def get_current(self, t, lat, lon, z, convert_to_decimal=True):
''' returns netcdf data for u, S T eta and depth for given
lat/lon and interpolated to glider time.
z is not used.
'''
if t < self.t_min or t > self.t_max:
raise ValueError(
"Can't find the time. No nc file of requested time is present?"
)
if convert_to_decimal:
dec_lat = convertToDecimal(lat)
dec_lon = convertToDecimal(lon)
else:
dec_lat = lat
dec_lon = lon
#
fn, index, ft = self.__selectFile(t)
self.__openNC(fn)
k, l = self.__find_ij(dec_lat, dec_lon, 'X')
u0, v0, eta0, S0, T0 = self.get_current_at_time(
fn, index, dec_lat, dec_lon, k, l)
#
fn1, index1, ft1 = self.__selectFile(t + self.DT)
self.__openNC(fn1)
u1, v1, eta1, S1, T1 = self.get_current_at_time(
fn1, index1, dec_lat, dec_lon, k, l)
#
u = u0 * (1 - ft) + ft * u1
v = v0 * (1 - ft) + ft * v1
S = S0 * (1 - ft) + ft * S1
T = T0 * (1 - ft) + ft * T1
eta = eta0 * (1 - ft) + ft * eta1
return u, v, 0, 0, eta, S, T
def get_current(self,t,lat,lon,z, convert_to_decimal=True):
''' returns netcdf data for u, S T eta and depth for given
lat/lon and interpolated to glider time.
'''
#print "Setting glider depth for u to 800 m in nemo.py l.309"
#z=800
if t<self.t_min or t>self.t_max:
return 0,0,0,100
if convert_to_decimal:
dec_lat=convertToDecimal(lat)
dec_lon=convertToDecimal(lon)
else:
dec_lat=lat
dec_lon=lon
#
fn,index,ft=self.__selectFile(t)
fn1,index1,ft1=self.__selectFile(t+self.DT)
self.__openNC([fn,fn1])
k,l=self.__find_ij(dec_lat,dec_lon,'X')
d=NemoEnvironment.BATHYMETRY[l-1:l+1,k-1:k+1]
if np.all(z>d):
z=d.min()-5
u0,v0,w0,eta0,S0,T0,d0=self.get_current_at_time(fn,index,dec_lat,dec_lon,z,k,l,d)
u1,v1,w1,eta1,S1,T1,d1=self.get_current_at_time(fn1,index1,dec_lat,dec_lon,z,k,l,d)
#
u=u0*(1-ft)+ft*u1
v=v0*(1-ft)+ft*v1
w=w0*(1-ft)+ft*w1
eta=eta0*(1-ft)+ft*eta1
S=S0*(1-ft)+ft*S1
T=T0*(1-ft)+ft*T1
dp=d0*(1-ft)+ft*d1
return u,v,w,dp,eta,S,T
def get_current(self, t, lat, lon, z, convert_to_decimal=True):
''' returns netcdf data for u, S T eta and depth for given
lat/lon and interpolated to glider time.
'''
if convert_to_decimal:
dec_lat = convertToDecimal(lat)
dec_lon = convertToDecimal(lon)
else:
dec_lat = lat
dec_lon = lon
try:
d = self.bathymetry.get_water_depth(dec_lat, dec_lon)
except:
if self.__warning_counter == 0:
print(
"Failed to read water depth from NC file. Use default value."
)
self.__warning_counter += 1
d = TimeseriesEnvironment.DEFAULT_DEPTH
u = self.u(t)
v = self.v(t)
w = 0
dp = d
eta = 0
S = self.Sref
T = self.Tref
return u, v, w, dp, eta, S, T
def get_environmental_data(self, t, lat, lon, z):
'''Method to get environmental data.
Should be provided by a subclassed instance.
For now, return some sensible values to keep going.
When subclassed, this method should check for the
reasonability of the values to be returned.
