int main (int argc, char **argv)
{
char program_name[] = "MBauvloglist";
char help_message[] = "MBauvloglist lists table data from an MBARI AUV mission log file.";
char usage_message[] = "MBauvloglist -Ifile [-Fprintformat -Llonflip -Olist -H -V]";
extern char *optarg;
int errflg = 0;
int c;
int help = 0;
int flag = 0;
/* MBIO status variables */
int status = MB_SUCCESS;
int verbose = 0;
int error = MB_ERROR_NO_ERROR;
char *message = NULL;
/* MBIO read control parameters */
int pings;
int format;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double speedmin;
double timegap;
/* auv log data */
FILE *fp;
char file[MB_PATH_MAXLINE];
struct field
{
int type;
int size;
int index;
char name[MB_PATH_MAXLINE];
char format[MB_PATH_MAXLINE];
char description[MB_PATH_MAXLINE];
char units[MB_PATH_MAXLINE];
double scale;
};
struct printfield
{
char name[MB_PATH_MAXLINE];
int index;
int formatset;
char format[MB_PATH_MAXLINE];
};
int nfields = 0;
struct field fields[NFIELDSMAX];
int nprintfields = 0;
struct printfield printfields[NFIELDSMAX];
int nrecord;
int recordsize;
int printheader = MB_NO;
int angles_in_degrees = MB_NO;
/* navigation, heading, attitude data for merging in fnv format */
int nav_merge = MB_NO;
mb_path nav_file;
int nav_num = 0;
int nav_alloc = 0;
double *nav_time_d = NULL;
double *nav_navlon = NULL;
double *nav_navlat = NULL;
double *nav_heading = NULL;
double *nav_speed = NULL;
double *nav_sensordepth = NULL;
double *nav_roll = NULL;
double *nav_pitch = NULL;
double *nav_heave = NULL;
/* output control */
int output_mode = OUTPUT_MODE_TAB;
double time_d = 0.0;
int time_i[7];
int time_j[5];
char buffer[MB_PATH_MAXLINE];
char type[MB_PATH_MAXLINE];
char printformat[MB_PATH_MAXLINE];
char *result;
int nscan;
double dvalue;
double sec;
int ivalue;
int index;
int jinterp = 0;
int nchar;
int nget;
int nav_ok;
int interp_status;
int i, j;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set file to null */
file[0] = '\0';
nav_file[0] = '\0';
strcpy(printformat, "default");
/* process argument list */
while ((c = getopt(argc, argv, "F:f:I:i:L:l:M:m:N:n:O:o:PpSsVvWwHh")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'F':
case 'f':
sscanf (optarg,"%s", printformat);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", file);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'M':
case 'm':
sscanf (optarg,"%d", &output_mode);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg,"%s", nav_file);
nav_merge = MB_YES;
flag++;
break;
case 'O':
case 'o':
nscan = sscanf (optarg,"%s", printfields[nprintfields].name);
if (strlen(printformat) > 0 && strcmp(printformat, "default") != 0)
{
printfields[nprintfields].formatset = MB_YES;
strcpy(printfields[nprintfields].format,printformat);
}
else
{
printfields[nprintfields].formatset = MB_NO;
strcpy(printfields[nprintfields].format,"");
}
printfields[nprintfields].index = -1;
nprintfields++;
flag++;
break;
case 'P':
case 'p':
printheader = MB_YES;
flag++;
break;
case 'S':
case 's':
angles_in_degrees = MB_YES;
flag++;
break;
case '?':
errflg++;
}
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(stderr,"usage: %s\n", usage_message);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(stderr,"\nProgram %s\n",program_name);
fprintf(stderr,"Version %s\n",rcs_id);
fprintf(stderr,"MB-system Version %s\n",MB_VERSION);
}
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Program <%s>\n",program_name);
fprintf(stderr,"dbg2 Version %s\n",rcs_id);
