/*--------------------------------------------------------------------*/
int mbsys_surf_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)
{
char *function_name = "mbsys_surf_insert";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_surf_struct *store;
int i;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
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);
fprintf(stderr,"dbg2 kind: %d\n",kind);
}
if (verbose >= 2 && kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 time_d: %f\n",time_d);
fprintf(stderr,"dbg2 navlon: %f\n",navlon);
fprintf(stderr,"dbg2 navlat: %f\n",navlat);
fprintf(stderr,"dbg2 speed: %f\n",speed);
fprintf(stderr,"dbg2 heading: %f\n",heading);
fprintf(stderr,"dbg2 nbath: %d\n",nbath);
if (verbose >= 3)
for (i=0;i<nbath;i++)
fprintf(stderr,"dbg3 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 namp: %d\n",namp);
if (verbose >= 3)
for (i=0;i<namp;i++)
fprintf(stderr,"dbg3 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n",
i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 nss: %d\n",nss);
if (verbose >= 3)
for (i=0;i<nss;i++)
fprintf(stderr,"dbg3 beam:%d ss:%f acrosstrack:%f alongtrack:%f\n",
i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
}
if (verbose >= 2 && kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: \ndbg2 %s\n",
comment);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_surf_struct *) store_ptr;
/* set data kind */
store->kind = kind;
/* insert data in structure */
if (store->kind == MB_DATA_DATA)
{
/* set time */
store->SoundingData.relTime = (float) (time_d
- store->AbsoluteStartTimeOfProfile);
/* set navigation */
store->CenterPosition[0].centerPositionX = (float)
(DTR * navlon - store->GlobalData.referenceOfPositionX);
store->CenterPosition[0].centerPositionY = (float)
(DTR * navlat - store->GlobalData.referenceOfPositionY);
/* set heading */
store->SoundingData.headingWhileTransmitting = (float) (DTR * heading);
/* set speed */
store->CenterPosition[0].speed = (float) (speed / 3.6);
/* write distance and depth values into storage arrays */
if (store->GlobalData.typeOfSounder == 'B'
|| store->GlobalData.typeOfSounder == 'F')
{
store->NrBeams = nbath;
for (i=0;i<store->NrBeams;i++)
{
store->MultiBeamDepth[i].depth = bath[i];
if (beamflag[i] == MB_FLAG_NULL)
store->MultiBeamDepth[i].depthFlag
= store->MultiBeamDepth[i].depthFlag | SB_DELETED;
else if (!mb_beam_check_flag(beamflag[i]))
store->MultiBeamDepth[i].depthFlag
= store->MultiBeamDepth[i].depthFlag
& 2046;
else
store->MultiBeamDepth[i].depthFlag
= store->MultiBeamDepth[i].depthFlag
| SB_DEPTH_SUPPRESSED;
store->MultiBeamDepth[i].beamPositionStar = (float) bathacrosstrack[i];
store->MultiBeamDepth[i].beamPositionAhead = (float) bathalongtrack[i];
}
}
else if (store->GlobalData.typeOfSounder == 'V')
{
store->NrBeams = 0;
if (store->SingleBeamDepth.depthHFreq > 0.0)
store->SingleBeamDepth.depthHFreq = bath[0];
else if (store->SingleBeamDepth.depthMFreq > 0.0)
store->SingleBeamDepth.depthMFreq = bath[0];
else if (store->SingleBeamDepth.depthLFreq > 0.0)
store->SingleBeamDepth.depthLFreq = bath[0];
else
store->SingleBeamDepth.depthMFreq = bath[0];
if (beamflag[i] == MB_FLAG_NULL)
store->SingleBeamDepth.depthFlag
= store->SingleBeamDepth.depthFlag | SB_DELETED;
else if (!mb_beam_check_flag(beamflag[i]))
store->SingleBeamDepth.depthFlag
= store->SingleBeamDepth.depthFlag & 2046;
else
store->SingleBeamDepth.depthFlag
= store->SingleBeamDepth.depthFlag | SB_DEPTH_SUPPRESSED;
}
/* set beam amplitudes */
store->NrAmplitudes = namp;
for (i=0;i<store->NrAmplitudes;i++)
{
store->MultibeamBeamAmplitudes[i].beamAmplitude = (unsigned short) amp[i];
}
if (nss == store->SidescanData.actualNrOfSsDataPort
+ store->SidescanData.actualNrOfSsDataStb)
{
for (i=0;i<store->SidescanData.actualNrOfSsDataPort;i++)
{
store->SidescanData.ssData[i] = ss[store->SidescanData.actualNrOfSsDataPort - i - 1];
}
for (i=store->SidescanData.actualNrOfSsDataStb;i<nss;i++)
{
store->SidescanData.ssData[i] = ss[i];
}
}
}
/* insert comment in structure */
else if (store->kind == MB_DATA_COMMENT)
{
/*strncpy(store->comment,comment,
MBSYS_SURF_COMMENT_LENGTH);*/
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Return value:\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);
}
/*--------------------------------------------------------------------*/
int mb_get(int verbose, void *mbio_ptr, int *kind, int *pings,
int time_i[7], double *time_d,
double *navlon, double *navlat,
double *speed, double *heading,
double *distance, double *altitude, double *sonardepth,
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)
{
char *function_name = "mb_get";
int status;
struct mb_io_struct *mb_io_ptr;
char *store_ptr;
int i;
int done;
int reset_last;
double mtodeglon, mtodeglat;
double dx, dy;
double delta_time;
double headingx, headingy;
double denom;
/* 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 mb_ptr: %lu\n",(size_t)mbio_ptr);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
store_ptr = (char *) mb_io_ptr->store_data;
/* initialize binning values */
mb_io_ptr->pings_read = 0;
mb_io_ptr->pings_binned = 0;
mb_io_ptr->time_d = 0.0;
mb_io_ptr->lon = 0.0;
mb_io_ptr->lat = 0.0;
mb_io_ptr->speed = 0.0;
