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# http://pyrocko.org - GPLv3 

# 

# The Pyrocko Developers, 21st Century 

# ---|P------/S----------~Lg---------- 

from __future__ import absolute_import, print_function 

 

import struct 

import collections 

import time 

import logging 

import calendar 

import numpy as num 

 

from pyrocko import trace, util 

 

logger = logging.getLogger('pyrocko.streaming.edl') 

 

 

def hexdump(chars, sep=' ', width=16): 

while chars: 

line = chars[:width] 

chars = chars[width:] 

line = line.ljust(width, '\000') 

print("%s%s%s" % ( 

sep.join("%02x" % ord(c) for c in line), 

sep, quotechars(line))) 

 

 

def quotechars(chars): 

return ''.join(['.', c][c.isalnum()] for c in chars) 

 

 

MINBLOCKSIZE = 192 

 

 

class NotAquiring(Exception): 

pass 

 

 

class ReadError(Exception): 

pass 

 

 

class ReadTimeout(ReadError): 

pass 

 

 

class ReadUnexpected(ReadError): 

pass 

 

 

class GPSError(Exception): 

pass 

 

 

class NoGPS(GPSError): 

pass 

 

 

class NoGPSTime(GPSError): 

pass 

 

 

class GPSTimeNotUTC(GPSError): 

pass 

 

 

block_def = {} 

 

block_def['MOD\0'] = ''' 

identifier 4s 

size_of_mod I 

device_id 12s 

version 6s 

space1 1s 

serial_no 4s 

space2 1s 

test_pattern 8s 

block_count I 

ncomps H 

sample_rate H 

bytes_per_sample H 

filter_type 2s 

decimation3 H 

decimation4 H 

plldata h 

gain_g 1s 

gain B 

gain_component1 I 

gain_component2 I 

gain_component3 I 

offset_component1 I 

offset_component2 I 

offset_component3 I 

supply_voltage H 

supply_current H 

temp_sensor_voltage H 

supply_voltage_remote H 

user_input1 H 

user_input2 H 

user_input3 H 

not_used H 

coupling 2s 

reserved1 I 

reserved2 I 

reserved3 I 

gps_status_flags H 

gps_message_block_count I 

gps_message 72s 

'''.split() 

 

block_def['MDE\0'] = ''' 

identifier 4s 

size_of_mde I 

serial_no 8s 

decimation5 H 

decimation6 H 

decimation7 H 

gain_component4 I 

gain_component5 I 

gain_component6 I 

offset_component4 I 

offset_component5 I 

offset_component6 I 

temperature1 H 

temperature2 H 

temperature3 H 

temperature4 H 

temperature5 H 

temperature6 H 

gps_message 129s 

pad 1s 

'''.split() 

 

block_def['SUM\0'] = ''' 

identifier 4s 

size_of_sum I 

reserved H 

checksum_lo B 

checksum_hi B 

'''.split() 

 

block_def['DAT\0'] = ''' 

identifier 4s 

size_of_dat I 

'''.split() 

 

 

Blocks = {} 

for k in block_def.keys(): 

fmt = '<'+''.join(block_def[k][1::2]) 

fmt_len = struct.calcsize(fmt) 

Block = collections.namedtuple('Block'+k[:3], block_def[k][::2]) 

Blocks[k] = (fmt, fmt_len, Block) 

 

 

gps_fmt = {} 

# gps altitude message 

gps_fmt['AL'] = ''' 

type 2 str 

time_of_day 5 float 

altitude 6 float 

vertical_velocity 4 float 

source_flag 1 int 

age_flag 1 int 

''' 

 

# gps position velocity message 

gps_fmt['PV'] = ''' 

type 2 str 

time_of_day 5 float 

latitude 8 lat_float 

longitude 9 lon_float 

speed_mph 3 float 

heading 3 float 

source_flag 1 int 

age_flag 1 int 

''' 

 

# gps status message 

gps_fmt['ST'] = ''' 

type 2 str 

tracking_status_code 2 hex_int 

nibble1 1 hex_int 

nibble2 1 hex_int 

machine_id 2 hex_int 

nibble3 1 hex_int 

nibble4 1 hex_int 

reserved 2 str 

''' 

 

# gps time date message 

gps_fmt['TM'] = ''' 

type 2 str 

hours 2 int 

minutes 2 int 

seconds 5 seconds_float 

day 2 int 

month 2 int 

year 4 int 

gps_utc_time_offset 2 int 

current_fix_source 1 int 

number_usable_svs 2 int 

gps_utc_offset_flag 1 int 

reserved 5 str 

''' 

 

 

def latlon_float(s): 

return int(s) / 100000. 

