From efd824cc8a737c3808ce617756e720ab5b013466 Mon Sep 17 00:00:00 2001
From: nuknal <linktolane@gmail.com>
Date: Mon, 20 May 2024 11:08:24 +0800
Subject: [PATCH] aux

---
 Makefile                            |   4 +-
 aux/orbit.go                        |   1 -
 calculator/proj.go                  |  24 ++++++
 cmd/extract.go                      |  58 +++++++++++----
 cmd/parse.go                        |  10 ++-
 {aux => extract}/attitude.go        |   2 +-
 extract/aux.go                      |  76 +++++++++++++++----
 extract/aux_platform.go             |  12 ++-
 aux/aux.go => extract/calculator.go |  10 +--
 extract/orbit.go                    |   1 +
 extract/util.go                     |  51 +++++++++++++
 extract/writer.go                   |  19 +++--
 go.mod                              |  24 +++---
 go.sum                              | 109 ++++++++++++++++++++++++----
 14 files changed, 332 insertions(+), 69 deletions(-)
 delete mode 100644 aux/orbit.go
 create mode 100644 calculator/proj.go
 rename {aux => extract}/attitude.go (92%)
 rename aux/aux.go => extract/calculator.go (90%)
 create mode 100644 extract/orbit.go
 create mode 100644 extract/util.go

diff --git a/Makefile b/Makefile
index 417c108..8306afd 100644
--- a/Makefile
+++ b/Makefile
@@ -2,8 +2,8 @@
 export DATE := $(shell date +%Y%m%d-%H:%M:%S)
 export COMPILE_LDFLAGS='-s -w -X "main.BuildDate=${DATE}" '
 out:
-	env CGO_ENABLED=0 GOOS=darwin GOARCH=arm64 go build -o bin/sjy01-preprocessing-darwin-arm64 -ldflags=${COMPILE_LDFLAGS} *.go 
-	env CGO_ENABLED=0 GOOS=linux GOARCH=amd64 go build -o bin/sjy01-preprocessing -ldflags=${COMPILE_LDFLAGS} *.go
+	GOOS=darwin GOARCH=arm64 go build -o bin/sjy01-preprocessing-darwin-arm64 -ldflags=${COMPILE_LDFLAGS} *.go 
+	# GOOS=linux GOARCH=amd64 go build -o bin/sjy01-preprocessing -ldflags=${COMPILE_LDFLAGS} *.go
 
 clean:
 	rm -rf ./bin/*
\ No newline at end of file
diff --git a/aux/orbit.go b/aux/orbit.go
deleted file mode 100644
index 2ef1d9f..0000000
--- a/aux/orbit.go
+++ /dev/null
@@ -1 +0,0 @@
-package aux
diff --git a/calculator/proj.go b/calculator/proj.go
new file mode 100644
index 0000000..69d8dfc
--- /dev/null
+++ b/calculator/proj.go
@@ -0,0 +1,24 @@
+package calculator
+
+import "github.com/twpayne/go-proj/v10"
+
+func J2000ToLngLat(x, y, z float64) []float64 {
+	var lng, lat float64
+	return []float64{lng, lat}
+}
+
+func WGS84XYZtoLngLat(x, y, z float64) []float64 {
+	var lng, lat float64
+	pj, err := proj.NewCRSToCRS("EPSG:3857", "EPSG:4326", nil)
+	if err != nil {
+		panic(err)
+	}
+	coor := proj.NewCoord(x, y, z, 0)
+	coor, err = pj.Forward(coor)
+	if err != nil {
+		panic(err)
+	}
+	lng = coor.X()
+	lat = coor.Y()
+	return []float64{lng, lat}
+}
diff --git a/cmd/extract.go b/cmd/extract.go
index 0fbdadb..ade2cab 100644
--- a/cmd/extract.go
+++ b/cmd/extract.go
@@ -9,6 +9,7 @@ import (
 
 var (
 	dataId string
+	batch  bool
 )
 
