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simrad.py
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#!/usr/bin/env python3
# License: Apache License 2.0
# Author: Kurt Schwehr Aug/Sep 2010
# Read MB datagrams from a simrad multibeam. Starting with 2010 Healy em122 data.
import mmap # load the file into memory directly so it looks like a big array
import struct # For decoding the fields within a datagram
import os, sys
import datetime
STX = 2
ETX = 3
datagram_names = {
0x30: 'PU Id outputs', # char: '0' dec: 48
0x31: 'PU Status output', # char: '1' dec: 49
0x33: 'Extra Parameters', # char: '3' dec: 51
0x41: 'Attitude', # char: 'A' dec: 65
0x42: 'PU BIST result', # char: 'B' dec: 66
0x43: 'Clock', # char: 'C' dec: 67
0x44: 'depth', # char: 'D' dec: 68
0x45: 'Single beam depth', # char: 'E' dec: 69
0x46: 'Range and angles (old)', # char: 'F' dec: 70
0x47: 'Surface sound speed', # char: 'G' dec: 71
0x48: 'Headings', # char: 'H' dec: 72
0x49: 'Installation params', # char: 'I' dec: 73
0x4a: 'Mech transducer tilts', # char: 'J' dec: 74
0x4b: 'Central beams echogram', # char: 'K' dec: 75
0x4e: 'Range and angle 78', # char: 'N' dec: 78
0x50: 'Positions', # char: 'P' dec: 80
0x52: 'Runtime parameters', # char: 'R' dec: 82
0x53: 'Seabed image', # char: 'S' dec: 83
0x54: 'Tide', # char: 'T' dec: 84
0x55: 'Sound speed profile', # char: 'U' dec: 85
0x57: 'SSP output', # char: 'W' dec: 87
0x58: 'XYZ', # char: 'X' dec: 88
0x59: 'Seabed image data 89', # char: 'Y' dec: 89
0x66: 'Range and angles (new)', # char: 'f' dec: 102
0x68: 'Depth or height', # char: 'h' dec: 104
0x69: 'installation params', # char: 'i' dec: 105
0x6b: 'Water column', # char: 'k' dec: 107
0x6e: 'Network attitude velocity', # char: 'n' dec: 110
0x72: 'remote information', # char: 'r' dec: 114
}
class SimradError(Exception):
pass
class SimradErrorBadChecksum(SimradError):
pass
def date_and_time_to_datetime(date_raw,ms_raw):
year = date_raw // 10000
month = (date_raw % 10000) // 100
day = date_raw % 100
millisec = ms_raw % 1000
microsec = millisec * 1000
second = (ms_raw // 1000) % 60
minute = (ms_raw // 60000) % 60
hour = (ms_raw // 3600000) % 24
return datetime.datetime(year, month, day, hour, minute, second, microsec)
class Datagram(object):
def __init__(self, data, offset, size):
'''offset: points to the start of the data (STX) right after the size field in a file
size: length of the datagram from STX through to and including the checksum
'''
#assert (STX == ord(data[offset]))
#assert (ETX == ord(data[offset+size-3]))
self.dg_id = data[offset+1]
#checksum_reported = struct.unpack('H',data[offset+size-2:offset+size])[0]
# Checksum is of the data between STX and ETX
#checksum_computed = sum(map(ord,data[offset+1:offset+size-3])) % (256*256)
#assert (checksum_reported == checksum_computed)
# This header is in every datagram
self.model = struct.unpack('H',data[offset+2:offset+4])[0]
date_raw, ms_raw, self.counter = struct.unpack('IIH',data[offset+4:offset+14])
self.timestamp = date_and_time_to_datetime(date_raw,ms_raw)
self.serial = struct.unpack('H',data[offset+14:offset+16])[0]
return
def __str__(self): return self.__unicode__()
def __unicode__(self):
try:
name = datagram_names[self.dg_id]
except:
name = 'unknown_%d' % self.dg_id
return 'Unhandled datagram {dg_id} {dg_id_hex}: {name} {model} {timestamp} {counter} {serial}'.format(
name=name, dg_id_hex = hex(self.dg_id), **self.__dict__)
