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software/JCompass/JBallarat.cc File Reference

Auxiliary program to process AHRS data. More...

#include <string>
#include <iostream>
#include <iomanip>
#include <algorithm>
#include <utility>
#include <vector>
#include "km3net-dataformat/definitions/module_status.hh"
#include "JDB/JSupport.hh"
#include "JDB/JAHRS.hh"
#include "JDB/JAHRSCalibration_t.hh"
#include "JDB/JAHRSToolkit.hh"
#include "JSupport/JMultipleFileScanner.hh"
#include "JSupport/JFileRecorder.hh"
#include "JSupport/JMeta.hh"
#include "JDetector/JDetector.hh"
#include "JDetector/JDetectorToolkit.hh"
#include "JDetector/JModuleRouter.hh"
#include "JDetector/JCompass.hh"
#include "JGeometry3D/JQuaternion3D.hh"
#include "JGeometry3D/JEigen3D.hh"
#include "JTools/JHashMap.hh"
#include "JLang/JVectorize.hh"
#include "JLang/JComparator.hh"
#include "JMath/JLegendre.hh"
#include "JCompass/JEvt.hh"
#include "JCompass/JEvtToolkit.hh"
#include "JCompass/JSupport.hh"
#include "JCompass/JNOAA.hh"
#include "JCompass/JPolicy.hh"
#include "JCompass/JCompassSupportkit.hh"
#include "Jeep/JPrint.hh"
#include "Jeep/JParser.hh"
#include "Jeep/JMessage.hh"

Go to the source code of this file.

Functions

int main (int argc, char **argv)
 

Detailed Description

Auxiliary program to process AHRS data.

The AHRS calibration as well as the quaternion calibration are applied to the data.
Possible outliers are removed according the specified maximal angle (option -S <angle_deg>.
For this, interpolations of the data are made based on Legendre polynomials with the number of points and the number of degrees set to NUMBER_OF_POINTS and NUMBER_OF_DEGREES, respectively.

Author
mdejong

Definition in file software/JCompass/JBallarat.cc.

Function Documentation

int main ( int  argc,
char **  argv 
)

Definition at line 63 of file software/JCompass/JBallarat.cc.

