TEST(StringTest, FormatString)
{
char *str = mb_format("Hello, %s!", "World");
ASSERT_NE(str, nullptr);
ASSERT_STREQ(str, "Hello, World!");
free(str);
}
TEST(StringTest, FormatEmptyString)
{
char *str = mb_format("");
ASSERT_NE(str, nullptr);
ASSERT_STREQ(str, "");
free(str);
}
TEST(StringTest, FormatSizeT)
{
ptrdiff_t signed_val = 0x7FFFFFFF;
size_t unsigned_val = 0xFFFFFFFFu;
char *signed_d_str = mb_format("%" MB_PRIzd, signed_val);
ASSERT_NE(signed_d_str, nullptr);
ASSERT_STREQ(signed_d_str, "2147483647");
free(signed_d_str);
char *signed_i_str = mb_format("%" MB_PRIzi, signed_val);
ASSERT_NE(signed_i_str, nullptr);
ASSERT_STREQ(signed_i_str, "2147483647");
free(signed_i_str);
char *unsigned_o_str = mb_format("%" MB_PRIzo, unsigned_val);
ASSERT_NE(unsigned_o_str, nullptr);
ASSERT_STREQ(unsigned_o_str, "37777777777");
free(unsigned_o_str);
char *unsigned_u_str = mb_format("%" MB_PRIzu, unsigned_val);
ASSERT_NE(unsigned_u_str, nullptr);
ASSERT_STREQ(unsigned_u_str, "4294967295");
free(unsigned_u_str);
char *unsigned_x_str = mb_format("%" MB_PRIzx, unsigned_val);
ASSERT_NE(unsigned_x_str, nullptr);
ASSERT_STREQ(unsigned_x_str, "ffffffff");
free(unsigned_x_str);
char *unsigned_X_str = mb_format("%" MB_PRIzX, unsigned_val);
ASSERT_NE(unsigned_X_str, nullptr);
ASSERT_STREQ(unsigned_X_str, "FFFFFFFF");
free(unsigned_X_str);
}
bool delete_path()
{
if (remove(_curr->fts_accpath) < 0) {
char *msg = mb_format("%s: Failed to remove: %s",
_curr->fts_path, strerror(errno));
if (msg) {
_error_msg = msg;
free(msg);
}
LOGE("%s", _error_msg.c_str());
return false;
}
return true;
}
bool chmod_path()
{
if (::chmod(_curr->fts_accpath, _perms) < 0) {
char *msg = mb_format("%s: Failed to chmod: %s",
_curr->fts_path, strerror(errno));
if (msg) {
_error_msg = msg;
free(msg);
}
LOGW("%s", _error_msg.c_str());
return false;
}
return true;
}
bool copy_path()
{
if (!util::copy_file(_curr->fts_accpath, _curtgtpath,
util::COPY_ATTRIBUTES | util::COPY_XATTRS)) {
char *msg = mb_format("%s: Failed to copy file: %s",
_curr->fts_path, strerror(errno));
if (msg) {
_error_msg = msg;
free(msg);
}
LOGW("%s", _error_msg.c_str());
return false;
}
return true;
}
virtual int on_reached_directory_pre() override
{
if (_curr->fts_level == 0) {
return Action::FTS_OK;
}
// _target is the correct parameter here (or pathbuf and
// COPY_EXCLUDE_TOP_LEVEL flag)
if (!util::copy_dir(_curr->fts_accpath, _target,
util::COPY_ATTRIBUTES | util::COPY_XATTRS)) {
char *msg = mb_format("%s: Failed to copy directory: %s",
_curr->fts_path, strerror(errno));
if (msg) {
_error_msg = msg;
free(msg);
}
LOGW("%s", _error_msg.c_str());
return Action::FTS_Skip | Action::FTS_Fail;
}
return Action::FTS_Skip;
}
int main (int argc, char **argv)
{
char program_name[] = "MBHISTOGRAM";
char help_message[] = "MBHISTOGRAM reads a swath sonar data file and generates a histogram\n\tof the bathymetry, amplitude, or sidescan values. Alternatively, \n\tmbhistogram can output a list of values which break up the\n\tdistribution into equal sized regions.\n\tThe results are dumped to stdout.";
char usage_message[] = "mbhistogram [-Akind -Byr/mo/da/hr/mn/sc -Dmin/max -Eyr/mo/da/hr/mn/sc -Fformat -G -Ifile -Llonflip -Mnintervals -Nnbins -Ppings -Rw/e/s/n -Sspeed -V -H]";
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;
/* MBIO read control parameters */
int read_datalist = MB_NO;
char read_file[MB_PATH_MAXLINE];
void *datalist;
int look_processed = MB_DATALIST_LOOK_UNSET;
double file_weight;
int format;
int pings;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double btime_d;
double etime_d;
double speedmin;
double timegap;
char file[MB_PATH_MAXLINE];
int beams_bath;
int beams_amp;
int pixels_ss;
/* MBIO read values */
void *mbio_ptr = NULL;
int kind;
int time_i[7];
double time_d;
double navlon;
double navlat;
double speed;
double heading;
double distance;
double altitude;
double sonardepth;
char *beamflag = NULL;
double *bath = NULL;
double *bathacrosstrack = NULL;
double *bathalongtrack = NULL;
double *amp = NULL;
double *ss = NULL;
double *ssacrosstrack = NULL;
double *ssalongtrack = NULL;
char comment[MB_COMMENT_MAXLINE];
/* histogram variables */
int mode = MBHISTOGRAM_SS;
int gaussian = MB_NO;
int nbins = 0;
int nintervals = 0;
double value_min = 0.0;
double value_max = 128.0;
double dvalue_bin;
double value_bin_min;
double value_bin_max;
double data_min;
double data_max;
int data_first = MB_YES;
double target_min;
double target_max;
double *histogram = NULL;
double *intervals = NULL;
double total;
double sum;
double p;
double target;
double dinterval;
double bin_fraction;
int ibin;
/* output stream for basic stuff (stdout if verbose <= 1,
stderr if verbose > 1) */
FILE *output;
int read_data;
int nrec, nvalue;
int nrectot = 0;
int nvaluetot = 0;
int i, j;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* set default input to stdin */
strcpy (read_file, "stdin");
/* process argument list */
while ((c = getopt(argc, argv, "A:a:B:b:D:d:E:e:F:f:GgHhI:i:L:l:M:m:N:n:P:p:R:r:S:s:T:t:Vv")) != -1)
switch (c)
{
case 'A':
case 'a':
sscanf (optarg,"%d", &mode);
flag++;
break;
case 'B':
case 'b':
sscanf (optarg,"%d/%d/%d/%d/%d/%d",
&btime_i[0],&btime_i[1],&btime_i[2],
&btime_i[3],&btime_i[4],&btime_i[5]);
btime_i[6] = 0;
flag++;
break;
case 'D':
case 'd':
sscanf (optarg,"%lf/%lf", &value_min,&value_max);
flag++;
break;
case 'E':
case 'e':
sscanf (optarg,"%d/%d/%d/%d/%d/%d",
&etime_i[0],&etime_i[1],&etime_i[2],
