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/***********************************************/
/**
* @file gnssOrbex2StarCamera.cpp
*
* @brief Converts satellite attitude from ORBEX to StarCamera format.
*
* @author Sebastian Strasser
* @date 2020-09-29
*/
/***********************************************/
// Latex documentation
#define DOCSTRING docstring
static const char *docstring = R"(
Converts GNSS satellite attitude from \href{http://acc.igs.org/misc/proposal_orbex_april2019.pdf}{ORBEX file format}
(quaternions) to \file{instrument file (STARCAMERA)}{instrument}.
The resulting star camera files contain the rotation from satellite body frame to TRF, or to CRF in case
\configClass{earthRotation}{earthRotationType} is provided.
See also \program{GnssAttitude2Orbex}.
)";
/***********************************************/
#include "programs/program.h"
#include "base/string.h"
#include "classes/earthRotation/earthRotation.h"
#include "files/fileInstrument.h"
/***** CLASS ***********************************/
/** @brief Converts satellite attitude from ORBEX to StarCamera format.
* @ingroup programsGroup */
class GnssOrbex2StarCamera
{
public:
void run(Config &config, Parallel::CommunicatorPtr comm);
};
GROOPS_REGISTER_PROGRAM(GnssOrbex2StarCamera, SINGLEPROCESS, "Converts satellite attitude from ORBEX to StarCamera format.", Conversion, Gnss, Instrument)
/***********************************************/
void GnssOrbex2StarCamera::run(Config &config, Parallel::CommunicatorPtr /*comm*/)
{
try
{
FileName fileNameOutStarCamera, fileNameInOrbex;
std::vector<std::string> identifiers;
EarthRotationPtr earthRotation;
readConfig(config, "outputfileStarCamera", fileNameOutStarCamera, Config::MUSTSET, "", "rotation from body frame to TRF/CRF, identifier is appended to each file");
readConfig(config, "inputfileOrbex", fileNameInOrbex, Config::MUSTSET, "", "");
readConfig(config, "identifier", identifiers, Config::OPTIONAL, "", "(empty = all) satellite identifier, e.g. G23 or E05");
readConfig(config, "earthRotation", earthRotation, Config::OPTIONAL, "file", "rotation from TRF to CRF");
if(isCreateSchema(config)) return;
logStatus<<"read ORBEX file <"<<fileNameInOrbex<<">"<<Log::endl;
InFile file(fileNameInOrbex);
std::map<std::string, StarCameraArc> starCameraArcs;
std::string line;
Bool isDataBlock = FALSE;
Time time;
Rotary3d crf2trf;
while(std::getline(file, line))
{
if(String::startsWith(line, "+EPHEMERIS/DATA"))
{
isDataBlock = TRUE;
continue;
}
if(String::startsWith(line, "-EPHEMERIS/DATA"))
isDataBlock = FALSE;
if(!isDataBlock || String::startsWith(line, "*"))
continue;
if(String::startsWith(line, "##"))
{
time = date2time(String::toInt(line.substr(3,4)), String::toInt(line.substr(8,2)), String::toInt(line.substr(11,2)),
String::toInt(line.substr(14,2)), String::toInt(line.substr(17,2)), String::toDouble(line.substr(20,15)));
if(earthRotation)
crf2trf = earthRotation->rotaryMatrix(time);
}
if(String::startsWith(line, " ATT"))
{
std::string id = line.substr(5,3);
if(identifiers.size() && std::find(identifiers.begin(), identifiers.end(), id) == identifiers.end())
continue;
Vector q(4);
std::stringstream ss(line.substr(23));
ss>>q(0)>>q(1)>>q(2)>>q(3);
Rotary3d trf2sat(q);
StarCameraEpoch epoch;
epoch.time = time;
epoch.rotary = inverse(trf2sat * crf2trf); // (trf/crf2sat --> sat2trf/crf)
starCameraArcs[id].push_back(epoch);
}
}
logStatus<<"write star camera files <"<<fileNameOutStarCamera<<">"<<Log::endl;
for(const auto &sat : starCameraArcs)
InstrumentFile::write(fileNameOutStarCamera.appendBaseName("."+sat.first), sat.second);
}
catch(std::exception &e)
{
GROOPS_RETHROW(e)
}
}
/***********************************************/
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