1 | /*
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2 | Converter for RTCM3 data to RINEX.
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3 | $Id: rtcm3torinex.c,v 1.27 2008/03/25 15:10:48 stoecker Exp $
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4 | Copyright (C) 2005-2008 by Dirk Stöcker <stoecker@alberding.eu>
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5 |
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6 | This software is a complete NTRIP-RTCM3 to RINEX converter as well as
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7 | a module of the BNC tool for multiformat conversion. Contact Dirk
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8 | Stöcker for suggestions and bug reports related to the RTCM3 to RINEX
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9 | conversion problems and the author of BNC for all the other problems.
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10 |
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11 | This program is free software; you can redistribute it and/or modify
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12 | it under the terms of the GNU General Public License as published by
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13 | the Free Software Foundation; either version 2 of the License, or
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14 | (at your option) any later version.
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15 |
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16 | This program is distributed in the hope that it will be useful,
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17 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | GNU General Public License for more details.
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20 |
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21 | You should have received a copy of the GNU General Public License
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22 | along with this program; if not, write to the Free Software
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23 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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24 | or read http://www.gnu.org/licenses/gpl.txt
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25 | */
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26 |
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27 | #include <ctype.h>
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28 | #include <errno.h>
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29 | #include <math.h>
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30 | #include <signal.h>
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31 | #include <stdarg.h>
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32 | #include <stdio.h>
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33 | #include <stdlib.h>
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34 | #include <string.h>
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35 | #include <sys/types.h>
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36 | #include <time.h>
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37 | #include <unistd.h>
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38 |
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39 | #ifndef NO_RTCM3_MAIN
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40 | #include <getopt.h>
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41 | #include <netdb.h>
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42 | #include <netinet/in.h>
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43 | #include <sys/socket.h>
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44 | #endif
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45 |
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46 | #ifndef sparc
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47 | #include <stdint.h>
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48 | #endif
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49 |
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50 | #include "rtcm3torinex.h"
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51 |
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52 | /* CVS revision and version */
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53 | static char revisionstr[] = "$Revision: 1.27 $";
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54 |
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55 | #ifndef COMPILEDATE
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56 | #define COMPILEDATE " built " __DATE__
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57 | #endif
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58 |
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59 | static uint32_t CRC24(long size, const unsigned char *buf)
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60 | {
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61 | uint32_t crc = 0;
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62 | int i;
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63 |
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64 | while(size--)
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65 | {
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66 | crc ^= (*buf++) << (16);
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67 | for(i = 0; i < 8; i++)
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68 | {
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69 | crc <<= 1;
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70 | if(crc & 0x1000000)
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71 | crc ^= 0x01864cfb;
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72 | }
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73 | }
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74 | return crc;
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75 | }
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76 |
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77 | static int GetMessage(struct RTCM3ParserData *handle)
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78 | {
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79 | unsigned char *m, *e;
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80 | int i;
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81 |
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82 | m = handle->Message+handle->SkipBytes;
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83 | e = handle->Message+handle->MessageSize;
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84 | handle->NeedBytes = handle->SkipBytes = 0;
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85 | while(e-m >= 3)
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86 | {
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87 | if(m[0] == 0xD3)
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88 | {
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89 | handle->size = ((m[1]&3)<<8)|m[2];
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90 | if(e-m >= handle->size+6)
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91 | {
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92 | if((uint32_t)((m[3+handle->size]<<16)|(m[3+handle->size+1]<<8)
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93 | |(m[3+handle->size+2])) == CRC24(handle->size+3, m))
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94 | {
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95 | handle->SkipBytes = handle->size;
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96 | break;
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97 | }
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98 | else
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99 | ++m;
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100 | }
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101 | else
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102 | {
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103 | handle->NeedBytes = handle->size+6;
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104 | break;
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105 | }
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106 | }
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107 | else
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108 | ++m;
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109 | }
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110 | if(e-m < 3)
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111 | handle->NeedBytes = 3;
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112 |
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113 | /* copy buffer to front */
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114 | i = m - handle->Message;
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115 | if(i && m < e)
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116 | memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