mb_io_ptr->heading = 0.0;
headingx = 0.0;
headingy = 0.0;
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
{
mb_io_ptr->beamflag[i] = MB_FLAG_NULL;
mb_io_ptr->bath[i] = 0.0;
mb_io_ptr->bath_acrosstrack[i] = 0.0;
mb_io_ptr->bath_alongtrack[i] = 0.0;
mb_io_ptr->bath_num[i] = 0;
}
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
{
mb_io_ptr->amp[i] = 0.0;
mb_io_ptr->amp_num[i] = 0;
}
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
{
mb_io_ptr->ss[i] = 0.0;
mb_io_ptr->ss_acrosstrack[i] = 0.0;
mb_io_ptr->ss_alongtrack[i] = 0.0;
mb_io_ptr->ss_num[i] = 0;
}
/* read the data */
done = MB_NO;
while (done == MB_NO)
{
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg2 About to read ping in function <%s>\n",
function_name);
fprintf(stderr,"dbg2 need_new_ping: %d\n",
mb_io_ptr->need_new_ping);
fprintf(stderr,"dbg2 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg2 pings_read: %d\n",
mb_io_ptr->pings_read);
fprintf(stderr,"dbg2 status: %d\n",status);
fprintf(stderr,"dbg2 error: %d\n",*error);
}
/* get next ping */
if (mb_io_ptr->need_new_ping)
{
status = mb_read_ping(verbose,mbio_ptr,store_ptr,
&mb_io_ptr->new_kind,error);
/* log errors */
if (*error < MB_ERROR_NO_ERROR)
mb_notice_log_error(verbose, mbio_ptr, *error);
/* if io arrays have been reallocated, update the
pointers of arrays passed into this function,
as these pointers may have changed */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
if (mb_io_ptr->bath_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &beamflag, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bath, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathacrosstrack, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &bathalongtrack, error);
mb_io_ptr->bath_arrays_reallocated = MB_NO;
}
if (mb_io_ptr->amp_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &, error);
mb_io_ptr->amp_arrays_reallocated = MB_NO;
}
if (mb_io_ptr->ss_arrays_reallocated == MB_YES)
{
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ss, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssacrosstrack, error);
status = mb_update_arrayptr(verbose, mbio_ptr, (void **) &ssalongtrack, error);
mb_io_ptr->ss_arrays_reallocated = MB_NO;
}
}
/* if survey data read into storage array */
if (status == MB_SUCCESS
&& (mb_io_ptr->new_kind == MB_DATA_DATA
|| mb_io_ptr->new_kind == MB_DATA_COMMENT))
{
status = mb_extract(verbose,
mbio_ptr, store_ptr,
&mb_io_ptr->new_kind,
mb_io_ptr->new_time_i,
&mb_io_ptr->new_time_d,
&mb_io_ptr->new_lon,
&mb_io_ptr->new_lat,
&mb_io_ptr->new_speed,
&mb_io_ptr->new_heading,
&mb_io_ptr->new_beams_bath,
&mb_io_ptr->new_beams_amp,
&mb_io_ptr->new_pixels_ss,
mb_io_ptr->new_beamflag,
mb_io_ptr->new_bath,
mb_io_ptr->new_amp,
mb_io_ptr->new_bath_acrosstrack,
mb_io_ptr->new_bath_alongtrack,
mb_io_ptr->new_ss,
mb_io_ptr->new_ss_acrosstrack,
mb_io_ptr->new_ss_alongtrack,
mb_io_ptr->new_comment,
error);
}
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
status = mb_extract_altitude(verbose,
mbio_ptr, store_ptr,
&mb_io_ptr->new_kind,
sonardepth,
altitude,
error);
}
/* set errors if not survey data */
if (status == MB_SUCCESS)
{
mb_io_ptr->need_new_ping = MB_NO;
if (mb_io_ptr->new_kind == MB_DATA_DATA)
mb_io_ptr->ping_count++;
else if (mb_io_ptr->new_kind == MB_DATA_COMMENT)
{
mb_io_ptr->comment_count++;
status = MB_FAILURE;
*error = MB_ERROR_COMMENT;
mb_io_ptr->new_error = *error;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else if (mb_io_ptr->new_kind == MB_DATA_SUBBOTTOM_MCS
|| mb_io_ptr->new_kind == MB_DATA_SUBBOTTOM_CNTRBEAM
|| mb_io_ptr->new_kind == MB_DATA_SUBBOTTOM_SUBBOTTOM)
{
status = MB_FAILURE;
*error = MB_ERROR_SUBBOTTOM;
mb_io_ptr->new_error = *error;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else
{
status = MB_FAILURE;
*error = MB_ERROR_OTHER;
mb_io_ptr->new_error = *error;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
}
else
{
*error = mb_io_ptr->new_error;
if (*error == MB_ERROR_NO_ERROR)
status = MB_SUCCESS;
else
status = MB_FAILURE;
}
/* if not a fatal error, increment ping counter */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
mb_io_ptr->pings_read++;
/* if first ping read set "old" navigation values */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->ping_count == 1)
{
mb_io_ptr->old_time_d = mb_io_ptr->new_time_d;
mb_io_ptr->old_lon = mb_io_ptr->new_lon;
mb_io_ptr->old_lat = mb_io_ptr->new_lat;
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg2 New ping read in function <%s>\n",
function_name);
fprintf(stderr,"dbg2 need_new_ping: %d\n",
mb_io_ptr->need_new_ping);
fprintf(stderr,"dbg2 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg2 comment_count: %d\n",
mb_io_ptr->comment_count);
fprintf(stderr,"dbg2 pings_read: %d\n",
mb_io_ptr->pings_read);
fprintf(stderr,"dbg2 status: %d\n",
status);
fprintf(stderr,"dbg2 error: %d\n",
*error);
fprintf(stderr,"dbg2 new_error: %d\n",
mb_io_ptr->new_error);
}
/* check for out of location or time bounds */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA)
{
if (mb_io_ptr->new_lon < mb_io_ptr->bounds[0]
|| mb_io_ptr->new_lon > mb_io_ptr->bounds[1]
|| mb_io_ptr->new_lat < mb_io_ptr->bounds[2]
|| mb_io_ptr->new_lat > mb_io_ptr->bounds[3])