'''
if self.environment_model is None:
u_ocean = v_ocean = w_ocean = 0
S = 35
T = 15
eta = 0
water_depth = 40
rho = 1025
return u_ocean, v_ocean, w_ocean, water_depth, eta, S, T, rho
else:
declat = convertToDecimal(lat)
declon = convertToDecimal(lon)
return self.environment_model.get_data(t, declat, declon, z)
def initialise_gliderstate(self, datestr, timestr, lat, lon,
mission_start):
gs = {}
gs['m_depth'] = 0
gs['m_present_secs_into_mission'] = 0.
gs['samedepth_for'] = 0
if datestr:
if timestr:
gs['m_present_time'] = strptimeToEpoch(datestr + timestr,
"%Y%m%d%H:%M")
else:
gs['m_present_time'] = strptimeToEpoch(datestr, "%Y%m%d")
else:
gs['m_present_time'] = 0.
gs['stack'] = 1 # number of commands given.
gs['bpump_stack'] = 0
gs['fin_stack'] = 0
gs['pitch_stack'] = 0
gs['m_ballast_pumped'] = 0.
gs['m_dist_to_wpt'] = 0.
gs['c_ballast_pumped'] = 230
gs['c_battpos'] = 1
gs['c_fin'] = 0
gs['m_fin'] = 0
gs['m_pitch'] = 0.
gs['c_pitch'] = 0.
gs['m_altitude'] = 1e9
gs['hover_for'] = 0
gs['stalled_for'] = 0
if lat:
gs['m_lat'] = lat
else:
gs['m_lat'] = 0
if lon:
gs['m_lon'] = lon
else:
gs['m_lon'] = 0
gs['m_lmc_x'] = 0
gs['m_lmc_y'] = 0
gs['c_wpt_lat'] = -1.
gs['c_wpt_lon'] = -1.
gs['c_wpt_lmc_x'] = 0
gs['c_wpt_lmc_y'] = 0
gs['m_dist_to_wpt'] = 9e9
gs['m_heading'] = 0.
gs['m_heading_rate'] = 0.
gs['m_battpos'] = 0.
gs['c_heading'] = 0
gs['nocomms'] = 0
gs['time_since_cycle_start'] = 0
gs['x_lmc_x'] = 0
gs['x_lmc_y'] = 0
gs['x_lmc_z'] = 0
gs['m_gps_status'] = 0
gs['c_gps_on'] = 0
utm_0 = latlon2UTM(convertToDecimal(lat), convertToDecimal(lon))
gs['utm_0'] = None
gs['x_u'] = 0.
gs['x_v'] = 0.
gs['x_w'] = 0.
gs['temp'] = 0.
gs['salt'] = 0.
gs['rho'] = 0.
gs['water_depth'] = 0.
gs['m_speed'] = 0.
gs['x_speed'] = 0.
gs['x_cycle_index'] = 0
gs['u_use_current_correction'] = 0
gs['m_water_vx'] = 0.
gs['m_water_vy'] = 0.
gs['keep_stack_busy'] = 0
gs['x_gps_lmc_x_dive'] = 0
gs['x_gps_lmc_y_dive'] = 0
gs['x_time_dive'] = 0
gs['_init_dive_time'] = 80. # time for glider to open files/init devices. etc.
gs['x_lat'] = 0
gs['x_lon'] = 0
gs['x_water_depth'] = 0
gs['x_last_wpt_lat'] = 69696969.
gs['x_last_wpt_lon'] = 69696969.
gs['x_eastward_glider_velocity'] = 0.
gs['x_northward_glider_velocity'] = 0.
gs['x_upward_glider_velocity'] = 0.
gs['m_segment_number'] = 0
gs['_pickup'] = (mission_start == "pickup") # If true, then
# c_wpt_* will be set by specified sensors
# during start of the mission, rather than
# from the waypoint list algorithm,
# mimicking the continuation of the the
# mission. This affects the behavior
# goto_l
self.gs = gs