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117 | handle->MessageSize -= i;
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118 |
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119 | return !handle->NeedBytes;
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120 | }
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121 |
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122 | #define LOADBITS(a) \
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123 | { \
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124 | while((a) > numbits) \
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125 | { \
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126 | if(!size--) break; \
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127 | bitfield = (bitfield<<8)|*(data++); \
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128 | numbits += 8; \
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129 | } \
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130 | }
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131 |
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132 | /* extract bits from data stream
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133 | b = variable to store result, a = number of bits */
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134 | #define GETBITS(b, a) \
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135 | { \
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136 | LOADBITS(a) \
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137 | b = (bitfield<<(64-numbits))>>(64-(a)); \
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138 | numbits -= (a); \
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139 | }
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140 |
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141 | /* extract floating value from data stream
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142 | b = variable to store result, a = number of bits */
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143 | #define GETFLOAT(b, a, c) \
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144 | { \
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145 | LOADBITS(a) \
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146 | b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
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147 | numbits -= (a); \
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148 | }
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149 |
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150 | /* extract signed floating value from data stream
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151 | b = variable to store result, a = number of bits */
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152 | #define GETFLOATSIGN(b, a, c) \
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153 | { \
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154 | LOADBITS(a) \
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155 | b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
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156 | numbits -= (a); \
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157 | }
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158 |
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159 | /* extract bits from data stream
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160 | b = variable to store result, a = number of bits */
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161 | #define GETBITSSIGN(b, a) \
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162 | { \
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163 | LOADBITS(a) \
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164 | b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
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165 | numbits -= (a); \
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166 | }
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167 |
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168 | #define GETFLOATSIGNM(b, a, c) \
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169 | { int l; \
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170 | LOADBITS(a) \
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171 | l = (bitfield<<(64-numbits))>>(64-1); \
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172 | b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
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173 | numbits -= (a); \
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174 | if(l) b *= -1.0; \
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175 | }
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176 |
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177 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
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178 |
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179 | struct leapseconds { /* specify the day of leap second */
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180 | int day; /* this is the day, where 23:59:59 exists 2 times */
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181 | int month; /* not the next day! */
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182 | int year;
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183 | int taicount;
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184 | };
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185 | static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
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186 | static const struct leapseconds leap[] = {
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187 | /*{31, 12, 1971, 11},*/
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188 | /*{31, 12, 1972, 12},*/
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189 | /*{31, 12, 1973, 13},*/
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190 | /*{31, 12, 1974, 14},*/
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191 | /*{31, 12, 1975, 15},*/
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192 | /*{31, 12, 1976, 16},*/
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193 | /*{31, 12, 1977, 17},*/
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194 | /*{31, 12, 1978, 18},*/
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195 | /*{31, 12, 1979, 19},*/
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196 | {30, 06, 1981,20},
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197 | {30, 06, 1982,21},
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198 | {30, 06, 1983,22},
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199 | {30, 06, 1985,23},
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200 | {31, 12, 1987,24},
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201 | {31, 12, 1989,25},
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202 | {31, 12, 1990,26},
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203 | {30, 06, 1992,27},
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204 | {30, 06, 1993,28},
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205 | {30, 06, 1994,29},
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206 | {31, 12, 1995,30},
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207 | {30, 06, 1997,31},
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208 | {31, 12, 1998,32},
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209 | {31, 12, 2005,33},
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210 | {0,0,0,0} /* end marker */
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211 | };
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212 | #define LEAPSECONDS 14 /* only needed for approx. time */
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213 | #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
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214 |
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215 | static int longyear(int year, int month)
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216 | {
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217 | if(!(year % 4) && (!(year % 400) || (year % 100)))
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218 | {
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219 | if(!month || month == 2)
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220 | return 1;
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221 | }
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222 | return 0;
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223 | }
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224 |
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225 | static int gnumleap(int year, int month, int day)
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226 | {
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227 | int ls = 0;
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228 | const struct leapseconds *l;
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229 |
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230 | for(l = leap; l->taicount && year >= l->year; ++l)
