diff --git a/cmd/parse.go b/cmd/parse.go index 6810c21..b98102d 100644 --- a/cmd/parse.go +++ b/cmd/parse.go @@ -21,9 +21,9 @@ var parseCmd = &cobra.Command{ Satellite: "SJY01", } p := extract.NewExtractor(¶ms) - p.ParseAuxPlatformWithHead("demo/ref/辅助数据.dat") + // p.ParseAuxPlatformWithHead("demo/ref/辅助数据.dat") fmt.Println("Reference Time: 2000-01-01 12:00:00 UTC, seconds:", extract.Time2000UTCSec()) - // p.SeprateAuxAndImgData("demo/temp/051513_S46.dat", 1) + p.ParseAuxPlatform("demo/output/SJY01_051622_S96_PLAT.AUX") }, } diff --git a/extract/aux.go b/extract/aux.go index 61b2059..7cd10e5 100644 --- a/extract/aux.go +++ b/extract/aux.go @@ -127,17 +127,15 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro var afh AuxFrameHead dataLen := len(data) - log.Info("original data length:", dataLen) + log.Info("length of original data: ", dataLen) data = e.trimImgRawData(data) dataLen = len(data) - log.Info("trimmed data length:", dataLen) + log.Info("length of trimmed data: ", dataLen) e.quanlityAnalysis(data) msdata := make([][]byte, 4) - var firstLineFound bool - var totalLines int - var pancount int + for i := 0; i < dataLen; { if i+4 > dataLen { logrus.Println("end of data, dataLen:", dataLen, "i:", i) @@ -149,7 +147,6 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro log.Debug("find package head: 0xD15BD15B") } else { i++ - // log.Println("not find package head: 0xD15BD15B, skip 1 byte") continue } @@ -159,7 +156,6 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro break } afh.Decode(data[i : i+24]) - // pp.Println(afh) if !afh.IsValidFrmHead { log.Info("invalid frame head of original raw data") @@ -179,21 +175,6 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro break } - // 通过中心辅助时间判断是否第一行数据 - if !firstLineFound { - utcTime := binary.BigEndian.Uint32(data[i+32 : i+36]) - t := time.Unix(int64(afh.TimeSec+uint32(ReferenceTime2000)), int64(afh.TimeSecFrac)*1000) - tAux := time.Unix(int64(utcTime+uint32(ReferenceTime2000)), 0) - firstLineFound = tAux.Year() == t.Year() && tAux.Month() == t.Month() && tAux.Day() == t.Day() && - tAux.Hour() == t.Hour() && tAux.Minute() == t.Minute() - if !firstLineFound { - log.Info("did not find first line of aux data, skip this frame: ", afh.SerialNo) - i += afh.RowLength - continue - } - } - totalLines += 1 - // 存储辅助数据到临时文件 dataIndex := i + 24 lw.ws[EB_AUX].w.Write(data[dataIndex : dataIndex+8]) // 8字节焦面电箱辅助数据 @@ -207,7 +188,6 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro write16bPixelLittleEndian(lw.ws[PAN_RAW].w, data[dataIndex:dataIndex+19040]) dataIndex += 19040 panEnviHdr.Lines += 1 - pancount += 19040 } if afh.B1 { @@ -252,7 +232,7 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro mssEnviHdr.Lines = mssEnviHdr.Lines / 4 // 多光谱波段分别在 4 行中传输 mssEnviHdr.Samples = 2384 - mssEnviHdr.Bands = 1 + mssEnviHdr.Bands = bands lw.ws[MSS_HDR].w.Write([]byte(mssEnviHdr.String())) return nil @@ -271,7 +251,7 @@ func (e *Extractor) quanlityAnalysis(data []byte) { afh.Decode(data[i : i+24]) if !afh.IsValidFrmHead { - log.Error("invalid frame head of original raw data", i, len(data), afh.SerialNo, afh.FileNo) + log.Errorf("invalid frame head of original raw data i: %v, len: %v", i, len(data)) return } @@ -338,9 +318,6 @@ func (e *Extractor) trimImgRawData(data []byte) []byte { nLen := (len(data) - i - 1) nLen = nLen - nLen%(afh.RowLength*16) end = i + nLen - fmt.Println("start:", start, "end:", end, "i:", i, "len(data):", len(data), - len(data)%(afh.RowLength*16), afh.RowLength, - ) break } } diff --git a/extract/aux_platform.go b/extract/aux_platform.go index 194f86e..1ea4462 100644 --- a/extract/aux_platform.go +++ b/extract/aux_platform.go @@ -6,6 +6,7 @@ import ( "os" "time" + "github.com/k0kubun/pp/v3" "github.com/sirupsen/logrus" log "github.com/sirupsen/logrus" ) @@ -35,7 +36,7 @@ type AuxPlatform struct { DotEular2 float64 // [63-64] DotEular3 float64 // [65-66] ModTime uint32 // [67-70]模式运行时间 秒 - DTime int16 // [71-72]姿控调用周期，量纲：1/1000 单位：秒 + DTime float64 // [71-72]姿控调用周期，量纲：1/1000 单位：秒 AutoState [3]uint8 // [73-75]姿轨控部件使用标志 ProTrack [16]uint8 // [76-91]姿轨控算法执行标记 QeQ1 float64 // [92-95]偏差四元数 double 量纲：1/0x40000000 /bit @@ -81,9 +82,7 @@ type AuxPlatform struct { DataTransLong float64 // [210-211]数传点经度 量纲：1/1000 DataTransLat float64 // [212-213]数传点纬度 量纲：1/1000 DataTransH float64 // [214-215]数传点地程高 量纲：1 - StarPrio1 byte // [216] 星敏1定姿方式标志1 0x00：星敏1定姿；0xA0:星敏1滤波;0x01星敏2定姿；0xA1:星敏2滤波;0xff:未使用星敏定姿 - StarPrio2 byte // [217] - StarPrio3 byte // [218] + StarPrio [3]byte // [216-218] 星敏1定姿方式标志1 0x00：星敏1定姿；0xA0:星敏1滤波;0x01星敏2定姿；0xA1:星敏2滤波;0xff:未使用星敏定姿 WheelspeedcalX float64 // [219-222]X飞轮期望转速 量纲：1/10000 单位：rpm WheelspeedcalY float64 // [223-226] WheelspeedcalZ float64 // [227-230] @@ -93,36 +92,81 @@ type AuxPlatform struct { Reserved3 [2]byte // 预留字节 // 241.0 - 311.0 波道1参数 // 241.1 - 311.1 波道2参数 - WGS84PosX float64 // [312-315]计算当前WGS 84位置X 单位：0.01米 - WGS84PosY float64 // [316-319] - WGS84PosZ float64 // [320-323] - WGS84VelX float64 // [324-327]计算当前WGS 84速度X 单位：0.01米/秒 - WGS84VelY float64 // [328-331] - WGS84VelZ float64 // [332-335] - J2000Pos_X float64 // [336-339]计算当前J2000位置X 单位：0.01米 - J2000Pos_Y float64 // [340-343] - J2000Pos_Z float64 // [344-347] - J2000Vel_X float64 // [348-351]计算当前J2000速度X 单位：0.01米/秒 - J2000Vel_Y float64 // [352-355] - J2000Vel_Z float64 // [356-359] - // 字节[360-377] 三轴光纤陀螺参数 - SS1_UTCTime uint32 // [378-381] 星敏1 UTC时间 - SS1_UTCTimeFrac float32 // [382-384] 星敏1 UTC秒小数 单位为40.96 us，高字节在前 - SS1_Q1 float64 // [385-388] 星敏1四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系） - SS1_Q2 float64 // [389-392] 星敏1四元数q2 - SS1_Q3 float64 // [393-396] 星敏1四元数q3 - SS1_Q4 float64 // [397-400] 星敏1四元数q4 - SS1_ExposureTime uint8 // [401] 星敏1曝光时间 无符号数，单位ms - SS1_ImgFrmNo uint32 // [411-413] 星敏1图像帧号 - SS2_UTCTime uint32 // [424-427] 星敏2 UTC时间 - SS2_UTCTimeFrac float32 // [428-430] 星敏2 UTC秒小数 单位为40.96 us，高字节在前 - SS2_Q1 float64 // [431-434] 