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pyall.py
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pyall.py
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#name: pyALL
#created: May 2018
#by: paul.kennedy@guardiangeomatics.com
#description:python module to read a Kongsberg ALL sonar file
#notes: See main at end of script for example how to use this
#based on ALL Revision R October 2013
# See readme.md for more details
import ctypes
import math
import pprint
import struct
import os.path
import time
from datetime import datetime
from datetime import timedelta
def main():
#open the ALL file for reading by creating a new ALLReader class and passin in the filename to open.
# filename ="C:/Python27/ArcGIS10.3/pyall-master/0314_20170421_222154_SA1702-FE_302.all"
# filename ="C:/development/Python/m3Sample.all"
# filename = "C:/development/python/0004_20110307_041009.all"
filename = "C:/projects/CARIS/GA-0362_ShoalBay_East_2/raw/0211_20170906_000453_AIMS_Capricornus.all"
# filename = "C:/development/python/sample.all"
# filename = "d:/projects/RVInvestigator/0073_20161001_103120_Investigator_em710.all"
# filename = "C:/projects/RVInvestigator/0016_20160821_150810_Investigator_em710.all"
# filename = "c:/projects/carisworldtour/preprocess/0010_20110308_194752.all"
r = ALLReader(filename)
pingCount = 0
start_time = time.time() # time the process
# navigation = r.loadNavigation()
# print("Load Navigation Duration: %.2fs" % (time.time() - start_time)) # time the process
# print (navigation)
while r.moreData():
# read a datagram. If we support it, return the datagram type and aclass for that datagram
# The user then needs to call the read() method for the class to undertake a fileread and binary decode. This keeps the read super quick.
typeOfDatagram, datagram = r.readDatagram()
print(typeOfDatagram, end='')
rawbytes = r.readDatagramBytes(datagram.offset, datagram.numberOfBytes)
# hereis how we compute the checksum
# print(sum(rawbytes[5:-3]))
if typeOfDatagram == '3':
datagram.read()
print (datagram.data)
continue
if typeOfDatagram == 'A':
datagram.read()
# for a in datagram.Attitude:
# print ("%.5f, %.3f, %.3f, %.3f, %.3f" % (r.to_timestamp(r.to_DateTime(a[0], a[1])), a[3], a[4], a[5], a[6]))
continue
if typeOfDatagram == 'C':
datagram.read()
continue
if typeOfDatagram == 'D':
datagram.read()
nadirBeam = int(datagram.NBeams / 2)
# print (("Nadir Depth: %.3f AcrossTrack %.3f TransducerDepth %.3f Checksum %s" % (datagram.Depth[nadirBeam], datagram.AcrossTrackDistance[nadirBeam], datagram.TransducerDepth, datagram.checksum)))
continue
if typeOfDatagram == 'f':
datagram.read()
if typeOfDatagram == 'H':
datagram.read()
if typeOfDatagram == 'i':
datagram.read()
continue
if typeOfDatagram == 'I':
datagram.read()
# print (datagram.installationParameters)
# print ("Lat: %.5f Lon: %.5f" % (datagram.Latitude, datagram.Longitude))
continue
if typeOfDatagram == 'n':
datagram.read()
continue
if typeOfDatagram == 'N':
datagram.read()
# print ("Raw Travel Times Recorded for %d beams" % datagram.NumReceiveBeams)
continue
if typeOfDatagram == 'O':
datagram.read()
continue
if typeOfDatagram == 'R':
datagram.read()
continue
if typeOfDatagram == 'U':
datagram.read()
continue
if typeOfDatagram == 'X':
datagram.read()
nadirBeam = int(datagram.NBeams / 2)
# print (("Nadir Depth: %.3f AcrossTrack %.3f TransducerDepth %.3f" % (datagram.Depth[nadirBeam], datagram.AcrossTrackDistance[nadirBeam], datagram.TransducerDepth)))
pingCount += 1
continue
if typeOfDatagram == 'Y':
datagram.read()
continue
print("Read Duration: %.3f seconds, pingCount %d" % (time.time() - start_time, pingCount)) # print the processing time. It is handy to keep an eye on processing performance.