 var extractCmd = &cobra.Command{
@@ -16,18 +17,31 @@ var extractCmd = &cobra.Command{
 	Short: "Extract data from raw data files",
 	Long:  `Extract data from raw data files`,
 	Run: func(cmd *cobra.Command, args []string) {
-		params := extract.Params{
-			InputData:  fmt.Sprintf("demo/data/%s.dat", dataId),
-			OutputPath: "demo/output",
-			TempPath:   "demo/temp",
-			DataId:     dataId,
-			Satellite:  "SJY01",
-		}
-		p := extract.NewExtractor(&params)
-		aos, _ := p.ExtractAosData()
-		dats, _ := p.ExtractOriginalImageData(aos)
-		for i, d := range dats {
-			p.SeprateAuxAndImgData(d, i)
+
+		if batch {
+			ps := params()
+			for _, p := range ps {
+				e := extract.NewExtractor(p)
+				aos, _ := e.ExtractAosData()
+				dats, _ := e.ExtractOriginalImageData(aos)
+				for i, d := range dats {
+					e.SeprateAuxAndImgData(d, i)
+				}
+			}
+		} else {
+			p := &extract.Params{
+				InputData:  fmt.Sprintf("demo/data/%s.dat", dataId),
+				OutputPath: fmt.Sprintf("demo/output/%s", dataId),
+				TempPath:   fmt.Sprintf("demo/temp/%s", dataId),
+				DataId:     dataId,
+				Satellite:  "SJY01",
+			}
+			e := extract.NewExtractor(p)
+			aos, _ := e.ExtractAosData()
+			dats, _ := e.ExtractOriginalImageData(aos)
+			for i, d := range dats {
+				e.SeprateAuxAndImgData(d, i)
+			}
 		}
 	},
 }
@@ -35,5 +49,23 @@ var extractCmd = &cobra.Command{
 func init() {
 	rootCmd.AddCommand(extractCmd)
 
-	extractCmd.Flags().StringVarP(&dataId, "data-id", "d", "051513", "051513")
+	extractCmd.Flags().StringVarP(&dataId, "data-id", "d", "051622", "051622")
+	extractCmd.Flags().BoolVarP(&batch, "batch", "b", false, "true | false")
+}
+
+func params() []*extract.Params {
+	var params []*extract.Params
+	datas := []string{"051513", "051522", "051613", "051622",
+		"051712", "051721", "051821", "051823", "051921", "051922", "Q051723"}
+	for _, d := range datas {
+		params = append(params, &extract.Params{
+			InputData:  fmt.Sprintf("demo/data/%s.dat", d),
+			OutputPath: fmt.Sprintf("demo/output/%s", d),
+			TempPath:   fmt.Sprintf("demo/temp/%s", d),
+			DataId:     d,
+			Satellite:  "SJY01",
+		})
+	}
+
+	return params
 }
diff --git a/cmd/parse.go b/cmd/parse.go
index 41811aa..1e31bf4 100644
--- a/cmd/parse.go
+++ b/cmd/parse.go
@@ -3,6 +3,7 @@ package cmd
 import (
 	"fmt"
 
+	"github.com/sirupsen/logrus"
 	"github.com/spf13/cobra"
 	"starwiz.cn/sjy01/preprocessing/extract"
 )
@@ -20,11 +21,14 @@ var parseCmd = &cobra.Command{
 			DataId:     "051513",
 			Satellite:  "SJY01",
 		}
-		p := extract.NewExtractor(&params)
+		e := extract.NewExtractor(&params)
 		// p.ParseAuxPlatformWithHead("demo/ref/辅助数据.dat")
 		fmt.Println("Reference Time: 2000-01-01 12:00:00 UTC, seconds:", extract.Time2000UTCSec())
-		p.ParseAuxPlatform("demo/output/SJY01_051622_S96_PLAT.AUX")
-		p.ParseAuxEBox("demo/output/SJY01_051622_S96_EB.AUX")
+		_, err := e.ParseAuxPlatform("demo/output/051622/SJY01_PMS_20240516_101236_051622_096.AUX")
+		if err != nil {
+			logrus.Error(err)
+		}
+		// p.ParseAuxEBox("demo/output/SJY01_PMS_20240516_101236_051622_096_EB.AUX")
 	},
 }
 
