Before removing hardwired conditionInitialDS (df71e1d0) · Commits · Elphel / imagej-elphel

src/main/java/com/elphel/imagej/cameras/EyesisCorrectionParameters.java

+18 −14

Original line number	Diff line number	Diff line
		@@ -1569,6 +1569,7 @@ public class EyesisCorrectionParameters {
		// first - scan all file and set sourceDirectory, x3dDirectory, linkedModels,videoDirectory,resultsDirectory
		HashMap<String,String> dir_map = new HashMap<String,String>();
		for (String line:lines){
		if (line.split("#").length > 0) {
		String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");
		if ((tokens.length > 2) && (tokens[0].toUpperCase().equals("SET"))) {
		parse_set:
		@@ -1582,6 +1583,7 @@ public class EyesisCorrectionParameters {
		}
		}
		}
		}
		if (dir_map.containsKey("rootDirectory")) {
		base_path=base_path.resolve(Paths.get(dir_map.get("rootDirectory")));
		File base_dir = new File(base_path.toString());
		@@ -1635,6 +1637,7 @@ public class EyesisCorrectionParameters {
		// process source sequence directories
		ArrayList<PathFirstLast> path_list= new ArrayList<PathFirstLast>();
		for (String line:lines){
		if (line.split("#").length > 0) {
		String[] tokens = line.split("#")[0].trim().split("[\\s,;=]+");
		if ((tokens.length > 0) &&
		(tokens[0].length() > 0) &&
		@@ -1648,6 +1651,7 @@ public class EyesisCorrectionParameters {
		((tokens.length > 3)? Integer.parseInt(tokens[3]):-1)));
		}
		}
		}
		return path_list.toArray(new PathFirstLast[0]);
		}

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

+19 −2

Original line number	Diff line number	Diff line
		@@ -32,10 +32,27 @@ public class EventLogger {
		}
		}
		Arrays.sort(logger_files); // increasing start time stamps

		String out_did_gps_path = "/home/elphel/lwir16-proc/office_04/did_gps";
		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++) {
		System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path);
		try {
		logger_files[nf].listGPS(out_did_gps_path+"-"+String.format("%03d", nf)+".out", gps_mask, false);
		} catch (IOException e) {
		// TODO Auto-generated catch block
		e.printStackTrace();
		}
		}




		String out_did1_path = "/home/elphel/lwir16-proc/office_04/did_ins1";
		for (int nf = 0; nf < logger_files.length; nf++) {
		System.out.println("Printing all DID_INS_1 data in "+logger_files[nf].abs_path);
		try {
		logger_files[nf].listDid1(false);
		logger_files[nf].listDid1(out_did1_path+"-"+String.format("%03d", nf)+".out",false);
		} catch (IOException e) {
		// TODO Auto-generated catch block
		e.printStackTrace();

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

+131 −12

Original line number	Diff line number	Diff line
		package com.elphel.imagej.ims;

		import java.awt.Point;
		import java.io.FileWriter;
		import java.io.IOException;
		import java.nio.ByteBuffer;
		import java.nio.ByteOrder;
		@@ -381,12 +382,15 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
		}
		}

		public void listDid1( boolean keep) throws IOException {
		public void listDid1(String path, boolean keep) throws IOException {
		double max_offset = 1000; // m
		open();
		float [] start_ned = null;
		System.out.println (
		"record "+
		FileWriter writer = null;
		if (path != null) {
		writer = new FileWriter (path);
		}
		String header = "record "+
		" master TS "+
		" local TS "+
		"timeOfWeek " +
		@@ -395,8 +399,12 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
		" theta "+
		" uvw "+
		" lla "+
		" ned "
		);
		" ned \n";
		if (writer != null) {
		writer.write(header);
		} else {
		System.out.print(header);
		}

		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
		for (int nrec = 0; nrec < num_recs; nrec++) {
		@@ -413,7 +421,7 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
		bb_payload.order(ByteOrder.LITTLE_ENDIAN);
		Did_ins_1 did_ins_1 = new Did_ins_1(bb_payload);
		if ((did_ins_1.uvw[0] == 0) && (did_ins_1.uvw[1] == 0) && (did_ins_1.uvw[2] == 0)) {
		// continue;
		continue;
		}
		if ((start_ned != null) &&
		( (Math.abs(start_ned[0] - did_ins_1.ned[0]) > max_offset) \|\|
		@@ -426,9 +434,9 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
		start_ned = did_ins_1.ned.clone();
		}
		start_ned = new float[] {0,0,0};
		System.out.println (String.format(
		String line =String.format(
		"%6d %17.6f %17.6f %10.3f %08x %08x [%8.4f, %8.4f, %8.4f] "+
		"[%8.3f, %8.3f, %8.3f] [%12.7f, %12.7f, %12.7f] [%8.3f, %8.3f, %8.3f]",
		"[%8.3f, %8.3f, %8.3f] [%12.7f, %12.7f, %12.7f] [%8.3f, %8.3f, %8.3f]\n",
		nrec,
		getMasterTS(nrec),
		getLocalTS(nrec),
		@@ -439,18 +447,129 @@ public class EventLoggerFileInfo implements Comparable<EventLoggerFileInfo> {
		did_ins_1.uvw[0], did_ins_1.uvw[1], did_ins_1.uvw[2], // Velocity U, V, W in meters per second. Convert to NED velocity using "vectorBodyToReference( uvw, theta, vel_ned )".
		did_ins_1.lla[0], did_ins_1.lla[1], did_ins_1.lla[2], // WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
		did_ins_1.ned[0] - start_ned[0], did_ins_1.ned[1] - start_ned[1], did_ins_1.ned[2] - start_ned[2] // North, east and down (meters) offset from reference latitude, longitude, and altitude to current latitude, longitude, and altitude
		));
		);
		if (writer != null) {
		writer.write(line);
		} else {
		System.out.print(line);
		}
		}
		}
		if (writer != null) {
		writer.close();
		}
		if (!keep) {
		close();
		}
		}

