Read installation parameters (#2)

* read installation parameters

docs/cpp_usage.md

@@ -35,6 +35,7 @@ for reading data of different types.
   * `all_echosounder_depth` - Kongsberg single echosounder depth data
   * `all_sound_speed_profile` - Sound speed profile data
   * `all_raw_range_and_beam_angle` - Raw range and beam angle data
+  * `all_installation_param` - Installation parameters
 * `xtf_data` - for reading `.xtf` sidescan files
   * `xtf_sss_ping` - xtf side scan swath data structure
 * `gsf_data` - for reading `.gsf` files containing various sensor data

src/data_tools/include/data_tools/all_data.h

@@ -204,6 +204,26 @@ struct all_raw_range_and_beam_angle {
     }
 };
 
+struct all_installation_param {
+
+    using EntriesT = std::vector<all_installation_param, Eigen::aligned_allocator<all_installation_param> >;
+
+    unsigned int id_;
+    std::string time_string_;           // readable time stamp string
+    long long time_stamp_;              // posix time stamp
+    unsigned int system_serial_number_;
+    unsigned int secondary_system_serial_number_;
+    std::unordered_map<std::string, std::string> param_;
+    bool first_in_file_;
+
+	template <class Archive>
+    void serialize( Archive & ar )
+    {
+        ar(CEREAL_NVP(id_), CEREAL_NVP(time_string_), CEREAL_NVP(time_stamp_), CEREAL_NVP(system_serial_number_), 
+        CEREAL_NVP(secondary_system_serial_number_), CEREAL_NVP(param_), CEREAL_NVP(first_in_file_));
+    }
+};
+
 std_data::mbes_ping::PingsT convert_matched_entries(all_mbes_ping::PingsT& pings, all_nav_entry::EntriesT& entries);
 std_data::mbes_ping::PingsT match_attitude(std_data::mbes_ping::PingsT& pings, all_nav_attitude::EntriesT& entries);
 csv_data::csv_asvp_sound_speed::EntriesT convert_sound_speeds(const all_mbes_ping::PingsT& pings);
@@ -261,6 +281,10 @@ all_data::all_sound_speed_profile::EntriesT parse_file(const boost::filesystem::
 template <>
 all_data::all_raw_range_and_beam_angle::EntriesT parse_file(const boost::filesystem::path& file);
 
+// actually there will be only one all_installation_param, so return size should be one
+template <>
+all_data::all_installation_param::EntriesT parse_file(const boost::filesystem::path& file);
+
 }
 
 #endif // ALL_DATA_H

src/data_tools/include/liball/all.h

@@ -228,6 +228,23 @@ PACK(struct all_raw_range_and_beam_angle_datagram_repeat_received {
     unsigned char spare;
 });
 
+PACK(struct all_installation_para_datagram {
+    // common header, see all_common_header
+
+    // data description
+    unsigned short model_nbr; // EM model number (Example: EM 710 = 710)
+    unsigned int date; // Date at start of data record = year*10000 + month*100 + day (Example: Sep 26, 2005 = 20050926)
+    unsigned int time; // Time at start of data record since midnight in milliseconds (Example: 08:12:51.234 = 29570234)
+    unsigned short installation_datagram_count; // installation datagram count (0 to 65534)
+    unsigned short serial_nbr; // System serial number
+    unsigned short secondary_serial_nbr; // Secondary system serial number
+
+    // ASCII
+
+    // unsigned char spare; // not necessary, needed if to get even length, 
+    // end of repeat cycle, see all_common_end
+});
+
 #undef PACK
 
 #endif // ALL_H

src/data_tools/src/all_data.cpp

@@ -14,6 +14,7 @@
 #include <liball/all.h>
 //#include <endian.h>
 #include <fstream>
+#include <string>
 
 #define BOOST_NO_CXX11_SCOPED_ENUMS
 #include <boost/date_time.hpp>
@@ -117,7 +118,7 @@ vector<ReturnType, Eigen::aligned_allocator<ReturnType> > parse_file(const boost
 */
 
 template <typename ReturnType, typename AllHeaderType>
-ReturnType read_datagram(std::istream& input, const AllHeaderType& header)
+ReturnType read_datagram(std::istream& input, const AllHeaderType& header, int ascii_buffer_length = 0)
 {
     ReturnType rtn;
 	return rtn;
@@ -161,8 +162,8 @@ vector<ReturnType, Eigen::aligned_allocator<ReturnType> > parse_stream_impl(istr
 			AllHeaderType header;
 		    //cout << "Is a MB reading, code: " << int(data_type) << endl;
 		    input.read(reinterpret_cast<char*>(&header), sizeof(header));
-			returns.push_back(read_datagram<ReturnType, AllHeaderType>(input, header));
-		    //input.read(reinterpret_cast<char*>(&spare), sizeof(spare));
+            int ascii_length = nbr_bytes - sizeof(start_id)- sizeof(data_type) - sizeof(header) - sizeof(end_ident)- sizeof(end_ident);
+			returns.push_back(read_datagram<ReturnType, AllHeaderType>(input, header, ascii_length));
 		    input.read(reinterpret_cast<char*>(&end_ident), sizeof(end_ident));
 		    input.read(reinterpret_cast<char*>(&checksum), sizeof(checksum));
 			//cout << "End identifier: " << end_ident << endl;
@@ -235,7 +236,7 @@ pair<long long, string> parse_all_time(unsigned int date, unsigned int time)
 }
 
