/*-------------------------------------------------------------------- * The MB-system: mbsys_dsl.h 8/5/94 * $Id: mbsys_dsl.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1996-2012 by * David W. Caress (caress@mbari.org) * Monterey Bay Aquarium Research Institute * Moss Landing, CA 95039 * and Dale N. Chayes (dale@ldeo.columbia.edu) * Lamont-Doherty Earth Observatory * Palisades, NY 10964 * * See README file for copying and redistribution conditions. *--------------------------------------------------------------------*/ /* * mbsys_dsl.h defines the data structures used by MBIO functions * to store data from the DSL AMS-120 sonar system. This is a 120 khz * deep-towed sonar which produces both sidescan and bathymetry. * The data formats used to store the DSL AMS-120 data are: * MBF_DSL120PF : MBIO ID 111 * MBF_DSL120SF : MBIO ID 112 * * * Author: D. W. Caress * Date: August 5, 1996 * * $Log: mbsys_dsl.h,v $ * Revision 5.6 2005/11/05 00:48:03 caress * Programs changed to register arrays through mb_register_array() rather than allocating the memory directly with mb_realloc() or mb_malloc(). * * Revision 5.5 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.4 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * Revision 5.3 2002/07/20 20:42:40 caress * Release 5.0.beta20 * * Revision 5.2 2001/07/20 00:32:54 caress * Release 5.0.beta03 * * Revision 5.1 2001/01/22 07:43:34 caress * Version 5.0.beta01 * * Revision 5.0 2000/12/01 22:48:41 caress * First cut at Version 5.0. * * Revision 4.3 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.2 1998/10/05 18:32:27 caress * MB-System version 4.6beta * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1997/04/21 17:02:07 caress * MB-System 4.5 Beta Release. * * Revision 4.1 1997/04/17 15:07:36 caress * MB-System 4.5 Beta Release * * Revision 4.0 1996/08/26 17:29:56 caress * Release 4.4 revision. * * Revision 1.1 1996/08/26 17:24:56 caress * Initial revision * * */ /* * Notes on the MBSYS_DSL data structure: * 1. The DSL processing system used a parallel file scheme * in which bathymetry, sidescan, and navigation are kept * in separate files. Some examples of the filenames are: * DSL120.940630_1100.bat.dat - bathymetry * DSL120.940630_1100.amp.dat - sidescan * DSL120.940630_1100.nav - navigation * 2. The DSL parallel file scheme is supported under MB-System * data format 111 (MBF_DSL120PF); a single file scheme is * supported under data format 112 (MBF_DSL120SF). The * single file scheme is within the DSL format specification. * 3. The bathymetry and sidescan data are stored in binary * data structures; the navigation is stored in ASCII. * 4. The DSL format supports arbitrary numbers of bathymetry * and sidescan values. The MB-System implementation has * maximum numbers of values hardwired in the #defines * below. * 5. The bathymetry and sidescan data have navigation * fields, but these navigation values typically repeat * for many pings, often being the same for entire files. * The separate navigation files contain the post-processed * navigation with distinct values for each ping. * 6. The original navigation values supplied by WHOI/DSL * so far are in projected eastings and northings rather * than in longitude and latitude. Since MB-System only * works with longitude and latitude, a special program * will need to be used to translate the navigation to * longitude and latitude. * 7. Due to the above problem, the following scheme will * be used to handle MBF_DSL120DT data in MB-System: * a) Run a perl macro called mbdslnavfix on the * DSL120.*.nav files, producing DSL.*.mbnav * files in a format understood by mbmerge. * b) Run mbmerge on the DSL120.*.bat.dat and DSL120.*.amp.dat * files to merge the navigation from the DSL120.