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_BOUNDS;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else if (mb_io_ptr->etime_d > mb_io_ptr->btime_d
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& (mb_io_ptr->new_time_d > mb_io_ptr->etime_d
|| mb_io_ptr->new_time_d < mb_io_ptr->btime_d))
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_TIME;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
else if (mb_io_ptr->etime_d < mb_io_ptr->btime_d
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& (mb_io_ptr->new_time_d > mb_io_ptr->etime_d
&& mb_io_ptr->new_time_d < mb_io_ptr->btime_d))
{
status = MB_FAILURE;
*error = MB_ERROR_OUT_TIME;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* check for time gap */
if (status == MB_SUCCESS
&& mb_io_ptr->new_time_d > MB_TIME_D_UNKNOWN
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->ping_count > 1)
{
if ((mb_io_ptr->new_time_d - mb_io_ptr->last_time_d)
> 60*mb_io_ptr->timegap)
{
status = MB_FAILURE;
*error = MB_ERROR_TIME_GAP;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* log errors */
if (*error < MB_ERROR_NO_ERROR)
mb_notice_log_error(verbose, mbio_ptr, *error);
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 New ping checked by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 New ping values:\n");
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 comment_count: %d\n",
mb_io_ptr->comment_count);
fprintf(stderr,"dbg4 pings_avg: %d\n",
mb_io_ptr->pings_avg);
fprintf(stderr,"dbg4 pings_read: %d\n",
mb_io_ptr->pings_read);
fprintf(stderr,"dbg4 error: %d\n",
mb_io_ptr->new_error);
fprintf(stderr,"dbg4 status: %d\n",
status);
}
if (verbose >= 4
&& mb_io_ptr->new_kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg4 comment: \ndbg4 %s\n",
mb_io_ptr->new_comment);
}
else if (verbose >= 4
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& *error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
fprintf(stderr,"dbg4 time_i[0]: %d\n",
mb_io_ptr->new_time_i[0]);
fprintf(stderr,"dbg4 time_i[1]: %d\n",
mb_io_ptr->new_time_i[1]);
fprintf(stderr,"dbg4 time_i[2]: %d\n",
mb_io_ptr->new_time_i[2]);
fprintf(stderr,"dbg4 time_i[3]: %d\n",
mb_io_ptr->new_time_i[3]);
fprintf(stderr,"dbg4 time_i[4]: %d\n",
mb_io_ptr->new_time_i[4]);
fprintf(stderr,"dbg4 time_i[5]: %d\n",
mb_io_ptr->new_time_i[5]);
fprintf(stderr,"dbg4 time_i[6]: %d\n",
mb_io_ptr->new_time_i[6]);
fprintf(stderr,"dbg4 time_d: %f\n",
mb_io_ptr->new_time_d);
fprintf(stderr,"dbg4 longitude: %f\n",
mb_io_ptr->new_lon);
fprintf(stderr,"dbg4 latitude: %f\n",
mb_io_ptr->new_lat);
fprintf(stderr,"dbg4 speed: %f\n",
mb_io_ptr->new_speed);
fprintf(stderr,"dbg4 heading: %f\n",
mb_io_ptr->new_heading);
fprintf(stderr,"dbg4 beams_bath: %d\n",
mb_io_ptr->new_beams_bath);
if (mb_io_ptr->new_beams_bath > 0)
{
fprintf(stderr,"dbg4 beam flag bath crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
fprintf(stderr,"dbg4 %4d %3d %f %f %f\n",
i,mb_io_ptr->new_beamflag[i],
mb_io_ptr->new_bath[i],
mb_io_ptr->new_bath_acrosstrack[i],
mb_io_ptr->new_bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 beams_amp: %d\n",
mb_io_ptr->new_beams_amp);
if (mb_io_ptr->new_beams_amp > 0)
{
fprintf(stderr,"dbg4 beam amp crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
fprintf(stderr,"dbg4 %4d %f %f %f\n",
i,mb_io_ptr->new_amp[i],
mb_io_ptr->new_bath_acrosstrack[i],
mb_io_ptr->new_bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 pixels_ss: %d\n",
mb_io_ptr->new_pixels_ss);
if (mb_io_ptr->new_pixels_ss > 0)
{
fprintf(stderr,"dbg4 pixel sidescan crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->new_pixels_ss;i++)
fprintf(stderr,"dbg4 %4d %f %f %f\n",
i,mb_io_ptr->new_ss[i],
mb_io_ptr->new_ss_acrosstrack[i],mb_io_ptr->new_ss_alongtrack[i]);
}
}
/* now bin the data if appropriate */
if (mb_io_ptr->new_kind == MB_DATA_DATA &&
/* if data is ok */
(status == MB_SUCCESS
/* or if nonfatal error and only one ping read,
bin the ping */
|| (*error < MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT
&& mb_io_ptr->pings_read == 1))
)
{
/* bin the values */
mb_io_ptr->pings_binned++;
mb_io_ptr->time_d = mb_io_ptr->time_d
+ mb_io_ptr->new_time_d;
mb_io_ptr->lon = mb_io_ptr->lon
+ mb_io_ptr->new_lon;
mb_io_ptr->lat = mb_io_ptr->lat
+ mb_io_ptr->new_lat;
mb_io_ptr->speed = mb_io_ptr->speed
+ mb_io_ptr->new_speed;
mb_io_ptr->heading = mb_io_ptr->heading
+ mb_io_ptr->new_heading;
headingx = headingx + sin(DTR*mb_io_ptr->new_heading);
headingy = headingy + cos(DTR*mb_io_ptr->new_heading);
if (mb_io_ptr->pings == 1)
{
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
{
mb_io_ptr->beamflag[i] = mb_io_ptr->new_beamflag[i];
mb_io_ptr->bath[i] = mb_io_ptr->new_bath[i];
mb_io_ptr->bath_acrosstrack[i] = mb_io_ptr->new_bath_acrosstrack[i];
mb_io_ptr->bath_alongtrack[i] = mb_io_ptr->new_bath_alongtrack[i];
mb_io_ptr->bath_num[i] = 1;
}
for (i=0;i<mb_io_ptr->new_beams_amp;i++)
{
mb_io_ptr->amp[i] = mb_io_ptr->new_amp[i];
mb_io_ptr->amp_num[i] = 1;
}
for (i=0;i<mb_io_ptr->new_pixels_ss;i++)
{
mb_io_ptr->ss[i] = mb_io_ptr->new_ss[i];
mb_io_ptr->ss_acrosstrack[i] = mb_io_ptr->new_ss_acrosstrack[i];
mb_io_ptr->ss_alongtrack[i] = mb_io_ptr->new_ss_alongtrack[i];
mb_io_ptr->ss_num[i] = 1;
}
}
else
{
