Improved DID_INS_* interpolation by local correction of ts_master to GPS

time using near 1pps sample

src/main/java/com/elphel/imagej/correction/Eyesis_Correction.java

@@ -5525,14 +5525,20 @@ public class Eyesis_Correction implements PlugIn, ActionListener {
 			EYESIS_CORRECTIONS.setDebug(DEBUG_LEVEL);
 			CLT_PARAMETERS.batch_run = true;
 			String imx_logs = CORRECTION_PARAMETERS.getImsSourceDirectory(); // sourceImsDirectory;
+			String debug_path = null; // CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"debug_local_master";
 			if (EVENT_LOGGER == null) {
 				if ((imx_logs != null) && !imx_logs.equals("")) {
-					EVENT_LOGGER = new EventLogger (imx_logs);
+					EVENT_LOGGER = new EventLogger (
+							imx_logs,
+							debug_path);
 				} else {
 					System.out.println("sourceImsDirectory is not set. Use Setup CLT Batch parameters to define it.");
 				}
 			}
 			if (EVENT_LOGGER != null) {
+				//print2Pps
+				EVENT_LOGGER.print2Pps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"rec_1pps");
+				EVENT_LOGGER.printStrobeInTime(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_strobe_in_time");
 				EVENT_LOGGER.printPimu(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_pimu");
 				EVENT_LOGGER.printGps(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_gps", 7);
 				EVENT_LOGGER.printDidIns1(CORRECTION_PARAMETERS.getImsPrintDirectory()+Prefs.getFileSeparator()+"did_ins1");

src/main/java/com/elphel/imagej/ims/Did_ins.java

@@ -28,6 +28,14 @@ public abstract class Did_ins <T extends Did_ins <T>>{
 		return frac * v_next + (1.0 - frac) * v_this;
 	}
 	
+	public double getDoubleTime() {
+		return ((double) week) * WEEK_SECONDS + timeOfWeek;
+	}
+	
+	public int [] getWeekTimeMs() { // for compatibility with DID_STROBE_IN_TIME
+		return new int [] { week, (int)Math.round(timeOfWeek * 1000.0)}; 
+	}
+	
 //https://www.swtestacademy.com/return-subclass-instance-java-generics/	
 	public void interpolateBase(double frac, T next_did, T new_did) {
 		new_did.week =     this.week;

src/main/java/com/elphel/imagej/ims/Did_strobe_in_time.java

@@ -2,6 +2,9 @@ package com.elphel.imagej.ims;
 
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
+import java.util.Properties;
+
+import com.elphel.imagej.tileprocessor.IntersceneMatchParameters;
 
 /* (DID_STROBE_IN_TIME) Timestamp for input strobe.
 typedef struct PACKED
@@ -121,4 +124,25 @@ public class Did_strobe_in_time {
 		s += String.format("count:        %d\n", count); 
 		return s;
 	}
+	
+	
+ 	public void getProperties(String prefix, Properties properties) {
+		if (properties.getProperty(prefix+"week")!=null)         this.week= Integer.parseInt(properties.getProperty(prefix+"week"));
+		if (properties.getProperty(prefix+"timeOfWeekMs")!=null) this.timeOfWeekMs= Integer.parseInt(properties.getProperty(prefix+"week"));
+		if (properties.getProperty(prefix+"pin")!=null)          this.pin= Integer.parseInt(properties.getProperty(prefix+"pin"));
+		if (properties.getProperty(prefix+"count")!=null)        this.count= Integer.parseInt(properties.getProperty(prefix+"count"));
+	}
+ 	
+	public Properties setProperties(String prefix, Properties properties){ // save // USED in lwir
+		if (properties == null) {
+			properties = new Properties();
+		}
+		properties.setProperty(prefix+"week",         this.week+"");
+		properties.setProperty(prefix+"timeOfWeekMs", this.timeOfWeekMs+"");
+		properties.setProperty(prefix+"pin",          this.pin+"");
+		properties.setProperty(prefix+"count",        this.count+"");
+		return properties;
+	}
+	
+	
 }
\ No newline at end of file

src/main/java/com/elphel/imagej/ims/EventLogger.java

@@ -14,8 +14,7 @@ import ij.Prefs;
 
