root/DPWavesProc/trunk/DPWavesProc/ADCP_splitter/adcpwaves.py

"""This code takes the raw waves portion of the adcp data from the splitter
and outputs pressure, range, orbital velocity and system info text files that
can be read into matlab."""




import sys, struct, math, shutil, os

try:
    infileName = sys.argv[1]

except:
    print 'error'
    sys.exit(1)


ifile = open(infileName, 'rb')


#header
firstHeader=31103
Header=firstHeader
while Header == firstHeader:
    readFirstHeader=ifile.read(2)
    if len(readFirstHeader) == 0:
        print('\n End of file')
        break

    pressureOfile = open('pressure', 'w')
    rangeOfile = open('range', 'w')
    orbitOfile = open('orbit', 'w')
    sysinfoOfile = open('sysinfo', 'w')

    Header =struct.unpack('H',readFirstHeader)[0]
    #print 'headerID=', hex(Header)

    firstLeaderHeader=259
    wavePingHeader=515
    lastLeaderHeader=771

    #read the length
    length=ifile.read(2)
    length=struct.unpack('H',length)[0]

    #read 4 bytes before the leader ID
    ifile.read(4)
    
    readLeaderHeader=ifile.read(2)
    leaderHeader =struct.unpack('H',readLeaderHeader)[0]
    
    if leaderHeader != firstLeaderHeader:
        print('error with first leader header')
        print hex(leaderHeader)
        break     
    #read and write sysinfo

    #firmware version
    readFwVersion=ifile.read(2)
    fwVersion=struct.unpack('H',readFwVersion)[0]
    sysinfoOfile.write(str(fwVersion))
    sysinfoOfile.write('\n')

    #Configuration (not sure what to do with this)
    ifile.read(2)
        
    # number of depth cells
    readNbins=ifile.read(1)
    Nbins= struct.unpack('B',readNbins)[0]
    sysinfoOfile.write(str(Nbins))
    sysinfoOfile.write('\n')

    #Samples per wave burst
    readNumSamples=ifile.read(2)
    numSamples=struct.unpack('H',readNumSamples)[0]
    sysinfoOfile.write(str(numSamples))
    sysinfoOfile.write('\n')

    # Size of depth cell
    readBinLength=ifile.read(2)
    binLength= struct.unpack('H',readBinLength)[0]
    #change size to meters
    binLength=binLength/100.00
    sysinfoOfile.write(str(binLength))
    sysinfoOfile.write('\n')

    #Time between wave samples
    readTBS=ifile.read(2)
    TBS=struct.unpack('H',readTBS)[0]
    sysinfoOfile.write(str(TBS))
    sysinfoOfile.write('\n')

    #Time between wave bursts
    readTBB=ifile.read(2)
    TBB=struct.unpack('H',readTBB)[0]
    sysinfoOfile.write(str(TBB))
    sysinfoOfile.write('\n')
        
    # distance to first bin
    readDist1=ifile.read(2)
    dist1= struct.unpack('H',readDist1)[0]
    #change distance to meters
    dist1=dist1/100.00
    sysinfoOfile.write(str(dist1))
    sysinfoOfile.write('\n')

        
    # number of bins output
    readBinsOut=ifile.read(1)
    binsOut= struct.unpack('B',readBinsOut)[0]
    sysinfoOfile.write(str(binsOut))
    sysinfoOfile.write('\n')

    #reserved data (?)
    ifile.read(2)

    #skip the directional bitmap
    ifile.read(16)
        
    #read and write the bitmap for what bins are output
    readByteList=ifile.read(16)
    byteList=struct.unpack('16B',readByteList)
        
    def int2msbits(n, count=8):
        """returns the most-significant binary of integer n, using count number of digits"""
        return "".join([str((n >> y) & 1) for y in range(0, count)])

    bytemap = ''
    bitmap = ''
    for ind in range(len(byteList)):
        byte = struct.pack('B', byteList[ind])
        bytemap += byte
        bits = int2msbits(byteList[ind])
        bitmap += bits

    # find indexes from bit map
    # (1) one way to get indices of 1's
    ind = [];
    for i in range(len(bitmap)):
        if bitmap[i]=='1': ind.append(i)

    # transducer height above the bottom
    th = 0.4

    # heights above transducer
    hat = [dist1+(binLength*elem) for elem in ind]

    # heights above bottom
    hab = [th+elem for elem in hat]

    for value in hab:
        sysinfoOfile.write(str(value))
        sysinfoOfile.write('\n')


    #Read start time and write to file
    readCentury=ifile.read(1)
    century =struct.unpack('B',readCentury)[0]

    readYear=ifile.read(1)
    year =struct.unpack('B',readYear)[0]

    readMonth=ifile.read(1)
    month=struct.unpack('B',readMonth)[0]

    readDay=ifile.read(1)
    day=struct.unpack('B',readDay)[0]

    readHour=ifile.read(1)
    hour=struct.unpack('B',readHour)[0]

    readMinute=ifile.read(1)
    minute=struct.unpack('B',readMinute)[0]

    readSecond=ifile.read(1)
    second=struct.unpack('B',readSecond)[0]

    readHundSec=ifile.read(1)
    hundSec=struct.unpack('B',readHundSec)[0]

    startTime=str(century)+str('%02d' % year)+str('%02d' % month)+str('%02d' % day)+str('%02d' % hour)+str('%02d' % minute)+str('%02d' % second)+str('%02d' % hundSec)