 

 

def seconds_float(s): 

return int(s) / 1000. 

 

 

def hex_int(s): 

return int(s, 16) 

 

 

convert_functions = { 

'int': int, 

'float': float, 

'lat_float': latlon_float, 

'lon_float': latlon_float, 

'seconds_float': seconds_float, 

'str': str, 

'hex_int': hex_int} 

 

 

class GPSFormat_(object): 

def __init__(self, name, fmt): 

 

nn = 0 

names = [] 

items = [] 

for line in fmt.strip().splitlines(): 

toks = line.split() 

n = int(toks[1]) 

items.append((nn, nn+n, convert_functions[toks[2]])) 

names.append(toks[0]) 

nn += n 

 

self.items = items 

self.Message = collections.namedtuple('GPSMessage'+k, names) 

 

def unpack(self, s): 

return self.Message( 

*(converter(s[begin:end]) 

for (begin, end, converter) in self.items)) 

 

 

GPSFormat = {} 

for k in gps_fmt.keys(): 

GPSFormat[k] = GPSFormat_(k, gps_fmt[k]) 

 

 

def portnames(): 

try: 

# needs serial >= v2.6 

from serial.tools.list_ports import comports 

names = sorted(x[0] for x in comports()) 

 

except Exception: 

# may only work on some linuxes 

from glob import glob 

names = sorted(glob('/dev/ttyS*') + glob('/dev/ttyUSB*')) 

 

return names 

 

 

def unpack_block(data): 

block_type = data[:4] 

 

if block_type not in Blocks: 

return None 

 

fmt, fmt_len, Block = Blocks[block_type] 

 

if len(data) < fmt_len: 

raise ReadError('block size too short') 

 

return Block(*struct.unpack(fmt, data[:fmt_len])), data[fmt_len:] 

 

 

def unpack_values(ncomps, bytes_per_sample, data): 

if bytes_per_sample == 4: 

return num.fromstring(data, dtype=num.dtype('<i4')) 

 

# 3-byte mode is broken: 

# elif bytes_per_sample == 3: 

# b1 = num.fromstring(data, dtype=num.dtype('<i1')) 

# b4 = num.zeros(len(data)/4, dtype=num.dtype('<i4')) 

# b4.view(dtype='<i2')[::2] = b1.view(dtype='<i2') 

# b4.view(dtype='<i1')[2::4] = b1[i::3] 

# return b4.astype(num.int32) 

 

else: 

raise ReadError('unimplemented bytes_per_sample setting') 

 

 

class TimeEstimator(object): 

def __init__(self, nlookback): 

self._nlookback = nlookback 

self._queue = [] 

self._t0 = None 

self._n = 0 

self._deltat = None 

 

def insert(self, deltat, nadd, t): 

 

if self._deltat is None or self._deltat != deltat: 

self.reset() 

self._deltat = deltat 

 

if self._t0 is None and t is not None: 

self._t0 = int(round(t/self._deltat))*self._deltat 

 

if t is None: 

self._n += nadd 

if self._t0: 

return self._t0 + (self._n-nadd)*self._deltat 

else: 

return None 

 

self._queue.append((self._n, t)) 

self._n += nadd 

 

while len(self._queue) > self._nlookback: 

self._queue.pop(0) 

 

ns, ts = num.array(self._queue, dtype=num.float).T 

 

tpredicts = self._t0 + ns * self._deltat 

 

terrors = ts - tpredicts 

mterror = num.median(terrors) 

print(mterror / deltat, '+-', num.std(terrors) / deltat) 