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231 | {
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232 | if(year > l->year || month > l->month || day > l->day)
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233 | ls = l->taicount - GPSLEAPSTART;
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234 | }
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235 | return ls;
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236 | }
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237 |
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238 | void updatetime(int *week, int *tow, int tk, int fixnumleap)
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239 | {
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240 | int y,m,d,k,l, nul;
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241 | unsigned int j = *week*(7*24*60*60) + *tow + 5*24*60*60+3*60*60;
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242 | int glo_daynumber = 0, glo_timeofday;
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243 | for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
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244 | + gnumleap(y+1,1,1); ++y)
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245 | {
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246 | j -= k; glo_daynumber += l;
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247 | }
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248 | for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
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249 | + gnumleap(y, m+1, 1); ++m)
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250 | {
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251 | j -= k; glo_daynumber += l;
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252 | }
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253 | for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
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254 | j -= 24*60*60;
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255 | glo_daynumber -= 16*365+4-d;
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256 | nul = gnumleap(y, m, d);
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257 | glo_timeofday = j-nul;
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258 |
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259 | if(tk < 5*60*1000 && glo_timeofday > 23*60*60)
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260 | *tow += 24*60*60;
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261 | else if(glo_timeofday < 5*60 && tk > 23*60*60*1000)
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262 | *tow -= 24*60*60;
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263 | *tow += tk/1000-glo_timeofday;
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264 | if(fixnumleap)
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265 | *tow -= nul;
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266 | if(*tow < 0) {*tow += 24*60*60*7; --*week; }
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267 | if(*tow >= 24*60*60*7) {*tow -= 24*60*60*7; ++*week; }
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268 | }
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269 |
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270 | int RTCM3Parser(struct RTCM3ParserData *handle)
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271 | {
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272 | int ret=0;
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273 |
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274 | while(!ret && GetMessage(handle))
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275 | {
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276 | /* using 64 bit integer types, as it is much easier than handling
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277 | the long datatypes in 32 bit */
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278 | uint64_t numbits = 0, bitfield = 0;
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279 | int size = handle->size, type;
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280 | int syncf, old = 0;
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281 | unsigned char *data = handle->Message+3;
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282 |
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283 | GETBITS(type,12)
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284 | switch(type)
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285 | {
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286 | case 1019:
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287 | {
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288 | struct gpsephemeris *ge;
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289 | int sv;
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290 |
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291 | ge = &handle->ephemerisGPS;
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292 | memset(ge, 0, sizeof(*ge));
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293 |
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294 | GETBITS(sv, 6)
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295 | ge->satellite = (sv < 40 ? sv : sv+80);
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296 | GETBITS(ge->GPSweek, 10)
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297 | ge->GPSweek += 1024;
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298 | GETBITS(ge->URAindex, 4)
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299 | GETBITS(sv, 2)
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300 | if(sv & 1)
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301 | ge->flags |= GPSEPHF_L2PCODE;
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302 | if(sv & 2)
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303 | ge->flags |= GPSEPHF_L2CACODE;
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304 | GETFLOATSIGN(ge->IDOT, 14, PI/(double)(1<<30)/(double)(1<<13))
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305 | GETBITS(ge->IODE, 8)
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306 | GETBITS(ge->TOC, 16)
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307 | ge->TOC <<= 4;
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308 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
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309 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
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310 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
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311 | GETBITS(ge->IODC, 10)
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312 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
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313 | GETFLOATSIGN(ge->Delta_n, 16, PI/(double)(1<<30)/(double)(1<<13))
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314 | GETFLOATSIGN(ge->M0, 32, PI/(double)(1<<30)/(double)(1<<1))
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315 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
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316 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
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317 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
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318 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
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319 | GETBITS(ge->TOE, 16)
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320 | ge->TOE <<= 4;
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321 |
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322 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
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323 | GETFLOATSIGN(ge->OMEGA0, 32, PI/(double)(1<<30)/(double)(1<<1))
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324 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
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325 | GETFLOATSIGN(ge->i0, 32, PI/(double)(1<<30)/(double)(1<<1))
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326 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
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327 | GETFLOATSIGN(ge->omega, 32, PI/(double)(1<<30)/(double)(1<<1))
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328 | GETFLOATSIGN(ge->OMEGADOT, 24, PI/(double)(1<<30)/(double)(1<<13))
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329 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
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330 | GETBITS(ge->SVhealth, 6)
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331 | GETBITS(sv, 1)
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332 | if(sv)
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333 | ge->flags |= GPSEPHF_L2PCODEDATA;
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334 |
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335 | ret = 1019;
