/*-------------------------------------------------------------------- * The MB-system: mr1pr_defines.h 3/7/2003 * $Id: mr1pr_defines.h 1770 2009-10-19 17:16:39Z caress $ * * Copyright (c) 2003 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. *--------------------------------------------------------------------*/ /* This source code is part of the MR1PR library used to read and write * swath sonar data in the MR1PR format devised and used by the * Hawaii Mapping Research Group of the University of Hawaii. * This source code was made available by Roger Davis of the * University of Hawaii under the GPL. Minor modifications have * been made to the version distributed here as part of MB-System. * * Author: Roger Davis (primary author) * Author: D. W. Caress (MB-System revisions) * Date: March 7, 2003 (MB-System revisions) * $Log: mr1pr_defines.h,v $ * Revision 5.2 2007/10/08 16:37:00 caress * Added cygwin define. * * Revision 5.1 2006/01/11 07:46:15 caress * Working towards 5.0.8 * * Revision 5.0 2003/03/11 19:09:14 caress * Initial version. * * * *--------------------------------------------------------------------*/ /* * Copyright (c) 1991 by University of Hawaii. */ /* * mr1pr_defines.h -- * Hawaii MR1 post-processing software definitions. */ #ifndef __MR1PR_DEFINES__ #define __MR1PR_DEFINES__ /* XDR i/o include file */ #ifdef IRIX #include #endif #ifdef IRIX64 #include #endif #ifdef SOLARIS #include #endif #ifdef LINUX #include #endif #ifdef LYNX #include #endif #ifdef SUN #include #endif #ifdef HPUX #include #endif #ifdef DARWIN #include #include #endif #ifdef CYGWIN #include #include #endif #ifdef OTHER #include #include #endif /* Various system dependent defines */ #ifdef SUN #define Free (void) free #define MemType char #define MemSizeType unsigned int #define MemCopy(m0, m1, n) bcopy((char *) (m0), (char *) (m1), (int) (n)) #define MemZero(m, n) bzero((char *) (m), (int) (n)) #else #define Free free #define MemType void #define MemSizeType size_t #define MemCopy(m0, m1, n) (void) memmove((void *) (m1), (void *) (m0), (size_t) (n)) #define MemZero(m, n) (void) memset((void *) (m), (int) 0, (size_t) (n)) #endif /* MR1 channel defines */ #define ACP_NSIDES (2) #define ACP_PORT (0) #define ACP_STBD (1) #define ACP_UNKNOWN (2) #define ACP_BOTH (3) /* version number */ #define MR1_VERSION_1_0 (6666) /* obsolete version */ #define MR1_VERSION_2_0 (6667) /* current version */ /* MR1File -- This structure appears at the beginning of all MR1 post-processing files. It describes the class and number of data objects contained within the file. */ typedef struct mf_struct { int mf_version; /* file format version number */ int mf_count; /* number of objects */ char *mf_log; /* processing log */ } MR1File; /* Sensor -- This structure describes the sample interval, number of samples and the samples themselves for a single sensor (e.g., roll). Unknown sample values are indicated by NaN. */ typedef struct sns_struct { float sns_int; /* sample interval (secs) */ int sns_nsamps; /* number of samples */ float sns_repval; /* single representative value of the sensor for an entire ping, usually derived from the full set of samples for that ping */ } Sensor; /* PingSide -- This structure describes either the port or starboard side of a single ping. */ typedef struct ps_struct { float ps_xmitpwr; /* transmitter power (1=full) */ float ps_gain; /* gain setting (units?) */ float ps_pulse; /* pulse length (millisecs) */ float ps_bdrange; /* bottom detect range (m) */ int ps_btycount; /* number of valid bathymetry samples */ int ps_btypad; /* number of invalid trailing pad samples */ float ps_ssoffset; /* across-track distance to first sidescan sample */ int ps_sscount; /* number of valid sidescan samples */ int ps_sspad; /* number of invalid trailing pad samples */ } PingSide; /* MR1Timeval -- This structure is defined for the MB-System version of this code because MB-System explicitely avoids using standard time structures and functions, thereby avoiding the wide variability in time handling amongst Unix-like operating systems. */ typedef struct mf_timeval { int tv_sec; /* seconds */ int tv_usec; /* and microseconds */ } MR1Timeval; /* Ping -- This structure describes the single ping of bathymetry and sidescan data which follows it in an MR1 sidescan file. A file may have any