64 {
65  using namespace std;
66  using namespace JPP;
67 
68  JMultipleFileScanner_t inputFile;
69  counter_type numberOfEvents;
71  string detectorFile;
72  string ahrsFile;
73  double angle_deg;
74  double T_s;
75  int debug;
76 
77  try {
78 
79  JParser<> zap("Auxiliary program to process AHRS data.");
80 
81  zap['f'] = make_field(inputFile, "output of JConvertDB -q ahrs");
82  zap['n'] = make_field(numberOfEvents) = JLimit::max();
83  zap['a'] = make_field(detectorFile);
84  zap['c'] = make_field(ahrsFile, "output of JAHRSCalibration");
85  zap['o'] = make_field(outputFile, "ROOT formatted orientations file");
86  zap['S'] = make_field(angle_deg, "maximal angle w.r.t. fit") = 0.0;
87  zap['T'] = make_field(T_s, "time window for averaging") = 0.0;
88  zap['d'] = make_field(debug) = 1;
89 
90  zap(argc, argv);
91  }
92  catch(const exception &error) {
93  FATAL(error.what() << endl);
94  }
95 
96 
98 
99  try {
100  load(detectorFile, detector);
101  }
102  catch(const JException& error) {
103  FATAL(error);
104  }
105 
106  const JModuleRouter router(detector);
107  const JNOAAFunction1D_t& getMagneticDeclination = (isARCADetector(detector) ? static_cast<const JNOAAFunction1D_t&>(getARCAMagneticDeclination) :
109  static_cast<const JNOAAFunction1D_t&>(getZEROMagneticDeclination));
110  const double meridian = (isARCADetector(detector) ? ARCA_MERIDIAN_CONVERGENCE_ANGLE_RAD :
112  0.0);
113 
114  NOTICE("Magnetic declination " << getMagneticDeclination << endl);
115  NOTICE("Meridian angle [rad] " << FIXED(5,3) << meridian << endl);
116 
117  const JAHRSCalibration_t calibration(ahrsFile.c_str());
118  const JAHRSValidity is_valid;
119 
120 
121  typedef pair<double, JQuaternion3D> element_type;
122  typedef vector<element_type> buffer_type;
123  typedef JHashMap<int, buffer_type> map_type; // container for temporary storage of data
124 
125  JLegendre<JQuaternion3D, NUMBER_OF_DEGREES> f1; // interpolator for outlier removal
126 
127 
128  outputFile.open();
129 
130  outputFile.put(JMeta(argc, argv));
131 
132  counter_type counter = 0;
133 
134  for (JMultipleFileScanner_t::const_iterator file_name = inputFile.begin(); file_name != inputFile.end(); ++file_name) {
135 
136  STATUS("processing file " << *file_name << "... " << flush);
137 
138  // collect data
139 
140  map_type data;
141 
142  for (JMultipleFileScanner<JAHRS> in(*file_name); in.hasNext() && counter != numberOfEvents; ++counter) {
143 
144  const JAHRS* parameters = in.next();
145  const int id = parameters->DOMID;
146 
147  if (is_valid(*parameters) && calibration.has(id) && router.hasModule(id)) {
148 
149  const JModule& module = router.getModule(id);
150 
151  if (module.getFloor() != 0 && !module.has(COMPASS_DISABLE)) {
152 
153  JCompass compass(*parameters, calibration.get(id));
154 
155  compass.correct(getMagneticDeclination(parameters->UNIXTIME * 1.0e-3), meridian);
156 
157  const JQuaternion3D Q = compass.getQuaternion();
158 
159  data[id].push_back(element_type(parameters->UNIXTIME * 1.0e-3, Q));
160  }
161  }
162  }
163 
164  // remove outliers
165 
166  if (angle_deg > 0.0) {
167 
168  for (map_type::iterator module = data.begin(); module != data.end(); ++module) {
169 
170  if (!module->second.empty()) {
171 
172  sort(module->second.begin(), module->second.end(), make_comparator(&element_type::first));
173 
174  buffer_type::iterator out = module->second.begin(); // output
175  buffer_type::const_iterator in = module->second.begin(); // input
176  buffer_type::const_iterator p = module->second.begin(); // begin interpolation data
177  buffer_type::const_iterator q = module->second.begin(); // end interpolation data
178 
179  for (int i = 0; i != NUMBER_OF_POINTS && q != module->second.end(); ++i, ++q) {}
180 
181  for (int i = 0; i != NUMBER_OF_POINTS/2 && in != q; ++i, ++in) {
182 
183  f1.set(p, in, q);
184 
185  if (getAngle(in->second, f1(in->first)) <= angle_deg) {
186  *out = *in;
187  ++out;
188  }
189  }
190 
191  for (++p; q++ != module->second.end(); ++p, ++in) {
192 
193  f1.set(p, in, q);
194 
195  if (getAngle(in->second, f1(in->first)) <= angle_deg) {
196  *out = *in;
197  ++out;
198  }
199  }
200 
201  for ( ; in != module->second.end(); ++in) {
202 
203  f1.set(p, in, q);
204 
205  if (getAngle(in->second, f1(in->first)) <= angle_deg) {
206  *out = *in;
207  ++out;
208  }
209  }
210 
211  module->second.erase(out, module->second.end()); // remove leftovers
212 
213  if (T_s > 0.0) {
214 
215  out = module->second.begin(); // output
216 
217  for (p = module->second.begin(); p != module->second.end(); p = q) {
218 
219  for (q = p; q != module->second.end() && q->first - p->first < T_s; ++q) {}
220 
221  if (distance(p,q) > 1) {
222 
224  const array_type<JQuaternion3D>& q1 = make_array(p, q, &element_type::second);
225 
226  out->first = getAverage(t1.begin(), t1.end());
227  out->second = getAverage(q1.begin(), q1.end());
228 
229  } else {
230 
231  *out = *p;
232  }
233 
234  ++out;
235  }
236 
237  module->second.erase(out, module->second.end()); // remove leftovers
238  }
239  }
240  }
241  }
242 
243  // apply policy for missing modules and write output
244 
245  const array_type<map_type::key_type>& buffer = make_array(data.begin(), data.end(), &map_type::value_type::first);
246 
247  const JPolicy policy(router, buffer.begin(), buffer.end());
248 