 public class EventLogger {
 	public  EventLoggerFileInfo [] logger_files;
-
-	public EventLogger (String dir) { // dir should contain only event logger files
+	public EventLogger (String dir, String debug_prefix) { // dir should contain only event logger files
 		if (!dir.endsWith(Prefs.getFileSeparator())) {
 			dir+=Prefs.getFileSeparator();
 		}
@@ -26,8 +25,9 @@ public class EventLogger {
 			      .collect(Collectors.toSet()));
 		logger_files = new EventLoggerFileInfo [files.size()];
 		for (int nf = 0; nf < logger_files.length; nf++) { // may use threads (per file)
+			String debug_path= (debug_prefix != null) ? (debug_prefix+nf+".csv") : null;
 			try {
-				logger_files[nf] = new EventLoggerFileInfo(dir+files.get(nf), false);
+				logger_files[nf] = new EventLoggerFileInfo(dir+files.get(nf), false, debug_path);
 			} catch (IOException e) {
 				logger_files[nf] = null;
 				e.printStackTrace();
@@ -38,43 +38,6 @@ public class EventLogger {
 //		testInterpolateDidIns1();
 //		testInterpolateDidIns1();
 //		testInterpolateDidIns1();
-		/*
-//		String out_did_gps_path = "/home/elphel/lwir16-proc/office_04/did_gps";
-		String out_did_gps_path = dir+"../did_gps/did_gps";
-		out_did_gps_path = Paths.get(out_did_gps_path).normalize().toString();
-		Path op_did_gps = Paths.get(out_did_gps_path);
-		op_did_gps=op_did_gps.normalize();
-		(new File(op_did_gps.getParent().toString())).mkdirs();
-		int gps_mask = 7; // +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
-		for (int nf = 0; nf < logger_files.length; nf++) {
-			String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".out";
-			System.out.println("Printing all DID_GPS data in "+logger_files[nf].abs_path+" to "+out_path);
-			try {
-				logger_files[nf].listGPS(out_path, gps_mask, false);
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
-		}
-		*/
-//		String out_did1_path = "/media/elphel/SSD3-4GB/lwir16-proc/berdich/ims/test_out/did_ins1";
-		/*
-		String out_did1_path = dir+"../did_ins1/did_ins1";
-		out_did1_path = Paths.get(out_did1_path).normalize().toString();
-		Path op_did1 = Paths.get(out_did1_path);
-		op_did1=op_did1.normalize();
-		(new File(op_did1.getParent().toString())).mkdirs();
-		for (int nf = 0; nf < logger_files.length; nf++) {
-			String out_path= out_did1_path+"-"+String.format("%03d", nf)+".out";
-			System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
-			try {
-				logger_files[nf].listDid1(out_path,false);
-			} catch (IOException e) {
-				// TODO Auto-generated catch block
-				e.printStackTrace();
-			}
-		}
-		*/
 		System.out.println("Processed "+logger_files.length+" event log files");
 	}
 	
@@ -86,7 +49,7 @@ public class EventLogger {
 		op_did_gps=op_did_gps.normalize();
 		(new File(op_did_gps.getParent().toString())).mkdirs();
 		for (int nf = 0; nf < logger_files.length; nf++) {
-			String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".out";
+			String out_path= out_did_gps_path+"-"+String.format("%03d", nf)+".csv";
 			System.out.println("Printing all DID_GPS data in "+logger_files[nf].abs_path+" to "+out_path);
 			try {
 				logger_files[nf].listGPS(out_path, gps_mask, false);
@@ -104,7 +67,7 @@ public class EventLogger {
 		op_did1=op_did1.normalize();
 		(new File(op_did1.getParent().toString())).mkdirs();
 		for (int nf = 0; nf < logger_files.length; nf++) {
-			String out_path= out_did1_path+"-"+String.format("%03d", nf)+".out";
+			String out_path= out_did1_path+"-"+String.format("%03d", nf)+".csv";
 			System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
 			try {
 				logger_files[nf].listDidIns1(out_path,false);
@@ -121,7 +84,7 @@ public class EventLogger {
 		op_did2=op_did2.normalize();
 		(new File(op_did2.getParent().toString())).mkdirs();
 		for (int nf = 0; nf < logger_files.length; nf++) {
-			String out_path= out_did2_path+"-"+String.format("%03d", nf)+".out";
+			String out_path= out_did2_path+"-"+String.format("%03d", nf)+".csv";
 			System.out.println("Printing all DID_INS_2 data in "+logger_files[nf].abs_path+" to "+out_path);
 			try {
 				logger_files[nf].listDidIns2(out_path,false);
@@ -138,7 +101,7 @@ public class EventLogger {
 		op_pimu=op_pimu.normalize();
 		(new File(op_pimu.getParent().toString())).mkdirs();
 		for (int nf = 0; nf < logger_files.length; nf++) {
-			String out_path= out_pimu_path+"-"+String.format("%03d", nf)+".out";
+			String out_path= out_pimu_path+"-"+String.format("%03d", nf)+".csv";
 			System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path+" to "+out_path);
 			try {
 				logger_files[nf].listPimu(out_path,false);
@@ -149,6 +112,40 @@ public class EventLogger {
 		}
 	}
 	