for (i=0;i<mb_io_ptr->new_beams_bath;i++)
{
if (!mb_beam_check_flag(mb_io_ptr->new_beamflag[i]))
{
mb_io_ptr->beamflag[i] = MB_FLAG_NONE;
mb_io_ptr->bath[i] = mb_io_ptr->bath[i]
+ mb_io_ptr->new_bath[i];
mb_io_ptr->bath_acrosstrack[i] = mb_io_ptr->bath_acrosstrack[i]
+ mb_io_ptr->new_bath_acrosstrack[i];
mb_io_ptr->bath_alongtrack[i] = mb_io_ptr->bath_alongtrack[i]
+ mb_io_ptr->new_bath_alongtrack[i];
mb_io_ptr->bath_num[i]++;
}
}
for (i=0;i<mb_io_ptr->new_beams_amp;i++)
{
if (!mb_beam_check_flag(mb_io_ptr->new_beamflag[i]))
{
mb_io_ptr->amp[i] = mb_io_ptr->amp[i]
+ mb_io_ptr->new_amp[i];
mb_io_ptr->amp_num[i]++;
}
}
for (i=0;i<mb_io_ptr->new_pixels_ss;i++)
{
if (mb_io_ptr->new_ss[i] != 0.0)
{
mb_io_ptr->ss[i] = mb_io_ptr->ss[i]
+ mb_io_ptr->new_ss[i];
mb_io_ptr->ss_acrosstrack[i] = mb_io_ptr->ss_acrosstrack[i]
+ mb_io_ptr->new_ss_acrosstrack[i];
mb_io_ptr->ss_alongtrack[i] = mb_io_ptr->ss_alongtrack[i]
+ mb_io_ptr->new_ss_alongtrack[i];
mb_io_ptr->ss_num[i]++;
}
}
}
}
/* print debug statements */
if (verbose >= 4
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& (status == MB_SUCCESS
|| (*error < MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT
&& mb_io_ptr->pings_read == 1)))
{
fprintf(stderr,"\ndbg4 New ping binned by MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Current binned ping values:\n");
fprintf(stderr,"dbg4 pings_binned: %d\n",
mb_io_ptr->pings_binned);
fprintf(stderr,"dbg4 time_d: %f\n",
mb_io_ptr->time_d);
fprintf(stderr,"dbg4 longitude: %f\n",
mb_io_ptr->lon);
fprintf(stderr,"dbg4 latitude: %f\n",
mb_io_ptr->lat);
fprintf(stderr,"dbg4 speed: %f\n",
mb_io_ptr->speed);
fprintf(stderr,"dbg4 heading: %f\n",
mb_io_ptr->heading);
fprintf(stderr,"dbg4 beams_bath: %d\n",
mb_io_ptr->beams_bath_max);
if (mb_io_ptr->beams_bath_max > 0)
{
fprintf(stderr,"dbg4 beam nbath bath crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
fprintf(stderr,"dbg4 %4d %4d %f %f %f\n",
i,mb_io_ptr->bath_num[i],mb_io_ptr->bath[i],
mb_io_ptr->bath_acrosstrack[i],
mb_io_ptr->bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 beams_amp: %d\n",
mb_io_ptr->beams_amp_max);
if (mb_io_ptr->beams_amp_max > 0)
{
fprintf(stderr,"dbg4 beam namp amp crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
fprintf(stderr,"dbg4 %4d %4d %f %f %f\n",
i,mb_io_ptr->amp_num[i],mb_io_ptr->amp[i],
mb_io_ptr->bath_acrosstrack[i],
mb_io_ptr->bath_alongtrack[i]);
}
fprintf(stderr,"dbg4 pixels_ss: %d\n",
mb_io_ptr->pixels_ss_max);
if (mb_io_ptr->pixels_ss_max > 0)
{
fprintf(stderr,"dbg4 pixel nss sidescan crosstrack alongtrack\n");
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
fprintf(stderr,"dbg4 %4d %4d %f %f %f\n",
i,mb_io_ptr->ss_num[i],mb_io_ptr->ss[i],
mb_io_ptr->ss_acrosstrack[i],
mb_io_ptr->ss_alongtrack[i]);
}
}
/* if data is ok but more pings needed keep reading */
if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->pings_binned < mb_io_ptr->pings_avg)
{
done = MB_NO;
mb_io_ptr->need_new_ping = MB_YES;
reset_last = MB_YES;
}
/* if data is ok and enough pings binned then done */
else if (status == MB_SUCCESS
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->pings_binned >= mb_io_ptr->pings_avg)
{
done = MB_YES;
mb_io_ptr->need_new_ping = MB_YES;
reset_last = MB_YES;
}
/* if data gap and only one ping read and more
pings needed set error save flag and keep reading */
else if (*error == MB_ERROR_TIME_GAP
&& mb_io_ptr->new_kind == MB_DATA_DATA
&& mb_io_ptr->pings_read == 1
&& mb_io_ptr->pings_avg > 1)
{
done = MB_NO;
mb_io_ptr->need_new_ping = MB_YES;
mb_io_ptr->error_save = *error;
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
reset_last = MB_YES;
}
/* if other kind of data and need more pings
then keep reading */
else if ((*error == MB_ERROR_OTHER
|| *error == MB_ERROR_UNINTELLIGIBLE)
&& mb_io_ptr->pings_binned < mb_io_ptr->pings_avg)
{
done = MB_NO;
mb_io_ptr->need_new_ping = MB_YES;
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
reset_last = MB_NO;
}
/* if error and only one ping read then done */
else if (*error != MB_ERROR_NO_ERROR
&& mb_io_ptr->pings_read <= 1)
{
done = MB_YES;
mb_io_ptr->need_new_ping = MB_YES;
if (*error == MB_ERROR_TIME_GAP
|| *error == MB_ERROR_OUT_BOUNDS)
reset_last = MB_YES;
else
reset_last = MB_NO;
}
/* if error and more than one ping read,
then done but save the ping */
else if (*error != MB_ERROR_NO_ERROR)
{
done = MB_YES;
mb_io_ptr->need_new_ping = MB_NO;
*error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
reset_last = MB_NO;
}
/* if needed reset "last" pings */
if (reset_last == MB_YES)
{
mb_io_ptr->last_time_d = mb_io_ptr->new_time_d;
mb_io_ptr->last_lon = mb_io_ptr->new_lon;
mb_io_ptr->last_lat = mb_io_ptr->new_lat;
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 End of reading loop in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Current status values:\n");
fprintf(stderr,"dbg4 done: %d\n",done);
fprintf(stderr,"dbg4 need_new_ping: %d\n",
mb_io_ptr->need_new_ping);
fprintf(stderr,"dbg4 pings_binned: %d\n",
mb_io_ptr->pings_binned);
fprintf(stderr,"dbg4 error: %d\n",*error); fprintf(stderr,"dbg4 status: %d\n",status);
}
}
/* set output number of pings */
*pings = mb_io_ptr->pings_binned;
/* set data kind */
if (mb_io_ptr->pings_binned > 0)
