def compute_pinger_direction2(self, ang_ret=False):
# Grab a sample of pinger data
self.adc.get_data()
# (detour) log data if applicable
self.logger.process(self.adc, self.filt)
# Estimate pinger location: Get a value that represents the
# time delay of arrival for each individual hydrophone
tdoa_times = get_heading.compute_relative_delay_times(self.adc,
TARGET_FREQ,
self.array,
env.c)
# Get direction
toa_dists = tdoa_times * env.c
info_string = self.array.get_direction(toa_dists)
# Report angles if applicable
if ang_ret:
angles = [(-math.atan2(b, a) * 180 / math.pi + 90) for (a, b) in self.array.ab]
n = self.array.n_elements
if n == 2:
return {'ab': angles[0]}
elif n == 3:
return {'ra': angles[0],
'rb': angles[1],
'ab': angles[2]
}
else:
raise IOError('%d hydrophone elements was not expected' % n)
def compute_heading(hydrophone_pair, adc, pattern):
# capture theta for sub array
tdoa_times = get_heading.compute_relative_delay_times(adc, 22e3, hydrophone_pair, c=C_SOUND,pattern=[(0,1)],elem2adc=pattern)
doas = tdoa_times * C_SOUND
hydrophone_pair.get_direction(doas)
unpack = 0
(a,b) = hydrophone_pair.ab[unpack]
theta_center = ab2heading(a,b)
return theta_center
def compute_pinger_direction3(self, ang_ret=False):
# Helpful index definitions
idx_pair_ab = 0
idx_pair_cd = 5
idx_tri_ra = 0
idx_tri_rb = 1
idx_tri_ab = 2
# Grab a sample of pinger data
y = self.get_data()
if y:
# (detour) log data if applicable
self.logger.process(self.adc, self.filt)
# Estimate pinger location: Get a value that represents the
# time delay of arrival for each individual hydrophone
tdoa_times = get_heading.compute_relative_delay_times(self.adc,
self.pinger_freq,
self.array,
env.c)
# Get direction
toa_dists = tdoa_times * env.c
info_string = self.array.get_direction(toa_dists)
# Report angles if applicable
if ang_ret:
angles = [(-math.atan2(b, a) * 180 / math.pi + 90) for (a, b) in self.array.ab]
n = self.array.n_elements
if n == 2:
return {'ab': angles[idx_pair_ab], 'cd': None}
elif n == 3:
return {'ra': angles[0],
'rb': angles[1],
'ab': angles[2]
}
elif n == 4:
return {'ab': angles[idx_pair_ab], 'cd': angles[idx_pair_cd]}
else:
raise IOError('%d hydrophone elements was not expected' % n)
else:
# Did not get an acceptable sample. Return None.
return None
