Merge branch 'py'.

- Python support for GsfAttribute record - Create a gsf_priv.h for testing of private functions. Disabled static to expose time functions - Python tests for GsfComment record
schwehr · Jul 28, 2015 · 2271020 · 2271020
2 parents 023839e + 8597a51
commit 2271020
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diff --git a/.gitignore b/.gitignore
@@ -2,3 +2,4 @@
 *.a
 .DS_Store
 *.dSYM
+*.pyc
diff --git a/doc/GSF_spec.md b/doc/GSF_spec.md
@@ -1428,6 +1428,10 @@ measurement.  The number of measurements is variable and user-definable, but any
 attitude record should contain no more than sixty seconds worth of measurements.  Table
 4-14 defines the format of an Attitude record.
 
+TODO(schwehr): What are the units on the values in this table?  gsf.h has the decoded units, but what is supposed to be over the network or in a file.
+
+TODO(schwehr): On disk, GSF has records of time offest, pitch, roll, heave and heading, but scaled.  Not like in table 4-14.
+
 **Table 4-14** Attitude Record Definition.
 
 Field Name | Description | Field Type | Count

diff --git a/gsf/__init__.py b/gsf/__init__.py
@@ -83,6 +83,48 @@ def GsfHeader(data):
   }
 
 
+def GsfAttitude(data):
+  sec = struct.unpack('>I', data[:4])[0]
+  nsec = struct.unpack('>I', data[4:8])[0]
+  base_time = datetime.datetime.utcfromtimestamp(sec + 1e-9 * nsec)
+  num_measurements = struct.unpack('>h', data[8:10])[0]
+
+  result = {
+        'record_type': GSF_ATTITUDE,
+        'sec': sec,
+        'nsec': nsec,
+        'datetime': base_time,
+        'times': [],
+        'pitches': [],
+        'rolls': [],
+        'heaves': [],
+        'headings': [],
+  }
+
+  if not num_measurements:
+    return result
+
+  base = 10
+  # 5 2-byte values.
+  record_size = 10
+  for rec_num in range(num_measurements):
+    start = base + rec_num * record_size
+    end = base + (rec_num + 1) * record_size
+
+    fields = struct.unpack('>4hH', data[start:end])
+    time_raw, pitch_raw, roll_raw, heave_raw, heading_raw = fields
+    offset = time_raw / 1000.0
+    time = base_time + datetime.timedelta(seconds=offset)
+
+    result['times'].append(time)
+    result['pitches'].append(pitch_raw / 100.0)
+    result['rolls'].append(roll_raw / 100.0)
+    result['heaves'].append(heave_raw / 100.0)
+    result['headings'].append(heading_raw / 100.0)
+
+  return result
+
+
 def GsfComment(data):
   """Decode a GSF Comment record from binary data.
 
@@ -113,17 +155,26 @@ def GsfHistory(data):
 
   operator_size = struct.unpack('>h', data[base:base+2])[0]
   base += 2
-  operator = data[base:base + operator_size].rstrip('\0')
-  base += operator_size
+  if operator_size:
+    operator = data[base:base + operator_size].rstrip('\0')
+    base += operator_size
+  else:
+    operator = ''
 
   command_size = struct.unpack('>h', data[base:base+2])[0]
   base += 2
-  command = data[base:base + command_size].rstrip('\0')
-  base += command_size
+  if command_size:
+    command = data[base:base + command_size].rstrip('\0')
+    base += command_size
+  else:
+    command = ''
 
   comment_size = struct.unpack('>h', data[base:base+2])[0]
   base += 2
-  comment = data[base:base + comment_size].rstrip('\0')
+  if comment_size:
+    comment = data[base:base + comment_size].rstrip('\0')
+  else:
+    comment = ''
 
   return {
     'record_type': GSF_HISTORY,
@@ -170,9 +221,9 @@ def __next__(self):
     checksum = None
     header_data = record_header_text
     if have_checksum:
-      header_data += checksum_text
       checksum_text = self.gsf_file.src.read(4)
       checksum = struct.unpack('>I', checksum_text)
+      header_data += checksum_text
 
     data = self.gsf_file.src.read(data_size)
 