*kind = MB_DATA_DATA;
else if (*error == MB_ERROR_COMMENT)
*kind = MB_DATA_COMMENT;
else
*kind = mb_io_ptr->new_kind;
/* get output time */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
if (mb_io_ptr->pings_binned == 1)
{
for (i=0;i<7;i++)
time_i[i] = mb_io_ptr->new_time_i[i];
*time_d = mb_io_ptr->new_time_d;
}
else if (mb_io_ptr->pings_binned > 1)
{
*time_d = mb_io_ptr->time_d/mb_io_ptr->pings_binned;
mb_get_date(verbose,*time_d,time_i);
}
else
{
*error = MB_ERROR_NO_PINGS_BINNED;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* get other output values */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
/* get navigation values */
*navlon = mb_io_ptr->lon/mb_io_ptr->pings_binned;
*navlat = mb_io_ptr->lat/mb_io_ptr->pings_binned;
headingx = headingx/mb_io_ptr->pings_binned;
headingy = headingy/mb_io_ptr->pings_binned;
denom = sqrt(headingx*headingx + headingy*headingy);
if (denom > 0.0)
{
headingx = headingx/denom;
headingy = headingy/denom;
*heading = RTD*atan2(headingx,headingy);
}
else
*heading = mb_io_ptr->heading/mb_io_ptr->pings_binned;
if (*heading < 0.0)
*heading = *heading + 360.0;
/* get coordinate scaling */
mb_coor_scale(verbose,*navlat,&mtodeglon,&mtodeglat);
/* get distance value */
if (mb_io_ptr->old_time_d > 0.0)
{
dx = (*navlon - mb_io_ptr->old_lon)/mtodeglon;
dy = (*navlat - mb_io_ptr->old_lat)/mtodeglat;
*distance = 0.001*sqrt(dx*dx + dy*dy); /* km */
}
else
*distance = 0.0;
/* get speed value */
if (mb_io_ptr->speed > 0.0)
{
*speed = mb_io_ptr->speed/mb_io_ptr->pings_binned;
delta_time = 0.0;
}
else if (mb_io_ptr->old_time_d > 0.0)
{
delta_time = 0.000277778*
(*time_d - mb_io_ptr->old_time_d); /* hours */
if (delta_time > 0.0)
*speed = *distance/delta_time; /* km/hr */
else
*speed = 0.0;
}
else
*speed = 0.0;
/* check for less than minimum speed */
if (*error == MB_ERROR_NO_ERROR
|| *error == MB_ERROR_TIME_GAP)
{
if (mb_io_ptr->ping_count > 1
&& *time_d > MB_TIME_D_UNKNOWN
&& *speed < mb_io_ptr->speedmin)
{
status = MB_FAILURE;
*error = MB_ERROR_SPEED_TOO_SMALL;
mb_notice_log_error(verbose, mbio_ptr, *error);
}
}
/* print debug statements */
if (verbose >= 4)
{
fprintf(stderr,"\ndbg4 Distance and Speed Calculated in MBIO function <%s>\n",
function_name);
fprintf(stderr,"dbg4 Speed and Distance Related Values:\n");
fprintf(stderr,"dbg4 binned speed: %f\n",
mb_io_ptr->speed);
fprintf(stderr,"dbg4 pings_binned: %d\n",
mb_io_ptr->pings_binned);
fprintf(stderr,"dbg4 ping_count: %d\n",
mb_io_ptr->ping_count);
fprintf(stderr,"dbg4 time: %f\n",
*time_d);
fprintf(stderr,"dbg4 lon: %f\n",
*navlon);
fprintf(stderr,"dbg4 lat: %f\n",
*navlat);
fprintf(stderr,"dbg4 old time: %f\n",
mb_io_ptr->old_time_d);
fprintf(stderr,"dbg4 old lon: %f\n",
mb_io_ptr->old_lon);
fprintf(stderr,"dbg4 old lat: %f\n",
mb_io_ptr->old_lat);
fprintf(stderr,"dbg4 distance: %f\n",
*distance);
fprintf(stderr,"dbg4 altitude: %f\n",
*altitude);
fprintf(stderr,"dbg4 sonardepth: %f\n",
*sonardepth);
fprintf(stderr,"dbg4 delta_time: %f\n",
delta_time);
fprintf(stderr,"dbg4 speed: %f\n",
*speed);
fprintf(stderr,"dbg4 error: %d\n",*error);
fprintf(stderr,"dbg4 status: %d\n",status);
}
/* get swath data */
*nbath = 0;
*namp = 0;
*nss = 0;
for (i=0;i<mb_io_ptr->beams_bath_max;i++)
{
beamflag[i] = mb_io_ptr->beamflag[i];
if (mb_io_ptr->bath_num[i] > 0)
{
bath[i] = (mb_io_ptr->bath[i])
/(mb_io_ptr->bath_num[i]);
bathacrosstrack[i] = (mb_io_ptr->bath_acrosstrack[i])
/(mb_io_ptr->bath_num[i]);
bathalongtrack[i] = (mb_io_ptr->bath_alongtrack[i])
/(mb_io_ptr->bath_num[i]);
*nbath = i + 1;
}
else
{
beamflag[i] = MB_FLAG_NULL;
bath[i] = 0.0;
bathacrosstrack[i] = 0.0;
bathalongtrack[i] = 0.0;
}
}
for (i=0;i<mb_io_ptr->beams_amp_max;i++)
{
if (mb_io_ptr->amp_num[i] > 0)
{
amp[i] = (mb_io_ptr->amp[i])
/(mb_io_ptr->amp_num[i]);
*namp = i + 1;
}
else
{
amp[i] = 0.0;
}
}
for (i=0;i<mb_io_ptr->pixels_ss_max;i++)
{
if (mb_io_ptr->ss_num[i] > 0)
{
ss[i] = mb_io_ptr->ss[i]
/mb_io_ptr->ss_num[i];
ssacrosstrack[i] = mb_io_ptr->ss_acrosstrack[i]
/mb_io_ptr->ss_num[i];
ssalongtrack[i] = mb_io_ptr->ss_alongtrack[i]
/mb_io_ptr->ss_num[i];
*nss = i + 1;
}
else
{
ss[i] = 0.0;
ssacrosstrack[i] = 0.0;
ssalongtrack[i] = 0.0;
}
}
if (mb_io_ptr->variable_beams == MB_NO)
{
*nbath = mb_io_ptr->beams_bath_max;
*namp = mb_io_ptr->beams_amp_max;
*nss = mb_io_ptr->pixels_ss_max;
}
}
/* get output comment */
if (*error == MB_ERROR_COMMENT)
{
strcpy(comment,mb_io_ptr->new_comment);
}
/* reset "old" navigation values */
if (*error <= MB_ERROR_NO_ERROR
&& *error > MB_ERROR_COMMENT)
{
mb_io_ptr->old_time_d = *time_d;
mb_io_ptr->old_lon = *navlon;
mb_io_ptr->old_lat = *navlat;
}
/* get saved error flag if needed */
if (*error == MB_ERROR_NO_ERROR
&& mb_io_ptr->error_save != MB_ERROR_NO_ERROR)
{
*error = mb_io_ptr->error_save;
status = MB_FAILURE;
mb_io_ptr->error_save = MB_ERROR_NO_ERROR;
}
/* 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 kind: %d\n",*kind);
}
if (verbose >= 2 && *kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 pings: %d\n",*pings);
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 navlon: %f\n",*navlon);
fprintf(stderr,"dbg2 navlat: %f\n",*navlat);
fprintf(stderr,"dbg2 speed: %f\n",*speed);