&etime_i[3],&etime_i[4],&etime_i[5]);
etime_i[6] = 0;
flag++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
flag++;
break;
case 'G':
case 'g':
gaussian = MB_YES;
break;
case 'H':
case 'h':
help++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", read_file);
flag++;
break;
case 'L':
case 'l':
sscanf (optarg,"%d", &lonflip);
flag++;
break;
case 'M':
case 'm':
sscanf (optarg,"%d", &nintervals);
flag++;
break;
case 'N':
case 'n':
sscanf (optarg,"%d", &nbins);
flag++;
break;
case 'P':
case 'p':
sscanf (optarg,"%d", &pings);
flag++;
break;
case 'R':
case 'r':
mb_get_bounds(optarg, bounds);
flag++;
break;
case 'S':
case 's':
sscanf (optarg,"%lf", &speedmin);
flag++;
break;
case 'T':
case 't':
sscanf (optarg,"%lf", &timegap);
flag++;
break;
case 'V':
case 'v':
verbose++;
break;
case '?':
errflg++;
}
/* set output stream */
if (verbose <= 1)
output = stdout;
else
output = stderr;
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(output,"usage: %s\n", usage_message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(output,"\nProgram %s\n",program_name);
fprintf(output,"Version %s\n",rcs_id);
fprintf(output,"MB-system Version %s\n",MB_VERSION);
}
/* get format if required */
if (format == 0)
mb_get_format(verbose,read_file,NULL,&format,&error);
/* figure out histogram dimensions */
if (nintervals > 0 && nbins <= 0)
nbins = 50*nintervals;
if (nbins <= 0)
nbins = 16;
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(output,"\ndbg2 Program <%s>\n",program_name);
fprintf(output,"dbg2 Version %s\n",rcs_id);
fprintf(output,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(output,"dbg2 Control Parameters:\n");
fprintf(output,"dbg2 verbose: %d\n",verbose);
fprintf(output,"dbg2 help: %d\n",help);
fprintf(output,"dbg2 format: %d\n",format);
fprintf(output,"dbg2 pings: %d\n",pings);
fprintf(output,"dbg2 lonflip: %d\n",lonflip);
fprintf(output,"dbg2 bounds[0]: %f\n",bounds[0]);
fprintf(output,"dbg2 bounds[1]: %f\n",bounds[1]);
fprintf(output,"dbg2 bounds[2]: %f\n",bounds[2]);
fprintf(output,"dbg2 bounds[3]: %f\n",bounds[3]);
fprintf(output,"dbg2 btime_i[0]: %d\n",btime_i[0]);
fprintf(output,"dbg2 btime_i[1]: %d\n",btime_i[1]);
fprintf(output,"dbg2 btime_i[2]: %d\n",btime_i[2]);
fprintf(output,"dbg2 btime_i[3]: %d\n",btime_i[3]);
fprintf(output,"dbg2 btime_i[4]: %d\n",btime_i[4]);
fprintf(output,"dbg2 btime_i[5]: %d\n",btime_i[5]);
fprintf(output,"dbg2 btime_i[6]: %d\n",btime_i[6]);
fprintf(output,"dbg2 etime_i[0]: %d\n",etime_i[0]);
fprintf(output,"dbg2 etime_i[1]: %d\n",etime_i[1]);
fprintf(output,"dbg2 etime_i[2]: %d\n",etime_i[2]);
fprintf(output,"dbg2 etime_i[3]: %d\n",etime_i[3]);
fprintf(output,"dbg2 etime_i[4]: %d\n",etime_i[4]);
fprintf(output,"dbg2 etime_i[5]: %d\n",etime_i[5]);
fprintf(output,"dbg2 etime_i[6]: %d\n",etime_i[6]);
fprintf(output,"dbg2 speedmin: %f\n",speedmin);
fprintf(output,"dbg2 timegap: %f\n",timegap);
fprintf(output,"dbg2 file: %s\n",read_file);
fprintf(output,"dbg2 mode: %d\n",mode);
fprintf(output,"dbg2 gaussian: %d\n",gaussian);
fprintf(output,"dbg2 nbins: %d\n",nbins);
fprintf(output,"dbg2 nintervals: %d\n",nintervals);
fprintf(output,"dbg2 value_min: %f\n",value_min);
fprintf(output,"dbg2 value_max: %f\n",value_max);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(output,"\n%s\n",help_message);
fprintf(output,"\nusage: %s\n", usage_message);
exit(error);
}
/* allocate memory for histogram arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_mallocd(verbose,__FILE__,__LINE__,nbins*sizeof(double),
(void **)&histogram,&error);
if (error == MB_ERROR_NO_ERROR)
status = mb_mallocd(verbose,__FILE__,__LINE__,nintervals*sizeof(double),
(void **)&intervals,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error allocating histogram arrays:\n%s\n",message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* output some information */
if (verbose > 0)
{
fprintf(stderr, "\nNumber of data bins: %d\n", nbins);
fprintf(stderr, "Minimum value: %f\n", value_min);
fprintf(stderr, "Maximum value: %f\n", value_max);
if (mode == MBHISTOGRAM_BATH)
fprintf(stderr, "Working on bathymetry data...\n");
else if (mode == MBHISTOGRAM_AMP)
fprintf(stderr, "Working on beam amplitude data...\n");
else
fprintf(stderr, "Working on sidescan data...\n");
}
/* get size of bins */
dvalue_bin = (value_max - value_min)/(nbins-1);
value_bin_min = value_min - 0.5*dvalue_bin;
value_bin_max = value_max + 0.5*dvalue_bin;
/* initialize histogram */
for (i=0;i<nbins;i++)
histogram[i] = 0;
/* determine whether to read one file or a list of files */
if (format < 0)
read_datalist = MB_YES;
/* open file list */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_open(verbose,&datalist,
read_file,look_processed,&error)) != MB_SUCCESS)
{
error = MB_ERROR_OPEN_FAIL;
fprintf(stderr,"\nUnable to open data list file: %s\n",
read_file);
fprintf(stderr,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
/* else copy single filename to be read */
else
{
strcpy(file, read_file);
read_data = MB_YES;
}
/* loop over all files to be read */
while (read_data == MB_YES)
{
/* obtain format array location - format id will
be aliased to current id if old format id given */
status = mb_format(verbose,&format,&error);
/* initialize reading the swath sonar data file */
if ((status = mb_read_init(
verbose,file,format,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_ptr,&btime_d,&etime_d,
&beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(output,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for data arrays */
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(char), (void **)&beamflag, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bath, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_AMPLITUDE,
sizeof(double), (void **)&, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_BATHYMETRY,
sizeof(double), (void **)&bathalongtrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ss, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ssacrosstrack, &error);
if (error == MB_ERROR_NO_ERROR)
status = mb_register_array(verbose, mbio_ptr, MB_MEM_TYPE_SIDESCAN,
sizeof(double), (void **)&ssalongtrack, &error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error allocating data arrays:\n%s\n",message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* output information */
if (error == MB_ERROR_NO_ERROR && verbose > 0)
{
fprintf(stderr, "\nprocessing file: %s %d\n", file, format);
}
/* initialize counting variables */
nrec = 0;
nvalue = 0;
/* read and process data */
while (error <= MB_ERROR_NO_ERROR)
{
/* read a ping of data */
status = mb_get(verbose,mbio_ptr,&kind,&pings,
time_i,&time_d,
&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&beams_bath,&beams_amp,&pixels_ss,
beamflag,bath,amp,bathacrosstrack,bathalongtrack,
ss,ssacrosstrack,ssalongtrack,
comment,&error);
/* process the pings */
if (error == MB_ERROR_NO_ERROR
|| error == MB_ERROR_TIME_GAP)
{
/* increment record counter */
nrec++;
/* do the bathymetry */
if (mode == MBHISTOGRAM_BATH)
for (i=0;i<beams_bath;i++)
{
if (mb_beam_ok(beamflag[i]))
{
nvalue++;
j = (bath[i] - value_bin_min)
/dvalue_bin;
if (j >= 0 && j < nbins)
histogram[j]++;
if (data_first == MB_YES)
{
data_min = bath[i];
data_max = bath[i];
data_first = MB_NO;
}
else
{
data_min = MIN(bath[i], data_min);
data_max = MAX(bath[i], data_max);
}
}
}
/* do the amplitude */
if (mode == MBHISTOGRAM_AMP)
for (i=0;i<beams_amp;i++)
{
if (mb_beam_ok(beamflag[i]))
{
nvalue++;
j = (amp[i] - value_bin_min)
/dvalue_bin;
if (j >= 0 && j < nbins)
histogram[j]++;
if (data_first == MB_YES)
{
data_min = amp[i];
data_max = amp[i];
data_first = MB_NO;
}
else
{
data_min = MIN(amp[i], data_min);
data_max = MAX(amp[i], data_max);
}
}
}
/* do the sidescan */
if (mode == MBHISTOGRAM_SS)
for (i=0;i<pixels_ss;i++)
{
if (ss[i] > MB_SIDESCAN_NULL)
{
nvalue++;
j = (ss[i] - value_bin_min)
/dvalue_bin;
if (j >= 0 && j < nbins)
histogram[j]++;
if (data_first == MB_YES)
{
data_min = ss[i];
data_max = ss[i];
data_first = MB_NO;
}
else
{
data_min = MIN(ss[i], data_min);
data_max = MAX(ss[i], data_max);
}
}
}
}
}
/* close the swath sonar data file */
status = mb_close(verbose,&mbio_ptr,&error);
nrectot += nrec;
nvaluetot += nvalue;
/* output information */
if (error == MB_ERROR_NO_ERROR && verbose > 0)
{
fprintf(stderr, "%d records processed\n%d data processed\n",
nrec, nvalue);
}
/* figure out whether and what to read next */
if (read_datalist == MB_YES)
{
if ((status = mb_datalist_read(verbose,datalist,
file,&format,&file_weight,&error))
== MB_SUCCESS)
read_data = MB_YES;
else
read_data = MB_NO;
}
else
{
read_data = MB_NO;
}
/* end loop over files in list */
}
if (read_datalist == MB_YES)
mb_datalist_close(verbose,&datalist,&error);
/* output information */
if (error == MB_ERROR_NO_ERROR && verbose > 0)
{
fprintf(stderr, "\n%d total records processed\n", nrectot);
fprintf(stderr, "%d total data processed\n\n", nvaluetot);
}
/* recast histogram as gaussian */
if (gaussian == MB_YES)
{
/* get total number of good values */
total = 0.0;
for (i=0;i<nbins;i++)
total = total + histogram[i];
/* recast histogram */
sum = 0.0;
for (i=0;i<nbins;i++)
{
p = (histogram[i]/2 + sum)/(total + 1);
sum = sum + histogram[i];
histogram[i] = qsnorm(p);
}
}
/* calculate gaussian intervals if required */
if (nintervals > 0 && gaussian == MB_YES)
{
/* get interval spacing */
target_min = -2.0;
target_max = 2.0;
dinterval = (target_max - target_min)/(nintervals-1);
/* get intervals */
intervals[0] = MAX(data_min, value_min);
intervals[nintervals-1] = MIN(data_max, value_max);
ibin = 0;
for (j=1;j<nintervals-1;j++)
{
target = target_min + j*dinterval;
while (histogram[ibin] < target && ibin < nbins-1)
ibin++;
if (ibin > 0)
bin_fraction = 1.0 - (histogram[ibin] - target)
/(histogram[ibin] - histogram[ibin-1]);
else
bin_fraction = 0.0;
intervals[j] = value_bin_min
+ dvalue_bin*ibin
+ bin_fraction*dvalue_bin;
}
}
/* calculate linear intervals if required */
else if (nintervals > 0)
{
/* get total number of good values */
total = 0.0;
for (i=0;i<nbins;i++)
total = total + histogram[i];
/* get interval spacing */
dinterval = total/(nintervals-1);
/* get intervals */
intervals[0] = value_bin_min;
total = 0.0;
ibin = -1;
for (j=1;j<nintervals;j++)
{
target = j*dinterval;
while (total < target && ibin < nbins-1)
{
ibin++;
total = total + histogram[ibin];
if (total <= 0.0)
intervals[0] = value_bin_min
+ dvalue_bin*ibin;
}
bin_fraction = 1.0 - (total - target)/histogram[ibin];
intervals[j] = value_bin_min
+ dvalue_bin*ibin
+ bin_fraction*dvalue_bin;
}
}
/* print out the results */
if (nintervals <= 0 && gaussian == MB_YES)
{
for (i=0;i<nbins;i++)
{
fprintf(output,"%f %f\n",
value_min+i*dvalue_bin,histogram[i]);
}
}
else if (nintervals <= 0)
{
for (i=0;i<nbins;i++)
{
fprintf(output,"%f %d\n",
value_min+i*dvalue_bin,(int)histogram[i]);
}
}
else
{
for (i=0;i<nintervals;i++)
fprintf(output,"%f\n",intervals[i]);
