KRECID_FSDWsidescanHi) fprintf(stderr," R7KRECID_FSDWsidescan R7KRECID_FSDWsidescanHi\n"); } if (store->type == R7KRECID_FSDWsubbottom) fprintf(stderr," R7KRECID_FSDWsubbottom\n"); if (store->type == R7KRECID_Bluefin) fprintf(stderr," R7KRECID_Bluefin\n"); if (store->type == R7KRECID_7kVolatileSonarSettings) fprintf(stderr," R7KRECID_7kVolatileSonarSettings\n"); if (store->type == R7KRECID_7kConfiguration) fprintf(stderr," R7KRECID_7kConfiguration\n"); if (store->type == R7KRECID_7kMatchFilter) fprintf(stderr," R7KRECID_7kMatchFilter\n"); if (store->type == R7KRECID_7kV2FirmwareHardwareConfiguration) fprintf(stderr," R7KRECID_7kV2FirmwareHardwareConfiguration\n"); if (store->type == R7KRECID_7kBeamGeometry) fprintf(stderr," R7KRECID_7kBeamGeometry\n"); if (store->type == R7KRECID_7kCalibrationData) fprintf(stderr," R7KRECID_7kCalibrationData\n"); if (store->type == R7KRECID_7kBathymetricData) fprintf(stderr," R7KRECID_7kBathymetricData\n"); if (store->type == R7KRECID_7kBackscatterImageData) fprintf(stderr," R7KRECID_7kBackscatterImageData\n"); if (store->type == R7KRECID_7kBeamData) fprintf(stderr," R7KRECID_7kBeamData\n"); if (store->type == R7KRECID_7kVerticalDepth) fprintf(stderr," R7KRECID_7kVerticalDepth\n"); if (store->type == R7KRECID_7kImageData) fprintf(stderr," R7KRECID_7kImageData\n"); if (store->type == R7KRECID_7kV2PingMotion) fprintf(stderr," R7KRECID_7kV2PingMotion\n"); if (store->type == R7KRECID_7kV2DetectionSetup) fprintf(stderr," R7KRECID_7kV2DetectionSetup\n"); if (store->type == R7KRECID_7kV2BeamformedData) fprintf(stderr," R7KRECID_7kV2BeamformedData\n"); if (store->type == R7KRECID_7kV2BITEData) fprintf(stderr," R7KRECID_7kV2BITEData\n"); if (store->type == R7KRECID_7kV27kCenterVersion) fprintf(stderr," R7KRECID_7kV27kCenterVersion\n"); if (store->type == R7KRECID_7kV28kWetEndVersion) fprintf(stderr," R7KRECID_7kV28kWetEndVersion\n"); if (store->type == R7KRECID_7kV2Detection) fprintf(stderr," R7KRECID_7kV2Detection\n"); if (store->type == R7KRECID_7kV2RawDetection) fprintf(stderr," R7KRECID_7kV2RawDetection\n"); if (store->type == R7KRECID_7kV2SnippetData) fprintf(stderr," R7KRECID_7kV2SnippetData\n"); if (store->type == R7KRECID_7kInstallationParameters) fprintf(stderr," R7KRECID_7kInstallationParameters\n"); if (store->type == R7KRECID_7kSystemEventMessage) fprintf(stderr,"R7KRECID_7kSystemEventMessage\n"); if (store->type == R7KRECID_7kDataStorageStatus) fprintf(stderr," R7KRECID_7kDataStorageStatus\n"); if (store->type == R7KRECID_7kFileHeader) fprintf(stderr," R7KRECID_7kFileHeader\n"); if (store->type == R7KRECID_7kTrigger) fprintf(stderr," R7KRECID_7kTrigger\n"); if (store->type == R7KRECID_7kTriggerSequenceSetup) fprintf(stderr," R7KRECID_7kTriggerSequenceSetup\n"); if (store->type == R7KRECID_7kTriggerSequenceDone) fprintf(stderr," R7KRECID_7kTriggerSequenceDone\n"); if (store->type == R7KRECID_7kTimeMessage) fprintf(stderr," R7KRECID_7kTimeMessage\n"); if (store->type == R7KRECID_7kRemoteControl) fprintf(stderr," R7KRECID_7kRemoteControl\n"); if (store->type == R7KRECID_7kRemoteControlAcknowledge) fprintf(stderr," R7KRECID_7kRemoteControlAcknowledge\n"); if (store->type == R7KRECID_7kRemoteControlNotAcknowledge) fprintf(stderr," R7KRECID_7kRemoteControlNotAcknowledge\n"); if (store->type == R7KRECID_7kRemoteControlSonarSettings) fprintf(stderr," R7KRECID_7kRemoteControlSonarSettings\n"); if (store->type == R7KRECID_7kReserved) fprintf(stderr," R7KRECID_7kReserved\n"); if (store->type == R7KRECID_7kRoll) fprintf(stderr," R7KRECID_7kRoll\n"); if (store->type == R7KRECID_7kPitch) fprintf(stderr," R7KRECID_7kPitch\n"); if (store->type == R7KRECID_7kSoundVelocity) fprintf(stderr," R7KRECID_7kSoundVelocity\n"); if (store->type == R7KRECID_7kAbsorptionLoss) fprintf(stderr," R7KRECID_7kAbsorptionLoss\n"); if (store->type == R7KRECID_7kSpreadingLoss) fprintf(stderr," R7KRECID_7kSpreadingLoss\n"); if (store->type == R7KRECID_8100SonarData) fprintf(stderr," R7KRECID_8100SonarData\n"); #endif if (store->type == R7KRECID_ReferencePoint) { status = mbr_reson7kr_wr_reference(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_UncalibratedSensorOffset) { status = mbr_reson7kr_wr_sensoruncal(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_CalibratedSensorOffset) { status = mbr_reson7kr_wr_sensorcal(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Position) { status = mbr_reson7kr_wr_position(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_CustomAttitude) { status = mbr_reson7kr_wr_customattitude(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Tide) { status = mbr_reson7kr_wr_tide(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Altitude) { status = mbr_reson7kr_wr_altitude(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_MotionOverGround) { status = mbr_reson7kr_wr_motion(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Depth) { status = mbr_reson7kr_wr_depth(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_SoundVelocityProfile) { status = mbr_reson7kr_wr_svp(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_CTD) { status = mbr_reson7kr_wr_ctd(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Geodesy) { status = mbr_reson7kr_wr_geodesy(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_RollPitchHeave) { status = mbr_reson7kr_wr_rollpitchheave(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Heading) { status = mbr_reson7kr_wr_heading(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_SurveyLine) { status = mbr_reson7kr_wr_surveyline(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Navigation) { status = mbr_reson7kr_wr_navigation(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Attitude) { status = mbr_reson7kr_wr_attitude(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Rec1022) { status = mbr_reson7kr_wr_rec1022(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_FSDWsidescan && store->sstype == R7KRECID_FSDWsidescanLo) { status = mbr_reson7kr_wr_fsdwsslo(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_FSDWsidescan && store->sstype == R7KRECID_FSDWsidescanHi) { status = mbr_reson7kr_wr_fsdwsshi(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_FSDWsubbottom) { status = mbr_reson7kr_wr_fsdwsb(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_Bluefin) { status = mbr_reson7kr_wr_bluefin(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_ProcessedSidescan) { status = mbr_reson7kr_wr_processedsidescan(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kVolatileSonarSettings) { status = mbr_reson7kr_wr_volatilesonarsettings(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kConfiguration) { status = mbr_reson7kr_wr_configuration(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kV2FirmwareHardwareConfiguration) { status = mbr_reson7kr_wr_v2firmwarehardwareconfiguration(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kCalibrationData) { status = mbr_reson7kr_wr_calibration(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kV2BITEData) { status = mbr_reson7kr_wr_v2bite(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kV27kCenterVersion) { status = mbr_reson7kr_wr_v27kcenterversion(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kV28kWetEndVersion) { status = mbr_reson7kr_wr_v28kwetendversion(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kInstallationParameters) { status = mbr_reson7kr_wr_installation(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kSystemEventMessage) { status = mbr_reson7kr_wr_systemeventmessage(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kRemoteControlSonarSettings) { status = mbr_reson7kr_wr_remotecontrolsettings(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kReserved) { status = mbr_reson7kr_wr_reserved(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kRoll) { status = mbr_reson7kr_wr_roll(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kPitch) { status = mbr_reson7kr_wr_pitch(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kSoundVelocity) { status = mbr_reson7kr_wr_soundvelocity(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kAbsorptionLoss) { status = mbr_reson7kr_wr_absorptionloss(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else if (store->type == R7KRECID_7kSpreadingLoss) { status = mbr_reson7kr_wr_spreadingloss(verbose, bufferalloc, bufferptr, store_ptr, &size, error); } else { fprintf(stderr,"call nothing bad kind: %d type %x\n", store->kind, store->type); status = MB_FAILURE; *error = MB_ERROR_BAD_KIND; } /* finally write the record to the output file */ if (status == MB_SUCCESS) { buffer = (char *) *bufferptr; write_len = (size_t)size; status = mb_fileio_put(verbose, mbio_ptr, buffer, &write_len, error); } } #ifdef MBR_RESON7KR_DEBUG fprintf(stderr,"RESON7KR DATA WRITTEN: type:%d status:%d error:%d\n\n", store->kind, status, *error); #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_reson7kr_wr_header(int verbose, char *buffer, int *index, s7k_header *header, int *error) { char *function_name = "mbr_reson7kr_wr_header"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 header: %lu\n",(size_t)header); } /* set some important values */ header->Version = 5; header->Offset = 60; header->SyncPattern = 0x0000ffff; header->Reserved = 0; for (i=0;i<8;i++) { header->PreviousRecord[i] = -1; header->NextRecord[i] = -1; } header->Flags = 0; header->Reserved2 = 0; /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_header(verbose, header, error); /* insert the header */ mb_put_binary_short(MB_YES, header->Version, &buffer[*index]); *index +=2; mb_put_binary_short(MB_YES, header->Offset, &buffer[*index]); *index +=2; mb_put_binary_int(MB_YES, header->SyncPattern, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, header->Size, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, header->OffsetToOptionalData, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, header->OptionalDataIdentifier, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, header->s7kTime.Year, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, header->s7kTime.Day, &buffer[*index]); *index += 2; mb_put_binary_float(MB_YES, header->s7kTime.Seconds, &buffer[*index]); *index += 4; buffer[*index] = header->s7kTime.Hours; (*index)++; buffer[*index] = header->s7kTime.Minutes; (*index)++; mb_put_binary_short(MB_YES, header->Reserved, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, header->RecordType, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, header->DeviceId, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, header->Reserved2, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, header->SystemEnumerator, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, header->RecordNumber, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, header->Flags, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, header->Reserved3, &buffer[*index]); *index += 2; /* 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 index: %d\n",*index); 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_reson7kr_wr_reference(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_reference"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_reference *reference; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; reference = &(store->reference); header = &(reference->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_reference(verbose, reference, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_ReferencePoint; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ mb_put_binary_float(MB_YES, reference->offset_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, reference->offset_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, reference->offset_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, reference->water_z, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_sensoruncal(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_sensoruncal"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_sensoruncal *sensoruncal; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; sensoruncal = &(store->sensoruncal); header = &(sensoruncal->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_sensoruncal(verbose, sensoruncal, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_UncalibratedSensorOffset; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, sensoruncal->offset_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensoruncal->offset_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensoruncal->offset_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensoruncal->offset_roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensoruncal->offset_pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensoruncal->offset_yaw, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_sensorcal(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_sensorcal"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_sensorcal *sensorcal; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; sensorcal = &(store->sensorcal); header = &(sensorcal->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_sensorcal(verbose, sensorcal, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_CalibratedSensorOffset; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, sensorcal->offset_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensorcal->offset_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensorcal->offset_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensorcal->offset_roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensorcal->offset_pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, sensorcal->offset_yaw, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_position(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_position"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_position *position; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; position = &(store->position); header = &(position->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_position(verbose, position, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Position; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, position->datum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, position->latency, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, position->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, position->longitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, position->height, &buffer[index]); index += 8; buffer[index] = position->type; index++; buffer[index] = position->utm_zone; index++; buffer[index] = position->quality; index++; buffer[index] = position->method; index++; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_customattitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_customattitude"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_customattitude *customattitude; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; customattitude = &(store->customattitude); header = &(customattitude->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_customattitude(verbose, customattitude, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_CustomAttitude; if (customattitude->bitfield & 1) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 2) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 4) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 8) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 16) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 32) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 64) *size += customattitude->n * sizeof(float); if (customattitude->bitfield & 128) *size += customattitude->n * sizeof(float); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; customattitude->bitfield = (mb_u_char) buffer[index]; index++; customattitude->reserved = (mb_u_char) buffer[index]; index++; mb_put_binary_short(MB_YES, customattitude->n, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, customattitude->frequency, &buffer[index]); index += 4; if (customattitude->bitfield & 1) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->pitch[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 2) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->roll[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 4) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->heading[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 8) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->heave[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 16) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->pitchrate[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 32) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->rollrate[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 64) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->headingrate[i], &buffer[index]); index += 4; } if (customattitude->bitfield & 128) for (i=0;in;i++) { mb_put_binary_float(MB_YES, customattitude->heaverate[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_tide(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_tide"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_tide *tide; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; tide = &(store->tide); header = &(tide->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_tide(verbose, tide, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Tide; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, tide->tide, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, tide->source, &buffer[index]); index += 2; buffer[index] = tide->flags; index++; mb_get_binary_short(MB_YES, &buffer[index], &(tide->gauge)); index += 2; mb_get_binary_int(MB_YES, &buffer[index], &(tide->datum)); index += 4; mb_get_binary_float(MB_YES, &buffer[index], &(tide->latency)); index += 4; mb_get_binary_double(MB_YES, &buffer[index], &(tide->latitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(tide->longitude)); index += 8; mb_get_binary_double(MB_YES, &buffer[index], &(tide->height)); index += 8; buffer[index] = tide->type; index++; buffer[index] = tide->utm_zone; index++; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_altitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_altitude"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_altitude *altitude; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; altitude = &(store->altitude); header = &(altitude->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_altitude(verbose, altitude, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Altitude; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, altitude->altitude, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_motion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_motion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_motion *motion; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; motion = &(store->motion); header = &(motion->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_motion(verbose, motion, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_MotionOverGround; if (motion->bitfield & 1) *size += 3 * motion->n * sizeof(float); if (motion->bitfield & 2) *size += 3 * motion->n * sizeof(float); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; motion->bitfield = (mb_u_char) buffer[index]; index++; motion->reserved = (mb_u_char) buffer[index]; index++; mb_put_binary_short(MB_YES, motion->n, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, motion->frequency, &buffer[index]); index += 4; if (motion->bitfield & 1) { for (i=0;in;i++) { mb_put_binary_float(MB_YES, motion->x[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_float(MB_YES, motion->y[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_float(MB_YES, motion->z[i], &buffer[index]); index += 4; } } if (motion->bitfield & 2) { for (i=0;in;i++) { mb_put_binary_float(MB_YES, motion->xa[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_float(MB_YES, motion->ya[i], &buffer[index]); index += 4; } for (i=0;in;i++) { mb_put_binary_float(MB_YES, motion->za[i], &buffer[index]); index += 4; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_depth(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_depth"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_depth *depth; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; depth = &(store->depth); header = &(depth->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_depth(verbose, depth, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Depth; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; depth->descriptor = (mb_u_char) buffer[index]; index++; depth->correction = (mb_u_char) buffer[index]; index++; mb_put_binary_short(MB_YES, depth->reserved, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, depth->depth, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_svp(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_svp"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_svp *svp; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; svp = &(store->svp); header = &(svp->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_svp(verbose, svp, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_SoundVelocityProfile; *size += R7KRDTSIZE_SoundVelocityProfile * svp->n; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; svp->position_flag = (mb_u_char) buffer[index]; index++; svp->reserved1 = (mb_u_char) buffer[index]; index++; mb_put_binary_short(MB_YES, svp->reserved2, &buffer[index]); index += 2; mb_put_binary_double(MB_YES, svp->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, svp->longitude, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, svp->n, &buffer[index]); index += 4; for (i=0;in;i++) { mb_put_binary_float(MB_YES, svp->depth[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, svp->sound_velocity[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_ctd(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_ctd"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_ctd *ctd; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; ctd = &(store->ctd); header = &(ctd->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_ctd(verbose, ctd, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_CTD; *size += ctd->n * R7KRDTSIZE_CTD; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, ctd->frequency, &buffer[index]); index += 4; buffer[index] = ctd->velocity_source_flag; index++; buffer[index] = ctd->velocity_algorithm; index++; buffer[index] = ctd->conductivity_flag; index++; buffer[index] = ctd->pressure_flag; index++; buffer[index] = ctd->position_flag; index++; buffer[index] = ctd->validity; index++; mb_put_binary_short(MB_YES, ctd->reserved, &buffer[index]); index += 2; mb_put_binary_double(MB_YES, ctd->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, ctd->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, ctd->sample_rate, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, ctd->n, &buffer[index]); index += 4; for (i=0;in;i++) { mb_put_binary_float(MB_YES, ctd->conductivity_salinity[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, ctd->temperature[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, ctd->pressure_depth[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, ctd->sound_velocity[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, ctd->absorption[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_geodesy(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_geodesy"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_geodesy *geodesy; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; geodesy = &(store->geodesy); header = &(geodesy->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_geodesy(verbose, geodesy, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Geodesy; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; for (i=0;i<32;i++) { geodesy->spheroid[i] = (mb_u_char) buffer[index]; index++; } mb_put_binary_double(MB_YES, geodesy->semimajoraxis, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->flattening, &buffer[index]); index += 8; for (i=0;i<16;i++) { geodesy->reserved1[i] = (mb_u_char) buffer[index]; index++; } for (i=0;i<32;i++) { geodesy->datum[i] = (mb_u_char) buffer[index]; index++; } mb_put_binary_int(MB_YES, geodesy->calculation_method, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, geodesy->number_parameters, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, geodesy->dx, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->dy, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->dz, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->rx, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->ry, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->rz, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->scale, &buffer[index]); index += 8; for (i=0;i<35;i++) { geodesy->reserved2[i] = (mb_u_char) buffer[index]; index++; } for (i=0;i<32;i++) { geodesy->grid_name[i] = (mb_u_char) buffer[index]; index++; } geodesy->distance_units = (mb_u_char) buffer[index]; index++; geodesy->angular_units = (mb_u_char) buffer[index]; index++; mb_put_binary_double(MB_YES, geodesy->latitude_origin, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->central_meriidan, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->false_easting, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->false_northing, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, geodesy->central_scale_factor, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, geodesy->custum_identifier, &buffer[index]); index += 4; for (i=0;i<50;i++) { geodesy->reserved3[i] = (mb_u_char) buffer[index]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_rollpitchheave(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_rollpitchheave"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_rollpitchheave *rollpitchheave; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; rollpitchheave = &(store->rollpitchheave); header = &(rollpitchheave->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_rollpitchheave(verbose, rollpitchheave, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_RollPitchHeave; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, rollpitchheave->roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, rollpitchheave->pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, rollpitchheave->heave, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_heading(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_heading"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_heading *heading; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; heading = &(store->heading); header = &(heading->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_heading(verbose, heading, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Heading; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, heading->heading, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_surveyline(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_surveyline"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_surveyline *surveyline; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; surveyline = &(store->surveyline); header = &(surveyline->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_surveyline(verbose, surveyline, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_SurveyLine; *size += surveyline->n * R7KRDTSIZE_SurveyLine; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_short(MB_YES, surveyline->n, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, surveyline->type, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, surveyline->turnradius, &buffer[index]); index += 4; for (i=0;i<64;i++) { buffer[index] = (char) surveyline->name[i]; index++; } for (i=0;in;i++) { mb_put_binary_double(MB_YES, surveyline->latitude[i], &buffer[index]); index += 8; mb_put_binary_double(MB_YES, surveyline->longitude[i], &buffer[index]); index += 8; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_navigation(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_navigation"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_navigation *navigation; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; navigation = &(store->navigation); header = &(navigation->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_navigation(verbose, navigation, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Navigation; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; buffer[index] = (mb_u_char) navigation->vertical_reference; index++; mb_put_binary_double(MB_YES, navigation->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, navigation->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, navigation->position_accuracy, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, navigation->height, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, navigation->height_accuracy, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, navigation->speed, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, navigation->course, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, navigation->heading, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_attitude(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_attitude"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_attitude *attitude; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; attitude = &(store->attitude); header = &(attitude->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_attitude(verbose, attitude, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Attitude; *size += attitude->n * R7KRDTSIZE_Attitude; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; buffer[index] = attitude->n; index++; for (i=0;in;i++) { mb_put_binary_short(MB_YES, attitude->delta_time[i], &buffer[index]); index += 2; mb_put_binary_float(MB_YES, attitude->roll[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, attitude->pitch[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, attitude->heave[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, attitude->heading[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_rec1022(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_rec1022"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_rec1022 *rec1022; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; rec1022 = &(store->rec1022); header = &(rec1022->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_rec1022(verbose, rec1022, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_Rec1022; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; for (i=0;idata[i]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_fsdwchannel(int verbose, int data_format, char *buffer, int *index, s7k_fsdwchannel *fsdwchannel, int *error) { char *function_name = "mbr_reson7kr_wr_fsdwchannel"; int status = MB_SUCCESS; short *shortptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 data_format:%d\n",data_format); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 fsdwchannel:%lu\n",(size_t)fsdwchannel); } /* print out the data to be output */ /*mbsys_reson7k_print_fsdwchannel(verbose, data_format, fsdwchannel, error);*/ /* extract the channel header */ buffer[*index] = fsdwchannel->number; (*index)++; buffer[*index] = fsdwchannel->type; (*index)++; buffer[*index] = fsdwchannel->data_type; (*index)++; buffer[*index] = fsdwchannel->polarity; (*index)++; buffer[*index] = fsdwchannel->bytespersample; (*index)++; for (i=0;i<3;i++) { buffer[*index] = fsdwchannel->reserved1[i]; (*index)++; } mb_put_binary_int(MB_YES, fsdwchannel->number_samples, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwchannel->start_time, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwchannel->sample_interval, &buffer[*index]); *index += 4; mb_put_binary_float(MB_YES, fsdwchannel->range, &buffer[*index]); *index += 4; mb_put_binary_float(MB_YES, fsdwchannel->voltage, &buffer[*index]); *index += 4; for (i=0;i<16;i++) { buffer[*index] = fsdwchannel->name[i]; (*index)++; } for (i=0;i<20;i++) { buffer[*index] = fsdwchannel->reserved2[i]; (*index)++; } /* copy over the data */ if (status == MB_SUCCESS) { if (fsdwchannel->bytespersample == 1) { for (i=0;inumber_samples;i++) { buffer[*index] = fsdwchannel->data[i]; (*index)++; } } else if (fsdwchannel->bytespersample == 2) { shortptr = (short *) fsdwchannel->data; for (i=0;inumber_samples;i++) { /*srptr = (short *) &(buffer[*index]); urptr = (unsigned short *) &(buffer[*index]);*/ mb_put_binary_short(MB_YES, shortptr[i], &buffer[*index]); *index += 2; /*ssptr = (short *) &(shortptr[i]); usptr = (unsigned short *) &(shortptr[i]); fprintf(stderr,"sample:%5d raw:%6d %6d swapped:%6d %6d\n", i,*srptr,*urptr,*ssptr,*usptr);*/ } } else if (fsdwchannel->bytespersample == 4) { shortptr = (short *) fsdwchannel->data; for (i=0;inumber_samples;i++) { /*srptr = (short *) &(buffer[*index]); urptr = (unsigned short *) &(buffer[*index]);*/ mb_put_binary_short(MB_YES, shortptr[2*i], &buffer[*index]); *index += 2; /*ssptr = (short *) &(shortptr[2*i]); usptr = (unsigned short *) &(shortptr[2*i]); fprintf(stderr,"sample:%5d IMAGINARY: raw:%6d %6d swapped:%6d %6d", i,*srptr,*urptr,*ssptr,*usptr); srptr = (short *) &(buffer[*index]); urptr = (unsigned short *) &(buffer[*index]);*/ mb_put_binary_short(MB_YES, shortptr[2*i+1], &buffer[*index]); *index += 2; /*ssptr = (short *) &(shortptr[2*i+1]); usptr = (unsigned short *) &(shortptr[2*i+1]); fprintf(stderr," REAL: raw:%6d %6d swapped:%6d %6d\n", *srptr,*urptr,*ssptr,*usptr);*/ } } } /* 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 index: %d\n",*index); 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_reson7kr_wr_fsdwssheader(int verbose, char *buffer, int *index, s7k_fsdwssheader *fsdwssheader, int *error) { char *function_name = "mbr_reson7kr_wr_fsdwssheader"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 fsdwssheader: %lu\n",(size_t)fsdwssheader); } /* print out the data to be output */ /*mbsys_reson7k_print_fsdwssheader(verbose, fsdwssheader, error);*/ /* extract the Edgetech sidescan header */ mb_put_binary_short(MB_YES, fsdwssheader->subsystem, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->channelNum, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, fsdwssheader->pingNum, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwssheader->packetNum, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->trigSource, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, fsdwssheader->samples, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwssheader->sampleInterval, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwssheader->startDepth, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwssheader->weightingFactor, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->ADCGain, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->ADCMax, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->rangeSetting, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->pulseID, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->markNumber, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->dataFormat, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->reserved, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, fsdwssheader->millisecondsToday, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwssheader->year, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->day, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->hour, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->minute, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->second, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->heading, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->pitch, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->roll, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->heave, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwssheader->yaw, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, fsdwssheader->depth, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwssheader->temperature, &buffer[*index]); *index += 2; for (i=0;i<10;i++) { buffer[*index] = fsdwssheader->reserved2[i]; (*index)++; } /* print output debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 index: %d\n",*index); 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_reson7kr_wr_fsdwsegyheader(int verbose, char *buffer, int *index, s7k_fsdwsegyheader *fsdwsegyheader, int *error) { char *function_name = "mbr_reson7kr_wr_fsdwsegyheader"; int status = MB_SUCCESS; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 buffer: %lu\n",(size_t)buffer); fprintf(stderr,"dbg2 index: %d\n",*index); fprintf(stderr,"dbg2 fsdwsegyheader: %lu\n",(size_t)fsdwsegyheader); } /* print out the data to be output */ /*mbsys_reson7k_print_fsdwsegyheader(verbose, fsdwsegyheader, error);*/ /* extract the Edgetech segy header */ mb_put_binary_int(MB_YES, fsdwsegyheader->sequenceNumber, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwsegyheader->startDepth, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwsegyheader->pingNum, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwsegyheader->channelNum, &buffer[*index]); *index += 4; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, fsdwsegyheader->unused1[i], &buffer[*index]); *index += 2; } mb_put_binary_short(MB_YES, fsdwsegyheader->traceIDCode, &buffer[*index]); *index += 2; for (i=0;i<2;i++) { mb_put_binary_short(MB_YES, fsdwsegyheader->unused2[i], &buffer[*index]); *index += 2; } mb_put_binary_short(MB_YES, fsdwsegyheader->dataFormat, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEAantennaeR, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEAantennaeO, &buffer[*index]); *index += 2; for (i=0;i<32;i++) { buffer[*index] = fsdwsegyheader->RS232[i]; (*index)++; } mb_put_binary_int(MB_YES, fsdwsegyheader->sourceCoordX, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwsegyheader->sourceCoordY, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwsegyheader->groupCoordX, &buffer[*index]); *index += 4; mb_put_binary_int(MB_YES, fsdwsegyheader->groupCoordY, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwsegyheader->coordUnits, &buffer[*index]); *index += 2; for (i=0;i<24;i++) { buffer[*index] = fsdwsegyheader->annotation[i]; (*index)++; } mb_put_binary_short(MB_YES, fsdwsegyheader->samples, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, fsdwsegyheader->sampleInterval, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwsegyheader->ADCGain, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->pulsePower, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->correlated, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->startFreq, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->endFreq, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->sweepLength, &buffer[*index]); *index += 2; for (i=0;i<4;i++) { mb_put_binary_short(MB_YES, fsdwsegyheader->unused7[i], &buffer[*index]); *index += 2; } mb_put_binary_short(MB_YES, fsdwsegyheader->aliasFreq, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->pulseID, &buffer[*index]); *index += 2; for (i=0;i<6;i++) { mb_put_binary_short(MB_YES, fsdwsegyheader->unused8[i], &buffer[*index]); *index += 2; } mb_put_binary_short(MB_YES, fsdwsegyheader->year, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->day, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->hour, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->minute, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->second, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->timeBasis, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->weightingFactor, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->unused9, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->heading, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->pitch, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->roll, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->temperature, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->heaveCompensation, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->trigSource, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->markNumber, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEAHour, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEAMinutes, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEASeconds, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEACourse, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEASpeed, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEADay, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->NMEAYear, &buffer[*index]); *index += 2; mb_put_binary_int(MB_YES, fsdwsegyheader->millisecondsToday, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwsegyheader->ADCMax, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->calConst, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->vehicleID, &buffer[*index]); *index += 2; for (i=0;i<6;i++) { buffer[*index] = fsdwsegyheader->softwareVersion[i]; (*index)++; } mb_put_binary_int(MB_YES, fsdwsegyheader->sphericalCorrection, &buffer[*index]); *index += 4; mb_put_binary_short(MB_YES, fsdwsegyheader->packetNum, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->ADCDecimation, &buffer[*index]); *index += 2; mb_put_binary_short(MB_YES, fsdwsegyheader->decimation, &buffer[*index]); *index += 2; for (i=0;i<7;i++) { mb_put_binary_short(MB_YES, fsdwsegyheader->unuseda[i], &buffer[*index]); *index += 2; } /* 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 index: %d\n",*index); 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_reson7kr_wr_fsdwsslo(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_fsdwsslo"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwss *fsdwsslo; s7k_fsdwchannel *fsdwchannel; s7k_fsdwssheader *fsdwssheader; s7kr_bathymetry *bathymetry; s7kr_bluefin *bluefin; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fsdwsslo = &(store->fsdwsslo); header = &(fsdwsslo->header); bathymetry = &(store->bathymetry); bluefin = &(store->bluefin); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fsdwss(verbose, fsdwsslo, error); #ifdef