//-------------------------------------------------------------------------
// NavigationSyncer constructor using nav file and lev1 file to set up
//-------------------------------------------------------------------------
NavigationSyncer::NavigationSyncer(std::string navfilename, std::string lev1filename)
{
//Set to NULL here anyway just to be safe - they should all be none-null by the end of this function
nscans=0;
time=NULL;
navfile=NULL;
hdrsync=0;
framerate=0;
NOSYNCINHDR=-999;
lev1firstscanmaxexpectedsize=30; //30 seconds
if(navfilename.compare("NULL")!=0)
{
//Create a new Specim nav file object
navfile=new SpecimFileChooser(navfilename);
//Read in the nav file to get the time syncs
navfile->Reader();
}
//Need to read in the level1 file hdr info to get nscans
BinFile bilin(lev1filename);
//Get the number of scan lines
nscans=StringToUINT(bilin.FromHeader("lines"));
DEBUGPRINT("Number of scans: "<<nscans)
//Get the NavSync timing from the hdr
try
{
hdrsync=StringToUINT(TrimWhitespace(bilin.FromHeader("NavSync Timing",1,"true")))/1000.0;
}
catch(std::string e)
{
if(e.compare(0,bilin.MissingHeaderItemError().length(),bilin.MissingHeaderItemError())==0)
{
//Set to a value that means "no value in header"
hdrsync=NOSYNCINHDR;
}
else
{
throw e;
}
}
DEBUGPRINT("Sync from header:"<<hdrsync)
//Get the acquisition date of the data
acquisitiondate=bilin.FromHeader("acquisition date");
//Remove the start of the date string
acquisitiondate=TrimWhitespace(acquisitiondate.substr(acquisitiondate.find_first_of(':')+1));
//Get the date format string for leap seconds
dateformat=bilin.FromHeader("acquisition date");
size_t startofdateformat=dateformat.find_first_of("DATE(")+5;
size_t lengthofdateformat=dateformat.find_first_of("):")-startofdateformat;
dateformat=dateformat.substr(startofdateformat,lengthofdateformat);
DEBUGPRINT("Date: "<<acquisitiondate)
//Get the start and stop times from the header to use in case no sync messages
//found in the specim nav file
gpsstarttime=bilin.FromHeader("GPS Start Time");
gpsstarttime=RemoveAllBut(gpsstarttime,"1234567890.:");
gpsstarttime=TrimWhitespace(ReplaceAllWith(&gpsstarttime,':',' '));
gpsstoptime=bilin.FromHeader("GPS Stop Time");
gpsstoptime=RemoveAllBut(gpsstoptime,"1234567890.:");
gpsstoptime=TrimWhitespace(ReplaceAllWith(&gpsstoptime,':',' '));
//Get the frame rate from the hdr
framerate=StringToDouble(bilin.FromHeader("fps"));
DEBUGPRINT("Frame rate from header:"<<framerate)
if((framerate <= 0)||(framerate>100000))
{
throw "Frame rate (fps) in hdr file seems erroneous - will only process for frame rates >0 and <100000.";
}
//Get the Processed_crop_start from the header file - this tells us if
//nav for the full line or crop of the line is required
std::string cropstart=bilin.FromHeader("y start");
if(cropstart.compare("")==0)
{
Logger::Warning("No y start found in level 1 header, if data was cropped in previous stages navigation may be wrongly synced.");
//Set the time offset to 0
croptimeoffset=0;
}
else
{
//Convert to a double
croptimeoffset=StringToDouble(cropstart);
//Get the number of dropped scans that occurred in the crop prior to y start (if y start = 0 so will this)
std::string prevdropscans=bilin.FromHeader("dropped scans before y start");
if(prevdropscans.compare("")==0)
{
Logger::Warning("No 'dropped scans before y start' found in level 1 header, if y start is non-zero navigation may be wrongly synced.");
//Set the time offset to 0
prevdropscans="0";
}
double previousdroppedscans=StringToDouble(prevdropscans);
//Convert the sum of the frames (cropstart and prevdropscans) to a time offset to add onto start time
croptimeoffset=(croptimeoffset + previousdroppedscans)/framerate;
Logger::Log("Using cropped level-1 data - will add a time offset relating to number of lines cropped (y start + dropped scans values in hdr): "+ToString(croptimeoffset));
}
//Close the level 1 file
bilin.Close();
//Create the scan time array
time=new double[nscans];
//Get the number of leap seconds for the data
LeapSecond leap;
leapseconds=leap.GetLeapSeconds(acquisitiondate,dateformat);
DEBUGPRINT("Using leap seconds of:"<<leapseconds);
}
double interg(double xlat, double xlon,
GRID_HEADER vec_hdr[50], FILE* vec_ifp[50], int kk) {
/*******************************************************************************
* Interpolates a value from the kk-th numbered geoid model grid.
* As the gridded data are all direct-access files,
* only the nearest points (1 thru 9,
* depending on the point's location relative to corners and edges)
* are read into RAM for each point's interpolation.
*
* The size/spacing/etc of the data file's grid
* are defined by the common statement, and the variable kk.