class Clock(Datagram):
def __init__(self, data, offset, size):
# Python struct can't handle non-aligned reads it seems
Datagram.__init__(self, data, offset, size)
date_raw,ms_raw,pps = struct.unpack('IIB',data[offset+16:offset+16+9])
self.timestamp_external = date_and_time_to_datetime(date_raw, ms_raw)
self.pps = bool(pps)
return
def __str__(self): return self.__unicode__()
def __unicode__(self):
return 'Clock: {timestamp} {timestamp_external} {pps}'.format(**self.__dict__)
class Position(Datagram):
def __init__(self, data, offset, size):
Datagram.__init__(self, data, offset, size)
lat_raw, lon_raw = struct.unpack('ii',data[offset+16:offset+24])
self.y = lat_raw / 2e7
self.x = lon_raw / 1e7
self.fix_qual, self.sog_cms, cog, heading, self.pos_descriptor, byte_count = struct.unpack('HHHHBB',data[offset+24:offset+34])
self.cog = cog * 1e-2
self.heading = heading * 1e-2
self.input_str = data[offset+34:offset+34+byte_count]
def __str__(self): return self.__unicode__()
def __unicode__(self):
return 'Pos: {x} {y} {fix_qual} {sog_cms} {cog} {heading}'.format(**self.__dict__)
class RuntimeParam(Datagram):
def __init__(self, data, offset, size):
Datagram.__init__(self, data, offset, size)
# FIX: not verified
self.operator_status = data[offset+16]
self.proc_status = data[offset+17]
self.bsp_status = data[offset+18]
self.sonar_head_status = data[offset+19]
self.mode = data[offset+20]
self.filter_id = data[offset+21]
self.depth_min = struct.unpack('H',data[offset+22:offset+24])[0]
self.depth_max = struct.unpack('H',data[offset+24:offset+26])[0]
self.absorp_coeff = struct.unpack('H',data[offset+26:offset+28])[0]
self.tx_pulse_len = struct.unpack('H',data[offset+28:offset+30])[0]
self.tx_beamwidth_deg = struct.unpack('H',data[offset+30:offset+32])[0] / 10.
self.tx_power_re_max = struct.unpack('h',data[offset+32:offset+34])[0]
self.rx_beamwidth_deg = ord(data[offset+32]) / 10.
self.rx_bandwidth_hz = ord(data[offset+33]) * 50
self.mode2_or_fixed_gain_db = ord(data[offset+34])
self.tvg_crossover_deg = ord(data[offset+35])
self.source_of_ss_at_transducer = ord(data[offset+36])
self.max_port_swath_m = struct.unpack('H',data[offset+37:offset+39])[0]
self.beam_spacing = ord(data[offset+39])
self.max_port_cov_deg = struct.unpack('H',data[offset+37:offset+39])[0]
self.yaw_pitch_stablization_mode = ord(data[39])
self.max_port_swath_m = struct.unpack('H',data[offset+40:offset+42])[0]
self.max_port_cov_deg = struct.unpack('H',data[offset+42:offset+44])[0]
self.tx_tilt_def = struct.unpack('H',data[offset+44:offset+46])[0]
self.filter_id2 = ord(data[offset+46])
etx = ord(data[offset+47])
if (etx!= ETX):
print ('RuntimePara_ETX_FAILURE: need to fix datagram',etx,size,47)
#sys.exit('bye')
# FIX: if EM 1002, durotong SSD
def __str__(self): return self.__unicode__()
def __unicode__(self):
return 'RuntimeParam: {depth_min} {depth_max}'.format(**self.__dict__)
class InstParam(Datagram):
def __init__(self, data, offset, size):
Datagram.__init__(self, data, offset, size)
# FIX: not verified
# This overwrites the normal header parameters
self.survey_line_num = struct.unpack('H',data[offset+12:offset+14])[0]
# system seria number here
self.serial_sonar_head = struct.unpack('H',data[offset+18:offset+20])[0]
params_str = str(data[offset+20:offset+size-3]).rstrip(chr(0))
#print ('params_str:', params_str)
#self.__dict__.update(parse_param_str)
self.parse_param_str(params_str)
print ('InstParam:',self.__dict__)