r.rewind()
print("Complete reading ALL file :-)")
r.close()
class ALLReader:
'''class to read a Kongsberg EM multibeam .all file'''
ALLPacketHeader_fmt = '=LBBHLL'
ALLPacketHeader_len = struct.calcsize(ALLPacketHeader_fmt)
ALLPacketHeader_unpack = struct.Struct(ALLPacketHeader_fmt).unpack_from
def __init__(self, ALLfileName):
if not os.path.isfile(ALLfileName):
print ("file not found:", ALLfileName)
self.fileName = ALLfileName
self.fileptr = open(ALLfileName, 'rb')
self.fileSize = os.path.getsize(ALLfileName)
self.recordDate = ""
self.recordTime = ""
self.recordCounter=0
def __str__(self):
return pprint.pformat(vars(self))
def currentRecordDateTime(self):
'''return a python date object from the current datagram objects raw date and time fields '''
date_object = datetime.strptime(str(self.recordDate), '%Y%m%d') + timedelta(0,self.recordTime)
return date_object
def to_DateTime(self, recordDate, recordTime):
'''return a python date object from a split date and time record'''
date_object = datetime.strptime(str(recordDate), '%Y%m%d') + timedelta(0,recordTime)
return date_object
# def to_timestamp(self, dateObject):
# '''return a unix timestamp from a python date object'''
# return (dateObject - datetime(1970, 1, 1)).total_seconds()
def close(self):
'''close the current file'''
self.fileptr.close()
def rewind(self):
'''go back to start of file'''
self.fileptr.seek(0, 0)
def currentPtr(self):
'''report where we are in the file reading process'''
return self.fileptr.tell()
def moreData(self):
'''report how many more bytes there are to read from the file'''
return self.fileSize - self.fileptr.tell()
def readDatagramHeader(self):
'''read the common header for any datagram'''
try:
curr = self.fileptr.tell()
data = self.fileptr.read(self.ALLPacketHeader_len)
s = self.ALLPacketHeader_unpack(data)
numberOfBytes= s[0]
STX = s[1]
typeOfDatagram = chr(s[2])
EMModel = s[3]
RecordDate = s[4]
RecordTime = float(s[5]/1000.0)
self.recordDate = RecordDate
self.recordTime = RecordTime
# now reset file pointer
self.fileptr.seek(curr, 0)
# we need to add 4 bytes as the message does not contain the 4 bytes used to hold the size of the message
# trap corrupt datagrams at the end of a file. We see this in EM2040 systems.
if (curr + numberOfBytes + 4 ) > self.fileSize:
numberOfBytes = self.fileSize - curr - 4
typeOfDatagram = 'XXX'
return numberOfBytes + 4, STX, typeOfDatagram, EMModel, RecordDate, RecordTime
return numberOfBytes + 4, STX, typeOfDatagram, EMModel, RecordDate, RecordTime
except struct.error:
return 0,0,0,0,0,0
def readDatagramBytes(self, offset, byteCount):
'''read the entire raw bytes for the datagram without changing the file pointer. this is used for file conditioning'''
curr = self.fileptr.tell()
self.fileptr.seek(offset, 0)# move the file pointer to the start of the record so we can read from disc
data = self.fileptr.read(byteCount)
self.fileptr.seek(curr, 0)
return data
def getRecordCount(self):
'''read through the entire file as fast as possible to get a count of all records. useful for progress bars so user can see what is happening'''
count = 0
start = 0
end = 0
self.rewind()
numberOfBytes, STX, typeOfDatagram, EMModel, RecordDate, RecordTime = self.readDatagramHeader()
start = to_timestamp(to_DateTime(RecordDate, RecordTime))
self.rewind()
while self.moreData():
numberOfBytes, STX, typeOfDatagram, EMModel, RecordDate, RecordTime = self.readDatagramHeader()
self.fileptr.seek(numberOfBytes, 1)
count += 1
self.rewind()
end = to_timestamp(to_DateTime(RecordDate, RecordTime))
return count, start, end
def readDatagram(self):
'''read the datagram header. This permits us to skip datagrams we do not support'''
numberOfBytes, STX, typeOfDatagram, EMModel, RecordDate, RecordTime = self.readDatagramHeader()
self.recordCounter += 1
if typeOfDatagram == '3': # 3_EXTRA PARAMETERS DECIMAL 51
dg = E_EXTRA(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'A': # A ATTITUDE
dg = A_ATTITUDE(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'C': # C Clock
dg = C_CLOCK(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'D': # D DEPTH
dg = D_DEPTH(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'f': # f Raw Range
dg = f_RAWRANGE(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'h': # h Height, not to be confused with H_Heading!