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336 | }
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337 | break;
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338 | case 1020:
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339 | {
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340 | struct glonassephemeris *ge;
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341 | int i;
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342 |
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343 | ge = &handle->ephemerisGLONASS;
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344 | memset(ge, 0, sizeof(*ge));
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345 |
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346 | ge->flags |= GLOEPHF_PAVAILABLE;
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347 | GETBITS(ge->almanac_number, 6)
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348 | GETBITS(i, 5)
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349 | ge->frequency_number = i-7;
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350 | GETBITS(i, 1)
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351 | if(i)
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352 | ge->flags |= GLOEPHF_ALMANACHEALTHY;
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353 | GETBITS(i, 1)
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354 | if(i)
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355 | ge->flags |= GLOEPHF_ALMANACHEALTHOK;
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356 | GETBITS(i, 2)
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357 | if(i & 1)
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358 | ge->flags |= GLOEPHF_P10TRUE;
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359 | if(i & 2)
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360 | ge->flags |= GLOEPHF_P11TRUE;
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361 | GETBITS(i, 5)
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362 | ge->tk = i*60*60;
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363 | GETBITS(i, 6)
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364 | ge->tk += i*60;
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365 | GETBITS(i, 1)
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366 | ge->tk += i*30;
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367 | GETBITS(i, 1)
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368 | if(i)
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369 | ge->flags |= GLOEPHF_UNHEALTHY;
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370 | GETBITS(i, 1)
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371 | if(i)
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372 | ge->flags |= GLOEPHF_P2TRUE;
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373 | GETBITS(i, 7)
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374 | ge->tb = i*15*60;
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375 | GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
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376 | GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
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377 | GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
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378 | GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
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379 | GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
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380 | GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
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381 | GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
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382 | GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
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383 | GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
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384 | GETBITS(i, 1)
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385 | if(i)
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386 | ge->flags |= GLOEPHF_P3TRUE;
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387 | GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
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388 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
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389 | GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
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390 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
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391 | GETBITS(ge->E, 5)
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392 | /* GETBITS(b, 1) / * GLONASS-M P4 */
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393 | /* GETBITS(b, 4) / * GLONASS-M Ft */
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394 | /* GETBITS(b, 11) / * GLONASS-M Nt */
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395 | /* GETBITS(b, 2) / * GLONASS-M M */
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396 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
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397 | /* GETBITS(b, 11) / * GLONASS-M Na */
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398 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
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399 | /* GETBITS(b, 5) / * GLONASS-M N4 */
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400 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
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401 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
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402 | ge->GPSWeek = handle->GPSWeek;
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403 | ge->GPSTOW = handle->GPSTOW;
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404 | ret = 1020;
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405 | }
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406 | break;
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407 | case 1001: case 1002: case 1003: case 1004:
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408 | if(handle->GPSWeek)
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409 | {
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410 | int lastlockl1[64];
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411 | int lastlockl2[64];
|
---|
412 | struct gnssdata *gnss;
|
---|
413 | int i, num, wasamb=0;
|
---|
414 |
|
---|
415 | for(i = 0; i < 64; ++i)
|
---|
416 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
417 |
|
---|
418 | gnss = &handle->DataNew;
|
---|
419 |
|
---|
420 | SKIPBITS(12) /* id */
|
---|
421 | GETBITS(i,30)
|
---|
422 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
423 | ++handle->GPSWeek;
|
---|
424 | handle->GPSTOW = i/1000;
|
---|
425 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
426 | != handle->GPSWeek))
|
---|
427 | {
|
---|
428 | handle->Data = *gnss;
|
---|
429 | memset(gnss, 0, sizeof(*gnss));
|
---|
430 | old = 1;
|
---|
431 | }
|
---|
432 | gnss->timeofweek = i;
|
---|
433 | gnss->week = handle->GPSWeek;
|
---|
434 |
|
---|
435 | GETBITS(syncf,1) /* sync */
|
---|
436 | GETBITS(i,5)
|
---|
437 | gnss->numsats = i;
|
---|
438 | SKIPBITS(4) /* smind, smint */
|
---|
439 |
|
---|
440 | for(num = 0; num < gnss->numsats; ++num)
|
---|
441 | {
|
---|
442 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
443 |
|
---|
444 | GETBITS(sv, 6);
|
---|
445 | gnss->satellites[num] = (sv < 40 ? sv : sv+80);
|
---|
446 | /* L1 */
|
---|
447 | GETBITS(code, 1);
|
---|
448 | if(code)
|
---|
449 | {
|
---|
450 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
451 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
452 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
453 | }
|
---|
454 | else
|
---|
455 | {
|
---|
456 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
457 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
458 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
459 | }
|
---|
460 | GETBITS(l1range, 24);
|
---|
461 | GETBITSSIGN(i, 20);
|
---|
462 | if((i&((1<<20)-1)) != 0x80000)
|
---|
463 | {
|
---|
464 | gnss->dataflags[num] |= (c|l);
|
---|
465 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
466 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
467 | }
|
---|
468 | GETBITS(i, 7);
|
---|
469 | lastlockl1[sv] = i;
|
---|
470 | if(handle->lastlockl1[sv] > i)
|
---|
471 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
472 | if(type == 1002 || type == 1004)
|
---|
473 | {
|
---|
474 | GETBITS(amb,8);
|
---|
475 | if(amb && (gnss->dataflags[num] & c))
|
---|
476 | {
|
---|
477 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
478 | gnss->measdata[num][le] += amb*299792.458;
|
---|
479 | ++wasamb;
|
---|
480 | }
|
---|
481 | GETBITS(i, 8);
|
---|
482 | if(i)
|
---|
483 | {
|
---|
484 | gnss->dataflags[num] |= s;
|
---|
485 | gnss->measdata[num][se] = i*0.25;
|
---|
486 | i /= 4*4;
|
---|
487 | if(i > 9) i = 9;
|
