/*--------------------------------------------------------------------*/
int mbr_rt_em12darw(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
char *function_name = "mbr_rt_em12darw";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbf_em12darw_struct *data;
struct mbsys_simrad_struct *store;
struct mbsys_simrad_survey_struct *ping;
char line[MBF_EM12DARW_RECORD_LENGTH];
int index;
char *datacomment;
int time_j[5];
int time_i[7];
int kind;
int i;
/* print input debug statements */
if (verbose >= 2) {
fprintf(stderr, "\ndbg2 MBIO function <%s> called\n", function_name);
fprintf(stderr, "dbg2 Input arguments:\n");
fprintf(stderr, "dbg2 verbose: %d\n", verbose);
fprintf(stderr, "dbg2 mbio_ptr: %p\n", (void *)mbio_ptr);
fprintf(stderr, "dbg2 store_ptr: %p\n", (void *)store_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
/* get pointer to raw data structure */
data = (struct mbf_em12darw_struct *)mb_io_ptr->raw_data;
datacomment = (char *)&line[80];
store = (struct mbsys_simrad_struct *)store_ptr;
/* set file position */
mb_io_ptr->file_pos = mb_io_ptr->file_bytes;
/* read next record from file */
if ((status = fread(line, 1, MBF_EM12DARW_RECORD_LENGTH, mb_io_ptr->mbfp)) == MBF_EM12DARW_RECORD_LENGTH) {
mb_io_ptr->file_bytes += status;
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else {
mb_io_ptr->file_bytes += status;
status = MB_FAILURE;
*error = MB_ERROR_EOF;
}
/* get data type */
kind = MB_DATA_NONE;
if (status == MB_SUCCESS) {
mb_get_binary_short(MB_NO, &line[0], &(data->func));
}
/* deal with comment */
if (status == MB_SUCCESS && data->func == 100) {
kind = MB_DATA_COMMENT;
strncpy(store->comment, datacomment, MBSYS_SIMRAD_COMMENT_LENGTH);
}
/* deal with data */
else if (status == MB_SUCCESS && data->func == 150) {
kind = MB_DATA_DATA;
index = 2;
mb_get_binary_short(MB_NO, &line[index], &(data->year));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->jday));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->minute));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->secs));
index += 8;
mb_get_binary_double(MB_NO, &line[index], &(data->latitude));
index += 8;
mb_get_binary_double(MB_NO, &line[index], &(data->longitude));
index += 8;
mb_get_binary_short(MB_NO, &line[index], &(data->corflag));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->utm_merd));
index += 4;
mb_get_binary_short(MB_NO, &line[index], &(data->utm_zone));
index += 2;
mb_get_binary_short(MB_NO, &line[index], &(data->posq));
index += 2;
mb_get_binary_int(MB_NO, &line[index], &(data->pingno));
index += 4;
mb_get_binary_short(MB_NO, &line[index], &(data->mode));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->depthl));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->speed));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->gyro));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->roll));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->pitch));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->heave));
index += 4;
mb_get_binary_float(MB_NO, &line[index], &(data->sndval));
index += 4;
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->depth[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->distacr[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->distalo[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->range[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->refl[i]));
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_get_binary_short(MB_NO, &line[index], &(data->beamq[i]));
index += 2;
}
/* print debug statements */
if (verbose >= 4) {
fprintf(stderr, "\ndbg4 Data read by MBIO function <%s>\n", function_name);
fprintf(stderr, "dbg4 Read values:\n");
fprintf(stderr, "dbg4 kind: %d\n", kind);
fprintf(stderr, "dbg4 error: %d\n", *error);
fprintf(stderr, "dbg4 year: %d\n", data->year);
fprintf(stderr, "dbg4 jday: %d\n", data->jday);
fprintf(stderr, "dbg4 minute: %d\n", data->minute);
fprintf(stderr, "dbg4 secs: %d\n", data->secs);