dg = h_HEIGHT(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'I': # I Installation (Start)
dg = I_INSTALLATION(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'i': # i Installation (Stop)
dg = I_INSTALLATION(self.fileptr, numberOfBytes)
dg.typeOfDatagram = 'i' #override with the install stop code
return dg.typeOfDatagram, dg
if typeOfDatagram == 'n': # n ATTITUDE
dg = n_ATTITUDE(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'N': # N Angle and Travel Time
dg = N_TRAVELTIME(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'O': # O_QUALITYFACTOR
dg = O_QUALITYFACTOR(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'R': # R_RUNTIME
dg = R_RUNTIME(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'P': # P Position
dg = P_POSITION(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'U': # U Sound Velocity
dg = U_SVP(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'X': # X Depth
dg = X_DEPTH(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
if typeOfDatagram == 'Y': # Y_SeabedImage
dg = Y_SEABEDIMAGE(self.fileptr, numberOfBytes)
return dg.typeOfDatagram, dg
else:
dg = UNKNOWN_RECORD(self.fileptr, numberOfBytes, typeOfDatagram)
return dg.typeOfDatagram, dg
# self.fileptr.seek(numberOfBytes, 1)
###############################################################################
def loadInstallationRecords(self):
'''loads all the installation into lists'''
installStart = None
installStop = None
initialMode = None
datagram = None
self.rewind()
while self.moreData():
typeOfDatagram, datagram = self.readDatagram()
if (typeOfDatagram == 'I'):
installStart = self.readDatagramBytes(datagram.offset, datagram.numberOfBytes)
datagram.read()
break
if (typeOfDatagram == 'i'):
installStop = self.readDatagramBytes(datagram.offset, datagram.numberOfBytes)
if (initialMode == None and typeOfDatagram == 'R'):
datagram.read()
initialMode = datagram.DepthMode
self.rewind()
return installStart, installStop, initialMode
###############################################################################
def loadCenterFrequency(self):
'''determine the central frequency of the first record in the file'''
self.rewind()
while self.moreData():
typeOfDatagram, datagram = self.readDatagram()
if (typeOfDatagram == 'N'):
datagram.read()
centerFrequency = datagram.CentreFrequency[0]
break
self.rewind()
return centerFrequency
###############################################################################
def loadNavigation(self, firstRecordOnly=False):
'''loads all the navigation into lists'''
navigation = []
selectedPositioningSystem = None
self.rewind()
while self.moreData():
typeOfDatagram, datagram = self.readDatagram()
if (typeOfDatagram == 'P'):
datagram.read()
recDate = self.currentRecordDateTime()
if (selectedPositioningSystem == None):
selectedPositioningSystem = datagram.Descriptor
if (selectedPositioningSystem == datagram.Descriptor):
# for python 2.7
navigation.append([to_timestamp(recDate), datagram.Latitude, datagram.Longitude])
# for python 3.4
# navigation.append([recDate.timestamp(), datagram.Latitude, datagram.Longitude])
if firstRecordOnly: #we only want the first record, so reset the file pointer and quit
self.rewind()
return navigation
self.rewind()
return navigation
def getDatagramName(typeOfDatagram):
'''Convert the datagram type from the code to a user readable string. Handy for displaying to the user'''
#Multibeam Data
if (typeOfDatagram == 'D'):
return "D_Depth"
if (typeOfDatagram == 'X'):
return "XYZ_Depth"
if (typeOfDatagram == 'K'):
return "K_CentralBeam"
if (typeOfDatagram == 'F'):
return "F_RawRange"
if (typeOfDatagram == 'f'):
return "f_RawRange"
if (typeOfDatagram == 'N'):
return "N_RawRange"
if (typeOfDatagram == 'S'):
return "S_SeabedImage"
if (typeOfDatagram == 'Y'):
