From 529fa602d16dbd204b3259d3fbda0960eaabc316 Mon Sep 17 00:00:00 2001
From: Praneeth Ratna <63547155+praneethratna@users.noreply.github.com>
Date: Mon, 18 Dec 2023 22:17:09 +0530
Subject: [PATCH] Added parser support for EK80 MRU1 (#1242)

* added parser support for MRU1

* added heading variable in ek80 groups and also added test case
---
 echopype/convert/set_groups_ek80.py         | 11 +++++++++++
 echopype/convert/utils/ek_raw_parsers.py    | 22 ++++++++++++++++++++-
 echopype/tests/convert/test_convert_ek80.py | 14 +++++++++++++
 3 files changed, 46 insertions(+), 1 deletion(-)

diff --git a/echopype/convert/set_groups_ek80.py b/echopype/convert/set_groups_ek80.py
index 8759b5369..0938ac6b4 100644
--- a/echopype/convert/set_groups_ek80.py
+++ b/echopype/convert/set_groups_ek80.py
@@ -406,6 +406,17 @@ def set_platform(self) -> xr.Dataset:
                         "standard_name": "sound_frequency",
                     },
                 ),
+                "heading": (
+                    ["time2"],
+                    np.array(self.parser_obj.mru.get("heading", [np.nan])),
+                    {
+                        "long_name": "Platform heading (true)",
+                        "standard_name": "platform_orientation",
+                        "units": "degrees_north",
+                        "valid_min": 0.0,
+                        "valid_max": 360.0,
+                    },
+                ),
             },
             coords={
                 "channel": (
diff --git a/echopype/convert/utils/ek_raw_parsers.py b/echopype/convert/utils/ek_raw_parsers.py
index b259e619f..4a7118659 100644
--- a/echopype/convert/utils/ek_raw_parsers.py
+++ b/echopype/convert/utils/ek_raw_parsers.py
@@ -502,6 +502,16 @@ class SimradMRUParser(_SimradDatagramParser):
         pitch:        float
         heading:      float
 
+        type:         string == 'MRU1'
+        low_date:     long uint representing LSBytes of 64bit NT date
+        high_date:    long uint representing MSBytes of 64bit NT date
+        timestamp:    datetime.datetime object of NT date, assumed to be UTC
+        heave:        float
+        roll :        float
+        pitch:        float
+        heading:      float
+        length:       long uint
+
     The following methods are defined:
 
         from_string(str):    parse a raw ER60 NMEA datagram
@@ -522,7 +532,17 @@ def __init__(self):
                 ("roll", "f"),
                 ("pitch", "f"),
                 ("heading", "f"),
-            ]
+            ],
+            1: [
+                ("type", "4s"),
+                ("low_date", "L"),
+                ("high_date", "L"),
+                ("heave", "f"),
+                ("roll", "f"),
+                ("pitch", "f"),
+                ("heading", "f"),
+                ("length", "L"),
+            ],
         }
 
         _SimradDatagramParser.__init__(self, "MRU", headers)
diff --git a/echopype/tests/convert/test_convert_ek80.py b/echopype/tests/convert/test_convert_ek80.py
index 14b57b5fb..641c16ea0 100644
--- a/echopype/tests/convert/test_convert_ek80.py
+++ b/echopype/tests/convert/test_convert_ek80.py
@@ -5,6 +5,7 @@
 from echopype import open_raw
 
 from echopype.testing import TEST_DATA_FOLDER
+from echopype.convert.parse_ek80 import ParseEK80
 from echopype.convert.set_groups_ek80 import WIDE_BAND_TRANS, PULSE_COMPRESS, FILTER_IMAG, FILTER_REAL, DECIMATION
 
 
@@ -428,3 +429,16 @@ def test_convert_ek80_no_fil_coeff(ek80_path):
     for t in [WIDE_BAND_TRANS, PULSE_COMPRESS]:
         for p in [FILTER_REAL, FILTER_IMAG, DECIMATION]:
             assert f"{t}_{p}" not in vendor_spec_ds
+
+
+def test_convert_ek80_mru1(ek80_path):
+    """Make sure we can convert EK80 file with MRU1 datagram."""
+    ek80_mru1_path = str(ek80_path.joinpath('20231016_Cal_-D20231016-T220322.raw'))
+    echodata = open_raw(raw_file=ek80_mru1_path, sonar_model='EK80')
+    parser = ParseEK80(str(ek80_mru1_path), None)
+    parser.parse_raw()
+
+    np.all(echodata["Platform"]["pitch"].data == np.array(parser.mru["pitch"]))
+    np.all(echodata["Platform"]["roll"].data == np.array(parser.mru["roll"]))
+    np.all(echodata["Platform"]["vertical_offset"].data == np.array(parser.mru["heave"]))
+    np.all(echodata["Platform"]["heading"].data == np.array(parser.mru["heading"]))