--- a/patchPD0
+++ b/patchPD0
@@ -2,9 +2,9 @@
#======================================================================
# P A T C H P D 0
# doc: Tue Aug 23 20:00:15 2016
-# dlm: Mon Jul 1 16:56:51 2019
+# dlm: Tue Apr 14 21:28:49 2020
# (c) 2010 A.M. Thurnherr
-# uE-Info: 189 0 NIL 0 0 72 2 2 4 NIL ofnI
+# uE-Info: 103 26 NIL 0 0 72 2 2 4 NIL ofnI
#======================================================================
$antsSummary = 'patch TRDI PD0 file with external attitude data';
@@ -20,11 +20,12 @@
# Jun 13, 2017: - added pitch and roll to -o
# - BUG: ??? does -o handle pitch and roll ANOMALIES correctly?
# Jun 30, 2019: - -o did not work with single argument
+# Apr 14, 2020: - adapted to use for moored ADCP data as well
# PATCH-FILE REQUIREMENTS (ANTS format)
-# - %LADCP_pitch.mu %LADCP_roll.mu mean LADCP pitch and roll
-# - %IMU_hdg_offset heading offset of external IMU
-# - LADCP_ens ADCP ensemble number
+# - %[L]ADCP_pitch.mu %[L]ADCP_roll.mu mean ADCP pitch and roll
+# - %IM[UP]_hdg_offset heading offset of external IMU
+# - [L]ADCP_ens ADCP ensemble number
# - pitch, roll external pitch/roll *anomalies*
# - hdg external heading rotated into ADCP coord system
@@ -73,14 +74,14 @@
$RDI_PD0_IO::OVERRIDE_Y2K_CLOCK = $opt_c;
-$LADCP_file = &antsFileArg();
+$ADCP_file = &antsFileArg();
$outPD0 = $ARGV[0]; shift;
#----------------------------------------------------------------------
-# Step 1: Read LADCP Data
+# Step 1: Read ADCP Data
#----------------------------------------------------------------------
-readData($LADCP_file,\%LADCP); # TRDI PD0 file
+readData($ADCP_file,\%ADCP); # TRDI PD0 file
#----------------------------------------------------------------------
# Step 2: Process External Attidue Input to Patch PD0 file
@@ -88,13 +89,20 @@
&antsIn(); # load first IMP record
-my($ensF) = &fnr('LADCP_ens');
+my($ensF) = &fnrNoErr('ADCP_ens');
+$ensF = &fnr('LADCP_ens') unless defined($ensF);
+
my($pitchF) = &fnr('pitch');
my($rollF) = &fnr('roll');
my($hdgF) = &fnr('hdg');
-my($LADCP_pitch_mean) = &antsRequireParam('LADCP_pitch.mu');
-my($LADCP_roll_mean) = &antsRequireParam('LADCP_roll.mu');
+my($ADCP_pitch_mean) = $P{'ADCP_pitch.mu'};
+$ADCP_pitch_mean = &antsRequireParam('LADCP_pitch.mu')
+ unless numberp($ADCP_pitch_mean);
+
+my($ADCP_roll_mean) = $P{'ADCP_roll.mu'};
+$ADCP_roll_mean = &antsRequireParam('LADCP_roll.mu')
+ unless numberp($ADCP_roll_mean);
my($pofs,$rofs) = (0,0); # apply externally supplied offset(s)
my($rho,$crho,$srho);
@@ -117,13 +125,13 @@
$crho = cos(rad($rho));
$srho = sin(rad($rho));
- if (defined($pofs)) { # rotate IMP pitch and roll offsets into new LADCP frame
+ if (defined($pofs)) { # rotate IMP pitch and roll offsets into new ADCP frame
my($IMP_pitch_mean) = &antsRequireParam('IMP_pitch.mu') * $crho
+ &antsRequireParam('IMP_roll.mu') * $srho;
my($IMP_roll_mean) = -&antsRequireParam('IMP_pitch.mu') * $srho
+ &antsRequireParam('IMP_roll.mu') * $crho;
- $LADCP_pitch_mean = $IMP_pitch_mean - $pofs; # apply externally supplied offsets
- $LADCP_roll_mean = $IMP_roll_mean - $rofs;
+ $ADCP_pitch_mean = $IMP_pitch_mean - $pofs; # apply externally supplied offsets
+ $ADCP_roll_mean = $IMP_roll_mean - $rofs;
}
}
@@ -133,11 +141,11 @@
do {
my($ADCP_deployed);
my($ens) = $P{RECNO};
- die("assertion failed [$ants_[0][$ensF] != $LADCP{ENSEMBLE}[$ens]->{NUMBER} --- 1-$LADCP{ENSEMBLE}[0]->{NUMBER} + $P{RECNO} + $d]")
- unless ($ants_[0][$ensF] == $LADCP{ENSEMBLE}[$ens]->{NUMBER});
- $LADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} = 0xA0;
