def get_position(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
lat = list()
lon = list()
position = raw.get_datagram(dg_type=ResonDatagrams.POSITION)
times = [dg_pos.time for dg_pos in position]
for dg_pos in position:
if dg_pos.datum is "WGS":
lat.append(dg_pos.latitude * (180 / np.pi))
lon.append(dg_pos.longitude * (180 / np.pi))
else:
raise AttributeError("unrecognized datum: %s" % dg_pos.datum)
grp_pos = ds.createGroup("position")
grp_pos.createDimension(dimname="time", size=None)
spatial_reference = osr.SpatialReference()
spatial_reference.ImportFromEPSG(4326)
grp_pos.spatial_ref = str(spatial_reference)
var_time = grp_pos.createVariable(varname="time", datatype="f8", dimensions=("time",))
var_time[:] = times
var_lat = grp_pos.createVariable(varname="latitude", datatype="f8", dimensions=("time",))
var_lat[:] = lat
var_lon = grp_pos.createVariable(varname="longitude", datatype="f8", dimensions=("time",))
var_lon[:] = lon
NetCDFHelper.update_modified(ds=ds)
return True
def get_attitude(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
attitude = raw.get_datagram(dg_type=ResonDatagrams.ROLLPITCHHEAVE)
times_rph = [dg_att.time for dg_att in attitude]
roll = np.rad2deg([dg_att.roll for dg_att in attitude])
pitch = np.rad2deg([dg_att.pitch for dg_att in attitude])
heave = np.rad2deg([dg_att.heave for dg_att in attitude])
heading = raw.get_datagram(dg_type=ResonDatagrams.HEADING)
times_head = [dg_head.time for dg_head in heading]
head = np.rad2deg([dg_head.heading for dg_head in heading])
grp_attitude = ds.createGroup("attitude")
grp_attitude.units = "arc-degree"
grp_attitude.createDimension(dimname="time", size=None)
var_time = grp_attitude.createVariable(varname="time", datatype="f8", dimensions=("time",))
var_time[:] = times_rph
var_roll = grp_attitude.createVariable(varname="roll", datatype="f8", dimensions=("time",))
var_roll[:] = roll
var_pitch = grp_attitude.createVariable(varname="pitch", datatype="f8", dimensions=("time",))
var_pitch[:] = pitch
var_heave = grp_attitude.createVariable(varname="heave", datatype="f8", dimensions=("time",))
var_heave[:] = heave
if times_head is not None:
var_times_head = grp_attitude.createVariable(varname="heading_time", datatype="f8", dimensions=("time",))
var_times_head[:] = times_head
var_heading = grp_attitude.createVariable(varname="heading", datatype="f8", dimensions=("time",))
var_heading[:] = head
NetCDFHelper.update_modified(ds=ds)
return True
def get_beam_geo(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
beam_geo = raw.get_datagram(dg_type=ResonDatagrams.BEAMGEO)
num_beams = beam_geo[0].num_beams_max
beam_angle_along = np.empty(shape=(len(beam_geo), num_beams))
beam_angle_across = np.empty(shape=(len(beam_geo), num_beams))
beam_width_along = np.empty(shape=(len(beam_geo), num_beams))
beam_width_across = np.empty(shape=(len(beam_geo), num_beams))
times_beam_geo = [dg_beam_geo.time for dg_beam_geo in beam_geo]
for index, dg_beam_geo in enumerate(beam_geo):
beam_index = [range(dg_beam_geo.num_rx_beams)]
beam_angle_along[index, beam_index] = np.rad2deg(dg_beam_geo.rx_angle_vertical)
beam_angle_across[index, beam_index] = np.rad2deg(dg_beam_geo.rx_angle_horizontal)
beam_width_along[index, beam_index] = np.rad2deg(dg_beam_geo.rx_beam_width_along)
beam_width_across[index, beam_index] = np.rad2deg(dg_beam_geo.rx_beam_width_across)
grp_beam_geo = ds.createGroup("beam_geometry")
grp_beam_geo.createDimension(dimname="ping", size=None)
grp_beam_geo.createDimension(dimname="beam_number", size=num_beams)
var_time = grp_beam_geo.createVariable(varname="time", datatype="f8", dimensions=("ping",))
var_time[:] = times_beam_geo
var_beam_number = grp_beam_geo.createVariable(varname="beam_number", datatype="i4", dimensions=("beam_number",))
var_beam_number[:] = [range(num_beams)]
var_beam_angle_along = \
grp_beam_geo.createVariable(varname="beam_along_angle", datatype="f4", dimensions=("ping", "beam_number"))
var_beam_angle_along[:] = beam_angle_along
var_beam_angle_across = \
grp_beam_geo.createVariable(varname="beam_across_angle", datatype="f4", dimensions=("ping", "beam_number"))
var_beam_angle_across[:] = beam_angle_across
var_beam_width_along = \