fprintf(stderr,"dbg2 heading: %f\n",*heading);
fprintf(stderr,"dbg2 distance: %f\n",*distance);
fprintf(stderr,"dbg2 altitude: %f\n",*altitude);
fprintf(stderr,"dbg2 sonardepth: %f\n",*sonardepth);
fprintf(stderr,"dbg2 nbath: %d\n",*nbath);
if (verbose >= 3 && *nbath > 0)
{
fprintf(stderr,"dbg3 beam nbath flag bath crosstrack alongtrack\n");
for (i=0;i<*nbath;i++)
fprintf(stderr,"dbg3 %4d %4d %3d %f %f %f\n",
i,mb_io_ptr->bath_num[i],beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
}
fprintf(stderr,"dbg2 namp: %d\n",*namp);
if (verbose >= 3 && *namp > 0)
{
fprintf(stderr,"dbg3 beam namp amp crosstrack alongtrack\n");
for (i=0;i<*namp;i++)
fprintf(stderr,"dbg3 %4d %4d %f %f %f\n",
i,mb_io_ptr->amp_num[i],amp[i],
bathacrosstrack[i],bathalongtrack[i]);
}
fprintf(stderr,"dbg2 nss: %d\n",*nss);
if (verbose >= 3 && *nss > 0)
{
fprintf(stderr,"dbg3 pixel nss sidescan crosstrack alongtrack\n");
for (i=0;i<*nss;i++)
fprintf(stderr,"dbg3 %4d %4d %f %f %f\n",
i,mb_io_ptr->ss_num[i],ss[i],
ssacrosstrack[i],ssalongtrack[i]);
}
}
else if (verbose >= 2 && *kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: %s\n",comment);
}
if (verbose >= 2)
{
fprintf(stderr,"dbg2 error: %d\n",*error);
fprintf(stderr,"dbg2 Return status:\n");
fprintf(stderr,"dbg2 status: %d\n",status);
}
/* return status */
return(status);
}
/*--------------------------------------------------------------------*/
int mbsys_hsmd_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)
{
char *function_name = "mbsys_hsmd_insert";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_hsmd_struct *store;
int first;
int i, j;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
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);
fprintf(stderr,"dbg2 kind: %d\n",kind);
}
if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
{
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 time_d: %f\n",time_d);
fprintf(stderr,"dbg2 navlon: %f\n",navlon);
fprintf(stderr,"dbg2 navlat: %f\n",navlat);
fprintf(stderr,"dbg2 speed: %f\n",speed);
fprintf(stderr,"dbg2 heading: %f\n",heading);
}
if (verbose >= 2 && kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 nbath: %d\n",nbath);
if (verbose >= 3)
for (i=0;i<nbath;i++)
fprintf(stderr,"dbg3 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 namp: %d\n",namp);
if (verbose >= 3)
for (i=0;i<namp;i++)
fprintf(stderr,"dbg3 amp[%d]: %f\n",
i,amp[i]);
fprintf(stderr,"dbg2 nss: %d\n",nss);
if (verbose >= 3)
for (i=0;i<nss;i++)
fprintf(stderr,"dbg3 ss[%d]: %f ssdist[%d]: %f\n",
i,ss[i],i,ssacrosstrack[i]);
}
if (verbose >= 2 && kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: \ndbg2 %s\n",
comment);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_hsmd_struct *) store_ptr;
/* set data kind */
store->kind = kind;
/* insert data in structure */
if (store->kind == MB_DATA_DATA)
{
/* get time */
store->year = time_i[0];
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];
/* get navigation */
if (navlon < 0.0) navlon = navlon + 360.0;
store->lon = navlon;
store->lat = navlat;
/* get heading */
store->heading_tx = heading;
/* figure out if port or starboard ping */
first = -1;
for (i=0;i<nbath;i++)
{
if (first == -1 && bath[i] != 0.0)
first = i;
}
if (first >= MBSYS_HSMD_BEAMS_PING - 1)
store->Port = 1;
else
store->Port = -1;
/* get bathymetry */
/* deal with a ping to port */
if (store->Port == -1)
{
for (i=0;i<MBSYS_HSMD_BEAMS_PING;i++)
{
j = MBSYS_HSMD_BEAMS_PING - i - 1;
if (mb_beam_check_flag_null(beamflag[j]))
store->depth[i] = 0.0;
else if (mb_beam_check_flag(beamflag[j]))
store->depth[i] = -bath[j];
else
store->depth[i] = bath[j];
store->distance[i] =
bathacrosstrack[j];
}
}
/* deal with a ping to starboard */
else
{
for (i=0;i<MBSYS_HSMD_BEAMS_PING;i++)
{
j = i + MBSYS_HSMD_BEAMS_PING - 1;
if (mb_beam_check_flag_null(beamflag[j]))
store->depth[i] = 0.0;
else if (mb_beam_check_flag(beamflag[j]))
store->depth[i] = -bath[j];
else
store->depth[i] = bath[j];
store->distance[i] =
bathacrosstrack[j];
}
}
/* Deal with the sidescan */
/* deal with a ping to port */
if (store->Port == -1)
{
store->ss_range = fabs(ssacrosstrack[0]);
for (i=0;i<MBSYS_HSMD_PIXELS_PING;i++)
{
j = MBSYS_HSMD_PIXELS_PING - i - 1;
store->ss[i] = ss[j];
}
}
/* deal with a ping to starboard */
else
{
store->ss_range =
ssacrosstrack[MBSYS_HSMD_PIXELS_PING - 1];
for (i=0;i<MBSYS_HSMD_PIXELS_PING;i++)
{
j = i + MBSYS_HSMD_PIXELS_PING - 1;
store->ss[i] = ss[j];
}
}
}
/* insert comment in structure */
else if (store->kind == MB_DATA_COMMENT)
{
strcpy(store->comment,comment);
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",
function_name);
fprintf(stderr,"dbg2 Return value:\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);
}
/*--------------------------------------------------------------------*/
int mbsys_mr1_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)
{
char *function_name = "mbsys_mr1_insert";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_mr1_struct *store;
int beam_center, pixel_center;
int i, j;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
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);
fprintf(stderr,"dbg2 kind: %d\n",kind);
}
if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
{
