/*-------------------------------------------------------------------- * The MB-system: mbsys_oic.h 3/1/99 * $Id: mbsys_oic.h 1917 2012-01-10 19:25:33Z caress $ * * Copyright (c) 1999-2012 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_oic.h defines the data structure used by MBIO functions * to store swath sonar data derived from OIC systems: * MBF_OICGEODA : MBIO ID 141 * MBF_OICMBARI : MBIO ID 142 * * Author: D. W. Caress * Date: March 1, 1999 * * $Log: mbsys_oic.h,v $ * Revision 5.5 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 5.4 2003/04/17 21:05:23 caress * Release 5.0.beta30 * * Revision 5.3 2002/09/18 23:32:59 caress * Release 5.0.beta23 * * 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 4.1 2000/09/30 06:31:19 caress * Snapshot for Dale. * * Revision 4.0 1999/03/31 18:29:20 caress * MB-System 4.6beta7 * * Revision 1.1 1999/03/31 18:11:35 caress * Initial revision * * */ /* * Notes on the MBSYS_OIC data structure: * 1. This data structure is used to store swath sonar data * collected and recorded using the GeoDAS-SV1 system * developed and sold by Ocean Imaging Consultants. * In particular, the Deep Submergence Lab (DSL) of * the Woods Hole Oceanographic Institution (WHOI) now * uses an OIC GeoDAS-SV1 package as the front end for * their deep towed 120 kHz interferometry sonar (AMS-120). * 2. Two data formats are supported. The first, MBF_OICGEODA, * is the vendor format containing unflaggable bathymetry * and raw sidescan. The MBIO i/o module for this format * generates complete bathymetry and sidescan out of the * raw information, but does not support flagging of bad * bathymetry or the storage of corrected sidescan. * The second, MBF_OICMBARI, is intended as a processing * and archiving format as it allows the storage of both * the unaltered raw values and editable and correctable * bathymetry and sidescan. * 3. In both formats the data consist of variable length * binary records. * 4. Each data record has three parts. First there is a 248-byte * header section containing the time stamp, navigation, a * variety of other values, the numbers and sizes of sonar * data included in the record. The second, optional, part of * the record is "client specific information" of arbitrary * length. The third part contains up to eight arrays of * "raw" sonar data followed by, in the MBF_OICMBARI format, * arrays of processing bathymetry and sidescan. * 5. The header begins with a four byte magic number. For the * MBF_OICGEODA format the first three bytes are 'G', 'E', * and 'O'. For the MBF_OICMBARI format the first three bytes * are 'G', 'E', and '2'.The fourth byte is the id number for * the data source. * 6. The maximum numbers of beams and pixels defined below are * limitations specific to MBIO - the formats themselves * contain no limits on the amount of data per record. * 7. Comment records are encoded in MBIO using the "client * specific information" section of the record and an unused * sonar type value. * */ /* defines sizes of things */ #define MBSYS_OIC_MAX_CLIENT 252 #define MBSYS_OIC_MAX_COMMENT MBSYS_OIC_MAX_CLIENT #define MBSYS_OIC_MAX_CHANNELS 8 /* define maximum number of beams */ #define MBSYS_OIC_MAX_BEAMS 1024 #define MBSYS_OIC_MAX_PIXELS 2048 /* define sonar types */ #define OIC_ID_EGANDG 0 #define OIC_ID_SEAVIEW 1 #define OIC_ID_DEEPSCAN 2 #define OIC_ID_STEST 3 #define OIC_ID_QMIPS 4 #define OIC_ID_SEAMARC2 5 #define OIC_ID_DSLAMS120 22 #define OIC_ID_DSLAMS200 23 #define OIC_ID_COMMENT 255 /* define nav types */ #define OIC_NAV_UTM 0 #define OIC_NAV_LOCAL 1 #define OIC_NAV_LONLAT 2 /* define sonar data types */ #define OIC_TYPE_SIDESCAN 0 #define OIC_TYPE_ANGLE 1 #define OIC_TYPE_MULTIBEAM 2 /* define side */ #define OIC_PORT 0 #define OIC_STARBOARD 1 #define OIC_SUBBOTTOM 2 /* define sonar data sizes */ #define OIC_SIZE_CHAR 0 #define OIC_SIZE_SHORT 1 #define OIC_SIZE_INT 2 #define OIC_SIZE_FLOAT 3 #define OIC_SIZE_3FLOAT 4 struct mbsys_oic_channel_struct { int