JAHRSMonitor.cc

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#include <string>
#include <iostream>
#include <iomanip>
#include <vector>
#include <map>

#include "TROOT.h"
#include "TFile.h"
#include "TH1D.h"

#include "JDB/JSupport.hh"
#include "JDB/JAHRS.hh"
#include "JDB/JAHRSCalibration_t.hh"

#include "JROOT/JManager.hh"

#include "JSupport/JMultipleFileScanner.hh"

#include "JGeometry3D/JRotation3D.hh"
#include "JGeometry3D/JQuaternion3D.hh"

#include "Jeep/JPrint.hh"
#include "Jeep/JParser.hh"
#include "Jeep/JMessage.hh"

/**
 * \file
 *
 * Program to plot AHRS data.
 * \author mdejong
 */
int main(int argc, char **argv)
{
  using namespace std;
  using namespace JPP;

  JMultipleFileScanner<JAHRS> inputFile;
  JLimit_t&       numberOfEvents = inputFile.getLimit();
  string          ahrsFile;
  string          outputFile;
  int             debug;

  try {

    JParser<> zap("Program to plot AHRS data.");
    
    zap['f'] = make_field(inputFile,    "output of JConvertDB -q ahrs");
    zap['n'] = make_field(numberOfEvents)                                    = JLimit::max();
    zap['A'] = make_field(ahrsFile,     "output of JAHRSCalibration")        = "";
    zap['o'] = make_field(outputFile)    = "ahrs.root";
    zap['d'] = make_field(debug)         = 2;
    
    zap(argc, argv);
  }
  catch(const exception &error) {
    FATAL(error.what() << endl);
  }


  JAHRSCalibration_t calibration;

  if (ahrsFile != "") {
    calibration.load(ahrsFile.c_str());
  }
  
  JManager<int, TH1D> HA(new TH1D("%.A", NULL, 100, 0.0, 2.0));
  JManager<int, TH1D> HB(new TH1D("%.B", NULL, 100, 0.0, 2.0));

  while (inputFile.hasNext()) {
  
    STATUS("counter " << setw(10) << inputFile.getCounter() << '\r'); DEBUG(endl);

    const JAHRS* parameters = inputFile.next();
    
    double A0 = parameters->AHRS_A0;
    double A1 = parameters->AHRS_A1;
    double A2 = parameters->AHRS_A2;

    double H0 = parameters->AHRS_H0;
    double H1 = parameters->AHRS_H1;
    double H2 = parameters->AHRS_H2;

    if (calibration.has(parameters->DOMID)) {

      const JAHRSCalibration& cal = calibration.get(parameters->DOMID);

      A0  -=  cal.ACC_OFFSET_X;
      A1  -=  cal.ACC_OFFSET_Y;
      A2  -=  cal.ACC_OFFSET_Z;

      JMatrix3D(cal.ACC_ROT_XX, cal.ACC_ROT_XY, cal.ACC_ROT_XZ,
                cal.ACC_ROT_YX, cal.ACC_ROT_YY, cal.ACC_ROT_YZ,
                cal.ACC_ROT_ZX, cal.ACC_ROT_ZY, cal.ACC_ROT_ZZ).transform(A0, A1, A2);

      H0  -=  0.5 * (cal.MAG_XMIN + cal.MAG_XMAX);
      H1  -=  0.5 * (cal.MAG_YMIN + cal.MAG_YMAX);
      H2  -=  0.5 * (cal.MAG_ZMIN + cal.MAG_ZMAX);

      JMatrix3D(cal.MAG_ROT_XX, cal.MAG_ROT_XY, cal.MAG_ROT_XZ,
                cal.MAG_ROT_YX, cal.MAG_ROT_YY, cal.MAG_ROT_YZ,
                cal.MAG_ROT_ZX, cal.MAG_ROT_ZY, cal.MAG_ROT_ZZ).transform(H0, H1, H2);
    }
    
    HA[parameters->DOMID]->Fill(sqrt(A0 * A0 + A1 * A1 + A2 * A2));
    HB[parameters->DOMID]->Fill(sqrt(H0 * H0 + H1 * H1 + H2 * H2));
  }
  STATUS(endl);

  
  TFile out(outputFile.c_str(), "recreate");

  out << HA << HB;
  
  out.Write();
  out.Close();
}