星敏2四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系） - SS2_Q2 float64 // [435-438] 星敏2四元数q2 - SS2_Q3 float64 // [439-442] 星敏2四元数q3 - SS2_Q4 float64 // [443-446] 星敏2四元数q4 - SS2_ExposureTime uint8 // [447] 星敏2曝光时间 无符号数，单位ms - SS2_ImgFrmNo uint32 // [457-459] 星敏2图像帧号 - CheckSum byte // [512] 校验和 + WGS84PosX float64 // [312-315]计算当前WGS 84位置X 单位：0.01米 + WGS84PosY float64 // [316-319] + WGS84PosZ float64 // [320-323] + WGS84VelX float64 // [324-327]计算当前WGS 84速度X 单位：0.01米/秒 + WGS84VelY float64 // [328-331] + WGS84VelZ float64 // [332-335] + J2000Pos_X float64 // [336-339]计算当前J2000位置X 单位：0.01米 + J2000Pos_Y float64 // [340-343] + J2000Pos_Z float64 // [344-347] + J2000Vel_X float64 // [348-351]计算当前J2000速度X 单位：0.01米/秒 + J2000Vel_Y float64 // [352-355] + J2000Vel_Z float64 // [356-359] + FOGyroXAV float64 // [360-362]三轴光纤陀螺X轴角速度 陀螺速度共3字节单位°/s量纲：1/72359 + FOGyroYAV float64 // [363-365] + FOGyroZAV float64 // [366-368] + FOGyroXAV1 float64 // [369-371] + FOGyroYAV1 float64 // [372-374] + FOGyroZAV1 float64 // [375-377] + SS1_UTCTime uint32 // [378-381] 星敏1 UTC时间 + SS1_UTCTimeFrac float32 // [382-384] 星敏1 UTC秒小数 单位为40.96 us，高字节在前 + SS1_Q1 float64 // [385-388] 星敏1四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系） + SS1_Q2 float64 // [389-392] 星敏1四元数q2 + SS1_Q3 float64 // [393-396] 星敏1四元数q3 + SS1_Q4 float64 // [397-400] 星敏1四元数q4 + SS1_ExposureTime uint8 // [401] 星敏1曝光时间 无符号数，单位ms + SS1_Threshold uint8 // [402] 星敏1阈值 无符号数 + SS1_BackgroudV uint8 // [403] 星敏1背景值 无符号数 + SS1_Flags byte // [404] 星敏1标志位 0x01：曝光时间有效；0x02：阈值有效；0x04：背景值有效 + SS1_WorkMode uint8 // [405.(7~6)] 星敏1工作模式: 0正常工作模式；1保留；2固定阈值模式；3测试模式（保留） + SS1_ExtractStars uint8 // [405.(5~0)] + SS1_NavStars uint8 // [406.(7~5)] 星敏1导航星数 + SS1_Gain uint8 // [406.(4~0)] 星敏1增益 + SS1_RegonizedStars uint8 // [407.(7~2)] 星敏1识别星数 + SS1_ExtenalImage bool // [407.(1)] 星敏1外部图像标志位 0x01：外部图像；0x00：关闭 + SS1_AttitudeActive bool // [407.(0)] 星敏1姿态有效标志位 0x01：激活；0x00：关闭 + SS1_ImgFrmNo uint32 // [411-413] 星敏1图像帧号 + SS1_XAV float64 // [417-418] 星敏1X方向角速度 单位：2-11 °/s + SS1_YAV float64 // [419-420] + SS1_ZAV float64 // [421-422] + SS2_UTCTime uint32 // [424-427] 星敏2 UTC时间 + SS2_UTCTimeFrac float32 // [428-430] 星敏2 UTC秒小数 单位为40.96 us，高字节在前 + SS2_Q1 float64 // [431-434] 星敏2四元数q1 当量：1/2147483647 （星敏坐标系相对于J2000惯性坐标系） + SS2_Q2 float64 // [435-438] 星敏2四元数q2 + SS2_Q3 float64 // [439-442] 星敏2四元数q3 + SS2_Q4 float64 // [443-446] 星敏2四元数q4 + SS2_ExposureTime uint8 // [447] 星敏2曝光时间 无符号数，单位ms + SS2_Threshold uint8 // [448] 星敏2阈值 无符号数 + SS2_BackgroudV uint8 // [449] 星敏2背景值 无符号数 + SS2_Flags byte // [450] 星敏2标志位 0x01：曝光时间有效；0x02：阈值有效；0x04：背景值有效 + SS2_WorkMode uint8 // [451.(7~6)] 星敏2工作模式: 0正常工作模式；1保留；2固定阈值模式；3测试模式（保留） + SS2_ExtractStars uint8 // [451.(5~0)] + SS2_NavStars uint8 // [452.(7~5)] 星敏2导航星数 + SS2_Gain uint8 // [452.(4~0)] 星敏2增益 + SS2_RegonizedStars uint8 // [453.(7~2)] 星敏2识别星数 + SS2_ExtenalImage bool // [453.(1)] 星敏2外部图像标志位 0x01：外部图像；0x00：关闭 + SS2_AttitudeActive bool // [453.