fprintf(stderr,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(stderr,"dbg2 Control Parameters:\n");
fprintf(stderr,"dbg2 verbose: %d\n",verbose);
fprintf(stderr,"dbg2 help: %d\n",help);
fprintf(stderr,"dbg2 lonflip: %d\n",lonflip);
fprintf(stderr,"dbg2 bounds[0]: %f\n",bounds[0]);
fprintf(stderr,"dbg2 bounds[1]: %f\n",bounds[1]);
fprintf(stderr,"dbg2 bounds[2]: %f\n",bounds[2]);
fprintf(stderr,"dbg2 bounds[3]: %f\n",bounds[3]);
fprintf(stderr,"dbg2 btime_i[0]: %d\n",btime_i[0]);
fprintf(stderr,"dbg2 btime_i[1]: %d\n",btime_i[1]);
fprintf(stderr,"dbg2 btime_i[2]: %d\n",btime_i[2]);
fprintf(stderr,"dbg2 btime_i[3]: %d\n",btime_i[3]);
fprintf(stderr,"dbg2 btime_i[4]: %d\n",btime_i[4]);
fprintf(stderr,"dbg2 btime_i[5]: %d\n",btime_i[5]);
fprintf(stderr,"dbg2 btime_i[6]: %d\n",btime_i[6]);
fprintf(stderr,"dbg2 etime_i[0]: %d\n",etime_i[0]);
fprintf(stderr,"dbg2 etime_i[1]: %d\n",etime_i[1]);
fprintf(stderr,"dbg2 etime_i[2]: %d\n",etime_i[2]);
fprintf(stderr,"dbg2 etime_i[3]: %d\n",etime_i[3]);
fprintf(stderr,"dbg2 etime_i[4]: %d\n",etime_i[4]);
fprintf(stderr,"dbg2 etime_i[5]: %d\n",etime_i[5]);
fprintf(stderr,"dbg2 etime_i[6]: %d\n",etime_i[6]);
fprintf(stderr,"dbg2 speedmin: %f\n",speedmin);
fprintf(stderr,"dbg2 timegap: %f\n",timegap);
fprintf(stderr,"dbg2 file: %s\n",file);
fprintf(stderr,"dbg2 nav_file: %s\n",nav_file);
fprintf(stderr,"dbg2 output_mode: %d\n",output_mode);
fprintf(stderr,"dbg2 printheader: %d\n",printheader);
fprintf(stderr,"dbg2 angles_in_degrees:%d\n",angles_in_degrees);
fprintf(stderr,"dbg2 nprintfields: %d\n",nprintfields);
for (i=0;i<nprintfields;i++)
fprintf(stderr,"dbg2 printfields[%d]: %s %d %s\n",
i,printfields[i].name,
printfields[i].formatset,
printfields[i].format);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(stderr,"\n%s\n",help_message);
fprintf(stderr,"\nusage: %s\n", usage_message);
exit(error);
}
/* if nav merging to be done get nav */
if (nav_merge == MB_YES && strlen(nav_file) > 0)
{
/* count the data points in the nav file */
nav_num = 0;
nchar = MB_PATH_MAXLINE-1;
if ((fp = fopen(nav_file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open Navigation File <%s> for reading\n",nav_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
while ((result = fgets(buffer,nchar,fp)) == buffer)
nav_num++;
fclose(fp);
/* allocate arrays for nav */
if (nav_num > 0)
{
nav_alloc = nav_num;
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_time_d,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_navlon,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_navlat,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_heading,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_speed,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_sensordepth,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_roll,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_pitch,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,nav_alloc*sizeof(double),(void **)&nav_heave,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(stderr,"\nMBIO Error allocating data arrays:\n%s\n",message);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
}
/* read the data points in the nav file */
nav_num = 0;
if ((fp = fopen(nav_file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to Open navigation File <%s> for reading\n",nav_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
while ((result = fgets(buffer,nchar,fp)) == buffer)