diff --git a/aux/attitude.go b/extract/attitude.go
similarity index 92%
rename from aux/attitude.go
rename to extract/attitude.go
index 4d07cc3..0cc19c1 100644
--- a/aux/attitude.go
+++ b/extract/attitude.go
@@ -1,4 +1,4 @@
-package aux
+package extract
 
 /*
    将欧拉角 (yaw, pitch, roll) 转换为旋转矩阵
diff --git a/extract/aux.go b/extract/aux.go
index ae48cfc..37d8b85 100644
--- a/extract/aux.go
+++ b/extract/aux.go
@@ -142,6 +142,9 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
 	var afh AuxFrameHead
 
 	msdata := make([][]byte, 4)
+	var header []byte
+	var ebAux []byte
+	var platAux []byte
 
 	for i := 0; i < dataLen; {
 		if i+4 > dataLen {
@@ -182,11 +185,17 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
 			break
 		}
 
+		auxTime := binary.BigEndian.Uint32(data[i+32 : i+36])
+		if math.Abs(float64(auxTime)-float64(afh.TimeSec)) < 30 {
+			header = append(header, data[i:i+24]...)
+		}
 		// 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
+		// lw.ws[EB_AUX].w.Write(data[dataIndex : dataIndex+8]) // 8字节焦面电箱辅助数据
+		ebAux = append(ebAux, data[dataIndex:dataIndex+8]...)
 		dataIndex += 8
-		lw.ws[PLAT_AUX].w.Write(data[dataIndex : dataIndex+32]) // 32字节中心机辅助数据
+		// lw.ws[PLAT_AUX].w.Write(data[dataIndex : dataIndex+32]) // 32字节中心机辅助数据
+		platAux = append(platAux, data[dataIndex:dataIndex+32]...)
 		dataIndex += 32
 
 		// 存储图像数据到临时文件 - 以 ENVI BSQ 格式存储，同时提供 HDR 描述文件
@@ -221,15 +230,41 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
 		i = dataIndex // 完成一行数据解析
 	}
 
-	var bands = 0
-	for i := 0; i < 4; i++ {
-		if len(msdata[i]) > 0 {
-			log.Println("write mss data of band B", i+1)
-			_, err := write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[i])
-			if err != nil {
-				log.Error("write mss data error:", err.Error())
-			}
-			bands += 1
+	// var bands = 0
+	// for i := 0; i < 4; i++ {
+	// 	if len(msdata[i]) > 0 {
+	// 		log.Println("write mss data of band B", i+1)
+	// 		_, err := write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[i])
+	// 		if err != nil {
+	// 			log.Error("write mss data error:", err.Error())
+	// 		}
+	// 		bands += 1
+	// 	}
+	// }
+
+	if len(msdata[0]) != len(msdata[1]) || len(msdata[2]) != len(msdata[3]) {
+		log.Error("mss data of bands B1-B4 are not equal")
+		return errors.New("mss data of bands B1-B4 are not equal")
+	}
+
+	mssRowLen := 1192 * 4
+	for i := 0; i < len(msdata[0]); i += mssRowLen {
+		var err error
+		_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[0][i:i+mssRowLen])
+		if err != nil {
+			log.Error("write mss 1 data error:", err.Error())
+		}
+		_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[1][i:i+mssRowLen])
+		if err != nil {
+			log.Error("write mss 2 data error:", err.Error())
+		}
+		_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[2][i:i+mssRowLen])
+		if err != nil {
+			log.Error("write mss 3 data error:", err.Error())
+		}
+		_, err = write16bPixelLittleEndian(lw.ws[MSS_RAW].w, msdata[3][i:i+mssRowLen])
+		if err != nil {
+			log.Error("write mss 4 data error:", err.Error())
 		}
 	}
 