offset; /* offset in bytes to channel data */ mb_u_char type; /* sonar type: 0 = sidescan 1 = angle 2 = multibeam */ mb_u_char side; /* sonar side: 0 = port 1 = starboard */ mb_u_char size; /* data sample type and size: 0 = 1 byte integer 1 = 2 byte integer 2 = 4 byte integer 3 = 4 byte float 4 = 12 byte set of three floats - range, theta, amp */ mb_u_char empty; /* spare */ int frequency; /* Hz */ int num_samples; /* number of samples stored for sidescan and angle sonar types, number of beams for multibeam */ }; struct mbsys_oic_seaview_struct { double longitude; /* longitude in degrees */ double latitude; /* latitude in degrees */ int x; /* local x coordinates in yards */ int y; /* local y coordinates in yards */ int uncertainty; /* navigation uncertainty in yards */ float speed; /* speed over ground in knots */ float altitude; /* platform altitude in feet */ float depth; /* platform depth in feet */ float sound_velocity; /* sound velocity in feet/sec */ char id[20]; /* client id string */ }; struct mbsys_oic_struct { int kind; mb_u_char type; /* Magic number: 0 - EG&G sonar 1 - SEAVIEW sonar 2 - DEEPSCAN sonar 3 - STEST SEAVIEW test 4 - QTEST QMIPs test 5 - SM2 SeaMARC2 test 22 - WHOI DSL AMS120 */ int proc_status; /* OIC processing status in bit mask form */ int data_size; mb_u_char client_size; mb_u_char fish_status; /* status bit field: 0: FocusAutoManual 1: FocusManualDisableEnable 2: PingRate AutoManual 3: TvgAutoManual 4: CalibOffOn 5: OutputModeProcRaw 6: ShadowMask 7: QualityBit */ mb_s_char nav_used; mb_s_char nav_type; /* 0 = UTM coordinates in m 1 = Local coordinates in m 2 = Latitude and longitude */ int utm_zone; float ship_x; /* meters or degrees */ float ship_y; /* meters or degrees */ float ship_course; /* degrees */ float ship_speed; /* m/sec */ int sec; int usec; float spare_gain; float fish_heading; /* degrees */ float fish_depth; /* meters */ float fish_range; /* meters */ float fish_pulse_width; /* msec */ float gain_c0; float gain_c1; float gain_c2; float fish_pitch; /* degrees */ float fish_roll; /* degrees */ float fish_yaw; /* degrees */ float fish_x; /* meters or degrees */ float fish_y; /* meters or degrees */ float fish_layback; /* meters */ float fish_altitude; /* meters */ int fish_altitude_samples; float fish_ping_period; /* seconds per ping */ float sound_velocity; /* m/sec */ int num_chan; int beams_bath; int beams_amp; int bath_chan_port; int bath_chan_stbd; int pixels_ss; int ss_chan_port; int ss_chan_stbd; struct mbsys_oic_channel_struct channel[MBSYS_OIC_MAX_CHANNELS]; char client[MBSYS_OIC_MAX_CLIENT]; int rawsize[MBSYS_OIC_MAX_CHANNELS]; char *raw[MBSYS_OIC_MAX_CHANNELS]; int beams_bath_alloc; int beams_amp_alloc; int pixels_ss_alloc; char *beamflag; float *bath; float *amp; float *bathacrosstrack; float *bathalongtrack; float *tt; float *angle; float *ss; float *ssacrosstrack; float *ssalongtrack; }; /* system specific function prototypes */ int mbsys_oic_alloc(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_oic_deall(int verbose, void *mbio_ptr, void **store_ptr, int *error); int mbsys_oic_dimensions(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbath, int *namp, int *nss, int *error); int mbsys_oic_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_oic_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_oic_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_oic_detects(int verbose, void *mbio_ptr, void *store_ptr, int *kind, int *nbeams, int *detects, int *error); int mbsys_oic_extract_altitude(int verbose, void *mbio_ptr, void *store_ptr, int *kind, double *transducer_depth, double *altitude, int *error); int mbsys_oic_insert_altitude(int verbose, void *mbio_ptr, void *store_ptr, double transducer_depth, double altitude, int *error); int mbsys_oic_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_oic_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_oic_copy(int verbose, void *mbio_ptr, void *store_ptr, void *copy_ptr, int *error);