		public void listGPS (String path, int gps_mask, boolean keep) throws IOException {
		// +1 - DID_GPS1_POS, +2 - DID_GPS2_POS, +4 - DID_GPS1_UBX_POS
		// double max_offset = 1000; // m
		open();
		// float [] start_ned = null;
		FileWriter writer = null;
		if (path != null) {
		writer = new FileWriter (path);
		}
		String header = "record "+
		" master TS "+
		" local TS "+
		"timeOfWeek " +
		"did "+
		" status "+
		" ecef "+
		" lla "+
		" hMSL "+ // 7.2f
		" hAcc "+ // 7.3f
		" vAcc "+ // 7.3f
		" pDop "+ // 7.3f
		"cnoMean "+ // 7.3f
		" towOffset "+ // 11.4f
		" lS " + // 3d
		"sat " + // 3d
		"sgm " + // 3d
		"rsv\n";// 3d
		if (writer != null) {
		writer.write(header);
		} else {
		System.out.print(header);
		}

		int type = (EventLoggerFileInfo.REC_TYPE_GPS << 4) \| EventLoggerFileInfo.REC_SUBTYPE_IMX5; // 0x18 - first subpacket
		for (int nrec = 0; nrec < num_recs; nrec++) {
		int [] full_type = getFullType(bb, nrec);
		if ((full_type != null) && (full_type[0] == type) &&
		(
		(((gps_mask & 1) != 0) && (full_type[1] == Imx5.DID_GPS1_POS)) \|\|
		(((gps_mask & 2) != 0) && (full_type[1] == Imx5.DID_GPS2_POS)) \|\|
		(((gps_mask & 4) != 0) && (full_type[1] == Imx5.DID_GPS1_UBX_POS))
		)
		) {
		byte [] payload = getDidPayload(
		null, // next_fileinfo, // may be null if payload does not extend beyond single record
		nrec);
		if (payload == null) {
		System.out.println("EventLoggerFileInfo(): payload == null, nrec="+nrec);
		break;
		}
		ByteBuffer bb_payload = ByteBuffer.wrap(payload);
		bb_payload.order(ByteOrder.LITTLE_ENDIAN);

		Did_gps_pos did_gps_pos = new Did_gps_pos(bb_payload);
		if ((did_gps_pos.lla[0] == 0) && (did_gps_pos.lla[1] == 0) && (did_gps_pos.lla[2] == 0)) {
		continue;
		}

		// replace with GPS fix type?
		/*
		if ((did_ins_1.uvw[0] == 0) && (did_ins_1.uvw[1] == 0) && (did_ins_1.uvw[2] == 0)) {
		continue;
		}
		if ((start_ned != null) &&
		( (Math.abs(start_ned[0] - did_ins_1.ned[0]) > max_offset) \|\|
		(Math.abs(start_ned[1] - did_ins_1.ned[1]) > max_offset) \|\|
		(Math.abs(start_ned[2] - did_ins_1.ned[2]) > max_offset)
		)){
		start_ned = null;
		}
		if (start_ned == null) {
		start_ned = did_ins_1.ned.clone();
		}
		start_ned = new float[] {0,0,0};
		*/
		String line =String.format(
		"%6d %17.6f %17.6f %10.3f %3d %08x [%13.4f, %13.4f, %13.4f] "+
		"[%12.7f, %12.7f, %12.7f] %7.2f %7.3f %7.3f %7.3f %7.3f %11.4f "+
		"%3d %3d %3d %3d\n",
		nrec,
		getMasterTS(nrec),
		getLocalTS(nrec),
		0.001 * did_gps_pos.timeOfWeekMs,
		full_type[1], // DID
		did_gps_pos.status,
		did_gps_pos.ecef[0], did_gps_pos.ecef[1], did_gps_pos.ecef[2], // Position in ECEF {x,y,z} (m)
		did_gps_pos.lla[0], did_gps_pos.lla[1], did_gps_pos.lla[2], // WGS84 latitude, longitude, height above ellipsoid (degrees,degrees,meters)
		did_gps_pos.hMSL, did_gps_pos.hAcc, did_gps_pos.vAcc, did_gps_pos.pDop, did_gps_pos.cnoMean,
		did_gps_pos.towOffset,
		did_gps_pos.leapS, did_gps_pos.satsUsed, did_gps_pos.cnoMeanSigma, did_gps_pos.reserved
		);
		if (writer != null) {
		writer.write(line);
		} else {
		System.out.print(line);
		}
		}
		}
		if (writer != null) {
		writer.close();
		}
		if (!keep) {
		close();
		}
		}



		byte [] getDidPayload(
		EventLoggerFileInfo next_fileinfo, // may be null if payload does not extend beyond single record
		int nrec) throws IOException {

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