/*--------------------------------------------------------------------*/
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_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_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);
}