}
/* deallocate memory used for data arrays */
mb_freed(verbose,__FILE__,__LINE__,(void **)&histogram,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&intervals,&error);
/* set program status */
status = MB_SUCCESS;
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* print output debug statements */
if (verbose >= 2)
{
fprintf(output,"\ndbg2 Program <%s> completed\n",
program_name);
fprintf(output,"dbg2 Ending status:\n");
fprintf(output,"dbg2 status: %d\n",status);
}
/* end it all */
fprintf(output,"\n");
exit(error);
}
int main (int argc, char **argv)
{
/* id variables */
char program_name[] = "MBFORMAT";
char help_message[] = "MBFORMAT is an utility which identifies the swath data formats \nassociated with MBIO format id's. If no format id is specified, \nMBFORMAT lists all of the currently supported formats.";
char usage_message[] = "mbformat [-Fformat -Ifile -L -W -V -H]";
/* parsing variables */
extern char *optarg;
int errflg = 0;
int c;
int error = MB_ERROR_NO_ERROR;
int status;
int help;
int html;
int verbose;
char file[MB_PATH_MAXLINE];
char root[MB_PATH_MAXLINE];
int file_specified;
int format;
int format_save;
int format_specified;
char format_description[MB_DESCRIPTION_LENGTH];
char *format_informal_ptr;
char *format_attributes_ptr;
char format_name[MB_DESCRIPTION_LENGTH];
char format_informal[MB_DESCRIPTION_LENGTH];
char format_attributes[MB_DESCRIPTION_LENGTH];
int list_mode;
int i;
help = 0;
verbose = 0;
file_specified = MB_NO;
format = 0;
format_specified = MB_NO;
html = MB_NO;
list_mode = MBFORMAT_LIST_LONG;
/* process argument list */
while ((c = getopt(argc, argv, "F:f:HhI:i:LlKkVvWw")) != -1)
switch (c)
{
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
format_specified = MB_YES;
break;
case 'L':
case 'l':
list_mode = MBFORMAT_LIST_SIMPLE;
break;
case 'K':
case 'k':
list_mode = MBFORMAT_LIST_ROOT;
break;
case 'H':
case 'h':
help++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", file);
file_specified = MB_YES;
break;
case 'V':
case 'v':
verbose++;
break;
case 'W':
case 'w':
html = MB_YES;
break;
case '?':
errflg++;
}
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(stderr,"usage: %s\n", usage_message);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(stderr,"\nProgram %s\n",program_name);
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 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);
if (format_specified == MB_YES)
fprintf(stderr,"dbg2 format: %d\n",format);
if (file_specified == MB_YES)
fprintf(stderr,"dbg2 file: %s\n",file);
}
/* 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);
}
/* print out the info */
if (file_specified == MB_YES)
{
format_save = format;
status = mb_get_format(verbose,file,root,&format,&error);
}
else if (format_specified == MB_YES)
{
format_save = format;
status = mb_format(verbose,&format,&error);
}
if (file_specified == MB_YES
&& format == 0)
{
if (list_mode == MBFORMAT_LIST_SIMPLE)
printf("%d\n",format);
else if (list_mode == MBFORMAT_LIST_ROOT)
printf("%s %d\n", root, format);
else
printf("Program %s unable to infer format from filename %s\n",program_name,file);
}
else if (format_specified == MB_YES
&& format == 0)
{
if (list_mode == MBFORMAT_LIST_SIMPLE)
printf("%d\n",format);
else if (list_mode == MBFORMAT_LIST_ROOT)
printf("%s %d\n", root, format);
else
printf("Specified format %d invalid for MB-System\n",format_save);
}
else if (format != 0)
{
if (list_mode == MBFORMAT_LIST_SIMPLE)
{
printf("%d\n",format);
}
else if (list_mode == MBFORMAT_LIST_ROOT)
{
printf("%s %d\n", root, format);
}
else
{
status = mb_format_description(verbose,&format,format_description,&error);
if (status == MB_SUCCESS)
{
printf("\nMBIO data format id: %d\n",format);
printf("%s",format_description);
}
else if (file_specified == MB_YES)
{
printf("Program %s unable to infer format from filename %s\n",program_name,file);
}
else if (format_specified == MB_YES)
{
printf("Specified format %d invalid for MB-System\n",format_save);
}
}
}
else if (html == MB_YES)
{
printf("<!DOCTYPE HTML PUBLIC \"-//W3C//DTD HTML 3.2//EN\">\n");
printf("<HTML>\n<HEAD>\n <TITLE>MB-System Supported Data Formats</TITLE>\n");
printf("</HEAD>\n<BODY TEXT=\"#000000\" BGCOLOR=\"#FFFFFF\" LINK=\"#336699\" VLINK=\"#997040\" ALINK=\"#CC9900\">\n\n");
printf("<CENTER><P><B><FONT SIZE=+2>MB-System Supported Swath Data Formats</FONT></B></P></CENTER>\n\n");
printf("<P>Each swath mapping sonar system outputs a data stream which includes\n");
printf("some values or parameters unique to that system. In general, a number of\n");
printf("different data formats have come into use for data from each of the sonar\n");
printf("systems; many of these formats include only a subset of the original data\n");
printf("stream. Internally, MBIO recognizes which sonar system each data format\n");
printf("is associated with and uses a data structure including the complete data\n");
printf("stream for that sonar. At present, formats associated with the following\n");
printf("sonars are supported: </P>\n\n");
printf("<UL>\n<LI>Sea Beam "classic" multibeam sonar </LI>\n\n");
printf("<LI>Hydrosweep DS multibeam sonar </LI>\n\n");
printf("<LI>Hydrosweep DS2 multibeam sonar </LI>\n\n");
printf("<LI>Hydrosweep MD multibeam sonar </LI>\n\n");
printf("<LI>Sea Beam 2000 multibeam sonar </LI>\n\n");
printf("<LI>Sea Beam 2112 and 2136 multibeam sonars </LI>\n\n");
printf("<LI>Sea Beam 2120 multibeam sonars </LI>\n\n");