fprintf(stderr, "dbg4 latitude: %f\n", data->latitude);
fprintf(stderr, "dbg4 longitude: %f\n", data->longitude);
fprintf(stderr, "dbg4 corflag: %d\n", data->corflag);
fprintf(stderr, "dbg4 utm_merd: %f\n", data->utm_merd);
fprintf(stderr, "dbg4 utm_zone: %d\n", data->utm_zone);
fprintf(stderr, "dbg4 posq: %d\n", data->posq);
fprintf(stderr, "dbg4 pingno: %d\n", data->pingno);
fprintf(stderr, "dbg4 mode: %d\n", data->mode);
fprintf(stderr, "dbg4 depthl: %f\n", data->depthl);
fprintf(stderr, "dbg4 speed: %f\n", data->speed);
fprintf(stderr, "dbg4 gyro: %f\n", data->gyro);
fprintf(stderr, "dbg4 roll: %f\n", data->roll);
fprintf(stderr, "dbg4 pitch: %f\n", data->pitch);
fprintf(stderr, "dbg4 heave: %f\n", data->heave);
fprintf(stderr, "dbg4 sndval: %f\n", data->sndval);
for (i = 0; i < MBF_EM12DARW_BEAMS; i++)
fprintf(stderr, "dbg4 beam:%d depth:%d distacr:%d distalo:%d range:%d refl:%d beamq:%d\n", i,
data->depth[i], data->distacr[i], data->distalo[i], data->range[i], data->refl[i], data->beamq[i]);
}
}
/* else unintelligible */
else if (status == MB_SUCCESS) {
kind = MB_DATA_NONE;
status = MB_FAILURE;
*error = MB_ERROR_UNINTELLIGIBLE;
}
/* set kind and error in mb_io_ptr */
mb_io_ptr->new_kind = kind;
mb_io_ptr->new_error = *error;
/* translate values to em12 data storage structure */
if (status == MB_SUCCESS && store != NULL) {
/* type of data record */
store->kind = kind;
store->sonar = MBSYS_SIMRAD_EM12S;
/* time */
mb_fix_y2k(verbose, (int)data->year, &time_j[0]);
time_j[1] = data->jday;
time_j[2] = data->minute;
time_j[3] = data->secs / 100;
time_j[4] = 0.0001 * (100 * time_j[3] - data->secs);
mb_get_itime(verbose, time_j, time_i);
store->year = data->year;
store->month = time_i[1];
store->day = time_i[2];
store->hour = time_i[3];
store->minute = time_i[4];
store->second = time_i[5];
store->centisecond = 0.0001 * time_i[6];
store->pos_year = store->year;
store->pos_month = store->month;
store->pos_day = store->day;
store->pos_hour = store->hour;
store->pos_minute = store->minute;
store->pos_second = store->second;
store->pos_centisecond = store->centisecond;
/* navigation */
if (data->corflag == 0) {
store->pos_latitude = data->latitude;
store->pos_longitude = data->longitude;
store->utm_northing = 0.0;
store->utm_easting = 0.0;
}
else {
store->pos_latitude = 0.0;
store->pos_longitude = 0.0;
store->utm_northing = data->latitude;
store->utm_easting = data->longitude;
}
store->utm_zone = data->utm_zone;
store->utm_zone_lon = data->utm_merd;
store->utm_system = data->corflag;
store->pos_quality = data->posq;
store->speed = data->speed;
store->line_heading = 10 * data->gyro;
/* allocate secondary data structure for
survey data if needed */
if (kind == MB_DATA_DATA && store->ping == NULL) {
status = mbsys_simrad_survey_alloc(verbose, mbio_ptr, store_ptr, error);
}
/* deal with putting survey data into
secondary data structure */
if (status == MB_SUCCESS && kind == MB_DATA_DATA) {
/* get data structure pointer */
ping = (struct mbsys_simrad_survey_struct *)store->ping;
/* copy data */
ping->longitude = data->longitude;
ping->latitude = data->latitude;
ping->swath_id = EM_SWATH_CENTER;
ping->ping_number = data->pingno;
ping->beams_bath = MBF_EM12DARW_BEAMS;
ping->bath_mode = 0;
ping->bath_res = data->mode;
ping->bath_quality = 0;
ping->keel_depth = data->depthl;
ping->heading = (int)10 * data->gyro;
ping->roll = (int)100 * data->roll;
ping->pitch = (int)100 * data->pitch;
ping->xducer_pitch = (int)100 * data->pitch;
ping->ping_heave = (int)100 * data->heave;
ping->sound_vel = (int)10 * data->sndval;
ping->pixels_ss = 0;
ping->ss_mode = 0;
for (i = 0; i < ping->beams_bath; i++) {
if (data->depth[i] > 0) {
ping->bath[i] = data->depth[i];
ping->beamflag[i] = MB_FLAG_NONE;
}
else if (data->depth[i] < 0) {
ping->bath[i] = -data->depth[i];
ping->beamflag[i] = MB_FLAG_FLAG + MB_FLAG_MANUAL;
}
else {
ping->bath[i] = data->depth[i];
ping->beamflag[i] = MB_FLAG_NULL;
}