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 time_d: %f\n",time_d);
fprintf(stderr,"dbg2 navlon: %f\n",navlon);
fprintf(stderr,"dbg2 navlat: %f\n",navlat);
fprintf(stderr,"dbg2 speed: %f\n",speed);
fprintf(stderr,"dbg2 heading: %f\n",heading);
}
if (verbose >= 2 && kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 nbath: %d\n",nbath);
if (verbose >= 3)
for (i=0;i<nbath;i++)
fprintf(stderr,"dbg3 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 namp: %d\n",namp);
if (verbose >= 3)
for (i=0;i<namp;i++)
fprintf(stderr,"dbg3 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n",
i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 nss: %d\n",nss);
if (verbose >= 3)
for (i=0;i<nss;i++)
fprintf(stderr,"dbg3 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n",
i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
}
if (verbose >= 2 && kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: \ndbg2 %s\n",
comment);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_mr1_struct *) store_ptr;
/* set data kind */
store->kind = kind;
/* insert data in structure */
if (store->kind == MB_DATA_DATA)
{
/* get time */
store->sec = (int) time_d;
store->usec = (int) 1000000.0*(time_d - store->sec);
/* get navigation */
if (navlon < 0.0) navlon = navlon + 360.0;
store->png_lon = navlon;
store->png_lat = navlat;
/* get heading */
store->png_compass = heading;
/*store->png_course = heading;*/
/* get speed */
/* get port bathymetry */
beam_center = nbath/2;
for (i=0;i<store->port_btycount;i++)
{
j = beam_center - 2 - i;
if (beamflag[j] != MB_FLAG_NULL)
{
if (mb_beam_check_flag(beamflag[j]))
store->bath_port[i]
= -bath[j];
else
store->bath_port[i]
= bath[j];
store->bath_acrosstrack_port[i]
= -bathacrosstrack[j];
}
else
{
store->bath_port[i] = 0.0;
store->bath_acrosstrack_port[i] = 0.0;
}
}
/* get center beam bathymetry */
if (beamflag[beam_center] == MB_FLAG_NULL)
{
store->png_alt = 0.0;
}
else if (mb_beam_check_flag(beamflag[beam_center]))
{
store->png_alt = -bath[beam_center]
+ store->png_prdepth;
}
else
{
store->png_alt = bath[beam_center]
- store->png_prdepth;
}
/* get starboard bathymetry */
for (i=0;i<store->stbd_btycount;i++)
{
j = beam_center + 2 + i;
if (beamflag[j] != MB_FLAG_NULL)
{
if (mb_beam_check_flag(beamflag[j]))
store->bath_stbd[i]
= -bath[j];
else
store->bath_stbd[i]
= bath[j];
store->bath_acrosstrack_stbd[i]
= bathacrosstrack[j];
}
else
{
store->bath_stbd[i] = 0.0;
store->bath_acrosstrack_stbd[i] = 0.0;
}
}
/* get port sidescan */
pixel_center = nss/2;
for (i=0;i<store->port_sscount;i++)
{
j = pixel_center - 2 - i;
store->ss_port[i]
= ss[j];
}
/* get starboard sidescan */
for (i=0;i<store->stbd_sscount;i++)
{
j = pixel_center + 2 + i;
store->ss_stbd[i]
= ss[j];
}
}
/* insert comment in structure */
else if (store->kind == MB_DATA_COMMENT)
{
strcpy(store->comment,comment);
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Return value:\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);
}
/*--------------------------------------------------------------------*/
int mbsys_hs10_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)
{
char *function_name = "mbsys_hs10_insert";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_hs10_struct *store;
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: %lu\n",(size_t)mbio_ptr);
fprintf(stderr,"dbg2 store_ptr: %lu\n",(size_t)store_ptr);
fprintf(stderr,"dbg2 kind: %d\n",kind);
}
if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
{
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 time_d: %f\n",time_d);
fprintf(stderr,"dbg2 navlon: %f\n",navlon);
fprintf(stderr,"dbg2 navlat: %f\n",navlat);
fprintf(stderr,"dbg2 speed: %f\n",speed);
fprintf(stderr,"dbg2 heading: %f\n",heading);
}
if (verbose >= 2 && kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 nbath: %d\n",nbath);
if (verbose >= 3)
for (i=0;i<nbath;i++)
fprintf(stderr,"dbg3 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 namp: %d\n",namp);
if (verbose >= 3)
for (i=0;i<namp;i++)
fprintf(stderr,"dbg3 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n",
i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 nss: %d\n",nss);
if (verbose >= 3)
for (i=0;i<nss;i++)
fprintf(stderr,"dbg3 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n",
i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
}
if (verbose >= 2 && kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: \ndbg2 %s\n",
comment);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_hs10_struct *) store_ptr;
/* set data kind */
store->kind = kind;
/* insert data in structure */
if (store->kind == MB_DATA_DATA)
{
/* get time */
mb_unfix_y2k(verbose, time_i[0], &store->year);
store->month = time_i[1];
store->day = time_i[2];
store->hour = time_i[3];
store->minute = time_i[4];
store->tenth_second = (10 * time_i[5]) + (time_i[6] / 100000);
/* get navigation */
if (navlon < -180.0)
navlon = navlon + 360.0;
if (navlon > 180.0)
navlon = navlon - 360.0;
if (navlon < 0.0)
store->EorW = 'W';
else
store->EorW = 'E';
store->londeg = (int) fabs(navlon);
store->lonmin = (int) (60000.0 * (fabs(navlon) - store->londeg));
if (navlat < 0.0)
store->NorS = 'S';
else
store->NorS = 'N';
store->latdeg = (int) fabs(navlat);