grp_beam_geo.createVariable(varname="along_beamwdith", datatype="f4", dimensions=("ping", "beam_number"))
var_beam_width_along[:] = beam_width_along
var_beam_width_across = \
grp_beam_geo.createVariable(varname="across_beamwidth", datatype="f4", dimensions=("ping", "beam_number"))
var_beam_width_across[:] = beam_width_across
NetCDFHelper.update_modified(ds=ds)
return True
def get_tvg(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
tvg = raw.get_datagram(dg_type=ResonDatagrams.TVG)
times_tvg = [dg_tvg.time for dg_tvg in tvg]
grp_tvg = ds.createGroup("time_varying_gain")
grp_tvg.createDimension(dimname="ping", size=None)
var_time = grp_tvg.createVariable(varname="time", datatype="f8", dimensions=("ping",))
var_time[:] = times_tvg
vlen_tvg = grp_tvg.createVLType(datatype="f4", datatype_name="tvg_variable_length")
var_tvg = grp_tvg.createVariable(varname="tvg", datatype=vlen_tvg, dimensions=("ping",))
for ping in range(len(tvg)):
tvg_curve = np.asarray(tvg[ping].tvg_curve, dtype="f4")
var_tvg[ping] = tvg_curve
NetCDFHelper.update_modified(ds=ds)
return True
import logging
from hyo2.openbst.lib.raw.parsers.reson.reader import ResonDatagrams
from pathlib import Path
from hyo2.openbst.lib.raw.parsers.reson.reader import Reson
logging.basicConfig(level=logging.DEBUG)
raw_path = Path(__file__).parents[3].joinpath('data', 'download', 'reson',
'20190730_144835.s7k')
# raw_path = Path(__file__).parents[3].joinpath('data', 'download', 'reson', '20190321_185116.s7k')
if not raw_path.exists():
raise RuntimeError("unable fmtto locate: %s" % raw_path)
#
# infile = prr.x7kRead(str(raw_path))
# infile.mapfile()
# tst = infile.getrecord('7027', 0)
reson_file = Reson(raw_path)
reson_file.data_map()
# raw_position = reson_file.get_position()
tst = reson_file.get_datagram(ResonDatagrams.SNIPPETDATA)
# key = list(tst.keys())
# ping = tst[key[0]]
# tvg = np.asarray(ping.tvg_curve)
print('ahh')
def get_runtime_settings(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
runtime = raw.get_datagram(dg_type=ResonDatagrams.SONARSETTINGS)
times_runtime = [dg_runtime.time for dg_runtime in runtime]
frequency = [dg_runtime.frequency for dg_runtime in runtime]
sample_rate = [dg_runtime.sample_rate for dg_runtime in runtime]
rx_band_width = [dg_runtime.rx_band_width for dg_runtime in runtime]
tx_pulse_width = [dg_runtime.tx_pulse_width for dg_runtime in runtime]
tx_wave_form = [dg_runtime.tx_wave_form for dg_runtime in runtime]
source_level = [dg_runtime.power_select for dg_runtime in runtime]
static_gain = [dg_runtime.gain_select for dg_runtime in runtime]
tx_along_steering = [np.rad2deg(dg_runtime.tx_beam_steering_vertical) for dg_runtime in runtime]
tx_across_steering = [np.rad2deg(dg_runtime.tx_beam_steering_horizontal) for dg_runtime in runtime]
tx_along_beam_width = [np.rad2deg(dg_runtime.tx_beam_width_vertical) for dg_runtime in runtime]
tx_across_beam_width = [np.rad2deg(dg_runtime.tx_beam_width_horizontal) for dg_runtime in runtime]
tx_focus = [dg_runtime.tx_focus for dg_runtime in runtime]
stabilization_roll = [int(dg_runtime.stabilization_roll) for dg_runtime in runtime]
stabilization_pitch = [int(dg_runtime.stabilization_pitch) for dg_runtime in runtime]
stabilization_yaw = [int(dg_runtime.stabilization_yaw) for dg_runtime in runtime]
rx_beam_width = [np.rad2deg(dg_runtime.rx_beam_width) for dg_runtime in runtime]
absorption_gain = [dg_runtime.absorption for dg_runtime in runtime]
sound_velocity = [dg_runtime.sound_velocity for dg_runtime in runtime]
spreading_gain = [dg_runtime.spreading for dg_runtime in runtime]
grp_runtime = ds.createGroup("runtime_settings")
grp_runtime.createDimension(dimname="ping", size=None)
var_time = grp_runtime.createVariable(varname="time", datatype="f8", dimensions=("ping",))
var_time[:] = times_runtime
var_frequency = grp_runtime.createVariable(varname="frequency", datatype="f8", dimensions=("ping",))
var_frequency[:] = frequency
var_sample_rate = grp_runtime.createVariable(varname="sample_rate", datatype="f8", dimensions=("ping",))
var_sample_rate[:] = sample_rate
var_rx_band_width = grp_runtime.createVariable(varname="rx_band_width", datatype="f8", dimensions=("ping",))