def parse_param_str(self,s):
fields = s.rstrip(',').split(',')
#r = dict()
for field in fields:
print(f'field: "{field}"')
name, value = field.split('=')
try:
value = float(value)
except:
try:
value = float(int)
except:
pass
#print name, value, type(value), ' --- ',field
self.__dict__[name] = value
def __str__(self): return self.__unicode__()
def __unicode__(self):
return 'InstParam: '.format(**self.__dict__)
class Svp(Datagram):
def __init__(self, data, offset, size):
Datagram.__init__(self, data, offset, size)
# FIX: not verified
date_raw,ms_raw = struct.unpack('II',data[offset+16:offset+24])
self.timestamp_svp = date_and_time_to_datetime(date_raw, ms_raw)
num_entries = struct.unpack('H',data[offset+24:offset+26])[0]
depth_res_cm = struct.unpack('H',data[offset+26:offset+28])[0]
print (num_entries,depth_res_cm)
entries = []
for i in range(num_entries):
depth,ss_dms = struct.unpack('II',data[offset+28+i*4:offset+28+8+i*4])
print (' svp_entry:',i,depth,ss_dms)
assert (0==ord(data[offset+28+num_entries*4]))
assert (ETX==ord(data[offset+28+num_entries*4+1]))
sys.exit('Early SVP')
def __str__(self): return self.__unicode__()
def __unicode__(self):
return 'SVP: '.format(**self.__dict__)
datagram_classes = {
0x43: Clock, # char: 'C' dec: 67
0x49: InstParam, # char: 'I' dec: 73
0x50: Position, # char: 'P' dec: 80
0x52: RuntimeParam, # char: 'R' dec: 82
0x55: Svp, # char: 'U' dec: 85
}
class SimradFile(object):
def __init__(self,filename):
self.filename = filename
tmp_file = open(filename, 'r+')
self.size = os.path.getsize(filename)
self.data = mmap.mmap(tmp_file.fileno(), self.size, access=mmap.ACCESS_READ)
def __iter__(self):
iter = SimradIterator(self)
return iter
class SimradIterator(object):
def __init__(self,simrad):
self.data = simrad.data
self.offset = 0
self.file_size = simrad.size
def __iter__(self):
return self
def __next__(self):
if self.offset >= self.file_size:
raise StopIteration
dg_length = struct.unpack('I',self.data[self.offset:self.offset+4])[0]
# Ignore STX
dg_id = self.data[self.offset+5]
if dg_id in datagram_classes:
# Factory to build classes
dg = datagram_classes[dg_id](self.data, self.offset+4, dg_length)
else:
# Return a basically useless container...
dg = Datagram(self.data, self.offset+4, dg_length)
self.offset += 4 + dg_length
return dg
def loop_datagrams(simrad_file):
for count, dg in enumerate(simrad_file):
#if count > 200: break
#print ( dg_id, '\t',dg_length, ':\t', datagram_names[dg_id])
print (str(dg))
pass
def shiptrack_kml(simrad,outfile):
o = outfile
o.write('''<?xml version="1.0" encoding="UTF-8"?>
<kml xmlns="http://www.opengis.net/kml/2.2" xmlns:gx="http://www.google.com/kml/ext/2.2" xmlns:kml="http://www.opengis.net/kml/2.2" xmlns:atom="http://www.w3.org/2005/Atom">
<Placemark>
<name>line</name>
<LineString>
<coordinates>\n''')
for count,dg in enumerate(simrad):
#print (dg)
if dg.dg_id != ord('P'): continue
o.write('{x},{y}\n'.format(**dg.__dict__))
o.write(''' </coordinates>
</LineString>
</Placemark>
</kml>
''')
def main():
# http://data.ngdc.noaa.gov/platforms/ocean/ships/nathaniel_b._palmer/NBP1902/multibeam/data/version1/MB/em122/0001_20190226_013728_NBP1902.all.mb58.gz
simrad_file = SimradFile('0001_20190226_013728_NBP1902.all.mb58')
#simrad_file = SimradFile('0034_20100604_005123_Healy.all')
loop_datagrams(simrad_file)
#shiptrack_kml(simrad_file,file('out.kml','w'))
if __name__ == '__main__':
main()