---|
488 | else if(i < 1) i = 1;
|
---|
489 | gnss->snrL1[num] = i;
|
---|
490 | }
|
---|
491 | }
|
---|
492 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
493 | if(type == 1003 || type == 1004)
|
---|
494 | {
|
---|
495 | /* L2 */
|
---|
496 | GETBITS(code,2);
|
---|
497 | if(code)
|
---|
498 | {
|
---|
499 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
500 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
501 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
502 | }
|
---|
503 | else
|
---|
504 | {
|
---|
505 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
506 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
507 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
508 | }
|
---|
509 | GETBITSSIGN(i,14);
|
---|
510 | if((i&((1<<14)-1)) != 0x2000)
|
---|
511 | {
|
---|
512 | gnss->dataflags[num] |= c;
|
---|
513 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
514 | +amb*299792.458;
|
---|
515 | }
|
---|
516 | GETBITSSIGN(i,20);
|
---|
517 | if((i&((1<<20)-1)) != 0x80000)
|
---|
518 | {
|
---|
519 | gnss->dataflags[num] |= l;
|
---|
520 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
521 | +amb*299792.458;
|
---|
522 | }
|
---|
523 | GETBITS(i,7);
|
---|
524 | lastlockl2[sv] = i;
|
---|
525 | if(handle->lastlockl2[sv] > i)
|
---|
526 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
527 | if(type == 1004)
|
---|
528 | {
|
---|
529 | GETBITS(i, 8);
|
---|
530 | if(i)
|
---|
531 | {
|
---|
532 | gnss->dataflags[num] |= s;
|
---|
533 | gnss->measdata[num][se] = i*0.25;
|
---|
534 | i /= 4*4;
|
---|
535 | if(i > 9) i = 9;
|
---|
536 | else if(i < 1) i = 1;
|
---|
537 | gnss->snrL2[num] = i;
|
---|
538 | }
|
---|
539 | }
|
---|
540 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
541 | }
|
---|
542 | }
|
---|
543 | for(i = 0; i < 64; ++i)
|
---|
544 | {
|
---|
545 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
546 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
547 | }
|
---|
548 | if(!syncf && !old)
|
---|
549 | {
|
---|
550 | handle->Data = *gnss;
|
---|
551 | memset(gnss, 0, sizeof(*gnss));
|
---|
552 | }
|
---|
553 | if(!syncf || old)
|
---|
554 | {
|
---|
555 | if(wasamb) /* not RINEX compatible without */
|
---|
556 | ret = 1;
|
---|
557 | else
|
---|
558 | ret = 2;
|
---|
559 | }
|
---|
560 | }
|
---|
561 | break;
|
---|
562 | case 1009: case 1010: case 1011: case 1012:
|
---|
563 | {
|
---|
564 | int lastlockl1[64];
|
---|
565 | int lastlockl2[64];
|
---|
566 | struct gnssdata *gnss;
|
---|
567 | int i, num;
|
---|
568 | int wasamb=0;
|
---|
569 |
|
---|
570 | for(i = 0; i < 64; ++i)
|
---|
571 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
572 |
|
---|
573 | gnss = &handle->DataNew;
|
---|
574 |
|
---|
575 | SKIPBITS(12) /* id */;
|
---|
576 | GETBITS(i,27) /* tk */
|
---|
577 |
|
---|
578 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0);
|
---|
579 | i = handle->GPSTOW*1000;
|
---|
580 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
581 | != handle->GPSWeek))
|
---|
582 | {
|
---|
583 | handle->Data = *gnss;
|
---|
584 | memset(gnss, 0, sizeof(*gnss));
|
---|
585 | old = 1;
|
---|
586 | }
|
---|
587 |
|
---|
588 | gnss->timeofweek = i;
|
---|
589 | gnss->week = handle->GPSWeek;
|
---|
590 |
|
---|
591 | GETBITS(syncf,1) /* sync */
|
---|
592 | GETBITS(i,5)
|
---|
593 | gnss->numsats += i;
|
---|
594 |
|
---|
595 | SKIPBITS(4) /* smind, smint */
|
---|
596 |
|
---|
597 | for(num = gnss->numsats-i; num < gnss->numsats; ++num)
|
---|
598 | {
|
---|
599 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
600 | int freq;
|
---|
601 |
|
---|
602 | GETBITS(sv, 6)
|
---|
603 | gnss->satellites[num] = sv-1 + PRN_GLONASS_START;
|
---|
604 | /* L1 */
|
---|
605 | GETBITS(code, 1)
|
---|
606 | GETBITS(freq, 5)
|
---|
607 | if(code)
|
---|
608 | {
|
---|
609 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
610 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
611 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
612 | }
|
---|
613 | else
|
---|
614 | {
|
---|
615 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
616 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
617 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
618 | }
|
---|
619 | GETBITS(l1range, 25)
|
---|
620 | GETBITSSIGN(i, 20)
|
---|
621 | if((i&((1<<20)-1)) != 0x80000)
|
---|
622 | {
|
---|
623 | /* Handle this like GPS. Actually for GLONASS L1 range is always
|
---|
624 | valid. To be on the save side, we handle it as invalid like we
|
---|
625 | do for GPS and also remove range in case of 0x80000. */
|
---|
626 | gnss->dataflags[num] |= (c|l);
|
---|
627 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
628 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
629 | }
|
---|
630 | GETBITS(i, 7)
|
---|
631 | lastlockl1[sv] = i;
|
---|
632 | if(handle->lastlockl1[sv] > i)
|
---|
633 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
634 | if(type == 1010 || type == 1012)
|
---|
635 | {
|
---|
636 | GETBITS(amb,7)
|
---|
637 | if(amb && (gnss->dataflags[num] & c))
|
---|
638 | {
|
---|
639 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
640 | gnss->measdata[num][le] += amb*599584.916;
|
---|
641 | ++wasamb;
|
---|
642 | }
|
---|
643 | GETBITS(i, 8)
|
---|
644 | if(i)
|
---|
645 | {
|
---|
646 | gnss->dataflags[num] |= s;
|
---|
647 | gnss->measdata[num][se] = i*0.25;
|
---|
648 | i /= 4*4;
|
---|
649 | if(i > 9) i = 9;
|
---|
650 | else if(i < 1) i = 1;
|
---|
651 | gnss->snrL1[num] = i;
|
---|
652 | }
|
---|
653 | }
|
---|
654 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
655 | if(type == 1011 || type == 1012)
|
---|
656 | {
|
---|
657 | /* L2 */
|
---|
658 | GETBITS(code,2)
|
---|
659 | if(code)
|
---|
660 | {
|
---|
661 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
662 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
663 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
664 | }
|
---|
665 | else
|
---|
666 | {
|
---|
667 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
668 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
669 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
670 | }
|
---|
671 | GETBITSSIGN(i,14)
|
---|
672 | if((i&((1<<14)-1)) != 0x2000)
|
---|
673 | {
|
---|
674 | gnss->dataflags[num] |= c;
|
---|
675 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
676 | +amb*599584.916;
|
---|
677 | }
|
---|
678 | GETBITSSIGN(i,20)
|
---|
679 | if((i&((1<<20)-1)) != 0x80000)
|
---|
680 | {
|
---|
681 | gnss->dataflags[num] |= l;
|
---|
682 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
683 | +amb*599584.915;
|
---|
684 | }
|
---|
685 | GETBITS(i,7)
|
---|
686 | lastlockl2[sv] = i;
|
---|
687 | if(handle->lastlockl2[sv] > i)
|
---|
688 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
689 | if(type == 1012)
|
---|
690 | {
|
---|
691 | GETBITS(i, 8)
|
---|
692 | if(i)
|
---|
693 | {
|
---|
694 | gnss->dataflags[num] |= s;
|
---|
695 | gnss->measdata[num][se] = i*0.25;
|
---|
696 | i /= 4*4;
|
---|
697 | if(i > 9) i = 9;
|
---|
698 | else if(i < 1) i = 1;
|
---|
699 | gnss->snrL2[num] = i;
|
---|
700 | }
|
---|
701 | }
|
---|
702 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
703 | }
|
---|
704 | if(!sv || sv > 24)
|
---|
705 | {
|
---|
706 | --num; --gnss->numsats;
|
---|
707 | }
|
---|
708 | }
|
---|
709 | for(i = 0; i < 64; ++i)
|
---|
710 | {
|
---|
711 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
712 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
713 | }
|
---|
714 | if(!syncf && !old)
|
---|
715 | {
|
---|
716 | handle->Data = *gnss;
|
---|
717 | memset(gnss, 0, sizeof(*gnss));
|
---|
718 | }
|
---|
719 | if(!syncf || old)
|
---|
720 | {
|
---|
721 | if(wasamb) /* not RINEX compatible without */
|
---|
722 | ret = 1;
|
---|
723 | else
|
---|
724 | ret = 2;
|
---|
725 | }
|
---|
726 | }
|
---|
727 | break;
|
---|
728 | }
|
---|
729 | }
|
---|
730 | return ret;
|
---|
731 | }
|
---|
732 |
|
---|
733 | struct Header
|
---|
734 | {
|
---|
735 | const char *version;
|
---|
736 | const char *pgm;
|
---|
737 | const char *marker;
|
---|
738 | const char *markertype;
|
---|
739 | const char *observer;
|
---|
740 | const char *receiver;
|
---|
741 | const char *antenna;
|
---|
742 | const char *position;
|
---|
743 | const char *antennaposition;
|
---|
744 | const char *wavelength;
|
---|
745 | const char *typesofobs; /* should not be modified outside */
|
---|
746 | const char *typesofobsG; /* should not be modified outside */
|
---|
747 | const char *typesofobsR; /* should not be modified outside */
|
---|
748 | const char *typesofobsS; /* should not be modified outside */
|
---|
749 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
750 | };
|
---|
751 |
|
---|
752 | #define MAXHEADERLINES 50
|
---|
753 | #define MAXHEADERBUFFERSIZE 4096
|
---|
754 | struct HeaderData
|
---|
755 | {
|
---|
756 | union
|
---|
757 | {
|
---|
758 | struct Header named;
|
---|
759 | const char *unnamed[MAXHEADERLINES];
|
---|
760 | } data;
|
---|
761 | int numheaders;
|
---|
762 | };
|
---|
763 |
|
---|
764 | struct converttimeinfo {
|
---|
765 | int second; /* seconds of GPS time [0..59] */
|
---|
766 | int minute; /* minutes of GPS time [0..59] */