{
nget = sscanf(buffer,"%d %d %d %d %d %lf %lf %lf %lf %lf %lf %lf %lf %lf %lf",
&time_i[0],&time_i[1],&time_i[2],
&time_i[3],&time_i[4],&sec,
&nav_time_d[nav_num],
&nav_navlon[nav_num],&nav_navlat[nav_num],
&nav_heading[nav_num],&nav_speed[nav_num],&nav_sensordepth[nav_num],
&nav_roll[nav_num],&nav_pitch[nav_num],&nav_heave[nav_num]);
if (nget >= 9)
nav_ok = MB_YES;
else
nav_ok = MB_NO;
if (nav_num > 0 && nav_time_d[nav_num] <= nav_time_d[nav_num-1])
nav_ok = MB_NO;
if (nav_ok == MB_YES)
nav_num++;
}
fclose(fp);
}
fprintf(stderr,"%d %d records read from nav file %s\n",nav_alloc,nav_num,nav_file);
/* open the input file */
if ((fp = fopen(file, "r")) == NULL)
{
error = MB_ERROR_OPEN_FAIL;
status = MB_FAILURE;
fprintf(stderr,"\nUnable to open log file <%s> for reading\n",file);
exit(status);
}
nfields = 0;
recordsize = 0;
while ((result = fgets(buffer,MB_PATH_MAXLINE,fp)) == buffer
&& strncmp(buffer, "# begin",7) != 0)
{
nscan = sscanf(buffer, "# %s %s %s",
type,
fields[nfields].name,
fields[nfields].format);
if (nscan == 2)
{
if (printheader == MB_YES)
fprintf(stdout,"# csv %s\n", fields[nfields].name);
}
else if (nscan == 3)
{
if (printheader == MB_YES)
fprintf(stdout,"%s",buffer);
result = (char *) strchr(buffer, ',');
strcpy(fields[nfields].description, &(result[1]));
result = (char *) strchr(fields[nfields].description, ',');
result[0] = 0;
result = (char *) strrchr(buffer, ',');
strcpy(fields[nfields].units, &(result[1]));
fields[nfields].index = recordsize;
if (strcmp(type, "double") == 0)
{
fields[nfields].type = TYPE_DOUBLE;
fields[nfields].size = 8;
if (angles_in_degrees == MB_YES
&&(strcmp(fields[nfields].name, "mLatK") == 0
|| strcmp(fields[nfields].name, "mLonK") == 0
|| strcmp(fields[nfields].name, "mLatK") == 0
|| strcmp(fields[nfields].name, "mRollK") == 0
|| strcmp(fields[nfields].name, "mPitchK") == 0
|| strcmp(fields[nfields].name, "mHeadK") == 0
|| strcmp(fields[nfields].name, "mYawK") == 0
|| strcmp(fields[nfields].name, "mLonCB") == 0
|| strcmp(fields[nfields].name, "mLatCB") == 0
|| strcmp(fields[nfields].name, "mRollCB") == 0
|| strcmp(fields[nfields].name, "mPitchCB") == 0
|| strcmp(fields[nfields].name, "mHeadCB") == 0
|| strcmp(fields[nfields].name, "mYawCB") == 0))
fields[nfields].scale = RTD;
else
fields[nfields].scale = 1.0;
recordsize += 8;
}
else if (strcmp(type, "integer") == 0)
{
fields[nfields].type = TYPE_INTEGER;
fields[nfields].size = 4;
fields[nfields].scale = 1.0;
recordsize += 4;
}
else if (strcmp(type, "timeTag") == 0)
{
fields[nfields].type = TYPE_TIMETAG;
fields[nfields].size = 8;
fields[nfields].scale = 1.0;
recordsize += 8;
}
else if (strcmp(type, "angle") == 0)
{
fields[nfields].type = TYPE_ANGLE;
fields[nfields].size = 8;
if (angles_in_degrees == MB_YES
&&(strcmp(fields[nfields].name, "mRollCB") == 0
|| strcmp(fields[nfields].name, "mOmega_xCB") == 0
|| strcmp(fields[nfields].name, "mPitchCB") == 0
|| strcmp(fields[nfields].name, "mOmega_yCB") == 0
|| strcmp(fields[nfields].name, "mYawCB") == 0
|| strcmp(fields[nfields].name, "mOmega_zCB") == 0))
fields[nfields].scale = RTD;
else
fields[nfields].scale = 1.0;
recordsize += 8;
}
nfields++;
}
}
/* end here if asked only to print header */
if (nprintfields == 0 && printheader == MB_YES)
exit(error);
/* by default print everything */
if (nprintfields == 0)
{
nprintfields = nfields;
for (i=0;i<nfields;i++)
{
strcpy(printfields[i].name, fields[i].name);
printfields[i].index = i;