    #create a time stamp for the file names that only includes from year up to minutes
    FileStamp=str('%02d' % year)+str('%02d' % month)+str('%02d' % day)+str('%02d' % hour)+str('%02d' % minute)

    sysinfoOfile.write(startTime)
    sysinfoOfile.write('\n')

    #Burst number (how to unpack this? dont think we need it)
    readBurstNum=ifile.read(4)

    #Serial number (how to unpack this? dont think we need it)
    readSerial=ifile.read(8)

    #Temperature (dont need this, use the avg temp instead)
    readTemp=ifile.read(2)

    
    #Reserved space (?)
    ifile.read(8)



    # Done with the First Leader Type>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>


    #Wave Ping Type
    
    leaderHeader = wavePingHeader
    while leaderHeader == wavePingHeader:  

    
        #read the length
        length=ifile.read(2)
        if len(length) == 0:
            print('\n End of file')
            break
        length=struct.unpack('H',length)[0]

        #read 4 bytes before the leader ID
        ifile.read(4)
    
        readLeaderHeader=ifile.read(2)
        leaderHeader =struct.unpack('H',readLeaderHeader)[0]

        # if the leader header isnt the wave ping header move on to the next leader
        if leaderHeader != wavePingHeader:
           break

        #read through sample number and time since burst (don't need this)
        ifile.read(6)

        #read and write the pressure data
        pressure=ifile.read(4)
        pressure=struct.unpack('I',pressure)[0]

        pressureOfile.write(str(pressure))
        pressureOfile.write('\n')

        #read and write the range data

        range1=ifile.read(4)
        range1=struct.unpack('I',range1)[0]
        rangeOfile.write(str(range1))
        rangeOfile.write('  ')

        range2=ifile.read(4)
        range2=struct.unpack('I',range2)[0]
        rangeOfile.write(str(range2))
        rangeOfile.write('  ')

        range3=ifile.read(4)
        range3=struct.unpack('I',range3)[0]
        rangeOfile.write(str(range3))
        rangeOfile.write('  ')

        range4=ifile.read(4)
        range4=struct.unpack('I',range4)[0]
        rangeOfile.write(str(range4))
        rangeOfile.write('\n')


        #read and write the orbital velocity data

        bytes=40

        while bytes > 0:
            orbit=ifile.read(2)
            orbit=struct.unpack('h',orbit)[0]
            orbitOfile.write('%06d' % orbit)
            orbitOfile.write('  ')
            bytes=bytes-2

        orbitOfile.write('\n')

        #reserved space (?)
        ifile.read(6)

    # Done with the Wave Ping Type>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>


    
    #readLeaderHeader=ifile.read(2)
    #leaderHeader =struct.unpack('H',readLeaderHeader)[0]
    
    if leaderHeader != lastLeaderHeader:
        break

    #average depth
    readAvgDepth= ifile.read(2)
    avgDepth= struct.unpack('H', readAvgDepth)[0]
    sysinfoOfile.write(str(avgDepth))
    sysinfoOfile.write('\n')

    #Average speed of sound in m/s
    readAvgSound=ifile.read(2)
    avgSound=struct.unpack('H',readAvgSound)[0]
    sysinfoOfile.write(str(avgSound))
    sysinfoOfile.write('\n')

    #Average Temp in .01 deg C
    readAvgTemp=ifile.read(2)
    avgTemp=struct.unpack('H',readAvgTemp)[0]
    sysinfoOfile.write(str(avgTemp))
    sysinfoOfile.write('\n')
        
    #heading
    readHeading= ifile.read(2)
    heading= struct.unpack('H', readHeading)[0]
    sysinfoOfile.write(str(heading))
    sysinfoOfile.write('\n')

    #skip the std dev heading
    ifile.read(2)

    #pitch
    readPitch= ifile.read(2)
    pitch= struct.unpack('h', readPitch)[0]
    sysinfoOfile.write(str(pitch))
    sysinfoOfile.write('\n')   

    #skip the std dev pitch
    stdPitch=ifile.read(2)

    #Roll
    readRoll= ifile.read(2)
    roll= struct.unpack('h', readRoll)[0]
    sysinfoOfile.write(str(roll))
    sysinfoOfile.write('\n')

    #skip std dev roll and last 4 bytes (what are they? maybe a checksum?)
    stdRoll=ifile.read(2)

    test1=ifile.read(2)
    
    test2=ifile.read(2)
    
    


    pressureOfile.close()
    rangeOfile.close()
    orbitOfile.close()
    sysinfoOfile.close()


    shutil.copy('pressure','pressure_'+FileStamp+'.txt')
    shutil.copy('orbit','orbit_'+FileStamp+'.txt')
    shutil.copy('range','range_'+FileStamp+'.txt')       
    shutil.copy('sysinfo','sysinfo_'+FileStamp+'.txt')

    os.remove('pressure')
    os.remove('orbit')
    os.remove('range')
    os.remove('sysinfo')
    

ifile.close()
print 'processing complete'