|
---|
767 | int hour; /* hour of GPS time [0..24] */
|
---|
768 | int day; /* day of GPS time [1..28..30(31)*/
|
---|
769 | int month; /* month of GPS time [1..12]*/
|
---|
770 | int year; /* year of GPS time [1980..] */
|
---|
771 | };
|
---|
772 |
|
---|
773 | void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
774 | {
|
---|
775 | int i, k, doy, j; /* temporary variables */
|
---|
776 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
777 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
778 | j -= k;
|
---|
779 | c->year = i;
|
---|
780 | doy = 1+ (j / (24*60*60));
|
---|
781 | j %= (24*60*60);
|
---|
782 | c->hour = j / (60*60);
|
---|
783 | j %= (60*60);
|
---|
784 | c->minute = j / 60;
|
---|
785 | c->second = j % 60;
|
---|
786 | j = 0;
|
---|
787 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
788 | j += k;
|
---|
789 | c->month = i;
|
---|
790 | c->day = doy - j;
|
---|
791 | }
|
---|
792 |
|
---|
793 | #ifndef NO_RTCM3_MAIN
|
---|
794 | void RTCM3Error(const char *fmt, ...)
|
---|
795 | {
|
---|
796 | va_list v;
|
---|
797 | va_start(v, fmt);
|
---|
798 | vfprintf(stderr, fmt, v);
|
---|
799 | va_end(v);
|
---|
800 | }
|
---|
801 | #endif
|
---|
802 |
|
---|
803 | void RTCM3Text(const char *fmt, ...)
|
---|
804 | {
|
---|
805 | va_list v;
|
---|
806 | va_start(v, fmt);
|
---|
807 | vprintf(fmt, v);
|
---|
808 | va_end(v);
|
---|
809 | }
|
---|
810 |
|
---|
811 | int HandleRunBy(char *buffer, int buffersize, const char **u,
|
---|
812 | int rinex3)
|
---|
813 | {
|
---|
814 | const char *user;
|
---|
815 | time_t t;
|
---|
816 | struct tm * t2;
|
---|
817 |
|
---|
818 | #ifdef NO_RTCM3_MAIN
|
---|
819 | if(revisionstr[0] == '$')
|
---|
820 | {
|
---|
821 | char *a;
|
---|
822 | int i=0;
|
---|
823 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
824 | revisionstr[i++] = *a;
|
---|
825 | revisionstr[i] = 0;
|
---|
826 | }
|
---|
827 | #endif
|
---|
828 |
|
---|
829 | user= getenv("USER");
|
---|
830 | if(!user) user = "";
|
---|
831 | t = time(&t);
|
---|
832 | t2 = gmtime(&t);
|
---|
833 | if(u) *u = user;
|
---|
834 | return 1+snprintf(buffer, buffersize,
|
---|
835 | rinex3 ?
|
---|
836 | "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
|
---|
837 | "PGM / RUN BY / DATE" :
|
---|
838 | "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
|
---|
839 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
840 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
|
---|
841 | }
|
---|
842 |
|
---|
843 | // Inserted parts for BNC Perlt
|
---|
844 | #ifdef NO_RTCM3_MAIN
|
---|
845 | #define NUMSTARTSKIP 1
|
---|
846 | #else
|
---|
847 | #define NUMSTARTSKIP 3
|
---|
848 | #endif
|
---|
849 |
|
---|
850 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
851 | {
|
---|
852 | #ifdef NO_RTCM3_MAIN
|
---|
853 | // Part of Handle Header for data request for BNC (independently on actually delivered data), original is commented out by ifndef NO_RTCM3_MAIN. Perlt
|
---|
854 | int i;
|
---|
855 | if(Parser->rinex3)
|
---|
856 | {
|
---|
857 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
858 | { \
|
---|
859 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
860 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
861 | ++Parser->numdatatypes##a; \
|
---|
862 | }
|
---|
863 |
|
---|
864 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
865 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
866 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
867 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
868 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
869 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
870 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
871 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
872 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
873 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
874 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
875 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
876 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
877 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
878 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
879 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
880 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
881 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
882 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
883 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
884 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
885 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
886 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
887 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
888 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
889 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
890 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
891 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
892 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
893 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
894 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
895 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
896 |
|
---|
897 | }
|
---|
898 | else
|
---|
899 | {
|
---|
900 | #define CHECKFLAGS(a, b) \
|
---|
901 | { \
|
---|
902 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
903 | { \
|
---|
904 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
905 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
906 | } \
|
---|
907 | else \
|
---|
908 | { \
|
---|
909 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
910 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
911 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
912 | } \
|
---|
913 | }
|
---|
914 |
|
---|
915 | int data[RINEXENTRY_NUMBER];
|
---|
916 | for(i = 0; i < RINEXENTRY_NUMBER; ++i) data[i] = 0;
|
---|
917 |
|
---|
918 | CHECKFLAGS(C1,C1)
|
---|
919 | CHECKFLAGS(C2,C2)
|
---|
920 | CHECKFLAGS(P1,P1)
|
---|
921 | CHECKFLAGS(P2,P2)
|
---|
922 | CHECKFLAGS(L1C,L1)
|
---|
923 | CHECKFLAGS(L1P,L1)
|
---|
924 | CHECKFLAGS(L2C,L2)
|
---|
925 | CHECKFLAGS(L2P,L2)
|
---|
926 | CHECKFLAGS(D1C,D1)
|
---|
927 | CHECKFLAGS(D1P,D1)
|
---|
928 | CHECKFLAGS(D2C,D2)
|
---|
929 | CHECKFLAGS(D2P,D2)
|
---|
930 | CHECKFLAGS(S1C,S1)
|
---|
931 | CHECKFLAGS(S1P,S1)
|
---|
932 | CHECKFLAGS(S2C,S2)
|
---|
933 | CHECKFLAGS(S2P,S2)
|
---|
934 | }
|
---|
935 | // End Part of Handle Header for BNC Perlt
|
---|
936 | #endif
|
---|
937 |
|
---|
938 | #ifndef NO_RTCM3_MAIN
|
---|
939 | struct HeaderData hdata;
|
---|
940 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
941 | char *buffer = thebuffer;
|
---|
942 | size_t buffersize = sizeof(thebuffer);
|
---|
943 | int i;
|
---|
944 |
|
---|
945 | memset(&hdata, 0, sizeof(hdata));
|
---|
946 |
|
---|
947 | hdata.data.named.version = buffer;
|
---|
948 | i = 1+snprintf(buffer, buffersize,
|
---|
949 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
950 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
951 | buffer += i; buffersize -= i;
|
---|
952 |
|
---|
953 | {
|
---|
954 | const char *str;
|
---|
955 | hdata.data.named.pgm = buffer;
|
---|
956 | i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
|
---|
957 | buffer += i; buffersize -= i;
|
---|
958 | hdata.data.named.observer = buffer;
|
---|
959 | i = 1+snprintf(buffer, buffersize,
|
---|
960 | "%-20.20s "
|
---|
961 | "OBSERVER / AGENCY", str);
|
---|
962 | buffer += i; buffersize -= i;
|
---|
963 | }
|
---|
964 |
|
---|
965 | hdata.data.named.marker =
|
---|
966 | "RTCM3TORINEX "
|
---|
967 | "MARKER NAME";
|
---|
968 |
|
---|
969 | hdata.data.named.markertype = !Parser->rinex3 ? 0 :
|
---|
970 | "GEODETIC "
|
---|
971 | "MARKER TYPE";
|
---|
972 |
|
---|
973 | hdata.data.named.receiver =
|
---|
974 | " "
|
---|
975 | "REC # / TYPE / VERS";
|
---|
976 |
|
---|
977 | hdata.data.named.antenna =
|
---|
978 | " "
|
---|
979 | "ANT # / TYPE";
|
---|
980 |
|
---|
981 | hdata.data.named.position =
|
---|
982 | " .0000 .0000 .0000 "
|
---|
983 | "APPROX POSITION XYZ";
|
---|
984 |
|
---|
985 | hdata.data.named.antennaposition =
|
---|
986 | " .0000 .0000 .0000 "
|
---|
987 | "ANTENNA: DELTA H/E/N";
|
---|
988 |
|
---|
989 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
990 | " 1 1 "
|
---|
991 | "WAVELENGTH FACT L1/2";
|
---|
992 |
|
---|
993 | if(Parser->rinex3)
|
---|
994 | {
|
---|
995 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
996 | if(flags & GNSSDF_##b##DATA) \
|
---|
997 | { \
|
---|
998 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
999 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
1000 | ++Parser->numdatatypes##a; \
|
---|
1001 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#c); \
|
---|
1002 | tbufferpos += 4; \
|
---|
1003 | }
|
---|
1004 |
|
---|
1005 | int flags = Parser->startflags;
|
---|
1006 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
1007 | int tbufferpos = 0;
|
---|
1008 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1009 | flags |= Parser->Data.dataflags[i];
|
---|
1010 |
|
---|
1011 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
1012 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