printf("<LI>Simrad EM12, EM121, EM950, and EM1000 multibeam sonars </LI>\n\n");
printf("<LI>Simrad EM120, EM300, and EM3000 multibeam sonars</LI>\n\n");
printf("<LI>Simrad EM122, EM302, EM710, and EM3002 multibeam sonars</LI>\n\n");
printf("<LI>Simrad Mesotech SM2000 multibeam sonar</LI>\n\n");
printf("<LI>Hawaii MR-1 shallow tow interferometric sonar </LI>\n\n");
printf("<LI>ELAC Bottomchart and Bottomchart MkII shallow water multibeam sonars</LI>\n\n");
printf("<LI>Reson Seabat multibeam sonars (e.g. 9001, 8081, 7125)</LI>\n\n");
printf("<LI>WHOI DSL AMS-120 deep tow interferometric sonar </LI>\n\n");
printf("<LI>Sea Scan sidescan sonar</LI>\n\n");
printf("<LI>Furuno HS-1 multibeam sonar</LI>\n\n");
printf("<LI>Edgetech sidescan and subbottom profiler sonars</LI>\n\n");
printf("<LI>Imagenex DeltaT multibeam sonars</LI>\n\n");
printf("<LI>Odom ES3 multibeam sonar</LI>\n\n");
printf("</UL>\n\n");
printf("<P>The following swath mapping sonar data formats are currently supported by MB-System:</P>\n\n");
for (i=0;i<=1000;i++)
{
format = i;
if ((status = mb_format_description(verbose,&format,format_description,&error)) == MB_SUCCESS
&& format == i)
{
format_informal_ptr = (char *)
strstr(format_description, "Informal Description:");
format_attributes_ptr = (char *)
strstr(format_description, "Attributes:");
strncpy(format_name, format_description,
strlen(format_description)
- strlen(format_informal_ptr));
format_name[strlen(format_description)
- strlen(format_informal_ptr) - 1] = '\0';
strncpy(format_informal, format_informal_ptr,
strlen(format_informal_ptr)
- strlen(format_attributes_ptr));
format_informal[strlen(format_informal_ptr)
- strlen(format_attributes_ptr) - 1] = '\0';
strcpy(format_attributes, format_attributes_ptr);
format_attributes[strlen(format_attributes_ptr)-1] = '\0';
printf("\n<UL>\n<LI>MBIO Data Format ID: %d </LI>\n",format);
printf("\n<UL>\n<LI>%s</LI>\n",format_name);
printf("\n<LI>%s</LI>\n",format_informal);
printf("\n<LI>%s</LI>\n",format_attributes);
printf("</UL>\n</UL>\n");
}
}
printf("\n<CENTER><P><BR>\n");
printf("Last Updated: %s</P></CENTER>\n", MB_FORMAT_UPDATEDATE);
printf("\n<P>\n<HR WIDTH=\"100%%\"></P>\n\n");
printf("<P><IMG SRC=\"mbsystem_logo_small.gif\" HEIGHT=55 WIDTH=158><A HREF=\"mbsystem_home.html\">Back\n");
printf("to MB-System Home Page...</A></P>\n");
printf("\n</BODY>\n</HTML>\n");
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
}
else if (list_mode == MB_YES)
{
for (i=0;i<=1000;i++)
{
format = i;
if ((status = mb_format(verbose,&format,&error)) == MB_SUCCESS
&& format == i)
{
printf("%d\n",format);
}
}
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
}
else
{
printf("\nSupported MBIO Formats:\n");
for (i=0;i<=1000;i++)
{
format = i;
if ((status = mb_format_description(verbose,&format,format_description,&error)) == MB_SUCCESS
&& format == i)
{
printf("\nMBIO Data Format ID: %d\n",format);
printf("%s",format_description);
}
}
status = MB_SUCCESS;
error = MB_ERROR_NO_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 main (int argc, char **argv)
{
/* id variables */
char program_name[] = "HSDUMP";
char help_message[] = "HSDUMP lists the information contained in data records on\n\tHydrosweep DS data files, including survey, calibrate, water \n\tvelocity and comment records. The default input stream is stdin.";
char usage_message[] = "hsdump [-Fformat -V -H -Iinfile -Okind]";
/* parsing variables */
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 format_description[MB_DESCRIPTION_LENGTH];
char *message = NULL;
/* MBIO read and write control parameters */
int format = 0;
int pings;
int lonflip;
double bounds[4];
int btime_i[7];
int etime_i[7];
double btime_d;
double etime_d;
double speedmin;
double timegap;
int beams_bath;
int beams_amp;
int pixels_ss;
char file[MB_PATH_MAXLINE];
void *mbio_ptr = NULL;
/* mbio read and write values */
void *store_ptr;
struct mbsys_hsds_struct *store;
int kind;
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 = NULL;
double *bath = NULL;
double *bathacrosstrack = NULL;
double *bathalongtrack = NULL;
double *amp = NULL;
double *ss = NULL;
double *ssacrosstrack = NULL;
double *ssalongtrack = NULL;
char comment[MB_COMMENT_MAXLINE];
/* dump control parameters */
int mb_data_data_list = MB_NO;
int mb_data_comment_list = MB_NO;
int mb_data_calibrate_list = MB_NO;
int mb_data_mean_velocity_list = MB_NO;
int mb_data_velocity_profile_list = MB_NO;
int mb_data_standby_list = MB_NO;
int mb_data_nav_source_list = MB_NO;
int mb_data_data_count = 0;
int mb_data_comment_count = 0;
int mb_data_calibrate_count = 0;
int mb_data_mean_velocity_count = 0;
int mb_data_velocity_profile_count = 0;
int mb_data_standby_count = 0;
int mb_data_nav_source_count = 0;
/* output stream for basic stuff (stdout if verbose <= 1,
stderr if verbose > 1) */
FILE *output;
int i;
/* get current default values */
status = mb_defaults(verbose,&format,&pings,&lonflip,bounds,
btime_i,etime_i,&speedmin,&timegap);
/* reset all defaults */
format = MBF_HSATLRAW;
pings = 1;
lonflip = 0;
bounds[0] = -360.;
bounds[1] = 360.;
bounds[2] = -90.;
bounds[3] = 90.;
btime_i[0] = 1962;
btime_i[1] = 2;
btime_i[2] = 21;
btime_i[3] = 10;
btime_i[4] = 30;
btime_i[5] = 0;
btime_i[6] = 0;
etime_i[0] = 2062;
etime_i[1] = 2;
etime_i[2] = 21;
etime_i[3] = 10;
etime_i[4] = 30;
etime_i[5] = 0;
etime_i[6] = 0;
speedmin = 0.0;
timegap = 1000000000.0;
/* set default input and output */
strcpy (file, "stdin");