249  for (JPolicy::const_iterator module = policy.begin(); module != policy.end(); ++module) {
250  for (JPolicy::mapped_type::const_iterator in = module->second.begin(); in != module->second.end(); ++in) {
251  for (map_type::mapped_type::const_iterator i = data[*in].begin(); i != data[*in].end(); ++i) {
252  outputFile.put(JOrientation(module->first, i->first, getQuaternion(i->second)));
253  }
254  }
255  }
256 
257  STATUS(endl);
258  }
259 
260  JMultipleFileScanner<JMeta> io(inputFile);
261 
262  io >> outputFile;
263 
264  outputFile.close();
265 }
bool isORCADetector(const JDetectorHeader &header)
Check if given detector header is compatible with that of ORCA.
Auxiliary class for ROOT I/O of application specific meta data.
Definition: JMeta.hh:70
Object writing to file.
Utility class to parse command line options.
Definition: JParser.hh:1517
double getAngle(const JQuaternion3D &first, const JQuaternion3D &second)
Get space angle between quanternions.
General exception.
Definition: JException.hh:23
static JARCAMagneticDeclination getARCAMagneticDeclination
Function object for magnetic declination at ARCA site.
Definition: JNOAA.hh:730
Q(UTCMax_s-UTCMin_s)-livetime_s
void correct(const double declination, const double meridian)
Correct compass for magnetic declination and meridian convergence angle.
Definition: JCompass.hh:274
JComparator< JResult_t T::*, JComparison::lt > make_comparator(JResult_t T::*member)
Helper method to create comparator between values of data member.
Definition: JComparator.hh:185
int getFloor() const
Get floor number.
Definition: JLocation.hh:145
Data structure for a composite optical module.
Definition: JModule.hh:68
bool isARCADetector(const JDetectorHeader &header)
Check if given detector header is compatible with tat of ARCA.
std::vector< T >::difference_type distance(typename std::vector< T >::const_iterator first, typename PhysicsEvent::const_iterator< T > second)
Specialisation of STL distance.
General purpose class for hash map of unique keys.
Definition: JHashMap.hh:72
JQuaternion3D getQuaternion(const JQuaternion &Q)
Get quaternion.
#define STATUS(A)
Definition: JMessage.hh:63
Detector data structure.
Definition: JDetector.hh:89
JPolynome & set(const Args &...args)
Set values.
Definition: JPolynome.hh:217
static JZEROMagneticDeclination getZEROMagneticDeclination
Function object for zero magnetic declination.
Definition: JNOAA.hh:732
Router for direct addressing of module data in detector data structure.
std::iterator_traits< T >::value_type getAverage(T __begin, T __end)
Get average.
Definition: JMath.hh:494
*fatal Wrong number of arguments esac JCookie sh typeset Z DETECTOR typeset Z SOURCE_RUN typeset Z TARGET_RUN set_variable PARAMETERS_FILE $WORKDIR parameters
Definition: diff-Tuna.sh:38
Long64_t counter_type
Type definition for counter.
Auxiliary data structure for floating point format specification.
Definition: JManip.hh:446
string outputFile
static const double ARCA_MERIDIAN_CONVERGENCE_ANGLE_RAD
ARCA meridian convergence angle [rad].
static JORCAMagneticDeclination getORCAMagneticDeclination
Function object for magnetic declination at ORCA site.
Definition: JNOAA.hh:731
then echo The file $DIR KM3NeT_00000001_00000000 root already please rename or remove it first
static const int COMPASS_DISABLE
Enable (disable) use of compass if this status bit is 0 (1);.
const JPolynome f1(1.0, 2.0, 3.0)
Function.
Detector file.
Definition: JHead.hh:226
Auxiliary base class for interpolation of magnetic declination data obtained from website of NOAA...
Definition: JNOAA.hh:25
bool has(const int bit) const
Test PMT status.
Definition: JStatus.hh:120
Auxiliary class to define policy for invalid modules.
Definition: JPolicy.hh:31
#define make_field(A,...)
macro to convert parameter to JParserTemplateElement object
Definition: JParser.hh:1993
const array_type< JValue_t > & make_array(const JValue_t(&array)[N])
Method to create array of values.
Definition: JVectorize.hh:54
Template definition for function evaluation of Legendre polynome.
Definition: JLegendre.hh:213
bool is_valid(const json &js)
Check validity of JSon data.
Data structure for compass in three dimensions.
Definition: JCompass.hh:49
#define NOTICE(A)
Definition: JMessage.hh:64
#define FATAL(A)
Definition: JMessage.hh:67
Data structure for unit quaternion in three dimensions.
Auxiliary base class for list of file names.
void load(const std::string &file_name, JDetector &detector)
Load detector from input file.
General purpose class for object reading from a list of file names.
Auxiliary class to map module identifier to AHRS calibration.
Orientation of module.
do set_variable DETECTOR_TXT $WORKDIR detector
static const double ORCA_MERIDIAN_CONVERGENCE_ANGLE_RAD
ORCA meridian convergence angle [rad].
then fatal Wrong number of arguments fi set_variable DETECTOR $argv[1] set_variable INPUT_FILE $argv[2] eval JPrintDetector a $DETECTOR O IDENTIFIER eval JPrintDetector a $DETECTOR O SUMMARY JAcoustics sh $DETECTOR_ID source JAcousticsToolkit sh CHECK_EXIT_CODE typeset A EMITTERS get_tripods $WORKDIR tripod txt EMITTERS get_transmitters $WORKDIR transmitter txt EMITTERS for EMITTER in
Definition: JCanberra.sh:46
long long int UNIXTIME
[ms]
Definition: JAHRS.hh:26
Auxiliary data structure for return type of make methods.
Definition: JVectorize.hh:26
int debug
debug level
Auxiliary data structure to check validity of AHRS data.
Definition: JAHRSToolkit.hh:20