(0)] 星敏2姿态有效标志位 0x01：激活；0x00：关闭 + SS2_ImgFrmNo uint32 // [457-459] 星敏2图像帧号 + FlyWheel1_Vel float64 // [464-466] 飞轮1速度 单位：0.1rpm + FlyWheel1_Amps float64 // [467] 飞轮1电流 单位：0.009A + FlyWheel2_Vel float64 // [468-470] 飞轮2速度 单位：0.1rpm + FlyWheel2_Amps float64 // [471] 飞轮2电流 单位：0.009A + FlyWheel3_Vel float64 // [472-474] 飞轮3速度 单位：0.1rpm + FlyWheel3_Amps float64 // [475] 飞轮3电流 单位：0.009A + FlyWheel4_Vel float64 // [476-478] 飞轮4速度 单位：0.1rpm + FlyWheel4_Amps float64 // [479] 飞轮4电流 单位：0.009A + MemsGyroXAV float64 // [480-483] MEMS陀螺X轴角速度 0.000001°/s + MemsGyroYAV float64 // [484-487] MEMS陀螺Y轴角速度 0.000001°/s + MemsGyroZAV float64 // [488-491] MEMS陀螺Z轴角速度 0.000001°/s + MagnetictrengthX float64 // [492-495] 磁场强度X 量纲19200,单位uT + MagnetictrengthY float64 // [496-499] 磁场强度Y 量纲19200,单位uT + MagnetictrengthZ float64 // [500-503] 磁场强度Z 量纲19200,单位uT + ASSTimeInt uint32 // [504-507] 输入姿轨控数据UTC时间秒 + ASSTimeDec uint32 // [508-510] 输入姿轨控数据UTC时间秒小数 单位为μs + Reserved4 byte // [511] 保留字节 + CheckSum byte // [512] 校验和 } func (ap *AuxPlatform) Parse(data []byte) error { @@ -132,38 +176,164 @@ func (ap *AuxPlatform) Parse(data []byte) error { // 按需解析数据 ap.UTCTimeSec = binary.BigEndian.Uint32(data[0:4]) + ap.Waveway = data[4] ap.Microsecond = uint32(data[5])<<16 | uint32(data[6])<<8 | uint32(data[7]) - ap.DataTransLong = float64(int16(binary.BigEndian.Uint16(data[209:211]))) / 1000 - ap.DataTransLat = float64(int16(binary.BigEndian.Uint16(data[211:213]))) / 1000 - ap.DataTransH = float64(binary.BigEndian.Uint16(data[213:215])) - + ap.QuatAttstarQ0 = float64(bigEndianToInt32(data[8:12])) / 0x40000000 + ap.QuatAttstarQ1 = float64(bigEndianToInt32(data[12:16])) / 0x40000000 + ap.QuatAttstarQ2 = float64(bigEndianToInt32(data[16:20])) / 0x40000000 + ap.QuatAttstarQ3 = float64(bigEndianToInt32(data[20:24])) / 0x40000000 + ap.QuatOrbitQ1 = float64(bigEndianToInt32(data[24:28])) / 0x40000000 + ap.QuatOrbitQ2 = float64(bigEndianToInt32(data[28:32])) / 0x40000000 + ap.QuatOrbitQ3 = float64(bigEndianToInt32(data[32:36])) / 0x40000000 + ap.QuatOrbJQ1 = float64(bigEndianToInt32(data[36:40])) / 0x40000000 + ap.QuatOrbJQ2 = float64(bigEndianToInt32(data[40:44])) / 0x40000000 + ap.QuatOrbJQ3 = float64(bigEndianToInt32(data[44:48])) / 0x40000000 + ap.Eular1 = float64(bigEndianToInt32(data[48:52])) / 1000000 + ap.Eular2 = float64(bigEndianToInt32(data[52:56])) / 1000000 + ap.Eular3 = float64(bigEndianToInt32(data[56:60])) / 1000000 + ap.DotEular1 = float64(bigEndianToInt16(data[60:62])) / 100000 + ap.DotEular2 = float64(bigEndianToInt16(data[62:64])) / 100000 + ap.DotEular3 = float64(bigEndianToInt16(data[64:66])) / 100000 + ap.ModTime = binary.BigEndian.Uint32(data[66:70]) + ap.DTime = float64(bigEndianToInt16(data[70:72])) / 1000 + ap.AutoState[0] = uint8(data[72]) + ap.AutoState[1] = uint8(data[73]) + ap.AutoState[2] = uint8(data[74]) + for i := 0; i < 16; i++ { + ap.ProTrack[i] = uint8(data[75+i]) + } + ap.QeQ1 = float64(bigEndianToInt32(data[91:95])) / 0x40000000 + ap.QeQ2 = float64(bigEndianToInt32(data[95:99])) / 