/* process argument list */
while ((c = getopt(argc, argv, "VvHhF:f:I:i:O:o:")) != -1)
switch (c)
{
case 'H':
case 'h':
help++;
break;
case 'V':
case 'v':
verbose++;
break;
case 'F':
case 'f':
sscanf (optarg,"%d", &format);
flag++;
break;
case 'I':
case 'i':
sscanf (optarg,"%s", file);
flag++;
break;
case 'O':
case 'o':
sscanf (optarg,"%d", &kind);
if (kind == MB_DATA_DATA)
mb_data_data_list = MB_YES;
if (kind == MB_DATA_COMMENT)
mb_data_comment_list = MB_YES;
if (kind == MB_DATA_CALIBRATE)
mb_data_calibrate_list = MB_YES;
if (kind == MB_DATA_MEAN_VELOCITY)
mb_data_mean_velocity_list = MB_YES;
if (kind == MB_DATA_VELOCITY_PROFILE)
mb_data_velocity_profile_list = MB_YES;
if (kind == MB_DATA_STANDBY)
mb_data_standby_list = MB_YES;
if (kind == MB_DATA_NAV_SOURCE)
mb_data_nav_source_list = MB_YES;
flag++;
break;
case '?':
errflg++;
}
/* set output stream */
if (verbose <= 1)
output = stdout;
else
output = stderr;
/* if error flagged then print it and exit */
if (errflg)
{
fprintf(output,"usage: %s\n", usage_message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_USAGE;
exit(error);
}
/* print starting message */
if (verbose == 1 || help)
{
fprintf(output,"\nProgram %s\n",program_name);
fprintf(output,"MB-system Version %s\n",MB_VERSION);
}
/* print starting debug statements */
if (verbose >= 2)
{
fprintf(output,"\ndbg2 Program <%s>\n",program_name);
fprintf(output,"dbg2 MB-system Version %s\n",MB_VERSION);
fprintf(output,"dbg2 Control Parameters:\n");
fprintf(output,"dbg2 verbose: %d\n",verbose);
fprintf(output,"dbg2 help: %d\n",help);
fprintf(output,"dbg2 format: %d\n",format);
fprintf(output,"dbg2 pings: %d\n",pings);
fprintf(output,"dbg2 lonflip: %d\n",lonflip);
fprintf(output,"dbg2 bounds[0]: %f\n",bounds[0]);
fprintf(output,"dbg2 bounds[1]: %f\n",bounds[1]);
fprintf(output,"dbg2 bounds[2]: %f\n",bounds[2]);
fprintf(output,"dbg2 bounds[3]: %f\n",bounds[3]);
fprintf(output,"dbg2 btime_i[0]: %d\n",btime_i[0]);
fprintf(output,"dbg2 btime_i[1]: %d\n",btime_i[1]);
fprintf(output,"dbg2 btime_i[2]: %d\n",btime_i[2]);
fprintf(output,"dbg2 btime_i[3]: %d\n",btime_i[3]);
fprintf(output,"dbg2 btime_i[4]: %d\n",btime_i[4]);
fprintf(output,"dbg2 btime_i[5]: %d\n",btime_i[5]);
fprintf(output,"dbg2 btime_i[6]: %d\n",btime_i[6]);
fprintf(output,"dbg2 etime_i[0]: %d\n",etime_i[0]);
fprintf(output,"dbg2 etime_i[1]: %d\n",etime_i[1]);
fprintf(output,"dbg2 etime_i[2]: %d\n",etime_i[2]);
fprintf(output,"dbg2 etime_i[3]: %d\n",etime_i[3]);
fprintf(output,"dbg2 etime_i[4]: %d\n",etime_i[4]);
fprintf(output,"dbg2 etime_i[5]: %d\n",etime_i[5]);
fprintf(output,"dbg2 etime_i[6]: %d\n",etime_i[6]);
fprintf(output,"dbg2 speedmin: %f\n",speedmin);
fprintf(output,"dbg2 timegap: %f\n",timegap);
fprintf(output,"dbg2 input file: %s\n",file);
fprintf(output,"dbg2 mb_data_data_list: %d\n",
mb_data_data_list);
fprintf(output,"dbg2 mb_data_comment_list: %d\n",
mb_data_comment_list);
fprintf(output,"dbg2 mb_data_calibrate_list: %d\n",
mb_data_calibrate_list);
fprintf(output,"dbg2 mb_data_mean_velocity_list: %d\n",
mb_data_mean_velocity_list);
fprintf(output,"dbg2 mb_data_velocity_profile_list: %d\n",
mb_data_velocity_profile_list);
fprintf(output,"dbg2 mb_data_standby_list: %d\n",
mb_data_standby_list);
fprintf(output,"dbg2 mb_data_nav_source_list: %d\n",
mb_data_nav_source_list);
}
/* if help desired then print it and exit */
if (help)
{
fprintf(output,"\n%s\n",help_message);
fprintf(output,"\nusage: %s\n", usage_message);
exit(error);
}
/* if bad format specified then print it and exit */
status = mb_format(verbose,&format,&error);
if (format != MBF_HSATLRAW && format != MBF_HSLDEOIH)
{
fprintf(output,"\nProgram <%s> requires complete Hydrosweep DS data stream\n",program_name);
fprintf(output,"!!Format %d is unacceptable, only formats %d and %d can be used\n",format,MBF_HSATLRAW,MBF_HSLDEOIH);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
error = MB_ERROR_BAD_FORMAT;
exit(error);
}
/* initialize reading the input multibeam file */
if ((status = mb_read_init(
verbose,file,format,pings,lonflip,bounds,
btime_i,etime_i,speedmin,timegap,
&mbio_ptr,&btime_d,&etime_d,
&beams_bath,&beams_amp,&pixels_ss,&error)) != MB_SUCCESS)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error returned from function <mb_read_init>:\n%s\n",message);
fprintf(output,"\nMultibeam File <%s> not initialized for reading\n",file);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* allocate memory for data arrays */
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(char),(void **)&beamflag,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),(void **)&bath,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),
(void **)&bathacrosstrack,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_bath*sizeof(double),
(void **)&bathalongtrack,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,beams_amp*sizeof(double),(void **)&,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),(void **)&ss,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),
(void **)&ssacrosstrack,&error);
status = mb_mallocd(verbose,__FILE__,__LINE__,pixels_ss*sizeof(double),
(void **)&ssalongtrack,&error);
/* if error initializing memory then quit */
if (error != MB_ERROR_NO_ERROR)
{
mb_error(verbose,error,&message);
fprintf(output,"\nMBIO Error allocating data arrays:\n%s\n",message);
fprintf(output,"\nProgram <%s> Terminated\n",
program_name);
exit(error);
}
/* printf out file and format */