@@ -187,6 +238,7 @@ def __next__(self):
       'data': data
     }
 
+    # TODO(schwehr): Wrap in try, except and handle malformed records.
     if record_type == GSF_HEADER:
       record.update(GsfHeader(data))
     elif record_type == GSF_SWATH_BATHYMETRY_PING:
@@ -210,7 +262,7 @@ def __next__(self):
     elif record_type == GSF_HV_NAVIGATION_ERROR:
       pass
     elif record_type == GSF_ATTITUDE:
-      pass
+      record.update(GsfAttitude(data))
     else:
       raise Error("Unknown record_type: %d" % record_type)
 

diff --git a/gsf/dump_hex.py b/gsf/dump_hex.py
@@ -48,7 +48,9 @@ def DumpHex(filename, include_cpp=True):
     header_hex = [Hex2(v) for v in header_data]
     data_hex = [Hex2(v) for v in data]
     print 'record:  ', record_num, type_str
-    print 'sizes  = (%d, %d, %d)' % (record['size_total'], len(header_hex), len(data_hex))
+    print 'sizes  = (%d, %d, %d)' % (record['size_total'],
+                                     len(header_hex),
+                                     len(data_hex))
     print 'header = (', ', '.join(header_hex), ')'
     print 'data   = (', ', '.join(data_hex), ')'
 

diff --git a/src/gsf/gsf_dec.c b/src/gsf/gsf_dec.c
@@ -45,6 +45,7 @@
 #include "gsf.h"
 #include "gsf_dec.h"
 #include "gsf_enc.h"
+#include "gsf_priv.h"
 
 #if defined(__GNUC__) && __GNUC__ >= 4
 #  define UNUSED __attribute((__unused__))
@@ -7540,7 +7541,8 @@ gsfDecodeHVNavigationError(gsfHVNavigationError *hv_nav_error, GSF_FILE_TABLE *f
     return (p - sptr);
 }
 
-static void LocalAddTimes (struct timespec *base_time, double delta_time, struct timespec *sum_time)
+/* static */
+void LocalAddTimes (const struct timespec *base_time, double delta_time, struct timespec *sum_time)
 {
     double fraction = 0.0;
     double tmp      = 0.0;

diff --git a/src/gsf/gsf_enc.c b/src/gsf/gsf_enc.c
@@ -42,6 +42,7 @@
 
 #include "gsf.h"
 #include "gsf_enc.h"
+#include "gsf_priv.h"
 
 #if defined(__GNUC__) && __GNUC__ >= 4
 #  define UNUSED __attribute((__unused__))
@@ -7888,7 +7889,8 @@ gsfEncodeHVNavigationError(unsigned char *sptr, gsfHVNavigationError *hv_nav_err
     return (p - sptr);
 }
 
-static void LocalSubtractTimes (struct timespec *base_time, struct timespec *subtrahend, double *difference)
+/* static */
+void LocalSubtractTimes (const struct timespec *base_time, const struct timespec *subtrahend, double *difference)
 {
     double fraction = 0.0;
     double seconds  = 0.0;