0x40000000 + ap.QeQ3 = float64(bigEndianToInt32(data[99:103])) / 0x40000000 + ap.We1 = float64(bigEndianToInt16(data[103:105])) / 0x100000 + ap.We2 = float64(bigEndianToInt16(data[105:107])) / 0x100000 + ap.We3 = float64(bigEndianToInt16(data[107:109])) / 0x100000 + ap.WTFX = float64(bigEndianToInt16(data[109:111])) / 0x400000 + ap.WTFY = float64(bigEndianToInt16(data[111:113])) / 0x400000 + ap.WTFZ = float64(bigEndianToInt16(data[113:115])) / 0x400000 + ap.FbdriftX = float64(bigEndianToInt16(data[115:117])) / 0x4000000 + ap.FbdriftY = float64(bigEndianToInt16(data[117:119])) / 0x4000000 + ap.FbdriftZ = float64(bigEndianToInt16(data[119:121])) / 0x4000000 + ap.KalbY = float64(bigEndianToInt16(data[121:123])) / 0x4000000 + ap.KalbZ = float64(bigEndianToInt16(data[123:125])) / 0x4000000 + ap.KalbX = float64(bigEndianToInt16(data[125:127])) / 0x4000000 + ap.HTDX = float64(bigEndianToInt16(data[127:129])) / 0x200000 + ap.HTDY = float64(bigEndianToInt16(data[129:131])) / 0x200000 + ap.HTDZ = float64(bigEndianToInt16(data[131:133])) / 0x200000 + ap.CommandWheelX = float64(bigEndianToInt16(data[133:135])) / 0x40000 + ap.CommandWheelY = float64(bigEndianToInt16(data[135:137])) / 0x40000 + ap.CommandWheelZ = float64(bigEndianToInt16(data[137:139])) / 0x40000 + ap.QuatG1 = float64(bigEndianToInt32(data[139:143])) / 0x40000000 + ap.QuatG2 = float64(bigEndianToInt32(data[143:147])) / 0x40000000 + ap.QuatG3 = float64(bigEndianToInt32(data[147:151])) / 0x40000000 + ap.WG1 = float64(bigEndianToInt16(data[151:153])) / 0x40000 + ap.WG2 = float64(bigEndianToInt16(data[153:155])) / 0x40000 + ap.WG3 = float64(bigEndianToInt16(data[155:157])) / 0x40000 + ap.J2000PosX = float64(bigEndianToInt32(data[157:161])) / 0x100 + ap.J2000PosY = float64(bigEndianToInt32(data[161:165])) / 0x100 + ap.J2000PosZ = float64(bigEndianToInt32(data[165:169])) / 0x100 + ap.J2000VelX = float64(bigEndianToInt32(data[169:173])) / 0x100 + ap.J2000VelY = float64(bigEndianToInt32(data[173:177])) / 0x100 + ap.J2000VelZ = float64(bigEndianToInt32(data[177:181])) / 0x100 + ap.W84PosX = float64(bigEndianToInt32(data[181:185])) / 0x100 + ap.W84PosY = float64(bigEndianToInt32(data[185:189])) / 0x100 + ap.W84PosZ = float64(bigEndianToInt32(data[189:193])) / 0x100 + ap.W84VelX = float64(bigEndianToInt32(data[193:197])) / 0x100 + ap.W84VelY = float64(bigEndianToInt32(data[197:201])) / 0x100 + ap.W84VelZ = float64(bigEndianToInt32(data[201:205])) / 0x100 + ap.AngleDraft = float64(bigEndianToInt32(data[205:209])) / 10000000 + ap.DataTransLong = float64(bigEndianToInt16(data[209:211])) / 1000 + ap.DataTransLat = float64(bigEndianToInt16(data[211:213])) / 1000 + ap.DataTransH = float64(bigEndianToInt16(data[213:215])) + copy(ap.StarPrio[:], data[215:218]) + ap.WheelspeedcalX = float64(bigEndianToInt32(data[218:222])) / 10000 + ap.WheelspeedcalY = float64(bigEndianToInt32(data[222:226])) / 10000 + ap.WheelspeedcalZ = float64(bigEndianToInt32(data[226:230])) / 10000 + if