mb_format_description(verbose, &format, format_description, &error);
fprintf(output,"\nHydrosweep DS Data File: %s\n",file);
fprintf(output,"MBIO Data Format ID: %d\n",format);
fprintf(output,"%s",format_description);
/* read and list */
while (error <= MB_ERROR_NO_ERROR)
{
/* read some data */
error = MB_ERROR_NO_ERROR;
status = MB_SUCCESS;
status = mb_get_all(verbose,mbio_ptr,&store_ptr,&kind,
time_i,&time_d,&navlon,&navlat,
&speed,&heading,
&distance,&altitude,&sonardepth,
&nbath,&namp,&nss,
beamflag,bath,amp,bathacrosstrack,bathalongtrack,
ss,ssacrosstrack,ssalongtrack,
comment,&error);
/* get data structure pointer */
store = (struct mbsys_hsds_struct *) store_ptr;
/* non-survey data do not matter to hsdump */
if (error >= MB_ERROR_OTHER && error < MB_ERROR_NO_ERROR)
{
status = MB_SUCCESS;
error = MB_ERROR_NO_ERROR;
}
/* output error messages */
if (verbose >= 1 && error <= MB_ERROR_OTHER)
{
mb_error(verbose,error,&message);
fprintf(output,"\nNonfatal MBIO Error:\n%s\n",message);
}
else if (verbose >= 1 && error > MB_ERROR_NO_ERROR
&& error != MB_ERROR_EOF)
{
mb_error(verbose,error,&message);
fprintf(output,"\nFatal MBIO Error:\n%s\n",message);
}
/* deal with survey data record */
if (kind == MB_DATA_DATA && mb_data_data_list == MB_YES)
{
mb_data_data_count++;
fprintf(output,"\n");
fprintf(output,"Survey Data Record (ERGNMESS + ERGNSLZT +ERGNAMPL):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Course: %f\n",
store->course_true);
fprintf(output," Course On Ground: %f\n",
store->course_ground);
fprintf(output," Speed: %f\n",
store->speed);
fprintf(output," Speed On Ground: %f\n",
store->speed_ground);
fprintf(output," Transverse Speed: %f\n",
store->speed_transverse);
fprintf(output," Speed Reference: %c%c\n",
store->speed_reference[0],
store->speed_reference[1]);
fprintf(output," Roll: %f\n",
store->roll);
fprintf(output," Pitch: %f\n",
store->pitch);
fprintf(output," Heave: %f\n",
store->heave);
fprintf(output," Track: %d\n",
store->track);
fprintf(output," Center Depth: %f\n",
store->depth_center);
fprintf(output," Depth Scale: %f\n",
store->depth_scale);
fprintf(output," Spare: %d\n",
store->spare);
fprintf(output," Crosstrack Distances and Depths:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->distance[i],store->depth[i]);
fprintf(output," Center Travel Time: %f\n",
store->time_center);
fprintf(output," Time Scale: %f\n",
store->time_scale);
fprintf(output," Travel Times:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d\n",
store->time[i]);
fprintf(output," Gyro Headings:\n");
for (i=0;i<11;i++)
fprintf(output," %f\n",
store->gyro[i]);
fprintf(output," Mode: %c%c\n",
store->mode[0],store->mode[1]);
fprintf(output," Transmit Starboard: %d\n",
store->trans_strbd);
fprintf(output," Transmit Vertical: %d\n",
store->trans_vert);
fprintf(output," Transmit Port: %d\n",
store->trans_port);
fprintf(output," Pulse Starboard: %d\n",
store->pulse_len_strbd);
fprintf(output," Pulse Vertical: %d\n",
store->pulse_len_vert);
fprintf(output," Pulse Port: %d\n",
store->pulse_len_port);
fprintf(output," Gain Start: %d\n",
store->gain_start);
fprintf(output," Compensation Factor:%d\n",
store->r_compensation_factor);
fprintf(output," Compensation Start: %d\n",
store->compensation_start);
fprintf(output," Increase Start: %d\n",
store->increase_start);
fprintf(output," Near TVC: %d\n",
store->tvc_near);
fprintf(output," Far TVC: %d\n",
store->tvc_far);
fprintf(output," Near Increase: %d\n",
store->increase_int_near);
fprintf(output," Far Increase: %d\n",
store->increase_int_far);
fprintf(output," Center Gain: %d\n",
store->gain_center);
fprintf(output," Filter Gain: %f\n",
store->filter_gain);
fprintf(output," Center Amplitude: %d\n",
store->amplitude_center);
fprintf(output," Center Echo Time: %d\n",
store->echo_duration_center);
fprintf(output," Echo Scale: %d\n",
store->echo_scale_center);
fprintf(output," Amplitudes and Durations:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->amplitude[i],
store->echo_duration[i]);
fprintf(output," Echo Gains and Scales:\n");
for (i=0;i<16;i++)
fprintf(output," %5d %5d\n",
store->gain[i],
store->echo_scale[i]);
}
/* deal with comment record */
if (kind == MB_DATA_COMMENT && mb_data_comment_list == MB_YES)
{
mb_data_comment_count++;
fprintf(output,"\n");
fprintf(output,"Comment Record (LDEOCMNT):\n");
fprintf(output," %s\n",store->comment);
}
/* deal with calibrate data record */
if (kind == MB_DATA_CALIBRATE
&& mb_data_calibrate_list == MB_YES)
{
mb_data_calibrate_count++;
fprintf(output,"\n");
fprintf(output,"Calibrate Data Record (ERGNEICH + ERGNSLZT +ERGNAMPL):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Course: %f\n",
store->course_true);
fprintf(output," Course On Ground: %f\n",
store->course_ground);
fprintf(output," Speed: %f\n",
store->speed);
fprintf(output," Speed On Ground: %f\n",
store->speed_ground);
fprintf(output," Transverse Speed: %f\n",
store->speed_transverse);
fprintf(output," Speed Reference: %c%c\n",
store->speed_reference[0],
store->speed_reference[1]);
fprintf(output," Roll: %f\n",
store->roll);
fprintf(output," Pitch: %f\n",
store->pitch);
fprintf(output," Heave: %f\n",
store->heave);
fprintf(output," Track: %d\n",
store->track);
fprintf(output," Center Depth: %f\n",
store->depth_center);
fprintf(output," Depth Scale: %f\n",
store->depth_scale);
fprintf(output," Spare: %d\n",
store->spare);
fprintf(output," Crosstrack Distances and Depths:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->distance[i],store->depth[i]);