return "Y_SeabedImage"
if (typeOfDatagram == 'k'):
return "k_WaterColumn"
if (typeOfDatagram == 'O'):
return "O_QualityFactor"
# ExternalSensors
if (typeOfDatagram == 'A'):
return "A_Attitude"
if (typeOfDatagram == 'n'):
return "network_Attitude"
if (typeOfDatagram == 'C'):
return "C_Clock"
if (typeOfDatagram == 'h'):
return "h_Height"
if (typeOfDatagram == 'H'):
return "H_Heading"
if (typeOfDatagram == 'P'):
return "P_Position"
if (typeOfDatagram == 'E'):
return "E_SingleBeam"
if (typeOfDatagram == 'T'):
return "T_Tide"
# SoundSpeed
if (typeOfDatagram == 'G'):
return "G_SpeedSoundAtHead"
if (typeOfDatagram == 'U'):
return "U_SpeedSoundProfile"
if (typeOfDatagram == 'W'):
return "W_SpeedSOundProfileUsed"
# Multibeam parameters
if (typeOfDatagram == 'I'):
return "I_Installation_Start"
if (typeOfDatagram == 'i'):
return "i_Installation_Stop"
if (typeOfDatagram == R):
return "R_Runtime"
if (typeOfDatagram == J):
return "J_TransducerTilt"
if (typeOfDatagram == '3'):
return "3_ExtraParameters"
# PU information and status
if (typeOfDatagram == '0'):
return "0_PU_ID"
if (typeOfDatagram == '1'):
return "1_PU_Status"
if (typeOfDatagram == 'B'):
return "B_BIST_Result"
###############################################################################
class cBeam:
def __init__(self, beamDetail, angle):
self.sortingDirection = beamDetail[0]
self.detectionInfo = beamDetail[1]
self.numberOfSamplesPerBeam = beamDetail[2]
self.centreSampleNumber = beamDetail[3]
self.sector = 0
self.takeOffAngle = angle # used for ARC computation
self.sampleSum = 0 # used for backscatter ARC computation process
self.samples = []
###############################################################################
class A_ATTITUDE_ENCODER:
def __init__(self):
self.data = 0
def encode(self, recordsToAdd, counter):
'''Encode a list of attitude records where the format is timestamp, roll, pitch, heave heading'''
if (len(recordsToAdd) == 0):
return
fullDatagram = bytearray()
header_fmt = '=LBBHLLHHH'
header_len = struct.calcsize(header_fmt)
rec_fmt = "HHhhhHB"
rec_len = struct.calcsize(rec_fmt)
footer_fmt = '=BH'
footer_len = struct.calcsize(footer_fmt)
STX = 2
typeOfDatagram = 65
model = 2045
systemDescriptor = 0
systemDescriptor = set_bit(systemDescriptor, 0) #set heading is ENABLED (go figure!)
serialNumber = 999
numEntries = len(recordsToAdd)
fullDatagramByteCount = header_len + (rec_len*len(recordsToAdd)) + footer_len
firstRecordTimestamp = float(recordsToAdd[0][0]) #we need to know the first record timestamp as all observations are milliseconds from that time
firstRecordDate = from_timestamp(firstRecordTimestamp)
recordDate = int(dateToKongsbergDate(firstRecordDate))
recordTime = int(dateToSecondsSinceMidnight(firstRecordDate)*1000)
# we need to deduct 4 bytes as the field does not account for the 4-byte message length data which precedes the message
try:
header = struct.pack(header_fmt, fullDatagramByteCount-4, STX, typeOfDatagram, model, recordDate, recordTime, counter, serialNumber, numEntries)
except:
print ("error encoding attitude")
# header = struct.pack(header_fmt, fullDatagramByteCount-4, STX, typeOfDatagram, model, recordDate, recordTime, counter, serialNumber, numEntries)
fullDatagram = fullDatagram + header
# now pack avery record from the list
for record in recordsToAdd:
timeMillisecs = round((float(record[0]) - firstRecordTimestamp) * 1000) # compute the millisecond offset of the record from the first record in the datagram
sensorStatus = 0
roll = float(record[1])
pitch= float(record[2])
heave= float(record[3])
heading = float(record[4])
try:
bodyRecord = struct.pack(rec_fmt, timeMillisecs, sensorStatus, int(roll*100), int(pitch*100), int(heave*100), int(heading*100), systemDescriptor)
except:
print ("error encoding attitude")