 

if num.abs(mterror) > 0.75*deltat and \ 

len(self._queue) == self._nlookback: 

 

t0 = self._t0 + mterror 

self._queue[:] = [] 

self._t0 = int(round(t0/self._deltat))*self._deltat 

 

return self._t0 + (self._n-nadd)*self._deltat 

 

def reset(self): 

self._queue[:] = [] 

self._n = 0 

self._t0 = None 

 

def __len__(self): 

return len(self._queue) 

 

 

class GPSRecord(object): 

def __init__(self, al, pv, st, tm): 

self._al = al 

self._pv = pv 

self._st = st 

self._tm = tm 

 

@property 

def time(self): 

if not self._st.tracking_status_code == 0: 

raise NoGPSTime() 

 

if not self._tm.gps_utc_offset_flag: 

raise GPSTimeNotUTC() 

 

tm = self._tm 

return util.to_time_float(calendar.timegm(( 

tm.year, tm.month, tm.day, tm.hours, tm.minutes, tm.seconds))) 

 

@property 

def latitude(self): 

return self._pv.latitude 

 

@property 

def longitude(self): 

return self._pv.longitude 

 

@property 

def altitude(self): 

return self._al.altitude 

 

def __str__(self): 

try: 

stime = util.time_to_str(self.time) 

except GPSError: 

stime = '?' 

return '''%s %s %s %s''' % ( 

stime, self.latitude, self.longitude, self.altitude) 

 

 

def stime_none_aware(t): 

if t is None: 

return '?' 

else: 

return util.time_to_str(t) 

 

 

class Record(object): 

def __init__(self, mod, mde, dat, sum, values): 

self._mod = mod 

self._mde = mde 

self._dat = dat 

self._sum = sum 

self._values = values 

self._approx_system_time = None 

self._approx_gps_time = None 

self._gps = None 

 

def set_approx_times( 

self, approx_system_time, approx_gps_time, measured_system_time): 

 

self._approx_system_time = approx_system_time 

self._approx_gps_time = approx_gps_time 

self._measured_system_time = measured_system_time 

 

@property 

def time(self): 

if self._mod.reserved1 != 0: 

return float(self._mod.reserved1) 

 

return self._approx_system_time 

 

@property 

def traces(self): 

traces = [] 

for i in range(self._mod.ncomps): 

tr = trace.Trace( 

'', 'ed', '', 'p%i' % i, 

deltat=num.float(self._mod.ncomps)/self._mod.sample_rate, 

tmin=self.time, 

ydata=self._values[i::3]) 

 

traces.append(tr) 

 

traces.extend(self.traces_delays()) 

 

return traces 

 

def traces_delays(self): 

traces = [] 

for name, val in ( 

('gp', self.gps_time_or_none), 

('sm', self._measured_system_time), 

('sp', self._approx_system_time)): 

 

if val is not None: 

tr = trace.Trace( 

'', 'ed', name, 'del', 

deltat=1.0, 

tmin=self.time, 

ydata=num.array([val - self.time])) 

 

traces.append(tr) 

 

return traces 

 

def _gps_messages(self): 

for line in self._mde.gps_message.splitlines(): 

if len(line) > 4 and line[0] == '>' and line.rstrip()[-1] == '<': 

yield GPSFormat[line[2:4]].unpack(line[2:]) 

 

@property 

def gps(self): 

if self._mod.block_count != self._mod.gps_message_block_count: 

raise NoGPS() 

 

if self._gps is not None: 

return self._gps 

 

kwargs = {} 

for mess in self._gps_messages(): 

kwargs[mess.type.lower()] = mess 

 

if sorted(kwargs.keys()) == ['al', 'pv', 'st', 'tm']: 

self._gps = GPSRecord(**kwargs) 

return self._gps 

else: 

raise NoGPS() 

 

@property 

def gps_time_or_none(self): 

try: 

return self.gps.time 

except GPSError: 

return None 

 

def __str__(self): 

return '\n'.join([ 

'%s' % str(x) for x in (self._mod, self._mde)]) + '\n' 