var_rx_band_width[:] = rx_band_width
var_tx_pulse_width = grp_runtime.createVariable(varname="tx_pulse_width", datatype="f8", dimensions=("ping",))
var_tx_pulse_width[:] = tx_pulse_width
var_tx_wave_form = grp_runtime.createVariable(varname="tx_wave_form", datatype="S1", dimensions=("ping",))
var_tx_wave_form[:] = tx_wave_form
var_source_level = grp_runtime.createVariable(varname="source_level", datatype="f8", dimensions=("ping",))
var_source_level[:] = source_level
var_static_gain = grp_runtime.createVariable(varname="static_gain", datatype="f8", dimensions=("ping",))
var_static_gain[:] = static_gain
var_tx_along_steering = grp_runtime.createVariable(varname="tx_along_steering",
datatype="f8",
dimensions=("ping",))
var_tx_along_steering[:] = tx_along_steering
var_tx_across_steering = grp_runtime.createVariable(varname="tx_across_steering",
datatype="f8",
dimensions=("ping",))
var_tx_across_steering[:] = tx_across_steering
var_along_beam_width = grp_runtime.createVariable(varname="tx_along_beam_width",
datatype="f8",
dimensions=("ping",))
var_along_beam_width[:] = tx_along_beam_width
var_tx_across_beam_width = grp_runtime.createVariable(varname="tx_across_beam_width",
datatype="f8",
dimensions=("ping",))
var_tx_across_beam_width[:] = tx_across_beam_width
var_focus = grp_runtime.createVariable(varname="focus", datatype="f8", dimensions=("ping",))
var_focus[:] = tx_focus
var_stab_roll = grp_runtime.createVariable(varname="roll_stabilization", datatype="i4", dimensions=("ping",))
var_stab_roll[:] = stabilization_roll
var_stab_pitch = grp_runtime.createVariable(varname="pitch_stabilization", datatype="i4", dimensions=("ping",))
var_stab_pitch[:] = stabilization_pitch
var_stab_yaw = grp_runtime.createVariable(varname="yaw_stabilization", datatype="i4", dimensions=("ping",))
var_stab_yaw[:] = stabilization_yaw
var_rx_beam_width = grp_runtime.createVariable(varname="rx_beam_width", datatype="f8", dimensions=("ping",))
var_rx_beam_width[:] = rx_beam_width
var_absorp = grp_runtime.createVariable(varname="absorption_gain", datatype="f8", dimensions=("ping",))
var_absorp[:] = absorption_gain
var_sound_velocity = grp_runtime.createVariable(varname="sound_velocity", datatype="f8", dimensions=("ping",))
var_sound_velocity[:] = sound_velocity
var_spreading_gain = grp_runtime.createVariable(varname="spreading_gain", datatype="f8", dimensions=("ping",))
var_spreading_gain[:] = spreading_gain
NetCDFHelper.update_modified(ds=ds)
return True
def get_snippets(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
snippets = raw.get_datagram(dg_type=ResonDatagrams.SNIPPETDATA)
snippet_len = max([len(dg_snippets.snippet) for dg_snippets in snippets])
num_beams = snippets[0].num_beams_max
num_pings = len(snippets)
detect_sample = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
snippet_sample_start = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
snippet_sample_end = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
snippet_data = np.ones(shape=(num_pings, num_beams, snippet_len)) * RawImport.fill_value
beam_index = list()
times_snippets = [dg_snippets.time for dg_snippets in snippets]
for ping, dg_snippets in enumerate(snippets): # TODO: Faster code then for loop
beam_index.append(dg_snippets.beam_number)
detect_sample[ping, dg_snippets.beam_number] = dg_snippets.bottom_detect_sample
snippet_sample_start[ping, dg_snippets.beam_number] = dg_snippets.snippet_start_sample
snippet_sample_end[ping, dg_snippets.beam_number] = dg_snippets.snippet_end_sample
for n, beam in enumerate(dg_snippets.beam_number):
snippet_size = len(dg_snippets.snippet[n])
snippet_data[ping, beam, [range(snippet_size)]] = np.asarray(dg_snippets.snippet[n])
grp_snippet = ds.createGroup("snippets")
grp_snippet.createDimension(dimname="ping", size=None)
grp_snippet.createDimension(dimname="beam_number", size=num_beams)
grp_snippet.createDimension(dimname="sample", size=None)
var_time = grp_snippet.createVariable(varname="time", datatype="f8", dimensions=("ping",))
var_time[:] = times_snippets
var_detect_sample = grp_snippet.createVariable(varname="detect_sample",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_detect_sample[:] = detect_sample