1013 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
1014 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
1015 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
1016 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
1017 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
1018 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
1019 |
|
---|
1020 | hdata.data.named.typesofobsS = buffer;
|
---|
1021 | i = 1+snprintf(buffer, buffersize,
|
---|
1022 | "S %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
1023 | buffer += i; buffersize -= i;
|
---|
1024 |
|
---|
1025 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
1026 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
1027 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
1028 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
1029 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
1030 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
1031 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
1032 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
1033 |
|
---|
1034 | hdata.data.named.typesofobsG = buffer;
|
---|
1035 | i = 1+snprintf(buffer, buffersize,
|
---|
1036 | "G %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
1037 | if(Parser->numdatatypesGPS>13)
|
---|
1038 | {
|
---|
1039 | i += snprintf(buffer+i-1, buffersize,
|
---|
1040 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1041 | }
|
---|
1042 | buffer += i; buffersize -= i;
|
---|
1043 |
|
---|
1044 | tbufferpos = 0;
|
---|
1045 |
|
---|
1046 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
1047 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
1048 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
1049 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
1050 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
1051 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
1052 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
1053 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
1054 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
1055 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
1056 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
1057 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
1058 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
1059 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
1060 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
1061 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
1062 |
|
---|
1063 | hdata.data.named.typesofobsR = buffer;
|
---|
1064 | i = 1+snprintf(buffer, buffersize,
|
---|
1065 | "R %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGLO, tbuffer);
|
---|
1066 | if(Parser->numdatatypesGLO>13)
|
---|
1067 | {
|
---|
1068 | i += snprintf(buffer+i-1, buffersize,
|
---|
1069 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1070 | }
|
---|
1071 | buffer += i; buffersize -= i;
|
---|
1072 | }
|
---|
1073 | else
|
---|
1074 | {
|
---|
1075 | #define CHECKFLAGS(a, b) \
|
---|
1076 | if(flags & GNSSDF_##a##DATA) \
|
---|
1077 | { \
|
---|
1078 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
1079 | { \
|
---|
1080 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
1081 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
1082 | } \
|
---|
1083 | else \
|
---|
1084 | { \
|
---|
1085 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
1086 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
1087 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
1088 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#b); \
|
---|
1089 | tbufferpos += 6; \
|
---|
1090 | } \
|
---|
1091 | }
|
---|
1092 |
|
---|
1093 | int flags = Parser->startflags;
|
---|
1094 | int data[RINEXENTRY_NUMBER];
|
---|
1095 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
1096 | int tbufferpos = 0;
|
---|
1097 | for(i = 0; i < RINEXENTRY_NUMBER; ++i)
|
---|
1098 | data[i] = 0;
|
---|
1099 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1100 | flags |= Parser->Data.dataflags[i];
|
---|
1101 |
|
---|
1102 | CHECKFLAGS(C1,C1)
|
---|
1103 | CHECKFLAGS(C2,C2)
|
---|
1104 | CHECKFLAGS(P1,P1)
|
---|
1105 | CHECKFLAGS(P2,P2)
|
---|
1106 | CHECKFLAGS(L1C,L1)
|
---|
1107 | CHECKFLAGS(L1P,L1)
|
---|
1108 | CHECKFLAGS(L2C,L2)
|
---|
1109 | CHECKFLAGS(L2P,L2)
|
---|
1110 | CHECKFLAGS(D1C,D1)
|
---|
1111 | CHECKFLAGS(D1P,D1)
|
---|
1112 | CHECKFLAGS(D2C,D2)
|
---|
1113 | CHECKFLAGS(D2P,D2)
|
---|
1114 | CHECKFLAGS(S1C,S1)
|
---|
1115 | CHECKFLAGS(S1P,S1)
|
---|
1116 | CHECKFLAGS(S2C,S2)
|
---|
1117 | CHECKFLAGS(S2P,S2)
|
---|
1118 |
|
---|
1119 | hdata.data.named.typesofobs = buffer;
|
---|
1120 | i = 1+snprintf(buffer, buffersize,
|
---|
1121 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->numdatatypesGPS, tbuffer);
|
---|
1122 | if(Parser->numdatatypesGPS>9)
|
---|
1123 | {
|
---|
1124 | i += snprintf(buffer+i-1, buffersize,
|
---|
1125 | "\n %-54.54s# / TYPES OF OBSERV", tbuffer+9*6);
|
---|
1126 | }
|
---|
1127 | buffer += i; buffersize -= i;
|
---|
1128 | }
|
---|
1129 |
|
---|
1130 | {
|
---|
1131 | struct converttimeinfo cti;
|
---|
1132 | converttime(&cti, Parser->Data.week,
|
---|
1133 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
1134 | hdata.data.named.timeoffirstobs = buffer;
|
---|
1135 | i = 1+snprintf(buffer, buffersize,
|
---|
1136 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
1137 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
1138 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
1139 |
|
---|
1140 | buffer += i; buffersize -= i;
|
---|
1141 | }
|
---|
1142 |
|
---|
1143 | hdata.numheaders = 15;
|
---|
1144 |
|
---|
1145 | if(Parser->headerfile)
|
---|
1146 | {
|
---|
1147 | FILE *fh;
|
---|
1148 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
1149 | {
|
---|
1150 | size_t siz;
|
---|
1151 | char *lastblockstart;
|
---|
1152 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
1153 | {
|
---|
1154 | buffer[siz] = '\n';
|
---|
1155 | if(siz == buffersize)
|
---|
1156 | {
|
---|
1157 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
1158 | (int)siz);
|
---|
1159 | }
|
---|
1160 | /* scan the file line by line and enter the entries in the list */
|
---|
1161 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
1162 | /* overwrites entries, except for comments */
|
---|
1163 | lastblockstart = buffer;
|
---|
1164 | for(i = 0; i < (int)siz; ++i)
|
---|
1165 | {
|
---|
1166 | if(buffer[i] == '\n')
|
---|
1167 | { /* we found a line */
|
---|
1168 | char *end;
|
---|
1169 | while(buffer[i+1] == '\r')
|
---|
1170 | ++i; /* skip \r in case there are any */
|
---|
1171 | end = buffer+i;
|
---|
1172 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
1173 | *(end--) = 0;
|
---|
1174 | if(end-lastblockstart < 60+5) /* short line */
|
---|
1175 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
1176 | else
|
---|
1177 | {
|
---|
1178 | int pos;
|
---|
1179 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
1180 | pos = hdata.numheaders;
|
---|
1181 | else
|
---|
1182 | {
|
---|
1183 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
1184 | {
|
---|
1185 | if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
1186 | break;
|
---|
1187 | }
|
---|
1188 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
1189 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
1190 | {
|
---|
1191 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
1192 | lastblockstart+60);
|
---|
1193 | }
|
---|
1194 | }
|
---|
1195 | if(pos >= MAXHEADERLINES)
|
---|
1196 | {
|
---|
1197 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
1198 | MAXHEADERLINES);
|
---|
1199 | }
|
---|
1200 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
1201 | {
|
---|
1202 | RTCM3Error("End of header ignored.\n");
|
---|
1203 | }
|
---|
1204 | else
|
---|
1205 | {
|
---|
1206 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
1207 | if(pos == hdata.numheaders)
|
---|
1208 | ++hdata.numheaders;
|
---|
1209 | }
|
---|
1210 | }
|
---|
1211 | lastblockstart = buffer+i+1;
|
---|
1212 | }
|
---|
1213 | }
|
---|
1214 | }
|
---|
1215 | else
|
---|
1216 | {
|
---|
1217 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
1218 | Parser->headerfile);
|
---|
1219 | }
|
---|
1220 | fclose(fh);
|
---|
1221 | }
|
---|
1222 | else
|
---|
1223 | {
|
---|
1224 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
1225 | Parser->headerfile);
|
---|
1226 | }
|
---|
1227 | }
|
---|
1228 |
|
---|
1229 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
1230 | {
|
---|
1231 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
1232 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
1233 | }
|
---|
1234 | RTCM3Text(" "
|
---|
1235 | "END OF HEADER\n");
|
---|
1236 | #endif
|
---|
1237 | }
|
---|
1238 |
|
---|
1239 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
1240 | {
|
---|
1241 | char buffer[100], *b;
|
---|
1242 | va_list v;
|
---|
1243 | va_start(v, fmt);
|
---|
1244 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
1245 | for(b = buffer; *b; ++b)
|
---|
1246 | {
|
---|
1247 | if(*b == 'e') *b = 'D';
|
---|
1248 | }
|
---|
1249 | fprintf(file, "%s", buffer);
|
---|
1250 | va_end(v);