diff --git a/src/gsf/gsf_priv.h b/src/gsf/gsf_priv.h
@@ -0,0 +1,45 @@
+/********************************************************************
+ *
+ * Description : Internal only functions of GSF.
+ *
+ *   The functions in this header are only meant for internal use.
+ *   for testing and iternal linking.  Do not include this header in
+ *   your code.
+ *
+ * Restrictions/Limitations :
+ *
+ * Copyright 2015 Google Inc. All Rights Reserved.
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public License
+ * as published by the Free Software Foundation; either version 2.1 of
+ * the License, or (at your option) any later version.
+ *  This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+ * Lesser General Public License for more details.
+ * 
+ * http://www.gnu.org/licenses/old-licenses/lgpl-2.1.en.html
+ *
+ ********************************************************************/
+
+#ifndef  __GSF_PRIV_H__
+#define __GSF_PRIV_H__
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+
+void LocalAddTimes(const struct timespec *base_time,
+                   double delta_time,
+                   struct timespec *sum_time);
+void LocalSubtractTimes(const struct timespec *base_time,
+                        const struct timespec *subtrahend,
+                        double *difference);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* __GSF_PRIV_H__ */
diff --git a/test_py/records_test.py b/test_py/records_test.py
@@ -12,11 +12,106 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
+import datetime
 import unittest
 
 import gsf
 
 
+class AttitudeTest(unittest.TestCase):
+
+  def testEmptyAttitude(self):
+    data = (
+        0x00, 0x00, 0x00, 0x03, 0x00, 0x00, 0x00, 0x04, 0x00, 0x00, 0x00,
+        0x00)
+    attitude = gsf.GsfAttitude(''.join(chr(v) for v in data))
+    self.assertEqual(attitude['record_type'], gsf.GSF_ATTITUDE)
+    self.assertEqual(attitude['sec'], 3)
+    self.assertEqual(attitude['nsec'], 4)
+
+  def testAttitudeLengthOneZeroValues(self):
+    data = (
+        0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x06, 0x00, 0x01, 0x00,
+        0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00)
+
+    attitude = gsf.GsfAttitude(''.join(chr(v) for v in data))
+    self.assertEqual(attitude['record_type'], gsf.GSF_ATTITUDE)
+    self.assertEqual(attitude['sec'], 5)
+    self.assertEqual(attitude['nsec'], 6)
+    self.assertEqual(attitude['times'],
+                     [datetime.datetime(1970, 1, 1, 0, 0, 5)])
+    self.assertEqual(attitude['pitches'], [0.0])
+    self.assertEqual(attitude['rolls'], [0.0])
+    self.assertEqual(attitude['heaves'], [0.0])
+    self.assertEqual(attitude['headings'], [0.0])
+
+  def testAttitudeLengthOneNonZero(self):
+    data = (
+        0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00, 0x0A, 0x00, 0x01, 0x00,
+        0x00, 0xFF, 0x88, 0xFE, 0xAC, 0xFD, 0xD0, 0x03, 0x0C)
+
+    attitude = gsf.GsfAttitude(''.join(chr(v) for v in data))
+    self.assertEqual(attitude['record_type'], gsf.GSF_ATTITUDE)
+    self.assertEqual(attitude['sec'], 9)
+    self.assertEqual(attitude['nsec'], 10)
+    self.assertEqual(attitude['times'],
+                     [datetime.datetime(1970, 1, 1, 0, 0, 9)])
+    self.assertEqual(attitude['pitches'], [-1.2])
+    self.assertEqual(attitude['rolls'], [-3.4])
+    self.assertEqual(attitude['heaves'], [-5.6])
+    self.assertEqual(attitude['headings'], [7.8])
+
+  def testAttitudeLengthTwo(self):
+    data = (
+        0x55, 0xB6, 0x65, 0x36, 0x00, 0x00, 0x00, 0x01, 0x00, 0x02, 0x00,
+        0x00, 0x00, 0x78, 0xD8, 0xE6, 0xB1, 0xCC, 0x46, 0xB4, 0x04, 0x42,
+        0xFE, 0xAC, 0x27, 0x24, 0xB1, 0xC2, 0x8C, 0x3C, 0x00, 0x00)
+
+    attitude = gsf.GsfAttitude(''.join(chr(v) for v in data))
+    self.assertEqual(attitude['record_type'], gsf.GSF_ATTITUDE)
+    self.assertEqual(attitude['sec'], 1438016822)
+    self.assertEqual(attitude['nsec'], 1)
+    self.assertEqual(attitude['times'],
+                     [datetime.datetime(2015, 7, 27, 17, 7, 2),
+                      datetime.datetime(2015, 7, 27, 17, 7, 3, 90000)]),
+    self.assertEqual(attitude['pitches'], [1.2, -3.4])
+    self.assertEqual(attitude['rolls'], [-100.1, 100.2])
+    self.assertEqual(attitude['heaves'], [-200.2, -200.3])
+    self.assertEqual(attitude['headings'], [181, 359])
+
+
+class CommentTest(unittest.TestCase):
+
+  def testEmptyComment(self):
+    data = (
+        0x00, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x02, 0x00, 0x00, 0x00,
+        0x00)
+    comment = gsf.GsfComment(''.join(chr(v) for v in data))
+    self.assertEqual(comment['record_type'], gsf.GSF_COMMENT)
+    self.assertEqual(comment['sec'], 1)
+    self.assertEqual(comment['nsec'], 2)
+    self.assertEqual(comment['comment'], '')
+
+  def test100aComment(self):
+    data = (
+        0x00, 0x00, 0x00, 0x08, 0x00, 0x00, 0x00, 0x09, 0x00, 0x00, 0x00,
+        0x64, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61, 0x61,
+        0x61, 0x61)
+    comment = gsf.GsfComment(''.join(chr(v) for v in data))
+    self.assertEqual(comment['record_type'], gsf.GSF_COMMENT)
+    self.assertEqual(comment['sec'], 8)
+    self.assertEqual(comment['nsec'], 9)
+    self.assertEqual(comment['comment'], 'a'*100)
+
+
 class HistoryTest(unittest.TestCase):
 