bodyRecord = struct.pack(rec_fmt, timeMillisecs, sensorStatus, int(roll*100), int(pitch*100), int(heave*100), int(heading*100), systemDescriptor)
fullDatagram = fullDatagram + bodyRecord
# now do the footer
# systemDescriptor = set_bit(systemDescriptor, 1) #set roll is DISABLED
# systemDescriptor = set_bit(systemDescriptor, 2) #set pitch is DISABLED
# systemDescriptor = set_bit(systemDescriptor, 3) #set heave is DISABLED
# systemDescriptor = set_bit(systemDescriptor, 4) #set SENSOR as system 2
# systemDescriptor = 30
ETX = 3
checksum = sum(fullDatagram[5:]) % 65536
footer = struct.pack('=BH', ETX, checksum)
fullDatagram = fullDatagram + footer
# TEST THE CRC CODE pkpk
# c = CRC16()
# chk = c.calculate(fullDatagram)
return fullDatagram
###############################################################################
class A_ATTITUDE:
def __init__(self, fileptr, numberOfBytes):
self.typeOfDatagram = 'A'
self.offset = fileptr.tell()
self.numberOfBytes = numberOfBytes
self.fileptr = fileptr
self.fileptr.seek(numberOfBytes, 1)
self.data = ""
def read(self):
self.fileptr.seek(self.offset, 0)
rec_fmt = '=LBBHLLHHH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
s = rec_unpack(self.fileptr.read(rec_len))
# self.numberOfBytes= s[0]
self.STX = s[1]
self.typeOfDatagram = chr(s[2])
self.EMModel = s[3]
self.RecordDate = s[4]
self.Time = float(s[5]/1000.0)
self.Counter = s[6]
self.SerialNumber = s[7]
self.NumberEntries= s[8]
rec_fmt = '=HHhhhH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack
# we need to store all the attitude data in a list
self.Attitude = [0 for i in range(self.NumberEntries)]
i = 0
while i < self.NumberEntries:
data = self.fileptr.read(rec_len)
s = rec_unpack(data)
# time,status,roll,pitch,heave,heading
self.Attitude[i] = [self.RecordDate, self.Time + float (s[0]/1000.0), s[1], s[2]/100.0, s[3]/100.0, s[4]/100.0, s[5]/100.0]
i = i + 1
rec_fmt = '=BBH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
data = self.fileptr.read(rec_len)
s = rec_unpack(data)
self.systemDescriptor = s[0]
self.ETX = s[1]
self.checksum = s[2]
###############################################################################
class C_CLOCK:
def __init__(self, fileptr, numberOfBytes):
self.typeOfDatagram = 'C'
self.offset = fileptr.tell()
self.numberOfBytes = numberOfBytes
self.fileptr = fileptr
self.fileptr.seek(numberOfBytes, 1)
self.data = ""
def read(self):
self.fileptr.seek(self.offset, 0)
rec_fmt = '=LBBHLLHHLLBBH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack
# bytesRead = rec_len
s = rec_unpack(self.fileptr.read(rec_len))
# self.numberOfBytes= s[0]
self.STX = s[1]
self.typeOfDatagram = chr(s[2])
self.EMModel = s[3]
self.RecordDate = s[4]
self.time = float(s[5] / 1000.0)
self.ClockCounter = s[6]
self.SerialNumber = s[7]
self.ExternalDate = s[8]
self.ExternalTime = s[9] / 1000.0
self.PPS = s[10]
self.ETX = s[11]
self.checksum = s[12]
def __str__(self):
if self.PPS == 0:
ppsInUse = "PPS NOT in use"
else:
ppsInUse = "PPS in use"
s = '%d,%d,%.3f,%.3f,%.3f,%s' %(self.RecordDate, self.ExternalDate, self.time, self.ExternalTime, self.time - self.ExternalTime, ppsInUse)
return s
###############################################################################
class D_DEPTH:
def __init__(self, fileptr, numberOfBytes):
self.typeOfDatagram = 'D'
self.offset = fileptr.tell()
self.numberOfBytes = numberOfBytes
self.fileptr = fileptr
self.fileptr.seek(numberOfBytes, 1)
self.data = ""
def read(self):
self.fileptr.seek(self.offset, 0)
rec_fmt = '=LBBHLLHHHHHBBBBH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
s = rec_unpack(self.fileptr.read(rec_len))
# self.numberOfBytes= s[0]
self.STX = s[1]
self.typeOfDatagram = chr(s[2])
self.EMModel = s[3]
self.RecordDate = s[4]
self.Time = float(s[5]/1000.0)
