Merge pull request #1443 from dwcaress/caress-tmp

Caress tmp

src/mbio/mbr_em710raw.c

@@ -4542,7 +4542,17 @@ store->pings[store->ping_index].png_ss_count);
 			done = true;
 
 		/* if necessary read over unread but expected bytes */
-		bytes_read = ftell(mbfp) - mb_io_ptr->file_bytes - 4;
+        if(mbfp != NULL){
+            // reading from file
+            bytes_read = ftell(mbfp) - mb_io_ptr->file_bytes - 4;
+        }
+//        else if(mbsp != NULL) {
+//            // reading from socket
+//            bytes_read = 0;
+//        } else {
+//            // error: neither file nor socket set
+//        }
+
 		if (!*label_save_flag && !good_end_bytes && bytes_read < record_size) {
 #ifdef MBR_EM710RAW_DEBUG
 			fprintf(stderr, "skip over %d unread bytes of supported datagram type %x\n", record_size - bytes_read, type);
@@ -4554,8 +4564,8 @@ store->pings[store->ping_index].png_ss_count);
 		}
 
 #ifdef MBR_EM710RAW_DEBUG
-		fprintf(stderr, "record_size:%d bytes read:%ld file_pos old:%ld new:%ld\n", record_size,
-		        ftell(mbfp) - mb_io_ptr->file_bytes, mb_io_ptr->file_bytes, ftell(mbfp));
+        if(mbfp != NULL)
+            fprintf(stderr, "record_size:%d bytes read:%ld file_pos old:%ld new:%ld\n", record_size, ftell(mbfp) - mb_io_ptr->file_bytes, mb_io_ptr->file_bytes, ftell(mbfp));
 		fprintf(stderr, "done:%d status:%d error:%d\n", done, status, *error);
 		fprintf(stderr, "end of mbr_em710raw_rd_data loop:\n\n");
 #endif
@@ -4565,10 +4575,15 @@ store->pings[store->ping_index].png_ss_count);
 #endif
 
 		/* get file position */
-		if (*label_save_flag)
-			mb_io_ptr->file_bytes = ftell(mbfp) - 2;
-		else
-			mb_io_ptr->file_bytes = ftell(mbfp);
+        if (*label_save_flag) {
+            if(mbfp != NULL) {
+                mb_io_ptr->file_bytes = ftell(mbfp) - 2;
+            }
+        } else {
+            if(mbfp != NULL){
+                mb_io_ptr->file_bytes = ftell(mbfp);
+            }
+        }
 	}
 
 	if (verbose >= 2) {

src/mbio/mbsys_simrad3.h

@@ -393,6 +393,56 @@
 #define EM3_INVALID_U_INT 0xFFFFFFFF
 #define EM3_INVALID_INT 0x7FFFFFFF
 
+/* M3 datagram types */
+#pragma pack(push,1)
+struct mbsys_simrad3_header {
+    /* Definition of general datagram header */
+    unsigned int numBytesDgm;       /* Datagram length in bytes.
+                                     * The length field at the start (4 bytes) and end of the datagram (4 bytes)
+                                     * are included in the length count. */
+    mb_u_char dgmSTX;               /* start ID e.g. 0x02 */
+    mb_u_char dgmType;              /* datagram type definition, e.g.
+                                     Installation (I or i) or r (Remote information): Start = 049h Stop = 069h Remote info = 070h Runtime (R): 052h
+                                     Raw range and beam angle 78 (N): 04eh
+                                     XYZ88 (X): 058h, or 88d Clock (C): 043h
+                                     Attitude (A): 041h
+                                     Position (P): 050h
+                                     Surface sound speed (G): 047h
+                                     */
+    unsigned short emModeNum;       /* EM model number For M3, use 30. For M3 dual head, use 30D */
+    unsigned int date;              /* Date (in binary format) = year*10000+Month*100+day (example: April 26, 2016 = 20160426) */
+    unsigned int timeMs;            /* Time since midnight in milliseconds  */
+    unsigned short counter;            /* Sequential counter associated with each datagram. In M3, it
+                                      is the ping sequential counter associated with data. Only
+                                      exception is the counter in the installation datagram, where
+                                      the counter starts from 0 and increases by 1 whenever a new
+                                      installation datagram is received.  */
+    unsigned short sysSerialNum;       /* System serial number. Set it to the lower two bytes of the first M3 head sonar info.*/
+    unsigned short secHeadSerialNum;   /* Secondary system serial number and only used by Installation parameter. Set it to the lower two bytes of the second M3 sonar info. Currently it is always 0. */
+};
+
+struct mbsys_simrad3_footer {
+    mb_u_char dgmETX;        /*End identifier, always 03h*/
+    unsigned short checksum; /*Sum of bytes between STX and ETX*/
+};
+#pragma pack(pop)
+
+// Enumerate EM datagram types
+typedef enum {
+    /* unknown datagram */
+    ALL_UNKNOWN = 0,
+    ALL_INSTALLATION_U = 'I',
+    ALL_INSTALLATION_L = 'i',
+    ALL_REMOTE = 'r',
+    ALL_RUNTIME = 'R',
+    ALL_RAW_RANGE_BEAM_ANGLE = 'N',
+    ALL_XYZ88 = 'X',
+    ALL_CLOCK = 'C',
+    ALL_ATTITUDE = 'A',
+    ALL_POSITION = 'P',
+    ALL_SURFACE_SOUND_SPEED = 'G'
+} mbsys_simrad3_emdgm_type;
+
 /* internal data structure for survey data */
 struct mbsys_simrad3_ping_struct {
 	int read_status; /* read status for this structure:

src/mbtrn/CMakeLists.txt

@@ -45,6 +45,13 @@
 #.   mb1-cli
 #
 message("In src/mbtrn")
+
+if(CMAKE_SYSTEM_NAME STREQUAL Linux)
+  find_package(TIRPC REQUIRED)
+else()
+  add_library(TIRPC::TIRPC INTERFACE IMPORTED)
+endif()
+
 add_compile_definitions(
 HAVE_CONFIG_H
 _GNU_SOURCE
@@ -170,8 +177,17 @@ target_link_libraries(mb1-cli PRIVATE mbtrnframe mb1r mb1 m pthread)
 #
 #------------------------------------------------------------------------------
 #
+add_executable(emallpub utils/emallpub.c)
+target_include_directories(emallpub PRIVATE ${CMAKE_SOURCE_DIR}/src/mbtrnframe
+                            ${CMAKE_SOURCE_DIR}/src/mbio
+							${CMAKE_SOURCE_DIR}/src/mbtrnutils)
+target_link_libraries(emallpub PRIVATE TIRPC::TIRPC mbtrnframe m pthread)
+#
+#------------------------------------------------------------------------------
+#
 install(TARGETS r7kr mb1r DESTINATION ${CMAKE_INSTALL_LIBDIR})
 #
-install(TARGETS udps udpc mbtnav_cli stream7k emu7k r7kr_test trnc tbinx mb1conv mb12csv mb1r_test mb1-cli DESTINATION ${CMAKE_INSTALL_BINDIR})
+install(TARGETS udps udpc mbtnav_cli stream7k emu7k r7kr_test trnc tbinx mb1conv mb12csv mb1r_test mb1-cli emallpub DESTINATION ${CMAKE_INSTALL_BINDIR})
 #
 #------------------------------------------------------------------------------
+#