Merge pull request #1446 from dwcaress/caress-tmp

Fix support for formats MBF_SBSIOSWB and MBF_EM710RAW

ChangeLog.md

@@ -23,6 +23,7 @@ or beta, are equally accessible as tarballs through the Github interface.
 ### MB-System Version 5.8 Releases and Release Notes:
 ---
 
+- Version 5.8.1beta09    March 22, 2024
 - Version 5.8.1beta08    March 10, 2024
 - Version 5.8.1beta07    February 24, 2024
 - Version 5.8.1beta04    February 16, 2024
@@ -33,6 +34,27 @@ or beta, are equally accessible as tarballs through the Github interface.
 
 ---
 
+#### 5.8.1beta09 (March 22, 2024)
+
+Format 16 (MBF_SBSIOSWB): Fixed bug that became evident when processing old Scripps
+SeaBeam Classic data in format 16 on a MacOs Sonoma machine. This turned out to be
+a poorly formed preprocessor macro for rounding floating point values in code dating 
+from 1992. 
+
+Formats 58 (MBF_EM710RAW) and 59 (MBF_EM710MBA):  Fixed bug in which some bathymetry 
+edits were applied to the wrong pings. Third generation Kongsberg multibeams produce
+two cross profiles with each ping cycle, but represent these as two separate pings
+with the same ping time. MB-System distinguishes between pings using the timestamps
+rather than ping numbers (because not all sonars produce ping numbers), so pings
+with the same timestamp confuse the beam flag handling code. The solution is to add
+a small amount of time to the timestamp of the second ping in each pair. The bug was
+that the amount of time added by mbpreprocess was 33 microseconds, but the datagrams
+in Kongsberg *.all files specify timestamps only to the millisecond level, and so
+the added time was not large enough to be recorded differently in the output files.
+
+Mbgrid: Improved output to shell so that it shows the min max values from each 
+contributing input file whether verbose is specified or not.
+
 #### 5.8.1beta08 (March 10, 2024)
 
 Mbm_grdplot: Added colortable 10, which runs from blue to red and can be used for

src/mbaux/mb_truecont.c

@@ -979,7 +979,7 @@ int mb_tcontour(int verbose, struct swath *data, int *error) {
 
       else {
         const double ratio = data->level_list[i] / data->tick_int;
-        if (fabs(ROUND(ratio) - ratio) < 0.005 * data->contour_int)
+        if (fabs(round(ratio) - ratio) < 0.005 * data->contour_int)
           data->tick_list[i] = 1;
         else
           data->tick_list[i] = 0;
@@ -988,7 +988,7 @@ int mb_tcontour(int verbose, struct swath *data, int *error) {
         data->label_list[i] = 0;
       else {
         const double ratio = data->level_list[i] / data->label_int;
-        if (fabs(ROUND(ratio) - ratio) < 0.005 * data->contour_int)
+        if (fabs(round(ratio) - ratio) < 0.005 * data->contour_int)
           data->label_list[i] = 1;
         else
           data->label_list[i] = 0;
@@ -1529,7 +1529,7 @@ int mb_ocontour(int verbose, struct swath *data, int *error) {
         data->tick_list[i] = 0;
       else {
         const double ratio = data->level_list[i] / data->tick_int;
-        if (fabs(ROUND(ratio) - ratio) < 0.005 * data->contour_int)
+        if (fabs(round(ratio) - ratio) < 0.005 * data->contour_int)
           data->tick_list[i] = 1;
         else
           data->tick_list[i] = 0;
@@ -1538,7 +1538,7 @@ int mb_ocontour(int verbose, struct swath *data, int *error) {
         data->label_list[i] = 0;
       else {
         const double ratio = data->level_list[i] / data->label_int;
-        if (fabs(ROUND(ratio) - ratio) < 0.005 * data->contour_int)
+        if (fabs(round(ratio) - ratio) < 0.005 * data->contour_int)
           data->label_list[i] = 1;
         else
           data->label_list[i] = 0;

src/mbio/mb_define.h

@@ -37,8 +37,8 @@
 #include <stdint.h>
 
 /* Define version and date for this release */
-#define MB_VERSION "5.8.1beta08"
-#define MB_VERSION_DATE "10 March 2024"
+#define MB_VERSION "5.8.1beta09"
+#define MB_VERSION_DATE "22 March 2024"
 