ap.Waveway == 0x0 { + // 241.0 - 311.0 波道1参数 + } else { + // 241.1 - 311.1 波道2参数 + } + ap.WGS84PosX = float64(bigEndianToInt32(data[311:315])) / 100 + ap.WGS84PosY = float64(bigEndianToInt32(data[315:319])) / 100 + ap.WGS84PosZ = float64(bigEndianToInt32(data[319:323])) / 100 + ap.WGS84VelX = float64(bigEndianToInt32(data[323:327])) / 100 + ap.WGS84VelY = float64(bigEndianToInt32(data[327:331])) / 100 + ap.WGS84VelZ = float64(bigEndianToInt32(data[331:335])) / 100 + ap.J2000Pos_X = float64(bigEndianToInt32(data[335:339])) / 100 + ap.J2000Pos_Y = float64(bigEndianToInt32(data[339:343])) / 100 + ap.J2000Pos_Z = float64(bigEndianToInt32(data[343:347])) / 100 + ap.J2000Vel_X = float64(bigEndianToInt32(data[347:351])) / 100 + ap.J2000Vel_Y = float64(bigEndianToInt32(data[351:355])) / 100 + ap.J2000Vel_Z = float64(bigEndianToInt32(data[355:359])) / 100 + ap.FOGyroXAV = float64(bigEndianToInt24(data[359:362])) / 72359 + ap.FOGyroYAV = float64(bigEndianToInt24(data[362:365])) / 72359 + ap.FOGyroZAV = float64(bigEndianToInt24(data[365:368])) / 72359 + ap.FOGyroXAV1 = float64(bigEndianToInt24(data[368:371])) / 72359 + ap.FOGyroYAV1 = float64(bigEndianToInt24(data[371:374])) / 72359 + ap.FOGyroZAV1 = float64(bigEndianToInt24(data[374:377])) / 72359 ap.SS1_UTCTime = binary.BigEndian.Uint32(data[377:381]) ap.SS1_UTCTimeFrac = float32(uint32(data[381])<<16|uint32(data[382])<<8|uint32(data[383])) * 40.96 + ap.SS1_Q1 = float64(bigEndianToInt32(data[384:388])) / 2147483647 + ap.SS1_Q2 = float64(bigEndianToInt32(data[388:392])) / 2147483647 + ap.SS1_Q3 = float64(bigEndianToInt32(data[392:396])) / 2147483647 + ap.SS1_Q4 = float64(bigEndianToInt32(data[396:400])) / 2147483647 + ap.SS1_ExposureTime = uint8(data[400]) + ap.SS1_Threshold = uint8(data[401]) + ap.SS1_BackgroudV = uint8(data[402]) + ap.SS1_Flags = data[403] + ap.SS1_WorkMode = uint8(data[404] >> 6) + ap.SS1_ExtractStars = uint8(data[404] & 0x3F) + ap.SS1_NavStars = uint8(data[405] >> 5) + ap.SS1_Gain = uint8(data[405] & 0x1F) + ap.SS1_RegonizedStars = uint8(data[406] >> 2) + ap.SS1_ExtenalImage = data[406]&0x02 == 0x02 + ap.SS1_AttitudeActive = data[406]&0x01 == 0x01 ap.SS1_ImgFrmNo = uint32(data[410])<<16 | uint32(data[411])<<8 | uint32(data[412]) + ap.SS1_XAV = float64(bigEndianToInt16(data[416:418])) * 2e-11 + ap.SS1_YAV = float64(bigEndianToInt16(data[418:420])) * 2e-11 + ap.SS1_ZAV = float64(bigEndianToInt16(data[420:422])) * 2e-11 ap.SS2_UTCTime = binary.BigEndian.Uint32(data[423:427]) ap.SS2_UTCTimeFrac = float32(uint32(data[427])<<16|uint32(data[428])<<8|uint32(data[429])) * 40.96 - ap.SS1_ImgFrmNo = uint32(data[456])<<16 | uint32(data[457])<<8 | uint32(data[458]) + ap.SS2_Q1 = float64(bigEndianToInt32(data[430:434])) / 2147483647 + ap.SS2_Q2 = float64(bigEndianToInt32(data[434:438])) / 2147483647 + ap.SS2_Q3 = float64(bigEndianToInt32(data[438:442])) / 2147483647 + ap.SS2_Q4 = float64(bigEndianToInt32(data[442:446])) / 2147483647 + ap.SS2_ExposureTime = uint8(data[446]) + ap.SS2_Threshold = uint8(data[447]) + ap.SS2_BackgroudV = uint8(data[448]) + ap.SS2_Flags = data[449] + ap.SS2_WorkMode = uint8(data[450] >> 6) + ap.SS2_ExtractStars = uint8(data[450] & 0x3F) + ap.SS2_NavStars = uint8(data[451] >> 5) + ap.SS2_Gain = uint8(data[451] & 0x1F) + ap.SS2_RegonizedStars = uint8(data[452] >> 2) + ap.SS2_ExtenalImage = data[452]&0x02 == 0x02 + ap.SS2_AttitudeActive = data[452]&0x01 == 0x01 + ap.SS2_ImgFrmNo = uint32(data[456])<<16 | uint32(data[457])<<8 | uint32(data[458]) + ap.FlyWheel1_Vel = float64(bigEndianToInt16(data[463:466])) * 0.1 + ap.FlyWheel1_Amps = float64(uint8(data[466])) * 0.009 + ap.FlyWheel2_Vel = float64(bigEndianToInt16(data[467:470])) * 0.1 + ap.FlyWheel2_Amps = float64(uint8(data[470])) * 0.009 + ap.FlyWheel3_Vel = float64(bigEndianToInt16(data[471:474])) * 0.1 + ap.FlyWheel3_Amps = float64(uint8(data[474])) * 0.009 + ap.FlyWheel4_Vel = float64(bigEndianToInt16(data[475:478])) * 0.1 + ap.FlyWheel4_Amps = float64(uint8(data[478])) * 0.009 + ap.MemsGyroXAV = float64(bigEndianToInt32(data[479:483])) * 0.000001 + ap.MemsGyroYAV = float64(bigEndianToInt32(data[483:487])) * 0.000001 + ap.MemsGyroZAV = float64(bigEndianToInt32(data[487:491])) * 0.000001 + ap.MagnetictrengthX = float64(bigEndianToInt16(data[491:495])) * 19200 + ap.MagnetictrengthY = float64(bigEndianToInt16(data[495:499])) * 19200 + ap.MagnetictrengthZ = float64(bigEndianToInt16(data[499:503])) * 19200 + ap.ASSTimeInt = binary.BigEndian.Uint32(data[503:507]) + ap.ASSTimeDec = uint32(data[507])<<16 | uint32(data[508])<<8 | uint32(data[509]) + ap.CheckSum = data[511] return nil } func (ap AuxPlatform) Print() { - fmt.Println("--- aux frm ----") - fmt.Printf("UTCTimeSec: %d\n", ap.UTCTimeSec) - fmt.Println(time.Unix(int64(ap.UTCTimeSec), 0).String()) - fmt.Printf("Microsecond: %d\n", ap.Microsecond) - fmt.Printf("DataTransLong: %f\n", ap.DataTransLong) - fmt.Printf("DataTransLat: %f\n", ap.DataTransLat) - fmt.Printf("DataTransH: %f\n", ap.DataTransH) - fmt.Println("--- ss1 ---") - fmt.Printf("SS1_UTCTime: %d\n", ap.SS1_UTCTime) - fmt.Println(time.Unix(int64(ap.SS1_UTCTime+uint32(ReferenceTime2000)), 0).String()) - fmt.Printf("SS1_UTCTimeFrac: %f\n", ap.SS1_UTCTimeFrac) - fmt.Printf("SS1_ImgFrmNo: %d\n", ap.SS1_ImgFrmNo) - fmt.Println("--- ss2 ---") - fmt.Printf("SS2_UTCTime: %d\n", ap.SS2_UTCTime) - fmt.Printf("SS2_UTCTimeFrac: %f\n", ap.SS2_UTCTimeFrac) - fmt.Printf("SS2_ImgFrmNo: %d\n", ap.SS2_ImgFrmNo) + pp.Println(ap) } // Extractor 辅助数据提取器 @@ -183,6 +353,9 @@ func (e *Extractor) ParseAuxPlatform(auxfile string) ([]*AuxPlatform, error) { } aps = append(aps, &ap) + ap.Print() + + break if i+AuxPlatformFrmSize > len(data) { logrus.Info("rest of aux data length is not enough", len(data)-i) diff --git a/extract/trans_frame.go b/extract/trans_frame.go index e246d5e..7c3053c 100644 --- a/extract/trans_frame.go +++ b/extract/trans_frame.go @@ -99,7 +99,7 @@ func (p *Extractor) ExtractOriginalImageData(aosDataFile