+	public void printStrobeInTime(String out_sit_path) {
+		out_sit_path = Paths.get(out_sit_path).normalize().toString();
+		Path op_sit = Paths.get(out_sit_path);
+		op_sit=op_sit.normalize();
+		(new File(op_sit.getParent().toString())).mkdirs();
+		for (int nf = 0; nf < logger_files.length; nf++) {
+			String out_path= out_sit_path+"-"+String.format("%03d", nf)+".csv";
+			System.out.println("Printing all DID_STROBE_IN_TIME data in "+logger_files[nf].abs_path+" to "+out_path);
+			try {
+				logger_files[nf].listStrobeInTime(out_path,false);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+	}
+
+	public void print2Pps(String out_1pps_path) {
+		out_1pps_path = Paths.get(out_1pps_path).normalize().toString();
+		Path op_1pps = Paths.get(out_1pps_path);
+		op_1pps=op_1pps.normalize();
+		(new File(op_1pps.getParent().toString())).mkdirs();
+		for (int nf = 0; nf < logger_files.length; nf++) {
+			String out_path= out_1pps_path+"-"+String.format("%03d", nf)+".csv";
+			System.out.println("Printing all DID_STROBE_IN_TIME data in "+logger_files[nf].abs_path+" to "+out_path);
+			try {
+				logger_files[nf].list1Pps(out_path,false);
+			} catch (IOException e) {
+				// TODO Auto-generated catch block
+				e.printStackTrace();
+			}
+		}
+	}
+	
 	
 	public void testInterpolateDidIns1() {
 		boolean exit_now = false;
@@ -353,6 +350,29 @@ public class EventLogger {
 			}
 			return Double.NaN;
 		}
+		// if it is DID_INS_1 or DID_INS_2 use TOW for calculating fraction
+		if ((did == Imx5.DID_INS_1) || (did == Imx5.DID_INS_2)) {
+			double tow_corr = logger_files[file_index_below].getTimeOfWeekCorrection(ts_master);
+			int week0, week1;
+			double tow0, tow1;
+			if (!Double.isNaN(tow_corr)) { 
+				double tow = logger_files[file_index_below].getLinearTimeOfWeek(ts_master) - tow_corr;
+				@SuppressWarnings("rawtypes")
+				Did_ins did_ins_0 = (did == Imx5.DID_INS_2) ?
+						(new Did_ins_2(ByteBuffer.wrap(payload[0]))) : (new Did_ins_1(ByteBuffer.wrap(payload[0])));
+				@SuppressWarnings("rawtypes")
+				Did_ins did_ins_1 = (did == Imx5.DID_INS_2) ?
+						(new Did_ins_2(ByteBuffer.wrap(payload[1]))) : (new Did_ins_1(ByteBuffer.wrap(payload[1])));
+				tow0 = did_ins_0.timeOfWeek;
+				tow1 = did_ins_1.timeOfWeek;
+				if (did_ins_1.week > did_ins_0.week) {
+					tow1+=	Did_ins.WEEK_SECONDS;
+				}
+				frac = (tow - tow0) /(tow1-tow0);
+			} else {
+				System.out.println("ERROR: getDidAtTS(): tow_corr is NaN, keeping frac="+frac);
+			}
+		}
 		return frac; 
 	}
 	

src/main/java/com/elphel/imagej/tileprocessor/QuadCLTCPU.java

@@ -2264,7 +2264,7 @@ public class QuadCLTCPU {
 		if (Eyesis_Correction.EVENT_LOGGER == null) {
 			System.out.println("Preparing IMS data as it is needed but does not exist");
 			String imx_logs = correctionsParameters.getImsSourceDirectory(); // sourceImsDirectory;
-			Eyesis_Correction.EVENT_LOGGER = new EventLogger (imx_logs);
+			Eyesis_Correction.EVENT_LOGGER = new EventLogger (imx_logs, null);
 		}
 		EventLogger eventLogger = Eyesis_Correction.EVENT_LOGGER; 
 		double ims_timestamp = this_ts + this.ims_offs + 3600 * gmt_plus;
@@ -2380,14 +2380,14 @@ public class QuadCLTCPU {
 				null, // Properties properties)
 				true); // boolean silent)
 		// temporary to recalculate if no did_ins_2:
-		{
+		if (ims_properties != null){ // may become null, so  
 			Did_ins_2 did_ins_2 = new Did_ins_2("did_ins_2-", ims_properties);
 			if ((did_ins_2.lla == null) || ((did_ins_2.lla[0]==0) && (did_ins_2.lla[1]==0))) {
 				ims_properties = null;
 				System.out.println("restoreIms(): no did_ins_2 - invalidating and recalculating config");
 			}
 		}
-		if (ims_properties == null) {
+		if (ims_properties == null) { // may become null above
 			if (create) {
 				saveIms(ims_offset, gmt_plus, ims_path, debugLevel);
 				ims_properties = loadProperties(