self.Counter = s[6]
self.SerialNumber = s[7]
self.Heading = float (s[8] / float (100))
self.SoundSpeedAtTransducer = float (s[9] / float (10))
self.TransducerDepth = float (s[10] / float (100))
self.MaxBeams = s[11]
self.NBeams = s[12]
self.ZResolution = float (s[13] / float (100))
self.XYResolution = float (s[14] / float (100))
self.SampleFrequency = s[15]
self.Depth = [0 for i in range(self.NBeams)]
self.AcrossTrackDistance = [0 for i in range(self.NBeams)]
self.AlongTrackDistance = [0 for i in range(self.NBeams)]
self.BeamDepressionAngle = [0 for i in range(self.NBeams)]
self.BeamAzimuthAngle = [0 for i in range(self.NBeams)]
self.Range = [0 for i in range(self.NBeams)]
self.QualityFactor = [0 for i in range(self.NBeams)]
self.LengthOfDetectionWindow = [0 for i in range(self.NBeams)]
self.Reflectivity = [0 for i in range(self.NBeams)]
self.BeamNumber = [0 for i in range(self.NBeams)]
# now read the variable part of the Record
if self.EMModel < 700 :
rec_fmt = '=H3h2H2BbB'
else:
rec_fmt = '=4h2H2BbB'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack
i = 0
while i < self.NBeams:
data = self.fileptr.read(rec_len)
s = rec_unpack(data)
self.Depth[i] = float (s[0] / float (100))
self.AcrossTrackDistance[i] = float (s[1] / float (100))
self.AlongTrackDistance[i] = float (s[2] / float (100))
self.BeamDepressionAngle[i] = float (s[3] / float (100))
self.BeamAzimuthAngle[i] = float (s[4] / float (100))
self.Range[i] = float (s[5] / float (100))
self.QualityFactor[i] = s[6]
self.LengthOfDetectionWindow[i] = s[7]
self.Reflectivity[i] = float (s[8] / float (100))
self.BeamNumber[i] = s[9]
# now do some sanity checks. We have examples where the Depth and Across track values are NaN
if (math.isnan(self.Depth[i])):
self.Depth[i] = 0
if (math.isnan(self.AcrossTrackDistance[i])):
self.AcrossTrackDistance[i] = 0
if (math.isnan(self.AlongTrackDistance[i])):
self.AlongTrackDistance[i] = 0
i = i + 1
rec_fmt = '=bBH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
data = self.fileptr.read(rec_len)
s = rec_unpack(data)
self.RangeMultiplier = s[0]
self.ETX = s[1]
self.checksum = s[2]
###############################################################################
def encode(self):
'''Encode a Depth D datagram record'''
header_fmt = '=LBBHLLHHHHHBBBBH'
header_len = struct.calcsize(header_fmt)
fullDatagram = bytearray()
# now read the variable part of the Record
if self.EMModel < 700 :
rec_fmt = '=H3h2H2BbB'
else:
rec_fmt = '=4h2H2BbB'
rec_len = struct.calcsize(rec_fmt)
footer_fmt = '=BBH'
footer_len = struct.calcsize(footer_fmt)
fullDatagramByteCount = header_len + (rec_len*self.NBeams) + footer_len
# pack the header
recordTime = int(dateToSecondsSinceMidnight(from_timestamp(self.Time))*1000)
header = struct.pack(header_fmt,
fullDatagramByteCount-4,
self.STX,
ord(self.typeOfDatagram),
self.EMModel,
self.RecordDate,
recordTime,
int(self.Counter),
int(self.SerialNumber),
int(self.Heading * 100),
int(self.SoundSpeedAtTransducer * 10),
int(self.TransducerDepth * 100),
int(self.MaxBeams),
int(self.NBeams),
int(self.ZResolution * 100),
int(self.XYResolution * 100),
int(self.SampleFrequency))
fullDatagram = fullDatagram + header
header_fmt = '=LBBHLLHHHHHBBBBH'
# pack the beam summary info
for i in range (self.NBeams):
bodyRecord = struct.pack(rec_fmt,
int(self.Depth[i] * 100),
int(self.AcrossTrackDistance[i] * 100),
int(self.AlongTrackDistance[i] * 100),
int(self.BeamDepressionAngle[i] * 100),
int(self.BeamAzimuthAngle[i] * 100),
int(self.Range[i] * 100),
self.QualityFactor[i],
self.LengthOfDetectionWindow[i],
int(self.Reflectivity[i] * 100),
self.BeamNumber[i])
fullDatagram = fullDatagram + bodyRecord
tmp = struct.pack('=b', self.RangeMultiplier)
fullDatagram = fullDatagram + tmp