string) ([]string, erro i++ } - fmt.Println("nullFrmCnt:", nullFrmCnt) + log.Println("null transfer frame cnt:", nullFrmCnt) for k, v := range snRange { vv := slice.Unique(v) diff --git a/extract/writer.go b/extract/writer.go index c79701b..8723b5d 100644 --- a/extract/writer.go +++ b/extract/writer.go @@ -12,10 +12,10 @@ import ( const ( EB_AUX = "EB.AUX" PLAT_AUX = "PLAT.AUX" - PAN_RAW = "PAN_RAW" - MSS_RAW = "MSS_RAW" - PAN_HDR = "PAN_HDR" - MSS_HDR = "MSS_HDR" + PAN_RAW = "PAN.RAW" + MSS_RAW = "MSS.RAW" + PAN_HDR = "PAN.HDR" + MSS_HDR = "MSS.HDR" MSS_ALL_IN_ONE = "MSS_ALL_IN_ONE" ) diff --git a/go.mod b/go.mod index 42f41e9..0330b24 100644 --- a/go.mod +++ b/go.mod @@ -8,11 +8,13 @@ require ( github.com/mgutz/ansi v0.0.0-20200706080929-d51e80ef957d // indirect golang.org/x/crypto v0.23.0 // indirect golang.org/x/term v0.20.0 // indirect + golang.org/x/text v0.15.0 // indirect ) require ( github.com/duke-git/lancet/v2 v2.3.0 // indirect github.com/inconshreveable/mousetrap v1.1.0 // indirect + github.com/k0kubun/pp/v3 v3.2.0 github.com/lestrrat-go/file-rotatelogs v2.4.0+incompatible // indirect github.com/lestrrat-go/strftime v1.0.6 // indirect github.com/mattn/go-colorable v0.1.13 // indirect diff --git a/go.sum b/go.sum index 3632328..f958757 100644 --- a/go.sum +++ b/go.sum @@ -7,6 +7,8 @@ github.com/inconshreveable/mousetrap v1.1.0 h1:wN+x4NVGpMsO7ErUn/mUI3vEoE6Jt13X2 github.com/inconshreveable/mousetrap v1.1.0/go.mod h1:vpF70FUmC8bwa3OWnCshd2FqLfsEA9PFc4w1p2J65bw= github.com/k0kubun/pp v3.0.1+incompatible h1:3tqvf7QgUnZ5tXO6pNAZlrvHgl6DvifjDrd9g2S9Z40= github.com/k0kubun/pp v3.0.1+incompatible/go.mod h1:GWse8YhT0p8pT4ir3ZgBbfZild3tgzSScAn6HmfYukg= +github.com/k0kubun/pp/v3 v3.2.0 h1:h33hNTZ9nVFNP3u2Fsgz8JXiF5JINoZfFq4SvKJwNcs= +github.com/k0kubun/pp/v3 v3.2.0/go.mod h1:ODtJQbQcIRfAD3N+theGCV1m/CBxweERz2dapdz1EwA= github.com/lestrrat-go/envload v0.0.0-20180220234015-a3eb8ddeffcc/go.mod h1:kopuH9ugFRkIXf3YoqHKyrJ9YfUFsckUU9S7B+XP+is= github.com/lestrrat-go/file-rotatelogs v2.4.0+incompatible h1:Y6sqxHMyB1D2YSzWkLibYKgg+SwmyFU9dF2hn6MdTj4= github.com/lestrrat-go/file-rotatelogs v2.4.0+incompatible/go.mod h1:ZQnN8lSECaebrkQytbHj4xNgtg8CR7RYXnPok8e0EHA= @@ -51,6 +53,8 @@ golang.org/x/sys v0.20.0 h1:Od9JTbYCk261bKm4M/mw7AklTlFYIa0bIp9BgSm1S8Y= golang.org/x/sys v0.20.0/go.mod h1:/VUhepiaJMQUp4+oa/7Zr1D23ma6VTLIYjOOTFZPUcA= golang.org/x/term v0.20.0 h1:VnkxpohqXaOBYJtBmEppKUG6mXpi+4O6purfc2+sMhw= golang.org/x/term v0.20.0/go.mod h1:8UkIAJTvZgivsXaD6/pH6U9ecQzZ45awqEOzuCvwpFY= +golang.org/x/text v0.15.0 h1:h1V/4gjBv8v9cjcR6+AR5+/cIYK5N/WAgiv4xlsEtAk= +golang.org/x/text v0.15.0/go.mod h1:18ZOQIKpY8NJVqYksKHtTdi31H5itFRjB5/qKTNYzSU= gopkg.in/check.v1 v0.0.0-20161208181325-20d25e280405/go.mod h1:Co6ibVJAznAaIkqp8huTwlJQCZ016jof/cbN4VW5Yz0= gopkg.in/yaml.v3 v3.0.0-20200313102051-9f266ea9e77c/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM= gopkg.in/yaml.v3 v3.0.1/go.mod h1:K4uyk7z7BCEPqu6E+C64Yfv1cQ7kz7rIZviUmN+EgEM=