printfields[i].formatset = MB_NO;
strcpy(printfields[i].format, fields[i].format);
}
}
/* check the fields to be printed */
for (i=0;i<nprintfields;i++)
{
if (strcmp(printfields[i].name,"zero") == 0)
{
printfields[i].index = INDEX_ZERO;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%f");
}
}
else if (strcmp(printfields[i].name,"timeTag") == 0)
{
printfields[i].index = INDEX_ZERO;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.8f");
}
}
else if (strcmp(printfields[i].name,"mergeLon") == 0)
{
printfields[i].index = INDEX_MERGE_LON;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.9f");
}
}
else if (strcmp(printfields[i].name,"mergeLat") == 0)
{
printfields[i].index = INDEX_MERGE_LAT;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.9f");
}
}
else if (strcmp(printfields[i].name,"mergeHeading") == 0)
{
printfields[i].index = INDEX_MERGE_HEADING;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeSpeed") == 0)
{
printfields[i].index = INDEX_MERGE_SPEED;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeDraft") == 0)
{
printfields[i].index = INDEX_MERGE_SENSORDEPTH;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeSensordepth") == 0)
{
printfields[i].index = INDEX_MERGE_SENSORDEPTH;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeRoll") == 0)
{
printfields[i].index = INDEX_MERGE_ROLL;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergePitch") == 0)
{
printfields[i].index = INDEX_MERGE_PITCH;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else if (strcmp(printfields[i].name,"mergeHeave") == 0)
{
printfields[i].index = INDEX_MERGE_HEAVE;
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, "%.3f");
}
}
else
{
for (j=0;j<nfields;j++)
{
if (strcmp(printfields[i].name, fields[j].name) == 0)
printfields[i].index = j;
}
if (printfields[i].formatset == MB_NO)
{
strcpy(printfields[i].format, fields[printfields[i].index].format);
}
}
}
/* if verbose print list of print field names */
if (verbose > 0)
{
for (i=0;i<nprintfields;i++)
{
if (i == 0)
fprintf(stdout, "# ");
fprintf(stdout, "%s", printfields[i].name);
if (i < nprintfields-1)
fprintf(stdout, " | ");
else
fprintf(stdout, "\n");
}
}
/* read the data records in the auv log file */
nrecord = 0;
while (fread(buffer, recordsize, 1, fp) == 1)
{
for (i=0;i<nprintfields;i++)
{
index = printfields[i].index;
if (index == INDEX_ZERO)
{
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_LON)
{
interp_status = mb_linear_interp_longitude(verbose,
nav_time_d-1, nav_navlon-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_LAT)
{
interp_status = mb_linear_interp_latitude(verbose,
nav_time_d-1, nav_navlat-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_HEADING)
{
interp_status = mb_linear_interp_heading(verbose,
nav_time_d-1, nav_heading-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_SPEED)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_speed-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_SENSORDEPTH)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_sensordepth-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_ROLL)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_roll-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_PITCH)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_pitch-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (index == INDEX_MERGE_HEAVE)
{
interp_status = mb_linear_interp(verbose,
nav_time_d-1, nav_heave-1,
nav_num, time_d, &dvalue, &jinterp,