# now pack the footer
# systemDescriptor = 1
ETX = 3
checksum = sum(fullDatagram[5:]) % 65536
footer = struct.pack('=BH', ETX, checksum)
fullDatagram = fullDatagram + footer
return fullDatagram
###############################################################################
class E_EXTRA:
def __init__(self, fileptr, numberOfBytes):
self.typeOfDatagram = '3'
self.offset = fileptr.tell()
self.numberOfBytes = numberOfBytes
self.fileptr = fileptr
self.fileptr.seek(numberOfBytes, 1)
self.ExtraData = ""
def read(self):
self.fileptr.seek(self.offset, 0)
rec_fmt = '=LBBHLLHHH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
s = rec_unpack(self.fileptr.read(rec_len))
# self.numberOfBytes= s[0]
self.STX = s[1]
self.typeOfDatagram = chr(s[2])
self.EMModel = s[3]
self.RecordDate = s[4]
self.Time = float(s[5]/1000.0)
self.Counter = s[6]
self.SerialNumber = s[7]
self.ContentIdentifier= s[8]
# now read the variable position part of the Record
if self.numberOfBytes % 2 != 0:
bytesToRead = self.numberOfBytes - rec_len - 5 # 'sBBH'
else:
bytesToRead = self.numberOfBytes - rec_len - 4 # 'sBH'
# now read the block of data whatever it may contain
self.data = self.fileptr.read(bytesToRead)
# # now spare byte only if necessary
# if self.numberOfBytes % 2 != 0:
# self.fileptr.read(1)
# read an empty byte
self.fileptr.read(1)
# now read the footer
self.ETX, self.checksum = readFooter(self.numberOfBytes, self.fileptr)
###############################################################################
class f_RAWRANGE:
def __init__(self, fileptr, numberOfBytes):
self.typeOfDatagram = 'f'
self.offset = fileptr.tell()
self.numberOfBytes = numberOfBytes
self.fileptr = fileptr
self.fileptr.seek(numberOfBytes, 1)
self.data = ""
def read(self):
self.fileptr.seek(self.offset, 0)
rec_fmt = '=LBBHLLHH HHLl4H'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack
bytesRead = rec_len
s = rec_unpack(self.fileptr.read(rec_len))
# self.numberOfBytes= s[0]
self.STX = s[1]
self.typeOfDatagram = chr(s[2])
self.EMModel = s[3]
self.RecordDate = s[4]
self.Time = float(s[5]/1000.0)
self.PingCounter = s[6]
self.SerialNumber = s[7]
self.NumTransmitSector = s[8]
self.NumReceiveBeams = s[9]
self.SampleFrequency = float (s[10] / 100)
self.ROVDepth = s[11]
self.SoundSpeedAtTransducer = s[12] / 10
self.MaxBeams = s[13]
self.Spare1 = s[14]
self.Spare2 = s[15]
self.TiltAngle = [0 for i in range(self.NumTransmitSector)]
self.FocusRange = [0 for i in range(self.NumTransmitSector)]
self.SignalLength = [0 for i in range(self.NumTransmitSector)]
self.SectorTransmitDelay = [0 for i in range(self.NumTransmitSector)]
self.CentreFrequency = [0 for i in range(self.NumTransmitSector)]
self.MeanAbsorption = [0 for i in range(self.NumTransmitSector)]
self.SignalWaveformID = [0 for i in range(self.NumTransmitSector)]
self.TransmitSectorNumberTX = [0 for i in range(self.NumTransmitSector)]
self.SignalBandwidth = [0 for i in range(self.NumTransmitSector)]
self.BeamPointingAngle = [0 for i in range(self.NumReceiveBeams)]
self.TransmitSectorNumber = [0 for i in range(self.NumReceiveBeams)]
self.DetectionInfo = [0 for i in range(self.NumReceiveBeams)]
self.DetectionWindow = [0 for i in range(self.NumReceiveBeams)]
self.QualityFactor = [0 for i in range(self.NumReceiveBeams)]
self.DCorr = [0 for i in range(self.NumReceiveBeams)]
self.TwoWayTravelTime = [0 for i in range(self.NumReceiveBeams)]
self.Reflectivity = [0 for i in range(self.NumReceiveBeams)]
self.RealtimeCleaningInformation = [0 for i in range(self.NumReceiveBeams)]
self.Spare = [0 for i in range(self.NumReceiveBeams)]
self.BeamNumber = [0 for i in range(self.NumReceiveBeams)]
# # now read the variable part of the Transmit Record
rec_fmt = '=hHLLLHBB'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack
for i in range(self.NumTransmitSector):