@@ -238,16 +273,29 @@ func (e *Extractor) SeprateAuxAndImgData(dataFile string, segmentIndex int) erro
 	lw.ws[PAN_HDR].w.Write([]byte(panEnviHdr.String()))
 
 	mssEnviHdr.Lines = mssEnviHdr.Lines / 4 // 多光谱波段分别在 4 行中传输
-	mssEnviHdr.Samples = 2384
-	mssEnviHdr.Bands = bands
+	mssEnviHdr.Samples = 2384 * 4
+	mssEnviHdr.Bands = 1
 	lw.ws[MSS_HDR].w.Write([]byte(mssEnviHdr.String()))
 
+	// 帧头+辅助数据
+	if len(header)/24 < len(ebAux)/128 || len(ebAux)/128 != len(platAux)/512 {
+		fmt.Println("aux data length:", len(header)/24, len(ebAux)/128, len(platAux)/512)
+		return errors.New("aux data length is not equal")
+	}
+
+	auxRows := len(header) / 24
+	for i := 0; i < auxRows; i++ {
+		lw.ws[AUX].w.Write(header[i*24 : (i+1)*24])
+		lw.ws[AUX].w.Write(ebAux[i*128 : (i+1)*128])
+		lw.ws[AUX].w.Write(platAux[i*512 : (i+1)*512])
+	}
+
 	return nil
 }
 
 func (e *Extractor) quanlityAnalysis(data []byte) {
 	// 数据质量分析
-	fimg, _ := os.Create("demo/temp/" + e.params.DataId + "_aux_img.txt")
+	fimg, _ := os.Create("demo/temp/" + e.params.DataId + "/aux.txt")
 	defer fimg.Close()
 	fimg.WriteString("字节数 		帧头流水号 		文件号 		帧头时间 	中心辅助数据前4字节(行33-36)\n")
 
diff --git a/extract/aux_platform.go b/extract/aux_platform.go
index 39c9c1f..5a7a108 100644
--- a/extract/aux_platform.go
+++ b/extract/aux_platform.go
@@ -346,14 +346,22 @@ func (e *Extractor) ParseAuxPlatform(auxfile string) ([]*AuxPlatform, error) {
 	}
 
 	var aps []*AuxPlatform
-	for i := 0; i < len(data); i += AuxPlatformFrmSize {
+	for i := 0; i < len(data); i += 24 + 128 + 512 {
 		ap := AuxPlatform{}
-		if err := ap.Parse(data[i : i+AuxPlatformFrmSize]); err != nil {
+		if err := ap.Parse(data[i+24+128 : i+24+128+512]); err != nil {
 			return nil, err
 		}
 
 		aps = append(aps, &ap)
 		ap.Print()
+		// Calculate(
+		// 	Vector3{ap.J2000Pos_X, ap.J2000Pos_Y, ap.J2000Pos_Y},
+		// 	Vector3{ap.J2000Vel_X, ap.J2000Vel_Y, ap.J2000Vel_Z},
+		// 	Quaternion{ap.SS1_Q1, ap.SS1_Q2, ap.SS1_Q3, ap.SS1_Q4},
+		// )
+
+		// pp.Println(calculator.WGS84XYZtoLngLat(ap.W84PosX, ap.W84PosY, ap.W84PosZ))
+		// pp.Println(calculator.WGS84XYZtoLngLat(ap.WGS84PosX, ap.WGS84PosY, ap.WGS84PosZ))
 
 		break
 
diff --git a/aux/aux.go b/extract/calculator.go
similarity index 90%
rename from aux/aux.go
rename to extract/calculator.go
index ab23db7..0f5bb0f 100644
--- a/aux/aux.go
+++ b/extract/calculator.go
@@ -1,4 +1,4 @@
-package aux
+package extract
 
 import (
 	"fmt"
@@ -88,11 +88,11 @@ func calculateImagePosition(roll, pitch, yaw float64, quat Quaternion, satellite
 	return lat, lon
 }
 