 /* CMake supports current OS's and so there is only one form of RPC and XDR and no mb_config.h file */
 #ifdef CMAKE_BUILD_SYSTEM
@@ -255,9 +255,6 @@ typedef enum {
 #ifndef MAX
 #define MAX(A, B) ((A) > (B) ? (A) : (B))
 #endif
-#ifndef ROUND
-#define ROUND(X) X < 0.0 ? ceil(X - 0.5) : floor(X + 0.5)
-#endif
 
 /* NaN defines */
 #ifdef NO_IEEE

src/mbio/mbr_em710raw.c

@@ -1642,7 +1642,7 @@ int mbr_em710raw_rd_height(int verbose, void *mbio_ptr, int swap, struct mbsys_s
 #endif
 	}
 
-	if (verbose >= 5) {
+	if (verbose >= 0) {
 		fprintf(stderr, "\ndbg5  Values read in MBIO function <%s>\n", __func__);
 		fprintf(stderr, "dbg5       type:            %d\n", store->type);
 		fprintf(stderr, "dbg5       sonar:           %d\n", store->sonar);
@@ -4600,7 +4600,6 @@ store->pings[store->ping_index].png_ss_count);
 int mbr_rt_em710raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 	int time_i[7];
 	double ntime_d, ptime_d, atime_d, btime_d;
-	double bath_time_d, ss_time_d;
 	double rawspeed, pheading;
 	double plon, plat, pspeed, roll, pitch, heave;
 	double att_time_d[MBSYS_SIMRAD3_MAXATTITUDE];
@@ -4802,36 +4801,36 @@ int mbr_rt_em710raw(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 	   match for survey data - we can have bath without
 	   sidescan but not sidescan without bath */
 	else if (status == MB_SUCCESS && store->kind == MB_DATA_DATA) {
-		/* get times of bath and sidescan records */
-		time_i[0] = ping->png_date / 10000;
-		time_i[1] = (ping->png_date % 10000) / 100;
-		time_i[2] = ping->png_date % 100;
-		time_i[3] = ping->png_msec / 3600000;
-		time_i[4] = (ping->png_msec % 3600000) / 60000;
-		time_i[5] = (ping->png_msec % 60000) / 1000;
-		time_i[6] = (ping->png_msec % 1000) * 1000;
-		mb_get_time(verbose, time_i, &bath_time_d);
-		time_i[0] = ping->png_ss_date / 10000;
-		time_i[1] = (ping->png_ss_date % 10000) / 100;
-		time_i[2] = ping->png_ss_date % 100;
-		time_i[3] = ping->png_ss_msec / 3600000;
-		time_i[4] = (ping->png_ss_msec % 3600000) / 60000;
-		time_i[5] = (ping->png_ss_msec % 60000) / 1000;
-		time_i[6] = (ping->png_ss_msec % 1000) * 1000;
-		mb_get_time(verbose, time_i, &ss_time_d);
-
-		/* check for time match - if bath newer than
-		   sidescan then zero sidescan,  if sidescan
-		   newer than bath then set error,  if ok then
-		   check that beam ids are the same */
+
+		/* make sure bathymetry, raw beam and snippet records have the same timestamp */
+		if (ping->png_count == ping->png_raw_count && (ping->png_date != ping->png_raw_date || ping->png_msec != ping->png_raw_msec)) {
+			ping->png_raw_date = ping->png_date;
+			ping->png_raw_msec = ping->png_msec;
+		}
+		if (ping->png_count == ping->png_ss_count && (ping->png_date != ping->png_ss_date || ping->png_msec != ping->png_ss_msec)) {
+			ping->png_ss_date = ping->png_date;
+			ping->png_ss_msec = ping->png_msec;
+		}
+
+		/* check for ping count match - if not
+		   then zero sidescan,  if ok then
+		   check that beam numbers are the same */
 		if (ping->png_ss_date == 0 || ping->png_nbeams_ss == 0) {
 			status = mbsys_simrad3_zero_ss(verbose, store_ptr, error);
 		}
-		else if (fabs(bath_time_d - ss_time_d) > 0.002) {
-			if (verbose > 0)
-				fprintf(stderr, "%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan zeroed, bathtime:%f != sstime:%f\n",
-				        __func__, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], bath_time_d,
-				        ss_time_d);
+		else if (ping->png_count != ping->png_ss_count) {
+			if (verbose > 0) {
+				time_i[0] = ping->png_date / 10000;
+				time_i[1] = (ping->png_date % 10000) / 100;
+				time_i[2] = ping->png_date % 100;
+				time_i[3] = ping->png_msec / 3600000;
+				time_i[4] = (ping->png_msec % 3600000) / 60000;
+				time_i[5] = (ping->png_msec % 60000) / 1000;
+				time_i[6] = (ping->png_msec % 1000) * 1000;
+				fprintf(stderr, "%s: %4.4d/%2.2d/%2.2d %2.2d:%2.2d:%2.2d.%6.6d Sidescan zeroed, png_count:%d != png_ss_count:%d\n",
+				        __func__, time_i[0], time_i[1], time_i[2], time_i[3], time_i[4], time_i[5], time_i[6], 
+						ping->png_count, ping->png_ss_count);
+			}
 			status = mbsys_simrad3_zero_ss(verbose, store_ptr, error);
 		}
 		else {

