/*--------------------------------------------------------------------*/
int mbsys_hs10_insert_nav(int verbose, void *mbio_ptr, void *store_ptr,
int time_i[7], double time_d,
double navlon, double navlat,
double speed, double heading, double draft,
double roll, double pitch, double heave,
int *error)
{
char *function_name = "mbsys_hs10_insert_nav";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbsys_hs10_struct *store;
/* 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 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 draft: %f\n",draft);
fprintf(stderr,"dbg2 roll: %f\n",roll);
fprintf(stderr,"dbg2 pitch: %f\n",pitch);
fprintf(stderr,"dbg2 heave: %f\n",heave);
}
/* get mbio descriptor */
mb_io_ptr = (struct mb_io_struct *) mbio_ptr;
/* get data structure pointer */
store = (struct mbsys_hs10_struct *) store_ptr;
/* 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 */
/* get draft */
/* get roll pitch and heave */
}
/* 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 mbr_wt_em12darw(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
char *function_name = "mbr_wt_em12darw";
int status = MB_SUCCESS;
struct mb_io_struct *mb_io_ptr;
struct mbf_em12darw_struct *data;
struct mbsys_simrad_struct *store;
struct mbsys_simrad_survey_struct *ping;
char line[MBF_EM12DARW_RECORD_LENGTH];
int index;
char *datacomment;
int time_i[7];
int time_j[5];
int year;
int i;
/* print input debug statements */
if (verbose >= 2) {
fprintf(stderr, "\ndbg2 MBIO function <%s> called\n", function_name);
fprintf(stderr, "dbg2 Input arguments:\n");
fprintf(stderr, "dbg2 verbose: %d\n", verbose);
fprintf(stderr, "dbg2 mbio_ptr: %p\n", (void *)mbio_ptr);
fprintf(stderr, "dbg2 store_ptr: %p\n", (void *)store_ptr);
}
/* get pointer to mbio descriptor */
mb_io_ptr = (struct mb_io_struct *)mbio_ptr;
/* get pointer to raw data structure */
data = (struct mbf_em12darw_struct *)mb_io_ptr->raw_data;
datacomment = (char *)&line[80];
store = (struct mbsys_simrad_struct *)store_ptr;
/* print debug statements */
if (verbose >= 5) {
fprintf(stderr, "\ndbg5 Status at beginning of MBIO function <%s>\n", function_name);
fprintf(stderr, "dbg5 store->kind: %d\n", store->kind);
fprintf(stderr, "dbg5 error: %d\n", *error);
fprintf(stderr, "dbg5 status: %d\n", status);
}
/* translate values from em12 data storage structure */
if (store->kind == MB_DATA_DATA) {
/* record type */
data->func = 150;
/* time */
time_i[0] = store->year;
time_i[1] = store->month;
time_i[2] = store->day;
time_i[3] = store->hour;
time_i[4] = store->minute;
time_i[5] = store->second;
time_i[6] = store->centisecond;
mb_get_jtime(verbose, time_i, time_j);
mb_unfix_y2k(verbose, time_j[0], &year);
data->year = (short)year;
data->jday = time_j[1];
data->minute = time_j[2];
data->secs = 100 * time_j[3] + 0.0001 * time_j[4];
/* navigation */
data->utm_zone = store->utm_zone;
data->utm_merd = store->utm_zone_lon;
data->corflag = store->utm_system;
data->posq = store->pos_quality;
data->speed = store->speed;
if (data->corflag == 0) {
data->latitude = store->pos_latitude;
data->longitude = store->pos_longitude;
}
else {
data->latitude = store->utm_northing;
data->longitude = store->utm_easting;
}
/* deal with survey data
in secondary data structure */
if (store->ping != NULL) {
/* get data structure pointer */
ping = (struct mbsys_simrad_survey_struct *)store->ping;
/* copy survey data */
data->latitude = ping->latitude;
data->longitude = ping->longitude;
data->pingno = ping->ping_number;
data->mode = ping->bath_res;
data->depthl = ping->keel_depth;
data->gyro = 0.1 * ping->heading;
data->roll = 0.01 * ping->roll;
data->pitch = 0.01 * ping->pitch;
data->heave = 0.01 * ping->ping_heave;
data->sndval = 0.1 * ping->sound_vel;
for (i = 0; i < ping->beams_bath; i++) {
if (ping->beamflag[i] == MB_FLAG_NULL)
data->depth[i] = 0;
else if (!mb_beam_ok(ping->beamflag[i]))
data->depth[i] = -ping->bath[i];
else
data->depth[i] = ping->bath[i];
data->distacr[i] = ping->bath_acrosstrack[i];
data->distalo[i] = ping->bath_alongtrack[i];
data->range[i] = ping->tt[i];
data->refl[i] = (short int)ping->amp[i];
data->beamq[i] = (short int)ping->quality[i];
}
}
}
/* comment */
else if (store->kind == MB_DATA_COMMENT) {
data->func = 100;
strncpy(datacomment, store->comment, MBSYS_SIMRAD_COMMENT_LENGTH);
}
/* print debug statements */
if (verbose >= 5) {
fprintf(stderr, "\ndbg5 Ready to write data in MBIO function <%s>\n", function_name);
fprintf(stderr, "dbg5 store->kind: %d\n", store->kind);
fprintf(stderr, "dbg5 error: %d\n", *error);
fprintf(stderr, "dbg5 status: %d\n", status);
}
/* print debug statements */
if (verbose >= 4 && status == MB_SUCCESS) {
fprintf(stderr, "\ndbg4 Data to be written by MBIO function <%s>\n", function_name);
fprintf(stderr, "dbg4 Status values:\n");
fprintf(stderr, "dbg4 store->kind:%d\n", store->kind);