data = self.fileptr.read(rec_len)
bytesRead += rec_len
s = rec_unpack(data)
self.TiltAngle[i] = float (s[0]) / 100.0
self.FocusRange[i] = s[1] / 10
self.SignalLength[i] = s[2]
self.SectorTransmitDelay[i] = s[3]
self.CentreFrequency[i] = s[4]
self.SignalBandwidth[i] = s[5]
self.SignalWaveformID[i] = s[6]
self.TransmitSectorNumberTX[i] = s[7]
# now read the variable part of the recieve record
rx_rec_fmt = '=hHBbBBhH'
rx_rec_len = struct.calcsize(rx_rec_fmt)
rx_rec_unpack = struct.Struct(rx_rec_fmt).unpack
for i in range(self.NumReceiveBeams):
data = self.fileptr.read(rx_rec_len)
rx_s = rx_rec_unpack(data)
bytesRead += rx_rec_len
self.BeamPointingAngle[i] = float (rx_s[0]) / 100.0
self.TwoWayTravelTime[i] = float (rx_s[1]) / (4 * self.SampleFrequency)
self.TransmitSectorNumber[i] = rx_s[2]
self.Reflectivity[i] = rx_s[3] / 2.0
self.QualityFactor[i] = rx_s[4]
self.DetectionWindow[i] = rx_s[5]
self.BeamNumber[i] = rx_s[6]
rec_fmt = '=BBH'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
data = self.fileptr.read(rec_len)
s = rec_unpack(data)
self.ETX = s[1]
self.checksum = s[2]
###############################################################################
def encode(self):
'''Encode a Depth f datagram record'''
systemDescriptor = 1
header_fmt = '=LBBHLLHH HHLl4H'
header_len = struct.calcsize(header_fmt)
fullDatagram = bytearray()
# # now read the variable part of the Transmit Record
rec_fmt = '=hHLLLHBB'
rec_len = struct.calcsize(rec_fmt)
# now read the variable part of the recieve record
rx_rec_fmt = '=hHBbBBhHB'
rx_rec_len = struct.calcsize(rx_rec_fmt)
footer_fmt = '=BH'
footer_len = struct.calcsize(footer_fmt)
fullDatagramByteCount = header_len + (rec_len*self.NumTransmitSector) + (rx_rec_len*self.NumReceiveBeams) + footer_len
# pack the header
recordTime = int(dateToSecondsSinceMidnight(from_timestamp(self.Time))*1000)
header = struct.pack(header_fmt,
fullDatagramByteCount-4,
self.STX,
ord(self.typeOfDatagram),
self.EMModel,
self.RecordDate,
recordTime,
self.PingCounter,
self.SerialNumber,
self.NumTransmitSector,
self.NumReceiveBeams,
int(self.SampleFrequency * 100),
self.ROVDepth,
int(self.SoundSpeedAtTransducer * 10),
self.MaxBeams,
self.Spare1,
self.Spare2)
fullDatagram = fullDatagram + header
for i in range (self.NumTransmitSector):
sectorRecord = struct.pack(rec_fmt,
int(self.TiltAngle[i] * 100),
int(self.FocusRange[i] * 10),
self.SignalLength[i],
self.SectorTransmitDelay[i],
self.CentreFrequency[i],
self.SignalBandwidth[i],
self.SignalWaveformID[i],
self.TransmitSectorNumberTX[i])
fullDatagram = fullDatagram + sectorRecord
# pack the beam summary info
for i in range (self.NumReceiveBeams):
bodyRecord = struct.pack(rx_rec_fmt,
int(self.BeamPointingAngle[i] * 100.0),
int(self.TwoWayTravelTime[i] * (4 * self.SampleFrequency)),
self.TransmitSectorNumber[i],
int(self.Reflectivity[i] * 2.0),
self.QualityFactor[i],
self.DetectionWindow[i],
self.BeamNumber[i],
self.Spare1,
systemDescriptor)
fullDatagram = fullDatagram + bodyRecord
# now pack the footer
ETX = 3
checksum = sum(fullDatagram[5:]) % 65536
footer = struct.pack('=BH', ETX, checksum)
fullDatagram = fullDatagram + footer
return fullDatagram
###############################################################################
class h_HEIGHT:
def __init__(self, fileptr, numberOfBytes):
self.typeOfDatagram = 'h'
self.offset = fileptr.tell()
self.numberOfBytes = numberOfBytes
self.fileptr = fileptr
self.fileptr.seek(numberOfBytes, 1)
self.data = ""
self.Height = 0
self.HeightType = 0
def read(self):
self.fileptr.seek(self.offset, 0)
rec_fmt = '=LBBHLLHHlB'
rec_len = struct.calcsize(rec_fmt)
rec_unpack = struct.Struct(rec_fmt).unpack_from
s = rec_unpack(self.fileptr.read(rec_len))
self.STX = s[1]
self.typeOfDatagram = chr(s[2])