number of such pings. */ typedef struct png_struct { MR1Timeval png_tm; /* timestamp */ float png_period; /* ping period (secs) */ double png_slon; /* ship longitude (deg) */ double png_slat; /* ship latitude (deg) */ float png_scourse; /* ship course (deg) */ float png_laybackrng; /* towfish layback range (m) */ float png_laybackbrg; /* towfish layback bearing (deg, where 0=shipaxis, pos=port, neg=starboard) */ double png_tlon; /* towfish longitude (deg) */ double png_tlat; /* towfish latitude (deg) */ float png_tcourse; /* towfish course (deg) */ Sensor png_compass; /* towfish compass heading (deg, where 0=N, 90=E), with no magnetic correction applied to either the representative value or the sample array */ Sensor png_depth; /* towfish depth (m) */ Sensor png_pitch; /* towfish pitch (deg) */ Sensor png_roll; /* towfish roll (deg) */ int png_snspad; /* number of invalid trailing pad sensor samples */ float png_temp; /* water temperature (deg) */ float png_atssincr; /* across-track sidescan increment (m) */ float png_alt; /* towfish altitude (m) */ float png_magcorr; /* magnetic correction (deg) */ float png_sndvel; /* sound velocity (m/sec) */ PingSide png_sides[ACP_NSIDES]; } Ping; /* SMControl -- This structure describes a shared memory control block used to pass information back and forth between cooperating MR1 processing programs. */ #define SMC_RDRNONE (0x0) #define SMC_RDRDATA (0x1) #define SMC_RDRMARKS (0x2) #define SMC_MSGSTDPCT (0) #define SMC_MSGALTPCT (1) #define SMC_MSGOTHER (2) #define SMC_MAXMSG (40) typedef struct sm_struct { int sm_shmiid; /* shared memory ID of ping offsets */ int sm_shmmid; /* shared memory ID of ping marks */ int sm_shmdid; /* shared memory ID of actual data block */ int sm_count; /* total number of objects in data block */ int sm_ping; /* number of last processed ping */ int sm_status; /* IPC status flag */ int sm_redraw; /* data and ping mark redraw flag */ int sm_msgtype; /* message format identifier */ char sm_msg[SMC_MAXMSG+1]; } SMControl; /* time string parser definitions */ #define TM_JULIAN (0) #define TM_CALENDAR (1) #define TM_MAXSTRLEN (120) #define MR1_UNDEFINED (-1) /* error codes */ #define MR1_SUCCESS (0) #define MR1_FAILURE (1) #define MR1_FILTERWAIT (2) #define MR1_MISC (3) #define MR1_BADARG (4) #define MR1_MEMALLOC (5) #define MR1_OPEN (6) #define MR1_READ (7) #define MR1_WRITE (8) #define MR1_SYSVIPC (9) #define MR1_X11 (10) #define MR1_SIGNAL (11) #define MR1_PIPE (12) #define MR1_FCNTL (13) #define MR1_FORK (14) #define MR1_DUP2 (15) #define MR1_CHDIR (16) #define MR1_EXEC (17) #define MR1_PDB (18) #define MR1_EOF (19) #define MR1_BADDATA (20) /* data access mode */ #define MR1_FILEIO (0) #define MR1_SHAREDMEM (1) /* ping flags */ #define MR1_NULLMARK (0x0) #define MR1_LOWMARK (0x1) #define MR1_HIGHMARK (0x2) /* The material within the enclosing '#ifdef __MR1PR_OBSOLETE__' which follows is documentation of now-obsolete versions of the MR1 post-processing file format. */ #ifdef __MR1PR_OBSOLETE__ #define MR1_VERSION_1_0 (6666) typedef struct mf_struct { int mf_version; /* MR1_VERSION_1_0 */ int mf_count; /* number of objects */ char *mf_log; /* processing log */ } MR1File; typedef struct ps_struct { float ps_trans[2]; /* transmitter settings (units?) */ float ps_gain; /* gain setting (units?) */ float ps_pulse; /* pulse length (units?) */ int ps_btycount; /* number of valid bathymetry samples */ int ps_btypad; /* number of invalid trailing pad samples */ float ps_ssoffset; /* across-track distance to first sidescan sample */ int ps_sscount; /* number of valid sidescan samples */ int ps_sspad; /* number of invalid trailing pad samples */ } PingSide; typedef struct png_struct { MR1Timeval png_tm; /* timestamp */ double png_lon; /* longitude (deg) */ double png_lat; /* latitude (deg) */ float png_course; /* course determined from lats and longs (deg) */ float png_compass; /* compass heading of vehicle 0=N,90=E, etc. (deg) */ float png_prdepth; /* pressure depth (m) */ float png_alt; /* altitude of vehicle (m) */ float png_pitch; /* vehicle pitch (deg) */ float png_roll; /* vehicle roll (deg) */ float png_temp; /* water temperature (deg) */ float png_atssincr; /* across-track sidescan increment (m) */ PingSide png_port; PingSide png_stbd; } Ping; #endif /* __MR1PR_OBSOLETE__ */ #endif /* __MR1PR_DEFINES__ */