fprintf(stderr, "dbg4 error: %d\n", *error);
fprintf(stderr, "dbg4 status: %d\n", status);
if (store->kind == MB_DATA_DATA) {
fprintf(stderr, "dbg4 Survey values:\n");
fprintf(stderr, "dbg4 year: %d\n", data->year);
fprintf(stderr, "dbg4 jday: %d\n", data->jday);
fprintf(stderr, "dbg4 minute: %d\n", data->minute);
fprintf(stderr, "dbg4 secs: %d\n", data->secs);
fprintf(stderr, "dbg4 latitude: %f\n", data->latitude);
fprintf(stderr, "dbg4 longitude: %f\n", data->longitude);
fprintf(stderr, "dbg4 corflag: %d\n", data->corflag);
fprintf(stderr, "dbg4 utm_merd: %f\n", data->utm_merd);
fprintf(stderr, "dbg4 utm_zone: %d\n", data->utm_zone);
fprintf(stderr, "dbg4 posq: %d\n", data->posq);
fprintf(stderr, "dbg4 pingno: %d\n", data->pingno);
fprintf(stderr, "dbg4 mode: %d\n", data->mode);
fprintf(stderr, "dbg4 depthl: %f\n", data->depthl);
fprintf(stderr, "dbg4 speed: %f\n", data->speed);
fprintf(stderr, "dbg4 gyro: %f\n", data->gyro);
fprintf(stderr, "dbg4 roll: %f\n", data->roll);
fprintf(stderr, "dbg4 pitch: %f\n", data->pitch);
fprintf(stderr, "dbg4 heave: %f\n", data->heave);
fprintf(stderr, "dbg4 sndval: %f\n", data->sndval);
for (i = 0; i < MBF_EM12DARW_BEAMS; i++)
fprintf(stderr, "dbg4 beam:%d depth:%d distacr:%d distalo:%d range:%d refl:%d beamq:%d\n", i,
data->depth[i], data->distacr[i], data->distalo[i], data->range[i], data->refl[i], data->beamq[i]);
}
else if (store->kind == MB_DATA_COMMENT) {
fprintf(stderr, "dbg4 Comment:\n");
fprintf(stderr, "dbg4 comment: %s\n", datacomment);
}
}
/* deal with comment */
if (status == MB_SUCCESS && store->kind == MB_DATA_COMMENT) {
index = 0;
for (i = 0; i < MBF_EM12DARW_RECORD_LENGTH; i++)
line[i] = 0;
mb_put_binary_short(MB_NO, data->func, &line[0]);
index += 2;
strncpy(datacomment, store->comment, MBSYS_SIMRAD_COMMENT_LENGTH);
}
/* deal with data */
else if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) {
index = 0;
mb_put_binary_short(MB_NO, data->func, &line[0]);
index += 2;
mb_put_binary_short(MB_NO, data->year, &line[index]);
index += 2;
mb_put_binary_short(MB_NO, data->jday, &line[index]);
index += 2;
mb_put_binary_short(MB_NO, data->minute, &line[index]);
index += 2;
mb_put_binary_short(MB_NO, data->secs, &line[index]);
index += 8;
mb_put_binary_double(MB_NO, data->latitude, &line[index]);
index += 8;
mb_put_binary_double(MB_NO, data->longitude, &line[index]);
index += 8;
mb_put_binary_short(MB_NO, data->corflag, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->utm_merd, &line[index]);
index += 4;
mb_put_binary_short(MB_NO, data->utm_zone, &line[index]);
index += 2;
mb_put_binary_short(MB_NO, data->posq, &line[index]);
index += 2;
mb_put_binary_int(MB_NO, data->pingno, &line[index]);
index += 4;
mb_put_binary_short(MB_NO, data->mode, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->depthl, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->speed, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->gyro, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->roll, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->pitch, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->heave, &line[index]);
index += 4;
mb_put_binary_float(MB_NO, data->sndval, &line[index]);
index += 4;
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_put_binary_short(MB_NO, data->depth[i], &line[index]);
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_put_binary_short(MB_NO, data->distacr[i], &line[index]);
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_put_binary_short(MB_NO, data->distalo[i], &line[index]);
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_put_binary_short(MB_NO, data->range[i], &line[index]);
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_put_binary_short(MB_NO, data->refl[i], &line[index]);
index += 2;
}
for (i = 0; i < MBF_EM12DARW_BEAMS; i++) {
mb_put_binary_short(MB_NO, data->beamq[i], &line[index]);
index += 2;
}
}
/* write next record to file */
if (store->kind == MB_DATA_DATA || store->kind == MB_DATA_COMMENT) {
if ((status = fwrite(line, 1, MBF_EM12DARW_RECORD_LENGTH, mb_io_ptr->mbfp)) == MBF_EM12DARW_RECORD_LENGTH) {
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
}
else {
status = MB_FAILURE;
*error = MB_ERROR_WRITE_FAIL;
}
}
else {
status = MB_SUCCESS;
*error = MB_ERROR_NO_ERROR;
if (verbose >= 5)
fprintf(stderr, "\ndbg5 No data written in MBIO function <%s>\n", function_name);
}
/* print output debug statements */
if (verbose >= 2) {
fprintf(stderr, "\ndbg2 MBIO function <%s> completed\n", function_name);
fprintf(stderr, "dbg2 Return values:\n");
fprintf(stderr, "dbg2 error: %d\n", *error);
fprintf(stderr, "dbg2 Return status:\n");
fprintf(stderr, "dbg2 status: %d\n", status);
}
return (status);
}
/*--------------------------------------------------------------------*/
int 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);
}