fprintf(output," Center Travel Time: %f\n",
store->time_center);
fprintf(output," Time Scale: %f\n",
store->time_scale);
fprintf(output," Travel Times:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d\n",
store->time[i]);
fprintf(output," Gyro Headings:\n");
for (i=0;i<11;i++)
fprintf(output," %f\n",
store->gyro[i]);
fprintf(output," Mode: %c%c\n",
store->mode[0],store->mode[1]);
fprintf(output," Transmit Starboard: %d\n",
store->trans_strbd);
fprintf(output," Transmit Vertical: %d\n",
store->trans_vert);
fprintf(output," Transmit Port: %d\n",
store->trans_port);
fprintf(output," Pulse Starboard: %d\n",
store->pulse_len_strbd);
fprintf(output," Pulse Vertical: %d\n",
store->pulse_len_vert);
fprintf(output," Pulse Port: %d\n",
store->pulse_len_port);
fprintf(output," Gain Start: %d\n",
store->gain_start);
fprintf(output," Compensation Factor:%d\n",
store->r_compensation_factor);
fprintf(output," Compensation Start: %d\n",
store->compensation_start);
fprintf(output," Increase Start: %d\n",
store->increase_start);
fprintf(output," Near TVC: %d\n",
store->tvc_near);
fprintf(output," Far TVC: %d\n",
store->tvc_far);
fprintf(output," Near Increase: %d\n",
store->increase_int_near);
fprintf(output," Far Increase: %d\n",
store->increase_int_far);
fprintf(output," Center Gain: %d\n",
store->gain_center);
fprintf(output," Filter Gain: %f\n",
store->filter_gain);
fprintf(output," Center Amplitude: %d\n",
store->amplitude_center);
fprintf(output," Center Echo Time: %d\n",
store->echo_duration_center);
fprintf(output," Echo Scale: %d\n",
store->echo_scale_center);
fprintf(output," Amplitudes and Durations:\n");
for (i=0;i<MBSYS_HSDS_BEAMS;i++)
fprintf(output," %5d %5d\n",
store->amplitude[i],
store->echo_duration[i]);
fprintf(output," Echo Gains and Scales:\n");
for (i=0;i<16;i++)
fprintf(output," %5d %5d\n",
store->gain[i],
store->echo_scale[i]);
}
/* deal with mean velocity data record */
if (kind == MB_DATA_MEAN_VELOCITY
&& mb_data_mean_velocity_list == MB_YES)
{
mb_data_mean_velocity_count++;
fprintf(output,"\n");
fprintf(output,"Mean Water Velocity Record (ERGNHYDI):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Draught: %f\n",
store->draught);
fprintf(output," Mean velocity: %f\n",
store->vel_mean);
fprintf(output," Keel velocity: %f\n",
store->vel_keel);
fprintf(output," Tide: %f\n",store->tide);
}
/* deal with velocity profile data record */
if (kind == MB_DATA_VELOCITY_PROFILE
&& mb_data_velocity_profile_list == MB_YES)
{
mb_data_velocity_profile_count++;
fprintf(output,"\n");
fprintf(output,"Water Velocity Profile Record (ERGNCTDS):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," Number of points: %d\n",
store->num_vel);
fprintf(output," Water Velocity Profile:\n");
for (i=0;i<store->num_vel;i++)
fprintf(output," %f %f\n",
store->vdepth[i],store->velocity[i]);
}
/* deal with standby data record */
if (kind == MB_DATA_STANDBY
&& mb_data_standby_list == MB_YES)
{
mb_data_standby_count++;
fprintf(output,"\n");
fprintf(output,"Standby Data Record (ERGNPARA):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
}
/* deal with navigation source data record */
if (kind == MB_DATA_NAV_SOURCE
&& mb_data_nav_source_list == MB_YES)
{
mb_data_nav_source_count++;
fprintf(output,"\n");
fprintf(output,"Standby Data Record (ERGNPARA):\n");
fprintf(output," Time: %2d/%2d/%4d %2.2d:%2.2d:%2.2d\n",
store->month,store->day,store->year,
store->hour,store->minute,store->second);
fprintf(output," Alternate Time: %4d %4d\n",
store->alt_minute,store->alt_second);
fprintf(output," Longitude: %f\n",store->lon);
fprintf(output," Latitude: %f\n",store->lat);
fprintf(output," X Correction: %f\n",
store->pos_corr_x);
fprintf(output," Y Correction: %f\n",
store->pos_corr_y);
fprintf(output," Sensors: ");
for (i=0;i<10;i++)
fprintf(output,"%c",store->sensors[i]);
fprintf(output,"\n");
}
}
/* close the file */
status = mb_close(verbose,&mbio_ptr,&error);
/* deallocate memory for data arrays */
mb_freed(verbose,__FILE__,__LINE__,(void **)&beamflag,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bath,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathacrosstrack,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&bathalongtrack,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ss,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ssacrosstrack,&error);
mb_freed(verbose,__FILE__,__LINE__,(void **)&ssalongtrack,&error);
/* check memory */
if (verbose >= 4)
status = mb_memory_list(verbose,&error);
/* give the statistics */
fprintf(output,"\n");
if (mb_data_data_list == MB_YES)
fprintf(output,"%d survey data records listed\n",
mb_data_data_count);
if (mb_data_comment_list == MB_YES)
fprintf(output,"%d comment records listed\n",
mb_data_comment_count);
if (mb_data_calibrate_list == MB_YES)
fprintf(output,"%d calibrate data records listed\n",
mb_data_calibrate_count);
if (mb_data_mean_velocity_list == MB_YES)
fprintf(output,"%d mean velocity data records listed\n",
mb_data_mean_velocity_count);
if (mb_data_velocity_profile_list == MB_YES)
fprintf(output,"%d velocity profile data records listed\n",
mb_data_velocity_profile_count);
if (mb_data_standby_list == MB_YES)
fprintf(output,"%d standby data records listed\n",
mb_data_standby_count);
if (mb_data_nav_source_list == MB_YES)
fprintf(output,"%d navigation source data records listed\n",
mb_data_nav_source_count);
/* end it all */
exit(error);
}