store->latmin = (int) (60000.0 * (fabs(navlat) - store->latdeg));
/* get heading */
store->heading = (int) (10 * heading);
/* get speed */
/* put distance and depth values
into data structure */
for (i=0;i<nbath;i++)
{
if (mb_beam_check_flag_null(beamflag[i]))
{
store->depth[i] = 29999;
store->acrosstrack[i] = 99999;
}
else if (mb_beam_check_flag(beamflag[i]))
{
store->depth[i] = (int) -bath[i];
store->acrosstrack[i] = (int) bathacrosstrack[i];
}
else
{
store->depth[i] = (int) bath[i];
store->acrosstrack[i] = (int) bathacrosstrack[i];
}
store->amplitude[i] = (int) amp[i];
}
}
/* insert comment in structure */
else if (store->kind == MB_DATA_COMMENT)
{
strncpy(store->comment,comment, MBSYS_HS10_COMMENT);
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",function_name);
fprintf(stderr,"dbg2 Return value:\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);
}
/*--------------------------------------------------------------------*/
int mbsys_sb2100_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)
{
char *function_name = "mbsys_sb2100_insert";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_sb2100_struct *store;
int time_j[5];
int set_pixel_size;
double gain_db;
double gain_factor;
int center_pixel;
int i;
/* print input debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> called\n",function_name);
fprintf(stderr,"dbg2 Revision id: %s\n",rcs_id);
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);
fprintf(stderr,"dbg2 kind: %d\n",kind);
}
if (verbose >= 2 && (kind == MB_DATA_DATA || kind == MB_DATA_NAV))
{
fprintf(stderr,"dbg2 time_i[0]: %d\n",time_i[0]);
fprintf(stderr,"dbg2 time_i[1]: %d\n",time_i[1]);
fprintf(stderr,"dbg2 time_i[2]: %d\n",time_i[2]);
fprintf(stderr,"dbg2 time_i[3]: %d\n",time_i[3]);
fprintf(stderr,"dbg2 time_i[4]: %d\n",time_i[4]);
fprintf(stderr,"dbg2 time_i[5]: %d\n",time_i[5]);
fprintf(stderr,"dbg2 time_i[6]: %d\n",time_i[6]);
fprintf(stderr,"dbg2 time_d: %f\n",time_d);
fprintf(stderr,"dbg2 navlon: %f\n",navlon);
fprintf(stderr,"dbg2 navlat: %f\n",navlat);
fprintf(stderr,"dbg2 speed: %f\n",speed);
fprintf(stderr,"dbg2 heading: %f\n",heading);
}
if (verbose >= 2 && kind == MB_DATA_DATA)
{
fprintf(stderr,"dbg2 nbath: %d\n",nbath);
if (verbose >= 3)
for (i=0;i<nbath;i++)
fprintf(stderr,"dbg3 beam:%d flag:%3d bath:%f acrosstrack:%f alongtrack:%f\n",
i,beamflag[i],bath[i],
bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 namp: %d\n",namp);
if (verbose >= 3)
for (i=0;i<namp;i++)
fprintf(stderr,"dbg3 beam:%d amp:%f acrosstrack:%f alongtrack:%f\n",
i,amp[i],bathacrosstrack[i],bathalongtrack[i]);
fprintf(stderr,"dbg2 nss: %d\n",nss);
if (verbose >= 3)
for (i=0;i<nss;i++)
fprintf(stderr,"dbg3 pixel:%d ss:%f acrosstrack:%f alongtrack:%f\n",
i,ss[i],ssacrosstrack[i],ssalongtrack[i]);
}
if (verbose >= 2 && kind == MB_DATA_COMMENT)
{
fprintf(stderr,"dbg2 comment: \ndbg2 %s\n",
comment);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_sb2100_struct *) store_ptr;
/* set data kind */
store->kind = kind;
/* insert data in structure */
if (store->kind == MB_DATA_DATA)
{
/* get time */
mb_get_jtime(verbose,time_i,time_j);
store->year = time_j[0];
store->jday = time_j[1];
store->hour = time_j[2]/60;
store->minute = time_j[2] - 60*store->hour;
store->sec = time_j[3];
store->msec = (int) (0.001 * time_j[4]);
/* get number of beams and pixels */
store->nbeams = nbath;
store->npixels = nss;
center_pixel = store->npixels / 2;
/* get navigation */
if (navlon < 0.0) navlon = navlon + 360.0;
store->longitude = navlon;
store->latitude = navlat;
/* get heading */
store->heading = heading;
/* get speed */
store->speed = 5.3899155 * speed;
/* put beam and pixel values
into data structure */
gain_db = store->ping_gain
- store->transmitter_attenuation
+ 10.0 * log10( store->ping_pulse_width / 5.0)
- 30.0;
gain_factor = pow(10.0, (gain_db / 20.0));
for (i=0;i<nbath;i++)
{
if (mb_beam_check_flag(beamflag[i]))
{
if (mb_beam_check_flag_null(beamflag[i]))
store->beams[i].quality = '0';
else if (mb_beam_check_flag_manual(beamflag[i]))
store->beams[i].quality = 'E';
else if (mb_beam_check_flag_filter(beamflag[i]))
store->beams[i].quality = 'F';
else if (mb_beam_check_flag_sonar(beamflag[i]))
store->beams[i].quality = 'Q';
}
else
store->beams[i].quality = ' ';
store->beams[i].depth = bath[i];
store->beams[i].acrosstrack = bathacrosstrack[i];
store->beams[i].alongtrack = bathalongtrack[i];
}
for (i=0;i<namp;i++)
store->beams[i].amplitude = 4.0 * (amp[i] + gain_db);
if (store->pixel_size <= 0.0)
set_pixel_size = MB_YES;
else
set_pixel_size = MB_NO;
for (i=0;i<nss;i++)
{
if (ss[i] > MB_SIDESCAN_NULL)
store->pixels[i].amplitude = gain_factor * ss[i];
else
store->pixels[i].amplitude = 0;
store->pixels[i].alongtrack = ssalongtrack[i];
if (set_pixel_size == MB_YES
&& ssacrosstrack[i] > 0)
{
store->pixel_size = ssacrosstrack[i]/
(i - center_pixel);
set_pixel_size = MB_NO;
}
}
}
/* insert comment in structure */
else if (store->kind == MB_DATA_COMMENT)
{
strcpy(store->comment,comment);
}
/* print output debug statements */
if (verbose >= 2)
{
fprintf(stderr,"\ndbg2 MBIO function <%s> completed\n",
function_name);
fprintf(stderr,"dbg2 Return value:\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);
}