+ die("assertion failed [$ants_[0][$ensF] != $ADCP{ENSEMBLE}[$ens]->{NUMBER} --- 1-$ADCP{ENSEMBLE}[0]->{NUMBER} + $P{RECNO} + $d]")
+ unless ($ants_[0][$ensF] == $ADCP{ENSEMBLE}[$ens]->{NUMBER});
+ $ADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} = 0xA0;
- if (numbersp($ants_[0][$pitchF],$ants_[0][$rollF])) { # valid IMP data -> patch LADCP ensemble
+ if (numbersp($ants_[0][$pitchF],$ants_[0][$rollF])) { # valid IMP data -> patch ADCP ensemble
$ADCP_deployed = 1;
$missing_pr_block_len = 0;
if (defined($opt_o)) { # -o set: rotate pitch and roll into correct coordinates
@@ -149,49 +157,49 @@
$ants_[$r][$rollF] = $rot_r;
}
if ($opt_p) { # patch pitch
- $LADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} |= ($opt_p<<2);
- $LADCP{ENSEMBLE}[$ens]->{PITCH} = RDI_pitch($LADCP_pitch_mean + $ants_[0][$pitchF],
- $LADCP_roll_mean + $ants_[0][$rollF]);
+ $ADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} |= ($opt_p<<2);
+ $ADCP{ENSEMBLE}[$ens]->{PITCH} = RDI_pitch($ADCP_pitch_mean + $ants_[0][$pitchF],
+ $ADCP_roll_mean + $ants_[0][$rollF]);
}
if ($opt_r) { # patch roll
- $LADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} |= ($opt_r<<1);
- $LADCP{ENSEMBLE}[$ens]->{ROLL} = $LADCP_roll_mean + $ants_[0][$rollF];
+ $ADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} |= ($opt_r<<1);
+ $ADCP{ENSEMBLE}[$ens]->{ROLL} = $ADCP_roll_mean + $ants_[0][$rollF];
}
- } else { # no valid IMP pitch and roll => invalidate LADCP data
+ } else { # no valid IMP pitch and roll => invalidate ADCP data
$pr_missing++ if $ADCP_deployed; # don't count missing before deployment
$missing_pr_block_len++;
unless ($opt_k) {
- clearEns(\%LADCP,$ens);
- $LADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID}= 0xA0;
+ clearEns(\%ADCP,$ens);
+ $ADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID}= 0xA0;
}
}
if (numberp($ants_[0][$hdgF])) { # valid IMP heading
- $LADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} |= $opt_h;
+ $ADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID} |= $opt_h;
$missing_hdg_block_len = 0;
if (defined($opt_o)) { # apply offset on -o; otherwise, data are correctly rotated
$ants_[0][$hdgF] -= $rho;
$ants_[0][$hdgF] += 360 if ($ants_[0][$hdgF] < 0);
}
- $LADCP{ENSEMBLE}[$ens]->{HEADING} = $ants_[0][$hdgF] # patch heading
+ $ADCP{ENSEMBLE}[$ens]->{HEADING} = $ants_[0][$hdgF] # patch heading
if $opt_h;
- } else { # no valid IMP heading => invalidate LADCP data
+ } else { # no valid IMP heading => invalidate ADCP data
$hdg_missing++ if $ADCP_deployed;
$missing_hdg_block_len++;
unless ($opt_k) {
- clearEns(\%LADCP,$ens);
- $LADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID}= 0xA0;
+ clearEns(\%ADCP,$ens);
+ $ADCP{ENSEMBLE}[$ens]->{DATA_SOURCE_ID}= 0xA0;
}
}
} while (&antsIn());
$pr_missing -= missing_pr_block_len; # don't count final block (post recovery)
$hdg_missing -= missing_hdg_block_len;
-$LADCP{ENSEMBLE}[0]->{DATA_SOURCE_ID} = 0x7F; # ensure correct DSID (1st ens: orig; 2nd ens: this prog)
-$LADCP{ENSEMBLE}[1]->{DATA_SOURCE_ID} = 0xA0
- unless ($LADCP{ENSEMBLE}[1]->{DATA_SOURCE_ID}&0xF0 == 0xA0);
+$ADCP{ENSEMBLE}[0]->{DATA_SOURCE_ID} = 0x7F; # ensure correct DSID (1st ens: orig; 2nd ens: this prog)
+$ADCP{ENSEMBLE}[1]->{DATA_SOURCE_ID} = 0xA0
+ unless ($ADCP{ENSEMBLE}[1]->{DATA_SOURCE_ID}&0xF0 == 0xA0);
-writeData($outPD0,\%LADCP); # write new PD0
+writeData($outPD0,\%ADCP); # write new PD0
my($verb) = $opt_k ? 'retained' : 'cleared';
printf(STDERR "$outPD0: %d pitch/roll & %d heading values $verb\n",$pr_missing,$hdg_missing)