 template <>
-all_mbes_ping read_datagram<all_mbes_ping, all_xyz88_datagram>(std::istream& input, const all_xyz88_datagram& header)
+all_mbes_ping read_datagram<all_mbes_ping, all_xyz88_datagram>(std::istream& input, const all_xyz88_datagram& header, int ascii_buffer_length)
 {
 	//cout << "Total number of beams: " << header.nbr_beams << endl;
     //cout << "Valid number of beams: " << header.nbr_valid << endl;
@@ -272,7 +273,7 @@ all_mbes_ping read_datagram<all_mbes_ping, all_xyz88_datagram>(std::istream& inp
 }
 
 template <>
-all_nav_entry read_datagram<all_nav_entry, all_position_datagram>(std::istream& input, const all_position_datagram& header)
+all_nav_entry read_datagram<all_nav_entry, all_position_datagram>(std::istream& input, const all_position_datagram& header, int ascii_buffer_length)
 {
 	//cout << "Got a position datagram, skipping: " << int(header.nbr_bytes_input) << endl;
 
@@ -300,7 +301,7 @@ all_nav_entry read_datagram<all_nav_entry, all_position_datagram>(std::istream&
 }
 
 template <>
-all_nav_depth read_datagram<all_nav_depth, all_depth_datagram>(std::istream& input, const all_depth_datagram& header)
+all_nav_depth read_datagram<all_nav_depth, all_depth_datagram>(std::istream& input, const all_depth_datagram& header, int ascii_buffer_length)
 {
 	all_nav_depth entry;
 	entry.id_ = header.height_count;
@@ -313,7 +314,7 @@ all_nav_depth read_datagram<all_nav_depth, all_depth_datagram>(std::istream& inp
 }
 
 template <>
-all_nav_attitude read_datagram<all_nav_attitude, all_attitude_datagram>(std::istream& input, const all_attitude_datagram& header)
+all_nav_attitude read_datagram<all_nav_attitude, all_attitude_datagram>(std::istream& input, const all_attitude_datagram& header, int ascii_buffer_length)
 {
 	all_nav_attitude entry;
 	entry.id_ = header.attitude_count;
@@ -340,7 +341,7 @@ all_nav_attitude read_datagram<all_nav_attitude, all_attitude_datagram>(std::ist
 }
 
 template <>
-all_echosounder_depth read_datagram<all_echosounder_depth, all_echosounder_depth_datagram>(std::istream& input, const all_echosounder_depth_datagram& header)
+all_echosounder_depth read_datagram<all_echosounder_depth, all_echosounder_depth_datagram>(std::istream& input, const all_echosounder_depth_datagram& header, int ascii_buffer_length)
 {
 	all_echosounder_depth entry;
 	entry.id_ = header.echo_count;
@@ -352,7 +353,7 @@ all_echosounder_depth read_datagram<all_echosounder_depth, all_echosounder_depth
 }
 
 template <>
-all_sound_speed_profile read_datagram<all_sound_speed_profile, all_sound_speed_profile_datagram>(std::istream& input, const all_sound_speed_profile_datagram& header)
+all_sound_speed_profile read_datagram<all_sound_speed_profile, all_sound_speed_profile_datagram>(std::istream& input, const all_sound_speed_profile_datagram& header, int ascii_buffer_length)
 {
 
     all_sound_speed_profile entry;
@@ -370,7 +371,7 @@ all_sound_speed_profile read_datagram<all_sound_speed_profile, all_sound_speed_p
 }
 
 template <>
-all_raw_range_and_beam_angle read_datagram<all_raw_range_and_beam_angle, all_raw_range_and_beam_angle_datagram>(std::istream& input, const all_raw_range_and_beam_angle_datagram& header)
+all_raw_range_and_beam_angle read_datagram<all_raw_range_and_beam_angle, all_raw_range_and_beam_angle_datagram>(std::istream& input, const all_raw_range_and_beam_angle_datagram& header, int ascii_buffer_length)
 {
     all_raw_range_and_beam_angle raw;
 	raw.id_ = header.ping_count;
@@ -403,6 +404,29 @@ all_raw_range_and_beam_angle read_datagram<all_raw_range_and_beam_angle, all_raw
 	return raw;
 }
 