* Caveats:
* 1) It is assumed that xlat/xlon fall in the region of the kth grid
* in - xlat : latitude position, decimal degrees, North
* in - xlon : longitude position, decimal degrees, West
* in - vec_hdr : vector of header records, as read from grid files
* in - vec_ifp : vector of input files, pointing to grid files
* in - kk : number (0 offset) of grid file to use
* out- val : the interpolated value
* ret- : the interpolated value
*
*******************************************************************************/
FILE* infile;
BUFFER buffer; // alias for type (*void) for binary grid read
// Grid header elements for file kk
double latMin;
double lonMin;
double latDelta;
double lonDelta;
long latRowNum;
long lonColNum;
long iKind;
double latMax; // calcd from header data
double lonMax; // calcd from header data
double val; // return value
long irec; // binary data file element
// double xx;
// double yy;
double row_counter;
double col_counter;
int irown;
int icoln;
double irown_lat;
double icoln_lon;
float f1;
// Define some necessary parameters
// These header data elements are read in the main driver file,
// are in a common block, and are already checked for endian condition
latMin = vec_hdr[kk].lat_min;
lonMin = vec_hdr[kk].lon_min;
latDelta = vec_hdr[kk].lat_delta;
lonDelta = vec_hdr[kk].lon_delta;
latRowNum = vec_hdr[kk].lat_num;
lonColNum = vec_hdr[kk].lon_num;
iKind = vec_hdr[kk].ikind;
latMax = latMin + latDelta * (latRowNum - 1);
lonMax = lonMin + lonDelta * (lonColNum - 1);
infile = vec_ifp[kk];
// -----------------------------------------------------
// A little check for safety's sake
// Verify point is within grid file bounds
// -----------------------------------------------------
if (xlat < latMin) {
fprintf(stderr, "Error: Latitude below minimum bound\n");
fprintf(stderr, " Lat = %lf latMin = %lf\n", xlat, latMin);
abort();
}
if (xlat > (latMin + latDelta * latRowNum) ) {
fprintf(stderr, "Error: Latitude above maximum bound");
fprintf(stderr, " Lat = %lf latMax = %lf\n", xlat, latMax);
abort();
}
if (xlon < lonMin) {
fprintf(stderr, "Error: Longitude below minimum bound");
fprintf(stderr, " Lon = %lf lonMin = %lf\n", xlon, lonMin);
abort();
}
if (xlon > (lonMin + lonDelta * lonColNum) ) {
fprintf(stderr,"Error: Longitude above maximum bound");
fprintf(stderr, " Lon = %lf lonMax = %lf\n", xlon, lonMax);
abort();
}
// --------------------------------------------------------------------
// Find the row/col of the nearest grid node to the lat/lon point
// This grid node is southwest from the lat/lon point
// (row_counter,col_counter) = exact (lat,lon) grid coord location (float)
// (irown,icoln) = reference node (to sw) grid coord loc'n (int)
// --------------------------------------------------------------------
row_counter = ((xlat-latMin) / latDelta); // +1 =fortran index corr'n
col_counter = ((xlon-lonMin) / lonDelta); // +1 =fortran index corr'n
irown = (int)floor(row_counter); // reference row, just south from latdd
icoln = (int)floor(col_counter); // reference col, just west from londd
// Find the latitude and longitude of the nearest grid point
irown_lat = latMin + latDelta*(irown); // lat just south(up) from latdd
icoln_lon = lonMin + lonDelta*(icoln); // lon just west(left) from londd
// Find the latitude and longitude of the reference node
// not needed to find value at a node
// yy = (row_counter - row) + 2.0; // 2 := 4x4 spline window
// xx = (col_counter - col) + 2.0;
// -----------------------------------------------------
// First things first --
// If we're sitting right on or near (0.36 arcsec)
// a grid node, just assign the value and return
// (1.0e-4 * 3600) = 0.36 arcsec
//
// read(lin(kk),rec=irec)f1
// // read big endian values and convert to little endian
// if(reverse_bytes(kk)) f1=frev4(f1)
// val = f1
// return
// -----------------------------------------------------
if(fabs(xlat - irown_lat) <= 1.0e-4
&& fabs(xlon - icoln_lon) <= 1.0e-4) {
// linear array matrix math:
// 44L gets past the header
// irown*lonColNum gets to the row
// icoln gets the data from the specific column
irec = 44L + (long)(4*( (irown)*lonColNum + (icoln) ));
fseek(infile, irec, SEEK_SET);
fread((char*)&buffer, (sizeof(float)), 1, infile);
f1 = buffer.ff;
// Check endian condition
if (iKind != 1) {
f1 = flip_endian_f( f1 );
}
return( f1 );
}
// -----------------------------------------------------
// Not on a node, so interpolate
// 1) 6x6 spline grid
// 2) 4x4 spline grid
// 3) bilinear
// -----------------------------------------------------
if( irown >= 3 && irown < (latRowNum - 2)
&& icoln >= 3 && icoln < (lonColNum - 2) ) {
val = spline6(xlat, xlon, vec_ifp, vec_hdr, kk);
}
else
if( irown >= 2 && irown < (latRowNum - 1)
&& icoln >= 2 && icoln < (lonColNum - 1) ) {
val = spline4(xlat, xlon, vec_ifp, vec_hdr, kk);
}
else {
val = bilin( xlat, xlon, vec_ifp, vec_hdr, kk);
}
return( val );
}//~interg