-func Calculate() {
+func Calculate(satellitePos, satelliteVel Vector3, quat Quaternion) {
 	// 假设一些已知数据
-	satellitePos := Vector3{x: 7000e3, y: 0, z: 0}       // 假设一个简单的地心坐标位置
-	satelliteVel := Vector3{x: 0, y: 7.5e3, z: 0}        // 假设一个简单的速度
-	quat := Quaternion{w: 0.7071, x: 0.7071, y: 0, z: 0} // 假设一个简单的四元数
+	// satellitePos := Vector3{x: 7000e3, y: 0, z: 0}       // 假设一个简单的地心坐标位置
+	// satelliteVel := Vector3{x: 0, y: 7.5e3, z: 0}        // 假设一个简单的速度
+	// quat := Quaternion{w: 0.7071, x: 0.7071, y: 0, z: 0} // 假设一个简单的四元数
 	roll := 0.0
 	pitch := 0.0
 	yaw := 0.0
diff --git a/extract/orbit.go b/extract/orbit.go
new file mode 100644
index 0000000..7e3d3b9
--- /dev/null
+++ b/extract/orbit.go
@@ -0,0 +1 @@
+package extract
diff --git a/extract/util.go b/extract/util.go
new file mode 100644
index 0000000..aad0bc8
--- /dev/null
+++ b/extract/util.go
@@ -0,0 +1,51 @@
+package extract
+
+import (
+	"bytes"
+	"encoding/binary"
+)
+
+// int32ToBigEndian converts an int32 to a big-endian byte array.
+func int32ToBigEndian(num int32) ([]byte, error) {
+	buf := new(bytes.Buffer)
+	err := binary.Write(buf, binary.BigEndian, num)
+	if err != nil {
+		return nil, err
+	}
+	return buf.Bytes(), nil
+}
+
+// bigEndianToInt32 converts a big-endian byte array to an int32.
+func bigEndianToInt32(data []byte) int32 {
+	var num int32
+	buf := bytes.NewReader(data)
+	err := binary.Read(buf, binary.BigEndian, &num)
+	if err != nil {
+		return 0
+	}
+	return num
+}
+
+// bigEndianToInt24 converts a big-endian 3-byte array to an int32 (simulating int24).
+func bigEndianToInt24(data []byte) int32 {
+	if len(data) != 3 {
+		return 0
+	}
+	num := int32(data[0])<<16 | int32(data[1])<<8 | int32(data[2])
+	// Adjust for negative values
+	if num&0x800000 != 0 {
+		num |= ^0xFFFFFF
+	}
+	return num
+}
+
+// bigEndianToInt16 converts a big-endian byte array to an int16.
+func bigEndianToInt16(data []byte) int16 {
+	var num int16
+	buf := bytes.NewReader(data)
+	err := binary.Read(buf, binary.BigEndian, &num)
+	if err != nil {
+		return 0
+	}
+	return num
+}
diff --git a/extract/writer.go b/extract/writer.go
index 8723b5d..0da51c3 100644
--- a/extract/writer.go
+++ b/extract/writer.go
@@ -5,13 +5,15 @@ import (
 	"io"
 	"os"
 	"path/filepath"
+	"strings"
 
 	"github.com/sirupsen/logrus"
 )
 
 const (
-	EB_AUX         = "EB.AUX"
-	PLAT_AUX       = "PLAT.AUX"
+	AUX            = ".AUX"
+	EB_AUX         = ".EB.AUX"
+	PLAT_AUX       = ".PLAT.AUX"
 	PAN_RAW        = "PAN.RAW"
 	MSS_RAW        = "MSS.RAW"
 	PAN_HDR        = "PAN.HDR"
@@ -32,8 +34,8 @@ type L0Writer struct {
 