+template <>
+all_installation_param read_datagram<all_installation_param, all_installation_para_datagram>(std::istream& input, const all_installation_para_datagram& header, int ascii_buffer_length)
+{
+    all_installation_param param;
+	param.id_ = header.installation_datagram_count;
+    tie(param.time_stamp_, param.time_string_) = parse_all_time(header.date , header.time);
+    param.system_serial_number_ = header.serial_nbr;
+    param.secondary_system_serial_number_ = header.secondary_serial_nbr;
+    char * buffer = new char [ascii_buffer_length];
+    input.read (buffer, ascii_buffer_length);
+    stringstream str(buffer); 
+    string x;
+    while (getline(str, x, ',')) { 
+        size_t split_pos = x.find("=");
+        string key = x.substr(0, split_pos);
+        string value = x.substr(split_pos + 1);
+        param.param_[key] = value;
+        // cout<< x <<", " << key <<", " << value << endl;
+    } 
+	return param;
+}
+
+
 mbes_ping::PingsT convert_matched_entries(all_mbes_ping::PingsT& pings, all_nav_entry::EntriesT& entries)
 {
     mbes_ping::PingsT new_pings;
@@ -715,4 +739,11 @@ all_raw_range_and_beam_angle::EntriesT parse_file<all_raw_range_and_beam_angle>(
     return parse_file_impl<all_raw_range_and_beam_angle, all_raw_range_and_beam_angle_datagram, 78>(file);
 }
 
+template <>
+all_installation_param::EntriesT parse_file<all_installation_param>(const boost::filesystem::path& file)
+{   
+    // actually there will be only one all_installation_param, so return size should be one
+    return parse_file_impl<all_installation_param, all_installation_para_datagram, 73>(file);
+}
+
 } // namespace std_data

src/data_tools/src/test_all.cpp

@@ -27,6 +27,7 @@ int main(int argc, char** argv)
 	all_nav_entry::EntriesT entries = parse_file<all_nav_entry>(path);
 	all_sound_speed_profile::EntriesT sound_speed_profile = parse_file<all_sound_speed_profile>(path);
 	all_raw_range_and_beam_angle::EntriesT raw_range_and_angle = parse_file<all_raw_range_and_beam_angle>(path);
+	all_installation_param::EntriesT installation_param = parse_file<all_installation_param>(path);
 	//all_nav_entry::EntriesT entries = parse_folder<all_nav_entry>(path);
 	//all_mbes_ping::PingsT pings = parse_folder<all_mbes_ping>(path);
 

src/pydata_tools/src/pyall_data.cpp

@@ -130,6 +130,18 @@ PYBIND11_MODULE(all_data, m) {
         .def_static("parse_folder", &parse_folder_from_str<all_raw_range_and_beam_angle>, "Parse all_raw_range_and_beam_angle from folder of .all files")
         .def_static("read_data", &read_data_from_str<all_raw_range_and_beam_angle::EntriesT>, "Read all_raw_range_and_beam_angle::EntriesT from .cereal file");
 
+    py::class_<all_installation_param>(m, "all_installation_param", "Class for the installation parameters")
+        .def(py::init<>())
+        .def_readwrite("id_", &all_installation_param::id_, "Sequential ID of measurement")
+        .def_readwrite("time_string_", &all_installation_param::time_string_, "Readable date of measurement")
+        .def_readwrite("time_stamp_", &all_installation_param::time_stamp_, "UNIX timestamp")
+        .def_readwrite("system_serial_number_", &all_installation_param::system_serial_number_, "System serial number")
+        .def_readwrite("secondary_system_serial_number_", &all_installation_param::secondary_system_serial_number_, "Secondary system serial number")
+        .def_readwrite("param_", &all_installation_param::param_, "Dict of ascii parameters")
+        .def_readwrite("first_in_file_", &all_installation_param::first_in_file_, "Is first measurement in file?")
+        .def_static("parse_file", &parse_file_from_str<all_installation_param>, "Parse all_installation_param from .all file")
+        .def_static("parse_folder", &parse_folder_from_str<all_installation_param>, "Parse all_installation_param from folder of .all files")
+        .def_static("read_data", &read_data_from_str<all_installation_param::EntriesT>, "Read all_installation_param::EntriesT from .cereal file");
 
     m.def("write_data", &write_data_from_str<all_mbes_ping::PingsT>, "Write all_mbes_ping::PingsT to .cereal file");
     m.def("write_data", &write_data_from_str<all_nav_entry::EntriesT>, "Write all_nav_entry::EntriesT to .cereal file");