src/mbio/mbr_sbsioswb.c

@@ -367,7 +367,7 @@ int mbr_rt_sbsioswb(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 	if (status == MB_FAILURE && *error == MB_ERROR_UNINTELLIGIBLE) {
 		/* read rest of record into dummy */
 		for (int i = 0; i < data->sensor_size; i++) {
-      size_t read_len = 0;
+      	  	size_t read_len = 0;
 			if ((read_len = fread(dummy, 1, 1, mb_io_ptr->mbfp)) != (size_t) 1) {
 				status = MB_FAILURE;
 				*error = MB_ERROR_EOF;
@@ -385,7 +385,7 @@ int mbr_rt_sbsioswb(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 
 	/* read sensor record from file */
 	if (status == MB_SUCCESS && data->sensor_size > 0) {
-    size_t read_len = 0;
+    	size_t read_len = 0;
 		if ((read_len = fread(sensorptr, 1, data->sensor_size, mb_io_ptr->mbfp)) == (size_t) data->sensor_size) {
 			mb_io_ptr->file_bytes += read_len;
 			status = MB_SUCCESS;
@@ -523,10 +523,10 @@ int mbr_rt_sbsioswb(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 			if (lon < 0.0)
 				lon = lon + 360.0;
 			store->lon2u = (unsigned short)60.0 * lon;
-			store->lon2b = (unsigned short)ROUND(600000.0 * (lon - store->lon2u / 60.0));
+			store->lon2b = (unsigned short)round(600000.0 * (lon - store->lon2u / 60.0));
 			lat = 0.0000001 * data->lat + 90.0;
 			store->lat2u = (unsigned short)60.0 * lat;
-			store->lat2b = (unsigned short)ROUND(600000.0 * (lat - store->lat2u / 60.0));
+			store->lat2b = (unsigned short)round(600000.0 * (lat - store->lat2u / 60.0));
 
 			/* time stamp */
 			store->year = data->year;
@@ -535,8 +535,8 @@ int mbr_rt_sbsioswb(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 			store->sec = 0.01 * data->sec;
 
 			/* heading */
-			store->sbhdg = (data->heading < (short)0) ? (unsigned short)ROUND(((int)data->heading + 3600) * 18.204444444)
-			                                          : (unsigned short)ROUND(data->heading * 18.204444444);
+			store->sbhdg = (data->heading < (short)0) ? (unsigned short)round(((int)data->heading + 3600) * 18.204444444)
+			                                          : (unsigned short)round(data->heading * 18.204444444);
 
 			/* depths and distances */
 			id = data->beams_bath - 1;
@@ -685,7 +685,7 @@ int mbr_wt_sbsioswb(int verbose, void *mbio_ptr, void *store_ptr, int *error) {
 		data->sec = 100 * store->sec;
 
 		/* heading */
-		data->heading = (short)ROUND(((int)store->sbhdg) * 0.054931641625);
+		data->heading = (short)round(((int)store->sbhdg) * 0.054931641625);
 
 		/* additional values */
 		data->eclipse_time = store->sbtim;

src/mbio/mbsys_sb.c

@@ -153,10 +153,6 @@ int mbsys_sb_extract(int verbose, void *mbio_ptr, void *store_ptr, int *kind, in
                      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) {
-	(void)amp;  // Unused arg
-	(void)ss;  // Unused arg
-	(void)ssacrosstrack;  // Unused arg
-	(void)ssalongtrack;  // Unused arg
 	if (verbose >= 2) {
 		fprintf(stderr, "\ndbg2  MBIO function <%s> called\n", __func__);
 		fprintf(stderr, "dbg2  Input arguments:\n");