class TestDepth(unittest.TestCase):
def setUp(self):
self.depth = Depth()
def test_Depth(self):
self.depth.clear()
self.assertFalse(self.depth.valid())
def parse_eiva_navipac(mission, vehicle, category, output_format, outpath):
# Get your data from a file using mission paths, for example
# Get your data from a file using mission paths, for example
filepath = None
category_str = None
if category == Category.ORIENTATION:
category_str = "orientation"
filepath = mission.orientation.filepath
elif category == Category.DEPTH:
category_str = "depth"
filepath = mission.depth.filepath
elif category == Category.USBL:
category_str = "usbl"
filepath = mission.usbl.filepath
log_file_path = get_raw_folder(outpath / ".." / filepath)
depth_std_factor = mission.depth.std_factor
orientation_std_offset = mission.orientation.std_offset
heading_offset = vehicle.ins.yaw
usbl_id = mission.usbl.label
latitude_reference = float(mission.origin.latitude)
longitude_reference = float(mission.origin.longitude)
orientation = Orientation(heading_offset, orientation_std_offset)
depth = Depth(depth_std_factor)
usbl = Usbl(
mission.usbl.std_factor,
mission.usbl.std_offset,
latitude_reference,
longitude_reference,
)
data_list = []
num_entries = 0
num_valid_entries = 0
# For each log file
for log_file in log_file_path.glob("*_G.NPD"):
# Open the log file
with log_file.open("r", encoding="utf-8", errors="ignore") as filein:
if category == Category.ORIENTATION:
Console.info("... parsing orientation")
# For each line in the file
for line in filein.readlines():
if line.startswith("R132 4") and "$PRDID" in line:
orientation.from_eiva_navipac(line)
num_entries += 1
if orientation.roll is None:
continue
if orientation.valid():
num_valid_entries += 1
data = orientation.export(output_format)
data_list.append(data)
elif category == Category.DEPTH:
Console.info("... parsing depth")
for line in filein.readlines():
if line[0:14] == "D " + str(usbl_id) + " 19 1":
depth.from_eiva_navipac(line)
num_entries += 1
if depth.valid():
num_valid_entries += 1
data = depth.export(output_format)
data_list.append(data)
elif category == Category.USBL:
Console.info("... parsing USBL")
for line in filein.readlines():
if line.startswith("P D") and int(line[6:10]) == usbl_id:
num_entries += 1
usbl.from_eiva_navipac(line)
if usbl.valid():
num_valid_entries += 1
data = usbl.export(output_format)
data_list.append(data)
elif category == Category.ALTITUDE:
Console.quit("EIVA Navipac parser has no ALTITUDE available")
elif category == Category.VELOCITY:
Console.quit("EIVA Navipac parser has no VELOCITY available")
else:
Console.quit("EIVA Navipac parser has no category", category,
"available")
Console.info(
"Processed",
num_entries,
"entries , of which",
num_valid_entries,
"are valid for category",
category_str,
)
return data_list