MBR_RESON7KR_DEBUG for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsslo->channel[i]); fsdwssheader = &(fsdwsslo->ssheader[i]); fprintf(stderr,"SSLO: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d %d chan:%d %d sampint:%d %d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsslo->ping_number,fsdwssheader->pingNum, fsdwchannel->number,fsdwssheader->channelNum, fsdwchannel->sample_interval,fsdwssheader->sampleInterval); } #endif /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_FSDWsidescan; for (i=0;inumber_channels;i++) { *size += R7KHDRSIZE_FSDWchannelinfo; *size += R7KHDRSIZE_FSDWssheader; fsdwchannel = &(fsdwsslo->channel[i]); *size += fsdwchannel->bytespersample * fsdwchannel->number_samples; } /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, fsdwsslo->msec_timestamp, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsslo->ping_number, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsslo->number_channels, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsslo->total_bytes, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsslo->data_format, &buffer[index]);index += 4; index += 12; for (i=0;i<2;i++) { fsdwchannel = &(fsdwsslo->channel[i]); mbr_reson7kr_wr_fsdwchannel(verbose, fsdwsslo->data_format, buffer, &index, fsdwchannel, error); } /*fprintf(stderr,"In mbr_reson7kr_wr_fsdwsslo: index:%d OffsetToOptionalData:%d\n", index, header->OffsetToOptionalData); index = header->OffsetToOptionalData;*/ for (i=0;i<2;i++) { fsdwssheader = &(fsdwsslo->ssheader[i]); mbr_reson7kr_wr_fsdwssheader(verbose, buffer, &index, fsdwssheader, error); } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_fsdwsshi(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_fsdwsshi"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwss *fsdwsshi; s7k_fsdwchannel *fsdwchannel; s7k_fsdwssheader *fsdwssheader; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fsdwsshi = &(store->fsdwsshi); header = &(fsdwsshi->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fsdwss(verbose, fsdwsshi, error); #ifdef MBR_RESON7KR_DEBUG for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsshi->channel[i]); fsdwssheader = &(fsdwsshi->ssheader[i]); fprintf(stderr,"SSHI: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d %d chan:%d %d sampint:%d %d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], fsdwssheader->year,fsdwssheader->day,fsdwssheader->hour,fsdwssheader->minute,fsdwssheader->second, fsdwssheader->millisecondsToday - 1000 * (int)(0.001 * fsdwssheader->millisecondsToday), fsdwsshi->ping_number,fsdwssheader->pingNum, fsdwchannel->number,fsdwssheader->channelNum, fsdwchannel->sample_interval,fsdwssheader->sampleInterval); } #endif /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_FSDWsidescan; for (i=0;inumber_channels;i++) { *size += R7KHDRSIZE_FSDWchannelinfo; *size += R7KHDRSIZE_FSDWssheader; fsdwchannel = &(fsdwsshi->channel[i]); *size += fsdwchannel->bytespersample * fsdwchannel->number_samples; } /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, fsdwsshi->msec_timestamp, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsshi->ping_number, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsshi->number_channels, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsshi->total_bytes, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsshi->data_format, &buffer[index]);index += 4; index += 12; for (i=0;i<2;i++) { fsdwchannel = &(fsdwsshi->channel[i]); mbr_reson7kr_wr_fsdwchannel(verbose, fsdwsshi->data_format, buffer, &index, fsdwchannel, error); } /*fprintf(stderr,"In mbr_reson7kr_wr_fsdwsshi: index:%d OffsetToOptionalData:%d\n", index, header->OffsetToOptionalData); index = header->OffsetToOptionalData;*/ for (i=0;i<2;i++) { fsdwssheader = &(fsdwsshi->ssheader[i]); mbr_reson7kr_wr_fsdwssheader(verbose, buffer, &index, fsdwssheader, error); } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_fsdwsb(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_fsdwsb"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fsdwsb *fsdwsb; s7k_fsdwchannel *fsdwchannel; s7k_fsdwsegyheader *fsdwsegyheader; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fsdwsb = &(store->fsdwsb); header = &(fsdwsb->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fsdwsb(verbose, fsdwsb, error); #ifdef MBR_RESON7KR_DEBUG for (i=0;inumber_channels;i++) { fsdwchannel = &(fsdwsb->channel); fsdwsegyheader = &(fsdwsb->segyheader); fprintf(stderr,"SBP: 7Ktime(%4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d) FSDWtime(%4.4d-%3.3d %2.2d:%2.2d:%2.2d.%3.3d) ping:%d %d chan:%d %d sampint:%d %d\n", store->time_i[0],store->time_i[1],store->time_i[2], store->time_i[3],store->time_i[4],store->time_i[5],store->time_i[6], fsdwsegyheader->year,fsdwsegyheader->day,fsdwsegyheader->hour,fsdwsegyheader->minute,fsdwsegyheader->second, fsdwsegyheader->millisecondsToday - 1000 * (int)(0.001 * fsdwsegyheader->millisecondsToday), fsdwsb->ping_number,fsdwsegyheader->pingNum, fsdwchannel->number,fsdwsegyheader->channelNum, fsdwchannel->sample_interval,fsdwsegyheader->sampleInterval); } #endif /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_FSDWsubbottom; /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_FSDWsubbottom; for (i=0;inumber_channels;i++) { *size += R7KHDRSIZE_FSDWchannelinfo; *size += R7KHDRSIZE_FSDWsbheader; fsdwchannel = &(fsdwsb->channel); *size += fsdwchannel->bytespersample * fsdwchannel->number_samples; } /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, fsdwsb->msec_timestamp, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsb->ping_number, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsb->number_channels, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsb->total_bytes, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fsdwsb->data_format, &buffer[index]);index += 4; index += 12; fsdwchannel = &(fsdwsb->channel); mbr_reson7kr_wr_fsdwchannel(verbose, fsdwsb->data_format, buffer, &index, fsdwchannel, error); /* fprintf(stderr,"index:%d offset:%d\n",index,header->OffsetToOptionalData);*/ fsdwsegyheader = &(fsdwsb->segyheader); mbr_reson7kr_wr_fsdwsegyheader(verbose, buffer, &index, fsdwsegyheader, error); /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_bluefin(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_bluefin"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_bluefin *bluefin; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; bluefin = &(store->bluefin); header = &(bluefin->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_bluefin(verbose, bluefin, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_BluefinDataFrame; *size += bluefin->number_frames * bluefin->frame_size; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, bluefin->msec_timestamp, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->number_frames, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->frame_size, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->data_format, &buffer[index]); index += 4; for (i=0;i<16;i++) { buffer[index] = bluefin->reserved[i]; index++; } if (bluefin->data_format == R7KRECID_BluefinNav) { for (i=0;inumber_frames;i++) { mb_put_binary_int(MB_YES, bluefin->nav[i].packet_size, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->nav[i].version, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->nav[i].offset, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, bluefin->nav[i].data_type, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->nav[i].data_size, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->nav[i].s7kTime.Year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->nav[i].s7kTime.Day, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, bluefin->nav[i].s7kTime.Seconds, &buffer[index]); index += 4; buffer[index] = bluefin->nav[i].s7kTime.Hours; (index)++; buffer[index] = bluefin->nav[i].s7kTime.Minutes; (index)++; mb_put_binary_int(MB_YES, bluefin->nav[i].checksum, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->nav[i].timedelay, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, bluefin->nav[i].quality, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, bluefin->nav[i].latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, bluefin->nav[i].longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, bluefin->nav[i].speed, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, bluefin->nav[i].depth, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, bluefin->nav[i].altitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, bluefin->nav[i].roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].yaw, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].northing_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].easting_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].depth_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].altitude_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].roll_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].pitch_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->nav[i].yaw_rate, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, bluefin->nav[i].position_time, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, bluefin->nav[i].depth_time, &buffer[index]); index += 8; } } else if (bluefin->data_format == R7KRECID_BluefinEnvironmental) { for (i=0;inumber_frames;i++) { mb_put_binary_int(MB_YES, bluefin->environmental[i].packet_size, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->environmental[i].version, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].offset, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, bluefin->environmental[i].data_type, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->environmental[i].data_size, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->environmental[i].s7kTime.Year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].s7kTime.Day, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, bluefin->environmental[i].s7kTime.Seconds, &buffer[index]); index += 4; buffer[index] = bluefin->environmental[i].s7kTime.Hours; (index)++; buffer[index] = bluefin->environmental[i].s7kTime.Minutes; (index)++; mb_put_binary_int(MB_YES, bluefin->environmental[i].checksum, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->environmental[i].reserved1, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, bluefin->environmental[i].quality, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].sound_speed, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].conductivity, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].temperature, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].pressure, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].salinity, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, bluefin->environmental[i].ctd_time, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, bluefin->environmental[i].temperature_time, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, bluefin->environmental[i].surface_pressure, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, bluefin->environmental[i].temperature_counts, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].conductivity_frequency, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->environmental[i].pressure_counts, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bluefin->environmental[i].pressure_comp_voltage, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->environmental[i].sensor_time_sec, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, bluefin->environmental[i].sensor_time_nsec, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor1, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor2, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor3, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor4, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor5, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor6, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor7, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, bluefin->environmental[i].sensor8, &buffer[index]); index += 2; for (j=0;j<8;j++) { buffer[index] = bluefin->environmental[i].reserved2[j]; index++; } } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_processedsidescan(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_processedsidescan"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_processedsidescan *processedsidescan; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; processedsidescan = &(store->processedsidescan); header = &(processedsidescan->header); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_ProcessedSidescan; *size += processedsidescan->number_pixels * 8; header->OffsetToOptionalData = 0; header->Size = *size; /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_processedsidescan(verbose, processedsidescan, error); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, processedsidescan->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, processedsidescan->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, processedsidescan->multi_ping, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, processedsidescan->recordversion, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, processedsidescan->ss_source, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, processedsidescan->number_pixels, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, processedsidescan->ss_type, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, processedsidescan->pixelwidth, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, processedsidescan->sonardepth, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, processedsidescan->altitude, &buffer[index]); index += 8; /* insert the data */ for (i=0;inumber_pixels;i++) { mb_put_binary_float(MB_YES, processedsidescan->sidescan[i], &buffer[index]); index += 4; } for (i=0;inumber_pixels;i++) { mb_put_binary_float(MB_YES, processedsidescan->alongtrack[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_volatilesonarsettings(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_volatilesonarsettings"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_volatilesettings *volatilesettings; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; volatilesettings = &(store->volatilesettings); header = &(volatilesettings->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_volatilesettings(verbose, volatilesettings, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kVolatileSonarSettings; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, volatilesettings->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, volatilesettings->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, volatilesettings->multi_ping, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, volatilesettings->frequency, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->sample_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->receiver_bandwidth, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->pulse_width, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->pulse_type, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->pulse_envelope, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->pulse_envelope_par, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->pulse_reserved, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->max_ping_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->ping_period, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->range_selection, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->power_selection, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->gain_selection, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->control_flags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->projector_magic_no, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->steering_vertical, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->steering_horizontal, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->beamwidth_vertical, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->beamwidth_horizontal, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->focal_point, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->projector_weighting, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->projector_weighting_par, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->transmit_flags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->hydrophone_magic_no, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->receive_weighting, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->receive_weighting_par, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, volatilesettings->receive_flags, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->receive_width, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->range_minimum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->range_maximum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->depth_minimum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->depth_maximum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->absorption, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->sound_velocity, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, volatilesettings->spreading, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, volatilesettings->reserved, &buffer[index]); index += 2; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_configuration(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_configuration"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_configuration *configuration; s7k_device *device; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; configuration = &(store->configuration); header = &(configuration->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_configuration(verbose, configuration, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kConfiguration; for (i=0;inumber_devices;i++) { *size += 80; device = &(configuration->device[i]); *size += device->info_length; } /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, configuration->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, configuration->number_devices, &buffer[index]); index += 4; /* extract the data for each device */ for (i=0;inumber_devices;i++) { device = &(configuration->device[i]); mb_put_binary_int(MB_YES, device->magic_number, &buffer[index]); index += 4; for (j=0;j<64;j++) { buffer[index] = device->description[j]; index++; } mb_put_binary_long(MB_YES, device->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, device->info_length, &buffer[index]); index += 4; for (j=0;jinfo_length;j++) { buffer[index] = device->info[j]; index++; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_matchfilter(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_matchfilter"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_matchfilter *matchfilter; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; matchfilter = &(store->matchfilter); header = &(matchfilter->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_matchfilter(verbose, matchfilter, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kMatchFilter; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, matchfilter->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, matchfilter->ping_number, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, matchfilter->operation, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, matchfilter->start_frequency, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, matchfilter->end_frequency, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_v2firmwarehardwareconfiguration(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2firmwarehardwareconfiguration"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2firmwarehardwareconfiguration *v2firmwarehardwareconfiguration; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2firmwarehardwareconfiguration = &(store->v2firmwarehardwareconfiguration); header = &(v2firmwarehardwareconfiguration->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2firmwarehardwareconfiguration(verbose, v2firmwarehardwareconfiguration, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2FirmwareHardwareConfiguration; *size += v2firmwarehardwareconfiguration->info_length; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, v2firmwarehardwareconfiguration->device_count, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2firmwarehardwareconfiguration->info_length, &buffer[index]); index += 4; /* extract the info */ for (i=0;iinfo_length;i++) { buffer[index] = v2firmwarehardwareconfiguration->info[i]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_beamgeometry(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_beamgeometry"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_beamgeometry *beamgeometry; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; beamgeometry = &(store->beamgeometry); header = &(beamgeometry->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_beamgeometry(verbose, beamgeometry, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kBeamGeometry; *size += beamgeometry->number_beams * 16; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, beamgeometry->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, beamgeometry->number_beams, &buffer[index]); index += 4; /* insert the data */ for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, beamgeometry->angle_alongtrack[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, beamgeometry->angle_acrosstrack[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, beamgeometry->beamwidth_alongtrack[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, beamgeometry->beamwidth_acrosstrack[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_calibration(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_calibration"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_calibration *calibration; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; calibration = &(store->calibration); header = &(calibration->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_calibration(verbose, calibration, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kCalibrationData; *size += calibration->number_channels * 8; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, calibration->serial_number, &buffer[index]); index += 8; mb_put_binary_short(MB_YES, calibration->number_channels, &buffer[index]); index += 2; /* insert the data */ for (i=0;inumber_channels;i++) { mb_put_binary_float(MB_YES, calibration->gain[i], &buffer[index]); index += 4; } for (i=0;inumber_channels;i++) { mb_put_binary_float(MB_YES, calibration->phase[i], &buffer[index]); index += 4; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_bathymetry(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_bathymetry"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_bathymetry *bathymetry; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; bathymetry = &(store->bathymetry); header = &(bathymetry->header); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kBathymetricData; *size += bathymetry->number_beams * 17; if (bathymetry->optionaldata == MB_YES) { *size += 45 + bathymetry->number_beams * 20; header->OffsetToOptionalData = MBSYS_RESON7K_RECORDHEADER_SIZE + R7KHDRSIZE_7kBathymetricData + bathymetry->number_beams * 17; } else header->OffsetToOptionalData = 0; header->Size = *size; /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_bathymetry(verbose, bathymetry, error); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* make sure the version number is right */ if (header->Version < 5) header->Version = 5; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, bathymetry->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, bathymetry->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, bathymetry->multi_ping, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, bathymetry->number_beams, &buffer[index]); index += 4; buffer[index] = bathymetry->layer_comp_flag; index++; buffer[index] = bathymetry->sound_vel_flag; index++; mb_put_binary_float(MB_YES, bathymetry->sound_velocity, &buffer[index]); index += 4; /* insert the data */ for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, bathymetry->range[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { buffer[index] = bathymetry->quality[i]; index++; } for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, bathymetry->intensity[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, bathymetry->min_depth_gate[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, bathymetry->max_depth_gate[i], &buffer[index]); index += 4; } /* insert the optional data */ if (bathymetry->optionaldata == MB_YES) { mb_put_binary_float(MB_YES, bathymetry->frequency, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, bathymetry->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, bathymetry->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, bathymetry->heading, &buffer[index]); index += 4; buffer[index] = bathymetry->height_source; index++; mb_put_binary_float(MB_YES, bathymetry->tide, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->heave, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->vehicle_height, &buffer[index]); index += 4; for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, bathymetry->depth[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->acrosstrack[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->alongtrack[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->pointing_angle[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bathymetry->azimuth_angle[i], &buffer[index]); index += 4; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_backscatter(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_backscatter"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_backscatter *backscatter; int data_size; unsigned int checksum; int index; char *buffer; short *short_ptr; int *int_ptr; int i; /* print input debug statements */ if (verbose >= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name); fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id); fprintf(stderr,"dbg2 Input arguments:\n"); fprintf(stderr,"dbg2 verbose: %d\n",verbose); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; backscatter = &(store->backscatter); header = &(backscatter->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_backscatter(verbose, backscatter, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kBackscatterImageData; *size += 2 * backscatter->number_samples * backscatter->sample_size; if (header->OffsetToOptionalData > 0) { *size += 28; } /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, backscatter->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, backscatter->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, backscatter->multi_ping, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, backscatter->beam_position, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, backscatter->control_flags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, backscatter->number_samples, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->port_beamwidth_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->port_beamwidth_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->stbd_beamwidth_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->stbd_beamwidth_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->port_steering_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->port_steering_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->stbd_steering_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->stbd_steering_y, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, backscatter->number_beams, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, backscatter->current_beam, &buffer[index]); index += 2; buffer[index] = backscatter->sample_size; index++; buffer[index] = backscatter->data_type; index++; /* allocate memory if required */ data_size = backscatter->number_samples * backscatter->sample_size; if (backscatter->nalloc < data_size) { status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(backscatter->port_data), error); if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, data_size, (void **)&(backscatter->stbd_data), error); if (status == MB_SUCCESS) { backscatter->nalloc = data_size; } else { backscatter->nalloc = 0; backscatter->number_samples = 0; } } /* extract backscatter data */ if (backscatter->sample_size == 1) { for (i=0;inumber_samples;i++) { buffer[index] = backscatter->port_data[i]; index++; } for (i=0;inumber_samples;i++) { buffer[index] = backscatter->stbd_data[i]; index++; } } else if (backscatter->sample_size == 2) { short_ptr = (short *) backscatter->port_data; for (i=0;inumber_samples;i++) { mb_put_binary_short(MB_YES, short_ptr[i], &buffer[index]); index += 2; } short_ptr = (short *) backscatter->stbd_data; for (i=0;inumber_samples;i++) { mb_put_binary_short(MB_YES, short_ptr[i], &buffer[index]); index += 2; } } else if (backscatter->sample_size == 4) { int_ptr = (int *) backscatter->port_data; for (i=0;inumber_samples;i++) { mb_put_binary_int(MB_YES, int_ptr[i], &buffer[index]); index += 4; } int_ptr = (int *) backscatter->stbd_data; for (i=0;inumber_samples;i++) { mb_put_binary_int(MB_YES, int_ptr[i], &buffer[index]); index += 4; } } /* extract the optional data */ if (header->OffsetToOptionalData > 0) { index = header->OffsetToOptionalData; backscatter->optionaldata = MB_YES; mb_put_binary_float(MB_YES, backscatter->frequency, &buffer[index]); index += 4; mb_put_binary_double(MB_YES, backscatter->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, backscatter->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, backscatter->heading, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, backscatter->altitude, &buffer[index]); index += 4; } else { backscatter->optionaldata = MB_NO; backscatter->frequency = 0.0; backscatter->latitude = 0.0; backscatter->longitude = 0.0; backscatter->heading = 0.0; backscatter->altitude = 0.0; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_beam(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_beam"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_beam *beam; s7kr_snippet *snippet; unsigned int checksum; int index; char *buffer; int nsamples; int sample_type_amp; int sample_type_phase; int sample_type_iandq; int sample_size; char *charptr; unsigned short *ushortptr; unsigned int *uintptr; short *shortptramp; short *shortptrphase; int *intptramp; int *intptrphase; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; beam = &(store->beam); header = &(beam->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_beam(verbose, beam, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kBeamData; sample_type_amp = beam->sample_type & 15; sample_type_phase = (beam->sample_type >> 4) & 15; sample_type_iandq = (beam->sample_type >> 8) & 15; sample_size = 0; if (sample_type_amp == 1) sample_size += 1; else if (sample_type_amp == 2) sample_size += 2; else if (sample_type_amp == 3) sample_size += 4; if (sample_type_phase == 1) sample_size += 1; else if (sample_type_phase == 2) sample_size += 2; else if (sample_type_phase == 3) sample_size += 4; if (sample_type_iandq == 1) sample_size += 4; else if (sample_type_iandq == 2) sample_size += 8; for (i=0;inumber_beams;i++) { snippet = &beam->snippets[i]; *size += 10 + sample_size * (snippet->end_sample - snippet->begin_sample + 1); } if (header->OffsetToOptionalData > 0) { *size += 24 + beam->number_beams * 12; } /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, beam->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, beam->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, beam->multi_ping, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, beam->number_beams, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, beam->reserved, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, beam->number_samples, &buffer[index]); index += 4; buffer[index] = beam->record_subset_flag; index++; buffer[index] = beam->row_column_flag; index++; mb_put_binary_short(MB_YES, beam->sample_header_id, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, beam->sample_type, &buffer[index]); index += 4; for (i=0;inumber_beams;i++) { snippet = &beam->snippets[i]; mb_put_binary_short(MB_YES, snippet->beam_number, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, snippet->begin_sample, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, snippet->end_sample, &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { /* extract snippet or beam data data */ if (status == MB_SUCCESS) { nsamples = snippet->end_sample - snippet->begin_sample + 1; for (j=0;jamplitude; buffer[index] = charptr[j]; index++; } else if (sample_type_amp == 2) { ushortptr = (unsigned short *)snippet->amplitude; mb_put_binary_short(MB_YES, ushortptr[j], &buffer[index]); index += 2; } else if (sample_type_amp == 3) { uintptr = (unsigned int *)snippet->amplitude; mb_put_binary_int(MB_YES, uintptr[j], &buffer[index]); index += 4; } if (sample_type_phase == 1) { charptr = (char *)snippet->phase; buffer[index] = charptr[j]; index++; } else if (sample_type_phase == 2) { ushortptr = (unsigned short *)snippet->phase; mb_put_binary_short(MB_YES, ushortptr[j], &buffer[index]); index += 2; } else if (sample_type_phase == 3) { uintptr = (unsigned int *)snippet->phase; mb_put_binary_int(MB_YES, uintptr[j], &buffer[index]); index += 4; } if (sample_type_iandq == 1) { shortptramp = (short *)snippet->amplitude; shortptrphase = (short *)snippet->phase; mb_put_binary_short(MB_YES, shortptramp[j], &buffer[index]); index += 2; mb_put_binary_short(MB_YES, shortptrphase[j], &buffer[index]); index += 2; } else if (sample_type_iandq == 2) { intptramp = (int *)snippet->amplitude; intptrphase = (int *)snippet->phase; mb_put_binary_int(MB_YES, intptramp[j], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, intptrphase[j], &buffer[index]); index += 4; } } } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_verticaldepth(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_verticaldepth"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_verticaldepth *verticaldepth; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; verticaldepth = &(store->verticaldepth); header = &(verticaldepth->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_verticaldepth(verbose, verticaldepth, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kVerticalDepth; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, verticaldepth->frequency, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, verticaldepth->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, verticaldepth->multi_ping, &buffer[index]); index += 2; mb_put_binary_double(MB_YES, verticaldepth->latitude, &buffer[index]); index += 8; mb_put_binary_double(MB_YES, verticaldepth->longitude, &buffer[index]); index += 8; mb_put_binary_float(MB_YES, verticaldepth->heading, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, verticaldepth->alongtrack, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, verticaldepth->acrosstrack, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, verticaldepth->vertical_depth, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_image(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_image"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_image *image; unsigned int checksum; int index; char *buffer; int nalloc; char *charptr; unsigned short *ushortptr; unsigned int *uintptr; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; image = &(store->image); header = &(image->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_image(verbose, image, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kImageData; *size += image->width * image->height * image->color_depth; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_int(MB_YES, image->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, image->multi_ping, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, image->width, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, image->height, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, image->color_depth, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, image->width_height_flag, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, image->compression, &buffer[index]); index += 2; /* allocate memory for image if needed */ nalloc = image->width * image->height * image->color_depth; if (status == MB_SUCCESS && image->nalloc < nalloc) { image->nalloc = nalloc; if (status == MB_SUCCESS) status = mb_reallocd(verbose, __FILE__, __LINE__, image->nalloc, (void **)&(image->image), error); if (status != MB_SUCCESS) { image->nalloc = 0; image->width = 0; image->height = 0; } } /* extract image data */ if (image->color_depth == 1) { charptr = (char *)image->image; for (i=0;iwidth * image->height;i++) { buffer[index] = charptr[i]; index++; } } else if (image->color_depth == 2) { ushortptr = (unsigned short *)image->image; for (i=0;iwidth * image->height;i++) { mb_put_binary_short(MB_YES, ushortptr[i], &buffer[index]); index += 2; } } else if (image->color_depth == 4) { uintptr = (unsigned int *)image->image; for (i=0;iwidth * image->height;i++) { mb_put_binary_int(MB_YES, uintptr[i], &buffer[index]); index += 4; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_v2pingmotion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2pingmotion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2pingmotion *v2pingmotion; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2pingmotion = &(store->v2pingmotion); header = &(v2pingmotion->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2pingmotion(verbose, v2pingmotion, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2PingMotion; if (v2pingmotion->flags & 1) *size += sizeof(float); if (v2pingmotion->flags & 2) *size += sizeof(float) * v2pingmotion->n; if (v2pingmotion->flags & 4) *size += sizeof(float) * v2pingmotion->n; if (v2pingmotion->flags & 8) *size += sizeof(float) * v2pingmotion->n; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, v2pingmotion->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, v2pingmotion->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2pingmotion->multi_ping, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, v2pingmotion->n, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2pingmotion->flags, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, v2pingmotion->error_flags, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2pingmotion->frequency, &buffer[index]); index += 4; if (v2pingmotion->flags & 1) { mb_put_binary_float(MB_YES, v2pingmotion->pitch, &buffer[index]); index += 4; } if (v2pingmotion->flags & 2) { for (i=0;in;i++) { mb_put_binary_float(MB_YES, v2pingmotion->roll[i], &buffer[index]); index += 4; } } if (v2pingmotion->flags & 4) { for (i=0;in;i++) { mb_put_binary_float(MB_YES, v2pingmotion->heading[i], &buffer[index]); index += 4; } } if (v2pingmotion->flags & 8) { for (i=0;in;i++) { mb_put_binary_float(MB_YES, v2pingmotion->heave[i], &buffer[index]); index += 4; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_v2detectionsetup(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2detectionsetup"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2detectionsetup *v2detectionsetup; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2detectionsetup = &(store->v2detectionsetup); header = &(v2detectionsetup->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2detectionsetup(verbose, v2detectionsetup, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2DetectionSetup; *size += v2detectionsetup->number_beams * v2detectionsetup->data_field_size; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, v2detectionsetup->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, v2detectionsetup->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2detectionsetup->multi_ping, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, v2detectionsetup->number_beams, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->data_field_size, &buffer[index]); index += 4; buffer[index] = v2detectionsetup->detection_algorithm; index++; mb_put_binary_int(MB_YES, v2detectionsetup->detection_flags, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->minimum_depth, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->maximum_depth, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->minimum_range, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->maximum_range, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->minimum_nadir_search, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->maximum_nadir_search, &buffer[index]); index += 4; buffer[index] = v2detectionsetup->automatic_filter_window; index++; mb_put_binary_float(MB_YES, v2detectionsetup->applied_roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detectionsetup->depth_gate_tilt, &buffer[index]); index += 4; for (i=0;i<14;i++) { mb_put_binary_float(MB_YES, v2detectionsetup->reserved[i], &buffer[index]); index += 4; } for (i=0;inumber_beams;i++) { mb_put_binary_short(MB_YES, v2detectionsetup->beam_descriptor[i], &buffer[index]); index += 2; mb_put_binary_float(MB_YES, v2detectionsetup->detection_point[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->flags[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->auto_limits_min_sample[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->auto_limits_max_sample[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->user_limits_min_sample[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->user_limits_max_sample[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detectionsetup->quality[i], &buffer[index]); index += 4; if (v2detectionsetup->data_field_size >= R7KRDTSIZE_7kV2DetectionSetup + 4) { mb_put_binary_int(MB_YES, v2detectionsetup->uncertainty[i], &buffer[index]); index += 4; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_v2beamformed(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2beamformed"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2beamformed *v2beamformed; s7kr_v2amplitudephase *v2amplitudephase; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2beamformed = &(store->v2beamformed); header = &(v2beamformed->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2beamformed(verbose, v2beamformed, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2BeamformedData; *size += 2 * sizeof(short) * v2beamformed->number_beams * v2beamformed->number_samples; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, v2beamformed->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, v2beamformed->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2beamformed->multi_ping, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, v2beamformed->number_beams, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, v2beamformed->number_samples, &buffer[index]); index += 4; for (i=0;i<32;i++) { buffer[index] = v2beamformed->reserved[i]; index++; } for (i=0;inumber_beams;i++) { v2amplitudephase = &(v2beamformed->amplitudephase[i]); /* insert v2beamformed data */ for (j=0;jnumber_samples;j++) { mb_put_binary_short(MB_YES, v2amplitudephase->amplitude[j], &buffer[index]); index += 2; mb_put_binary_short(MB_YES, v2amplitudephase->phase[j], &buffer[index]); index += 2; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_v2bite(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2bite"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2bite *v2bite; s7kr_v2bitereport *report; s7k_time *s7ktime; s7kr_v2bitefield *bitefield; unsigned int checksum; int index; char *buffer; int i, j, k; /* 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2bite = &(store->v2bite); header = &(v2bite->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2bite(verbose, v2bite, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2BITEData; for (i=0;inumber_reports;i++) { report = &(v2bite->reports[i]); *size += R7KRDTSIZE_7kV2BITERecordData + report->number_bite * R7KRDTSIZE_7kV2BITEFieldData; } /* allocate memory to store rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_short(MB_YES, v2bite->number_reports, &buffer[index]); index += 2; for (i=0;inumber_reports;i++) { report = &(v2bite->reports[i]); for (j=0;j<64;j++) { buffer[index] = report->source_name[j]; index++; } buffer[index] = report->source_address; index++; mb_put_binary_float(MB_YES, report->frequency, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, report->enumerator, &buffer[index]); index += 2; s7ktime = &(report->downlink_time); mb_put_binary_short(MB_YES, s7ktime->Year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, s7ktime->Day, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, s7ktime->Seconds, &buffer[index]); index += 4; buffer[index] = s7ktime->Hours; index++; buffer[index] = s7ktime->Minutes; index++; s7ktime = &(report->uplink_time); mb_put_binary_short(MB_YES, s7ktime->Year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, s7ktime->Day, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, s7ktime->Seconds, &buffer[index]); index += 4; buffer[index] = s7ktime->Hours; index++; buffer[index] = s7ktime->Minutes; index++; s7ktime = &(report->bite_time); mb_put_binary_short(MB_YES, s7ktime->Year, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, s7ktime->Day, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, s7ktime->Seconds, &buffer[index]); index += 4; buffer[index] = s7ktime->Hours; index++; buffer[index] = s7ktime->Minutes; index++; buffer[index] = report->status; index++; mb_put_binary_short(MB_YES, report->number_bite, &buffer[index]); index += 2; for (j=0;j<32;j++) { buffer[index] = report->bite_status[j]; index++; } /* loop over all bite fields */ for (j=0;jnumber_bite;j++) { bitefield = &(report->bitefield[j]); mb_put_binary_short(MB_YES, bitefield->reserved, &buffer[index]); index += 2; for (k=0;k<64;k++) { buffer[index] = bitefield->name[k]; index++; } buffer[index] = bitefield->device_type; index++; mb_put_binary_float(MB_YES, bitefield->minimum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bitefield->maximum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, bitefield->value, &buffer[index]); index += 4; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_v27kcenterversion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v27kcenterversion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v27kcenterversion *v27kcenterversion; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v27kcenterversion = &(store->v27kcenterversion); header = &(v27kcenterversion->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v27kcenterversion(verbose, v27kcenterversion, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV27kCenterVersion; /* allocate memory to store rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; for (i=0;i<32;i++) { buffer[index] = v27kcenterversion->version[i]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_v28kwetendversion(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v28kwetendversion"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v28kwetendversion *v28kwetendversion; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v28kwetendversion = &(store->v28kwetendversion); header = &(v28kwetendversion->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v28kwetendversion(verbose, v28kwetendversion, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV28kWetEndVersion; /* allocate memory to store rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; for (i=0;i<32;i++) { buffer[index] = v28kwetendversion->version[i]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;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_reson7kr_wr_v2detection(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2detection"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2detection *v2detection; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2detection = &(store->v2detection); header = &(v2detection->header); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2Detection; *size += v2detection->number_beams * v2detection->data_field_size; header->OffsetToOptionalData = 0; header->Size = *size; /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2detection(verbose, v2detection, error); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, v2detection->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, v2detection->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2detection->multi_ping, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, v2detection->number_beams, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2detection->data_field_size, &buffer[index]); index += 4; mb_put_binary_long(MB_YES, v2detection->corrections, &buffer[index]); index += 8; buffer[index] = v2detection->detection_algorithm; index++; mb_put_binary_int(MB_YES, v2detection->flags, &buffer[index]); index += 4; for (i=0;i<64;i++) { buffer[index] = v2detection->reserved[i]; index++; } /* insert the data */ for (i=0;inumber_beams;i++) { mb_put_binary_float(MB_YES, v2detection->range[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detection->angle_x[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detection->angle_y[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detection->range_error[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detection->angle_x_error[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2detection->angle_y_error[i], &buffer[index]); index += 4; if (v2detection->data_field_size > 24) for (j=0;jdata_field_size-24;j++) { buffer[index] = 0; index++; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_v2rawdetection(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2rawdetection"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2rawdetection *v2rawdetection; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2rawdetection = &(store->v2rawdetection); header = &(v2rawdetection->header); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2RawDetection; *size += v2rawdetection->number_beams * v2rawdetection->data_field_size; header->OffsetToOptionalData = 0; header->Size = *size; /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2rawdetection(verbose, v2rawdetection, error); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, v2rawdetection->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, v2rawdetection->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2rawdetection->multi_ping, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, v2rawdetection->number_beams, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2rawdetection->data_field_size, &buffer[index]); index += 4; buffer[index] = v2rawdetection->detection_algorithm; index++; mb_put_binary_int(MB_YES, v2rawdetection->detection_flags, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2rawdetection->sampling_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2rawdetection->tx_angle, &buffer[index]); index += 4; for (i=0;i<64;i++) { buffer[index] = v2rawdetection->reserved[i]; index++; } /* insert the data */ for (i=0;inumber_beams;i++) { mb_put_binary_short(MB_YES, v2rawdetection->beam_descriptor[i], &buffer[index]); index += 2; mb_put_binary_float(MB_YES, v2rawdetection->detection_point[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2rawdetection->rx_angle[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2rawdetection->flags[i], &buffer[index]); index += 4; mb_put_binary_int(MB_YES, v2rawdetection->quality[i], &buffer[index]); index += 4; mb_put_binary_float(MB_YES, v2rawdetection->uncertainty[i], &buffer[index]); index += 4; if (v2rawdetection->data_field_size > 22) for (j=0;jdata_field_size-22;j++) { buffer[index] = 0; index++; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_v2snippet(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_v2snippet"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_v2snippet *v2snippet; s7kr_v2snippettimeseries *snippettimeseries; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; v2snippet = &(store->v2snippet); header = &(v2snippet->header); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kV2SnippetData; for (i=0;inumber_beams;i++) { snippettimeseries = &(v2snippet->snippettimeseries[i]); *size += R7KRDTSIZE_7kV2SnippetTimeseries + sizeof(short) * (snippettimeseries->end_sample - snippettimeseries->begin_sample + 1); } header->OffsetToOptionalData = 0; header->Size = *size; /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_v2snippet(verbose, v2snippet, error); /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, v2snippet->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, v2snippet->ping_number, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, v2snippet->multi_ping, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, v2snippet->number_beams, &buffer[index]); index += 2; buffer[index] = v2snippet->error_flag; index++; buffer[index] = v2snippet->control_flags; index++; for (i=0;i<28;i++) { buffer[index] = v2snippet->reserved[i]; index++; } /* insert the snippet parameters */ for (i=0;inumber_beams;i++) { snippettimeseries = &(v2snippet->snippettimeseries[i]); /* extract snippettimeseries data */ mb_put_binary_short(MB_YES, snippettimeseries->beam_number, &buffer[index]); index += 2; mb_put_binary_int(MB_YES, snippettimeseries->begin_sample, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, snippettimeseries->detect_sample, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, snippettimeseries->end_sample, &buffer[index]); index += 4; } /* loop over all beams to insert snippet data */ for (i=0;inumber_beams;i++) { snippettimeseries = &(v2snippet->snippettimeseries[i]); for (j=0;j<(snippettimeseries->end_sample - snippettimeseries->begin_sample + 1);j++) { mb_put_binary_short(MB_YES, snippettimeseries->amplitude[j], &buffer[index]); index += 2; } } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_installation(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_installation"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_installation *installation; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; installation = &(store->installation); header = &(installation->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_installation(verbose, installation, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kInstallationParameters; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, installation->frequency, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, installation->firmware_version_len, &buffer[index]); index += 2; for (i=0;i<128;i++) { buffer[index] = installation->firmware_version[i]; index++; } mb_put_binary_short(MB_YES, installation->software_version_len, &buffer[index]); index += 2; for (i=0;i<128;i++) { buffer[index] = installation->software_version[i]; index++; } mb_put_binary_short(MB_YES, installation->s7k_version_len, &buffer[index]); index += 2; for (i=0;i<128;i++) { buffer[index] = installation->s7k_version[i]; index++; } mb_put_binary_short(MB_YES, installation->protocal_version_len, &buffer[index]); index += 2; for (i=0;i<128;i++) { buffer[index] = installation->protocal_version[i]; index++; } mb_put_binary_float(MB_YES, installation->transmit_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->transmit_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->transmit_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->transmit_roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->transmit_pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->transmit_heading, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->receive_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->receive_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->receive_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->receive_roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->receive_pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->receive_heading, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->motion_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->motion_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->motion_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->motion_roll, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->motion_pitch, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->motion_heading, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, installation->motion_time_delay, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, installation->position_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->position_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, installation->position_z, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, installation->position_time_delay, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, installation->waterline_z, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_fileheader(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_fileheader"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_fileheader *fileheader; s7kr_subsystem *subsystem; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; fileheader = &(store->fileheader); header = &(fileheader->header); /* make sure data are defined properly */ if (status == MB_SUCCESS && header->RecordType != R7KRECID_7kFileHeader) { /* Reson 7k data record header information */ header->Version = 4; header->Offset = 60; header->SyncPattern = 0x0000ffff; header->OffsetToOptionalData = 0; header->OptionalDataIdentifier = 0; header->s7kTime.Year = 0; header->s7kTime.Day = 0; header->s7kTime.Seconds = 0.0; header->s7kTime.Hours = 0; header->s7kTime.Minutes = 0; header->Reserved = 0; header->RecordType = R7KRECID_7kFileHeader; header->DeviceId = 0; header->Reserved2 = 0; header->SystemEnumerator = 0; header->DataSetNumber = 0; header->RecordNumber = 0; for (i=0;i<8;i++) { header->PreviousRecord[i] = -1; header->NextRecord[i] = -1; } header->Flags = 0; header->Reserved3 = 0; header->Reserved4 = 0; header->FragmentedTotal = 0; header->FragmentNumber = 0; } /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_fileheader(verbose, fileheader, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kFileHeader + R7KRDTSIZE_7kFileHeader; for (i=0;inumber_subsystems;i++) *size += 6; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; for (i=0;i<16;i++) { buffer[index] = fileheader->file_identifier[i]; index++; } mb_put_binary_short(MB_YES, fileheader->version, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, fileheader->reserved, &buffer[index]); index += 2; for (i=0;i<16;i++) { buffer[index] = fileheader->session_identifier[i]; index++; } mb_put_binary_int(MB_YES, fileheader->record_data_size, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, fileheader->number_subsystems, &buffer[index]); index += 4; for (i=0;i<64;i++) { buffer[index] = fileheader->recording_name[i]; index++; } for (i=0;i<16;i++) { buffer[index] = fileheader->recording_version[i]; index++; } for (i=0;i<64;i++) { buffer[index] = fileheader->user_defined_name[i]; index++; } for (i=0;i<128;i++) { buffer[index] = fileheader->notes[i]; index++; } for (i=0;inumber_subsystems;i++) { subsystem = &(fileheader->subsystem[i]); mb_put_binary_int(MB_YES, subsystem->device_identifier, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, subsystem->system_enumerator, &buffer[index]); index += 2; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_systemeventmessage(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_systemeventmessage"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_systemeventmessage *systemeventmessage; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; systemeventmessage = &(store->systemeventmessage); header = &(systemeventmessage->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_systemeventmessage(verbose, systemeventmessage, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kSystemEventMessage; *size += systemeventmessage->message_length; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, systemeventmessage->serial_number, &buffer[index]); index += 8; mb_put_binary_short(MB_YES, systemeventmessage->event_id, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, systemeventmessage->message_length, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, systemeventmessage->event_identifier, &buffer[index]); index += 2; /* insert the data */ for (i=0;imessage_length;i++) { buffer[index] = systemeventmessage->message[i]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_remotecontrolsettings(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_remotecontrolsettings"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_remotecontrolsettings *remotecontrolsettings; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; remotecontrolsettings = &(store->remotecontrolsettings); header = &(remotecontrolsettings->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_remotecontrolsettings(verbose, remotecontrolsettings, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kRemoteControlSonarSettings; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_long(MB_YES, remotecontrolsettings->serial_number, &buffer[index]); index += 8; mb_put_binary_int(MB_YES, remotecontrolsettings->ping_number, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->frequency, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->sample_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->receiver_bandwidth, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->pulse_width, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->pulse_type, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->pulse_envelope, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->pulse_envelope_par, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->pulse_reserved, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->max_ping_rate, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->ping_period, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->range_selection, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->power_selection, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->gain_selection, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->control_flags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->projector_magic_no, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->steering_vertical, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->steering_horizontal, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->beamwidth_vertical, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->beamwidth_horizontal, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->focal_point, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->projector_weighting, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->projector_weighting_par, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->transmit_flags, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->hydrophone_magic_no, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->receive_weighting, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->receive_weighting_par, &buffer[index]); index += 4; mb_put_binary_int(MB_YES, remotecontrolsettings->receive_flags, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->range_minimum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->range_maximum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->depth_minimum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->depth_maximum, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->absorption, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->sound_velocity, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->spreading, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, remotecontrolsettings->reserved, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, remotecontrolsettings->tx_offset_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->tx_offset_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->tx_offset_z, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->head_tilt_x, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->head_tilt_y, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->head_tilt_z, &buffer[index]); index += 4; mb_put_binary_short(MB_YES, remotecontrolsettings->ping_on_off, &buffer[index]); index += 2; buffer[index] = remotecontrolsettings->data_sample_types; index++; buffer[index] = remotecontrolsettings->projector_orientation; index++; mb_put_binary_short(MB_YES, remotecontrolsettings->beam_angle_mode, &buffer[index]); index += 2; mb_put_binary_short(MB_YES, remotecontrolsettings->r7kcenter_mode, &buffer[index]); index += 2; mb_put_binary_float(MB_YES, remotecontrolsettings->gate_depth_min, &buffer[index]); index += 4; mb_put_binary_float(MB_YES, remotecontrolsettings->gate_depth_max, &buffer[index]); index += 4; for (i=0;i<35;i++) { mb_put_binary_short(MB_YES, remotecontrolsettings->reserved2[i], &buffer[index]); index += 2; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_reserved(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_reserved"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_reserved *reserved; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; reserved = &(store->reserved); header = &(reserved->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_reserved(verbose, reserved, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kReserved; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; for (i=0;ireserved[i]; index++; } /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_roll(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_roll"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_roll *roll; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; roll = &(store->roll); header = &(roll->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_roll(verbose, roll, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kRoll; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, roll->roll, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_pitch(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_pitch"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_pitch *pitch; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; pitch = &(store->pitch); header = &(pitch->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_pitch(verbose, pitch, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kPitch; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, pitch->pitch, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_soundvelocity(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_soundvelocity"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_soundvelocity *soundvelocity; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; soundvelocity = &(store->soundvelocity); header = &(soundvelocity->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_soundvelocity(verbose, soundvelocity, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kSoundVelocity; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, soundvelocity->soundvelocity, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_absorptionloss(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_absorptionloss"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_absorptionloss *absorptionloss; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; absorptionloss = &(store->absorptionloss); header = &(absorptionloss->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_absorptionloss(verbose, absorptionloss, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kAbsorptionLoss; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, absorptionloss->absorptionloss, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); 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_reson7kr_wr_spreadingloss(int verbose, int *bufferalloc, char **bufferptr, void *store_ptr, int *size, int *error) { char *function_name = "mbr_reson7kr_wr_spreadingloss"; int status = MB_SUCCESS; struct mbsys_reson7k_struct *store; s7k_header *header; s7kr_spreadingloss *spreadingloss; unsigned int checksum; int index; char *buffer; 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 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 bufferptr: %lu\n",(size_t)bufferptr); fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr); } /* get pointer to raw data structure */ store = (struct mbsys_reson7k_struct *) store_ptr; spreadingloss = &(store->spreadingloss); header = &(spreadingloss->header); /* print out the data to be output */ #ifdef MBR_RESON7KR_DEBUG if (verbose > 0) #else if (verbose >= 2) #endif mbsys_reson7k_print_spreadingloss(verbose, spreadingloss, error); /* figure out size of output record */ *size = MBSYS_RESON7K_RECORDHEADER_SIZE + MBSYS_RESON7K_RECORDTAIL_SIZE; *size += R7KHDRSIZE_7kSpreadingLoss; /* allocate memory to write rest of record if necessary */ if (*bufferalloc < *size) { status = mb_reallocd(verbose, __FILE__, __LINE__, *size, (void **)bufferptr, error); if (status != MB_SUCCESS) { *bufferalloc = 0; } else { *bufferalloc = *size; } } /* proceed to write if buffer allocated */ if (status == MB_SUCCESS) { /* get buffer for writing */ buffer = (char *) *bufferptr; /* insert the header */ index = 0; status = mbr_reson7kr_wr_header(verbose, buffer, &index, header, error); /* insert the data */ index = header->Offset + 4; mb_put_binary_float(MB_YES, spreadingloss->spreadingloss, &buffer[index]); index += 4; /* reset the header size value */ mb_put_binary_int(MB_YES, ((unsigned int)(index + 4)), &buffer[8]); /* now add the checksum */ checksum = 0; for (i=0;i= 2) { fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name); fprintf(stderr,"dbg2 Return values:\n"); fprintf(stderr,"dbg2 bufferalloc:%d\n",*bufferalloc); fprintf(stderr,"dbg2 size: %d\n",*size); fprintf(stderr,"dbg2 error: %d\n",*error); fprintf(stderr,"dbg2 Return status:\n"); fprintf(stderr,"dbg2 status: %d\n",status); } /* return status */ return(status); } /*--------------------------------------------------------------------*/