&error);
if (jinterp < 2 || jinterp > nav_num-2)
dvalue = 0.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (fields[index].type == TYPE_DOUBLE)
{
mb_get_binary_double(MB_YES, &buffer[fields[index].index], &dvalue);
dvalue *= fields[index].scale;
if ((strcmp(fields[nfields].name, "mHeadK") == 0
|| strcmp(fields[nfields].name, "mYawK") == 0)
&& angles_in_degrees == MB_YES
&& dvalue < 0.0)
dvalue += 360.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
else if (fields[index].type == TYPE_INTEGER)
{
mb_get_binary_int(MB_YES, &buffer[fields[index].index], &ivalue);
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&ivalue, sizeof(int), 1, stdout);
else
fprintf(stdout, printfields[i].format, ivalue);
}
else if (fields[index].type == TYPE_TIMETAG)
{
mb_get_binary_double(MB_YES, &buffer[fields[index].index], &dvalue);
time_d = dvalue;
if (strcmp(printfields[i].format, "time_i") == 0)
{
mb_get_date(verbose,time_d,time_i);
if (output_mode == OUTPUT_MODE_BINARY)
{
fwrite(time_i, sizeof(int), 7, stdout);
}
else
{
fprintf(stdout,"%4.4d %2.2d %2.2d %2.2d %2.2d %2.2d.%6.6d",
time_i[0],time_i[1],time_i[2],time_i[3],time_i[4],time_i[5],time_i[6]);
}
}
else if (strcmp(printfields[i].format, "time_j") == 0)
{
mb_get_date(verbose,time_d,time_i);
mb_get_jtime(verbose,time_i,time_j);
if (output_mode == OUTPUT_MODE_BINARY)
{
fwrite(&time_i[0], sizeof(int), 1, stdout);
fwrite(&time_j[1], sizeof(int), 1, stdout);
fwrite(&time_i[3], sizeof(int), 1, stdout);
fwrite(&time_i[4], sizeof(int), 1, stdout);
fwrite(&time_i[5], sizeof(int), 1, stdout);
fwrite(&time_i[6], sizeof(int), 1, stdout);
}
else
{
fprintf(stdout,"%4.4d %3.3d %2.2d %2.2d %2.2d.%6.6d",
time_i[0],time_j[1],time_i[3],time_i[4],time_i[5],time_i[6]);
}
}
else
{
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, time_d);
}
}
else if (fields[index].type == TYPE_ANGLE)
{
mb_get_binary_double(MB_YES, &buffer[fields[index].index], &dvalue);
dvalue *= fields[index].scale;
if (strcmp(fields[index].name, "mYawCB") == 0
&& angles_in_degrees == MB_YES
&& dvalue < 0.0)
dvalue += 360.0;
if (output_mode == OUTPUT_MODE_BINARY)
fwrite(&dvalue, sizeof(double), 1, stdout);
else
fprintf(stdout, printfields[i].format, dvalue);
}
if (output_mode == OUTPUT_MODE_TAB)
{
if (i < nprintfields - 1)
fprintf(stdout, "\t");
else
fprintf(stdout, "\n");
}
else if (output_mode == OUTPUT_MODE_CSV)
{
if (i < nprintfields - 1)
fprintf(stdout, ",");
else
fprintf(stdout, "\n");
}
}
nrecord++;
}
fclose(fp);
/* deallocate arrays for navigation */
if (nav_alloc > 0)
{
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_time_d,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_navlon,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_navlat,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_heading,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_speed,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_sensordepth,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_roll,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_pitch,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&nav_heave,&error);
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 Program <%s> completed\n",
program_name);
fprintf(stderr,"dbg2 Ending status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* end it all */
exit(error);
}
/*--------------------------------------------------------------------*/
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);
}