 func newL0Writer(outputDir, name string) *L0Writer {
 	var err error
-	suffix := []string{EB_AUX, PLAT_AUX, PAN_RAW, MSS_RAW, PAN_HDR, MSS_HDR}
-
+	suffix := []string{AUX, PAN_RAW, MSS_RAW, PAN_HDR, MSS_HDR}
+	nameEles := strings.Split(name, "_")
 	lw := &L0Writer{
 		ws:            make(map[string]*l0w),
 		mssStoredType: MSS_ALL_IN_ONE,
@@ -41,7 +43,14 @@ func newL0Writer(outputDir, name string) *L0Writer {
 
 	for _, s := range suffix {
 		w := &l0w{}
-		w.name = filepath.Join(outputDir, name+"_"+s)
+		fname := name + s
+		if s == MSS_HDR || s == MSS_RAW || s == PAN_HDR || s == PAN_RAW {
+			eles := strings.Split(s, ".")
+			nameEles[1] = eles[0]
+			fname = strings.Join(nameEles, "_") + "." + eles[1]
+		}
+
+		w.name = filepath.Join(outputDir, fname)
 		w.f, err = os.OpenFile(w.name, os.O_CREATE|os.O_TRUNC|os.O_WRONLY, 0777)
 		if err != nil {
 			logrus.Panic("create file failed: ", w.name, err)
diff --git a/go.mod b/go.mod
index 0330b24..62e673d 100644
--- a/go.mod
+++ b/go.mod
@@ -1,32 +1,36 @@
 module starwiz.cn/sjy01/preprocessing
 
-go 1.19
+go 1.21
 
-require github.com/k0kubun/pp v3.0.1+incompatible
+toolchain go1.21.0
+
+require github.com/twpayne/go-proj/v10 v10.2.0
 
 require (
+	github.com/jonboulle/clockwork v0.4.0 // indirect
 	github.com/mgutz/ansi v0.0.0-20200706080929-d51e80ef957d // indirect
+	github.com/onsi/ginkgo v1.16.5 // indirect
+	github.com/onsi/gomega v1.33.1 // indirect
 	golang.org/x/crypto v0.23.0 // indirect
+	golang.org/x/net v0.25.0 // 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/duke-git/lancet/v2 v2.3.1
 	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/file-rotatelogs v2.4.0+incompatible
 	github.com/lestrrat-go/strftime v1.0.6 // indirect
 	github.com/mattn/go-colorable v0.1.13 // indirect
-	github.com/mattn/go-isatty v0.0.16 // indirect
+	github.com/mattn/go-isatty v0.0.20 // indirect
 	github.com/pkg/errors v0.9.1 // indirect
 	github.com/rifflock/lfshook v0.0.0-20180920164130-b9218ef580f5
-	github.com/sirupsen/logrus v1.9.3 // indirect
-	github.com/spf13/cobra v1.8.0 // indirect
+	github.com/sirupsen/logrus v1.9.3
+	github.com/spf13/cobra v1.8.0
 	github.com/spf13/pflag v1.0.5 // indirect
-	github.com/valyala/bytebufferpool v1.0.0 // indirect
-	github.com/valyala/fasttemplate v1.2.2 // indirect
 	github.com/x-cray/logrus-prefixed-formatter v0.5.2
-	golang.org/x/exp v0.0.0-20221208152030-732eee02a75a // indirect
+	golang.org/x/exp v0.0.0-20240506185415-9bf2ced13842 // indirect
 	golang.org/x/sys v0.20.0 // indirect
 )
diff --git a/go.sum b/go.sum
index f958757..d1e3425 100644
--- a/go.sum
+++ b/go.sum
@@ -1,14 +1,39 @@
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@@ -16,12 +41,25 @@ github.com/lestrrat-go/strftime v1.0.6 h1:CFGsDEt1pOpFNU+TJB0nhz9jl+K0hZSLE205Ah
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@@ -34,27 +72,72 @@ github.com/spf13/pflag v1.0.5 h1:iy+VFUOCP1a+8yFto/drg2CJ5u0yRoB7fZw3DKv/JXA=
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