ping->bath_acrosstrack[i] = data->distacr[i];
ping->bath_alongtrack[i] = data->distalo[i];
ping->tt[i] = data->range[i];
ping->amp[i] = (mb_s_char)data->refl[i];
ping->quality[i] = (mb_u_char)data->beamq[i];
ping->heave[i] = (mb_s_char)0;
ping->beam_frequency[i] = 0;
ping->beam_samples[i] = 0;
ping->beam_center_sample[i] = 0;
}
}
else if (status == MB_SUCCESS && kind == MB_DATA_COMMENT) {
/* comment */
strncpy(store->comment, datacomment, MBSYS_SIMRAD_COMMENT_LENGTH);
}
}
/* 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);
}
/*--------------------------------------------------------------------*/
int mbr_rt_hydrob93(int verbose, void *mbio_ptr, void *store_ptr, int *error)
{
char *function_name = "mbr_rt_hydrob93";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_singlebeam_struct *store;
char line[MBF_HYDROB93_RECORD_LENGTH];
int ilongitude, ilatitude, idepth;
short itype;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Input arguments:\n");
fprintf(stderr,"dbg2 verbose: %d\n",verbose);
fprintf(stderr,"dbg2 mbio_ptr: %lu\n",(size_t)mbio_ptr);
fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr);
}
/* get pointers to mbio descriptor and data structures */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
store = (struct mbsys_singlebeam_struct *) store_ptr;
/* set file position */
mb_io_ptr->file_bytes = ftell(mb_io_ptr->mbfp);
mb_io_ptr->file_pos = mb_io_ptr->file_bytes;
/* read next record from file */
mb_io_ptr->file_pos = mb_io_ptr->file_bytes;
if ((status = fread(line,1,MBF_HYDROB93_RECORD_LENGTH,
mb_io_ptr->mbfp)) == MBF_HYDROB93_RECORD_LENGTH)
{
mb_io_ptr->file_bytes += status;
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else
{
mb_io_ptr->file_bytes += status;
status = MB_FAILURE;
*error = MB_ERROR_EOF;
}
/* handle the data */
if (status == MB_SUCCESS)
{
/* parse data */
mb_get_binary_int(MB_YES, &line[0], (int *) &ilatitude);
mb_get_binary_int(MB_YES, &line[4], (int *) &ilongitude);
mb_get_binary_int(MB_YES, &line[8], (int *) &idepth);
mb_get_binary_short(MB_YES, &line[12], (short *) &itype);
store->longitude = (ilongitude) * 0.000001;
store->latitude = (ilatitude) * 0.000001;
store->bath = (idepth) * 0.1;
if (itype == 711)
store->flag = MB_FLAG_NONE;
else if (itype == 10711)
store->flag = MB_FLAG_FLAG + MB_FLAG_MANUAL;
else
store->flag = MB_FLAG_NULL;
store->time_d = MB_TIME_D_UNKNOWN;
mb_get_date(verbose, store->time_d, store->time_i);
store->heading = 0.0;
store->speed = 0.0;
store->roll = 0.0;
store->pitch = 0.0;
store->heave = 0.0;
/* set kind */
if (itype == 711 || itype == 10711)
store->kind = MB_DATA_DATA;
else
store->kind = MB_DATA_RAW_LINE;
if (status == MB_SUCCESS)
{
/* print output debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 Data read in MBIO function <%s>\n",function_name);
fprintf(stderr,"dbg4 Values read:\n");
fprintf(stderr,"dbg4 time_i[0]: %d\n",store->time_i[0]);
fprintf(stderr,"dbg4 time_i[1]: %d\n",store->time_i[1]);
fprintf(stderr,"dbg4 time_i[2]: %d\n",store->time_i[2]);
fprintf(stderr,"dbg4 time_i[3]: %d\n",store->time_i[3]);
fprintf(stderr,"dbg4 time_i[4]: %d\n",store->time_i[4]);
fprintf(stderr,"dbg4 time_i[5]: %d\n",store->time_i[5]);
fprintf(stderr,"dbg4 time_i[6]: %d\n",store->time_i[6]);
fprintf(stderr,"dbg4 time_d: %f\n",store->time_d);
fprintf(stderr,"dbg4 latitude: %f\n",store->latitude);
fprintf(stderr,"dbg4 longitude: %f\n",store->longitude);
fprintf(stderr,"dbg4 bath: %f\n",store->bath);
fprintf(stderr,"dbg4 flag: %d\n",store->flag);
fprintf(stderr,"dbg4 heading: %f\n",store->heading);
fprintf(stderr,"dbg4 speed: %f\n",store->speed);
fprintf(stderr,"dbg4 roll: %f\n",store->roll);
fprintf(stderr,"dbg4 pitch: %f\n",store->pitch);
fprintf(stderr,"dbg4 heave: %f\n",store->heave);
fprintf(stderr,"dbg4 error: %d\n",*error);
fprintf(stderr,"dbg4 status: %d\n",status);
}
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_UNINTELLIGIBLE;
}
}
/* 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);
}