*.mbnav * in with the bathymetry and sidescan data. * 8. The parallel file structure is difficult to deal with * in the MB-System world where programs expect a single * input and a single output file name. Handling the two * files (bat.dat and amp.dat) will be handled in low level * i/o routines. If the input file name has a "bat" in it, * the code will attempt to open a second file with the * same name except that "amp" is substituted for "bat". * If the specified input file has "amp" in it, then the * second file will have "bat". The same will be true for * the output files. * 9. The comment records reside only in the "bat" files in * the parallel file scheme of format 111. * The comment records are an MB-System extension to the * DSL format. The program mbcopy can be used to strip * the comments out of the data files prior to reusing * DSL processing software. * */ /* maximum number of beams and pixels */ #define MBSYS_DSL_MAXBEAMS_SIDE 1024 #define MBSYS_DSL_MAXBEAMS 2 * MBSYS_DSL_MAXBEAMS_SIDE #define MBSYS_DSL_MAXPIXELS_SIDE 4096 #define MBSYS_DSL_MAXPIXELS 2 * MBSYS_DSL_MAXPIXELS_SIDE #define MBSYS_DSL_COMMENT_LENGTH 80 /* datagram types */ #define DSL_NONE 0x00000000L #define DSL_HEADER 0x44534C20L /* "DSL " */ #define DSL_BATH 0x42415448L /* "BATH" */ #define DSL_AMP 0x414D5020L /* "AMP " */ #define DSL_COMMENT 0x434f4d4dL /* "COMM" */ /* internal data structure */ struct mbsys_dsl_struct { /* type of data record */ int kind; /* Data vs Comment */ /* record header */ int rec_type; /* always "DSL " */ int rec_len; int rec_hdr_len; unsigned int p_flags; /* processing flags */ int num_data_types; /* number of data types in rec */ int ping; /* ping number */ char sonar_cmd[4]; /* sonar parameters */ char time_stamp[24]; /* ascii event time */ float nav_x; /* x position */ float nav_y; /* y position */ float depth; /* depth - meters */ float heading; /* heading of vehicle - degrees */ float pitch; /* pitch - degrees */ float roll; /* roll - degrees */ float alt; /* altitude - meters */ float ang_offset; /* pointing ang relative to nose - deg*/ int transmit_pwr; /* transmit power decibels */ int gain_port; /* db - not sure if belongs here */ int gain_starbd; /* db - not sure if belongs here */ float pulse_width; /* pulse width */ int swath_width; /* meters */ char side; /* 0 - port, 1 - stbd for fwd scan */ char swapped; /* data,header: 00-PC 01-SunHdr 11-Sun*/ int tv_sec; /* seconds */ int tv_usec; /* and microseconds */ short interface; /* digital interface: 0,1,or 2 - * must be specified in config file */ short reserved[5]; /* bathymetry record */ int bat_type; /* always "BATH" */ int bat_len; int bat_hdr_len; int bat_num_bins; float bat_sampleSize; unsigned int bat_p_flags; float bat_max_range; /* meters */ int bat_future[9]; float bat_port[MBSYS_DSL_MAXBEAMS_SIDE]; float bat_stbd[MBSYS_DSL_MAXBEAMS_SIDE]; /* amplitude record */ int amp_type; /* always "AMP " */ int amp_len; int amp_hdr_len; int amp_num_samp; float amp_sampleSize; unsigned int amp_p_flags; /* offset/slr, ... */ float amp_max_range; /* meters */ int amp_channel; /* 1-upper/0-lower */ int amp_future[8]; float amp_port[MBSYS_DSL_MAXPIXELS]; float amp_stbd[MBSYS_DSL_MAXPIXELS_SIDE]; /* comment */ char comment[MBSYS_DSL_COMMENT_LENGTH]; }; /* system specific function prototypes */ int mbsys_dsl_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_dsl_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_dsl_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_dsl_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, int *nbath, int *namp, int *nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_dsl_insert(int verbose, void *mbio_ptr, void *store_ptr, int kind, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, int nbath, int namp, int nss, char *beamflag, double *bath, double *amp, double *bathacrosstrack, double *bathalongtrack, double *ss, double *ssacrosstrack, double *ssalongtrack, char *comment, int *error); int mbsys_dsl_ttimes(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, double *ttimes, double *angles, double *angles_forward, double *angles_null, double *heave, double *alongtrack_offset, double *draft, double *ssv, int *error); int mbsys_dsl_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_dsl_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_dsl_extract_nav(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int time_i[7], double *time_d, double *navlon, double *navlat, double *speed, double *heading, double *draft, double *roll, double *pitch, double *heave, int *error); int mbsys_dsl_insert_nav(int verbose, void *mbio_ptr, void *store_ptr, int time_i[7], double time_d, double navlon, double navlat, double speed, double heading, double draft, double roll, double pitch, double heave, int *error); int mbsys_dsl_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);