var_snippet_start = grp_snippet.createVariable(varname="snippet_start_sample",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_snippet_start[:] = snippet_sample_start
var_snippet_end = grp_snippet.createVariable(varname="snippet_end_sample",
datatype="f8",
dimensions=("ping", "beam_number", ),
fill_value=RawImport.fill_value)
var_snippet_end[:] = snippet_sample_end
vlen_beam = grp_snippet.createVLType(datatype="i4", datatype_name="beam_index_vlen")
var_beam = grp_snippet.createVariable(varname="beam_index", datatype=vlen_beam, dimensions=("ping",))
for ping, dg_snippets in enumerate(snippets):
var_beam[ping] = np.asarray(dg_snippets.beam_number)
var_snippet = grp_snippet.createVariable(varname="snippets",
datatype="f8",
dimensions=("ping", "beam_number", "sample"),
fill_value=RawImport.fill_value)
var_snippet[:] = snippet_data
NetCDFHelper.update_modified(ds=ds)
return True
def get_raw_bathy(cls, raw: Reson, ds: Dataset):
raw.is_mapped()
raw_bathy = raw.get_datagram(dg_type=ResonDatagrams.RAWDETECTDATA)
times_bathy = [dg_raw_bathy.time for dg_raw_bathy in raw_bathy]
samp_rate = [dg_raw_bathy.sample_rate for dg_raw_bathy in raw_bathy]
tx_steering = [dg_raw_bathy.tx_steering_angle for dg_raw_bathy in raw_bathy]
rx_steering = [dg_raw_bathy.rx_steering_angle for dg_raw_bathy in raw_bathy]
num_beams = 512
num_pings = len(raw_bathy)
detect_point = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
rx_angle = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
quality = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
bs_beam_average = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
bs_beam_min_gate = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
bs_beam_max_gate = np.ones(shape=(num_pings, num_beams)) * RawImport.fill_value
for index, dg_raw_bathy in enumerate(raw_bathy):
beam_num = dg_raw_bathy.beam
detect_point[index, beam_num] = dg_raw_bathy.detect_point
rx_angle[index, beam_num] = dg_raw_bathy.rx_angle
quality[index, beam_num] = dg_raw_bathy.quality_flag
bs_beam_average[index, beam_num] = dg_raw_bathy.signal_strength
bs_beam_min_gate[index, beam_num] = dg_raw_bathy.min_limit
bs_beam_max_gate[index, beam_num] = dg_raw_bathy.max_limit
grp_bathy = ds.createGroup("raw_bathymetry_data")
grp_bathy.createDimension(dimname="ping", size=num_pings)
grp_bathy.createDimension(dimname="beam_number", size=num_beams)
var_time = grp_bathy.createVariable(varname="time",
datatype="f8",
dimensions=("ping",),
fill_value=RawImport.fill_value)
var_time[:] = times_bathy
var_beam_number = grp_bathy.createVariable(varname="beam_number",
datatype="i4",
dimensions=("beam_number",),
fill_value=RawImport.fill_value)
var_beam_number[:] = [range(num_beams)]
var_samp_rate = grp_bathy.createVariable(varname="sample_rate",
datatype="f8",
dimensions=("ping",),
fill_value=RawImport.fill_value)
var_samp_rate[:] = samp_rate
var_tx_steering = grp_bathy.createVariable(varname="tx_steering",
datatype="f8",
dimensions=("ping",),
fill_value=RawImport.fill_value)
var_tx_steering[:] = tx_steering
var_rx_steering = grp_bathy.createVariable(varname="rx_steering",
datatype="f8",
dimensions=("ping",),
fill_value=RawImport.fill_value)
var_rx_steering[:] = rx_steering
var_detect_point = grp_bathy.createVariable(varname="detect_point",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_detect_point[:] = detect_point
var_rx_angle = grp_bathy.createVariable(varname="rx_angle",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_rx_angle[:] = detect_point
var_quality = grp_bathy.createVariable(varname="quality",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_quality[:] = quality
var_beam_average = grp_bathy.createVariable(varname="bs_beam_average",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_beam_average[:] = bs_beam_average
var_min_gate = grp_bathy.createVariable(varname="min_sample_gate",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_min_gate[:] = bs_beam_min_gate
var_max_gate = grp_bathy.createVariable(varname="max sample gate",
datatype="f8",
dimensions=("ping", "beam_number"),
fill_value=RawImport.fill_value)
var_max_gate[:] = bs_beam_max_gate
NetCDFHelper.update_modified(ds=ds)
return True