   def testAnything(self):
@@ -38,6 +133,19 @@ def testAnything(self):
     self.assertEqual(history['command'], 'command line')
     self.assertEqual(history['comment'], 'comment')
 
+  def testAllFieldsEmpty(self):
+    data = (
+        0x00, 0x00, 0x00, 0x05, 0x00, 0x00, 0x00, 0x06, 0x00, 0x01, 0x00,
+        0x00, 0x01, 0x00, 0x00, 0x01, 0x00, 0x00, 0x00, 0x00)
+
+    history = gsf.GsfHistory(''.join(chr(v) for v in data))
+    self.assertEqual(history['record_type'], gsf.GSF_HISTORY)
+    self.assertEqual(history['sec'], 5)
+    self.assertEqual(history['nsec'], 6)
+    self.assertEqual(history['name'], '')
+    self.assertEqual(history['operator'], '')
+    self.assertEqual(history['command'], '')
+    self.assertEqual(history['comment'], '')
 
 if __name__ == '__main__':
   unittest.main()
diff --git a/tests/gsf/Makefile b/tests/gsf/Makefile
@@ -17,6 +17,7 @@ include ../../Makefile.inc
 TESTS := index_test
 TESTS += read_gsf_2_9_test
 TESTS += read_gsf_3_6_test
+TESTS += time_test
 TESTS += write_test
 
 all: test
@@ -100,9 +101,14 @@ read_gsf_2_9_test: read_gsf_2_9_test.o gtest_main.a libgsftest.a
 read_gsf_3_6_test: read_gsf_3_6_test.o gtest_main.a libgsftest.a
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $@ ../../src/gsf/libgsf.a
 
+# TODO(schwehr): Why does using libgsf.a not work?
+time_test: time_test.o gtest_main.a libgsftest.a
+	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $@ ../../src/gsf/gsf_enc.o ../../src/gsf/gsf_dec.o ../../src/gsf/gsf.o ../../src/gsf/gsf_indx.o
+
 write_test: write_test.o gtest_main.a libgsftest.a
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) -lpthread $^ -o $@ ../../src/gsf/libgsf.a
 
+# TODO(schwehr): Move out of testing.
 gsf_info: gsf_info.o
 	$(CXX) $(CPPFLAGS) $(CXXFLAGS) $^ -o $@ ../../src/gsf/libgsf.a