 

def str_times(self): 

return '''--- Record --- 

Time GPS: %s (estimated) %s (measured) 

Time system: %s (estimated) %s (measured) 

''' % tuple([stime_none_aware(t) for t in ( 

self._approx_gps_time, 

self.gps_time_or_none, 

self._approx_system_time, 

self._measured_system_time)]) 

 

 

class Reader(object): 

 

def __init__(self, port=0, timeout=2., baudrate=115200, lookback=30): 

if isinstance(port, int): 

self._port = portnames()[port] 

else: 

self._port = str(port) 

 

self._timeout = float(timeout) 

self._baudrate = int(baudrate) 

self._serial = None 

self._buffer = '' 

self._irecord = 0 

 

self._time_estimator_system = TimeEstimator(lookback) 

self._time_estimator_gps = TimeEstimator(lookback) 

 

def running(self): 

return self._serial is not None 

 

def assert_running(self): 

if not self.running(): 

raise NotAquiring() 

 

def start(self): 

self.stop() 

 

import serial 

self._serial = serial.Serial( 

port=self._port, 

baudrate=self._baudrate, 

timeout=self._timeout) 

 

self._sync_on_mod() 

 

def _sync_on_mod(self): 

self._fill_buffer(MINBLOCKSIZE) 

 

while self._buffer[:4] != 'MOD\0': 

imark = self._buffer.find('MOD\0') 

if imark != -1: 

self._buffer = self._buffer[imark:] 

else: 

self._buffer = self._buffer[-4:] 

 

self._fill_buffer(MINBLOCKSIZE) 

 

def _fill_buffer(self, minlen): 

if len(self._buffer) >= minlen: 

return 

 

nread = minlen-len(self._buffer) 

try: 

data = self._serial.read(nread) 

hexdump(data) 

 

except Exception: 

raise ReadError() 

 

if len(data) != nread: 

self.stop() 

raise ReadTimeout() 

self._buffer += data 

 

def _read_block(self, need_block_type=None): 

self.assert_running() 

self._fill_buffer(8) 

block_type, block_len = struct.unpack('<4sI', self._buffer[:8]) 

if need_block_type is not None and block_type != need_block_type: 

raise ReadUnexpected() 

 

block_len += 8 

self._fill_buffer(block_len) 

block_data = self._buffer 

self._buffer = '' 

return unpack_block(block_data) 

 

def read_record(self): 

self._irecord += 1 

mod, _ = self._read_block('MOD\0') 

measured_system_time = time.time() - 4.0 

mde, _ = self._read_block('MDE\0') 

dat, values_data = self._read_block('DAT\0') 

sum, _ = self._read_block('SUM\0') 

values = unpack_values(mod.ncomps, mod.bytes_per_sample, values_data) 

deltat = 1./mod.sample_rate * mod.ncomps 

r = Record(mod, mde, dat, sum, values) 

approx_system_time = self._time_estimator_system.insert( 

deltat, values.size//mod.ncomps, measured_system_time) 

 

try: 

gpstime = r.gps.time 

except GPSError: 

gpstime = None 

 

approx_gps_time = self._time_estimator_gps.insert( 

deltat, values.size//mod.ncomps, gpstime) 

 

r.set_approx_times( 

approx_system_time, approx_gps_time, measured_system_time) 

 

return r 

 

def stop(self): 

if not self.running(): 

return 

 

self._serial.close() 

self._serial = None 

self._buffer = '' 

self._time_estimator_system.reset() 

self._time_estimator_gps.reset() 

 

 

class EDLHamster(object): 

def __init__(self, *args, **kwargs): 

self.reader = Reader(*args, **kwargs) 

 

def acquisition_start(self): 

self.reader.start() 

 

def acquisition_stop(self): 

self.reader.stop() 

 

def process(self): 

rec = self.reader.read_record() 

self.got_record(rec) 

 

def got_record(self, rec): 

for tr in rec.traces: 

self.got_trace(tr) 

 

def got_trace(self, tr): 

logger.info('Got trace from EDL: %s' % tr)