|
---|
1251 | }
|
---|
1252 |
|
---|
1253 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
1254 | {
|
---|
1255 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
1256 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
1257 | {
|
---|
1258 | int r;
|
---|
1259 | while((r = RTCM3Parser(Parser)))
|
---|
1260 | {
|
---|
1261 | if(r == 1020 || r == 1019)
|
---|
1262 | {
|
---|
1263 | FILE *file = 0;
|
---|
1264 |
|
---|
1265 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
1266 | {
|
---|
1267 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
|
---|
1268 | if(n)
|
---|
1269 | {
|
---|
1270 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
1271 | {
|
---|
1272 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
1273 | }
|
---|
1274 | else
|
---|
1275 | {
|
---|
1276 | char buffer[100];
|
---|
1277 | fprintf(Parser->gpsfile,
|
---|
1278 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
1279 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
1280 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
1281 | }
|
---|
1282 | Parser->gpsephemeris = 0;
|
---|
1283 | Parser->glonassephemeris = 0;
|
---|
1284 | file = Parser->gpsfile;
|
---|
1285 | }
|
---|
1286 | }
|
---|
1287 | else
|
---|
1288 | {
|
---|
1289 | if(r == 1020)
|
---|
1290 | {
|
---|
1291 | if(Parser->glonassephemeris)
|
---|
1292 | {
|
---|
1293 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
1294 | {
|
---|
1295 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
1296 | }
|
---|
1297 | else
|
---|
1298 | {
|
---|
1299 | char buffer[100];
|
---|
1300 | fprintf(Parser->glonassfile,
|
---|
1301 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
1302 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
1303 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
1304 | }
|
---|
1305 | Parser->glonassephemeris = 0;
|
---|
1306 | }
|
---|
1307 | file = Parser->glonassfile;
|
---|
1308 | }
|
---|
1309 | else if(r == 1019)
|
---|
1310 | {
|
---|
1311 | if(Parser->gpsephemeris)
|
---|
1312 | {
|
---|
1313 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
1314 | {
|
---|
1315 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
1316 | }
|
---|
1317 | else
|
---|
1318 | {
|
---|
1319 | char buffer[100];
|
---|
1320 | fprintf(Parser->gpsfile,
|
---|
1321 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
1322 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
1323 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
1324 | }
|
---|
1325 | Parser->gpsephemeris = 0;
|
---|
1326 | }
|
---|
1327 | file = Parser->gpsfile;
|
---|
1328 | }
|
---|
1329 | }
|
---|
1330 | if(file)
|
---|
1331 | {
|
---|
1332 | if(r == 1020)
|
---|
1333 | {
|
---|
1334 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
1335 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
1336 | struct converttimeinfo cti;
|
---|
1337 |
|
---|
1338 | updatetime(&w, &tow, e->tb*1000, 1);
|
---|
1339 | converttime(&cti, w, tow);
|
---|
1340 |
|
---|
1341 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
1342 |
|
---|
1343 | if(Parser->rinex3)
|
---|
1344 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
1345 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
1346 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
1347 | else
|
---|
1348 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
1349 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
1350 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
1351 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
|
---|
1352 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
1353 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
|
---|
1354 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
1355 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
|
---|
1356 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
1357 | }
|
---|
1358 | else /* if(r == 1019) */
|
---|
1359 | {
|
---|
1360 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
1361 | double d; /* temporary variable */
|
---|
1362 | unsigned long int i; /* temporary variable */
|
---|
1363 | struct converttimeinfo cti;
|
---|
1364 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
1365 |
|
---|
1366 | if(Parser->rinex3)
|
---|
1367 | ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
1368 | e->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
1369 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
1370 | e->clock_driftrate);
|
---|
1371 | else
|
---|
1372 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
1373 | e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
1374 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
1375 | e->clock_driftrate);
|
---|
1376 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
|
---|
1377 | e->Crs, e->Delta_n, e->M0);
|
---|
1378 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
|
---|
1379 | e->e, e->Cus, e->sqrt_A);
|
---|
1380 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
|
---|
1381 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
1382 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
|
---|
1383 | e->Crc, e->omega, e->OMEGADOT);
|
---|
1384 | d = 0;
|
---|
1385 | i = e->flags;
|
---|
1386 | if(i & GPSEPHF_L2CACODE)
|
---|
1387 | d += 2.0;
|
---|
1388 | if(i & GPSEPHF_L2PCODE)
|
---|
1389 | d += 1.0;
|
---|
1390 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
|
---|
1391 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
1392 | if(e->URAindex <= 6) /* URA index */
|
---|
1393 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
1394 | else
|
---|
1395 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
1396 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
1397 | case, so we create a high "non"-accuracy value. */
|
---|
1398 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
|
---|
1399 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
1400 |
|
---|
1401 | ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW), 0.0);
|
---|
1402 | /* TOW */
|
---|
1403 | }
|
---|
1404 | }
|
---|
1405 | }
|
---|
1406 | else
|
---|
1407 | {
|
---|
1408 | int i, j, o;
|
---|
1409 | struct converttimeinfo cti;
|
---|
1410 |
|
---|
1411 | if(Parser->init < NUMSTARTSKIP) /* skip first epochs to detect correct data types */
|
---|
1412 | {
|
---|
1413 | ++Parser->init;
|
---|
1414 |
|
---|
1415 | if(Parser->init == NUMSTARTSKIP)
|
---|
1416 | HandleHeader(Parser);
|
---|
1417 | else
|
---|
1418 | {
|
---|
1419 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1420 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
1421 | continue;
|
---|
1422 | }
|
---|
1423 | }
|
---|
1424 | if(r == 2 && !Parser->validwarning)
|
---|
1425 | {
|
---|
1426 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
1427 | " COMMENT\n");
|
---|
1428 | Parser->validwarning = 1;
|
---|
1429 | }
|
---|
1430 |
|
---|
1431 | converttime(&cti, Parser->Data.week,
|
---|
1432 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
1433 | if(Parser->rinex3)
|
---|
1434 | {
|
---|
1435 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 0%3d\n",
|
---|
1436 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
1437 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
1438 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1439 | {
|
---|
1440 | int glo = 0;
|
---|
1441 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
1442 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
1443 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
1444 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
1445 | {
|
---|
1446 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
1447 | glo = 1;
|
---|
1448 | }
|
---|
1449 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
1450 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
1451 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
1452 | else
|
---|
1453 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
1454 |
|
---|
1455 | if(glo)
|
---|
1456 | {
|
---|
1457 | for(j = 0; j < Parser->numdatatypesGLO; ++j)
|
---|
1458 | {
|
---|
1459 | int df = Parser->dataflagGLO[j];
|
---|
1460 | int pos = Parser->dataposGLO[j];
|
---|
1461 | if((Parser->Data.dataflags[i] & df)
|
---|
1462 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1463 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1464 | {
|
---|
1465 | char lli = ' ';
|
---|
1466 | char snr = ' ';
|
---|
1467 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
1468 | {
|
---|
1469 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
1470 | lli = '1';
|
---|
1471 | snr = '0'+Parser->Data.snrL1[i];
|
---|
1472 | }
|
---|
1473 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
1474 | {
|
---|
1475 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
1476 | lli = '1';
|
---|
1477 | snr = '0'+Parser->Data.snrL2[i];
|
---|
1478 | }
|
---|
1479 | RTCM3Text("%14.3f%c%c",
|
---|
1480 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
1481 | }
|
---|
1482 | else
|
---|
1483 | { /* no or illegal data */
|
---|
1484 | RTCM3Text(" ");
|
---|
1485 | }
|
---|
1486 | }
|
---|
1487 | }
|
---|
1488 | else
|
---|
1489 | {
|
---|
1490 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
1491 | {
|
---|
1492 | int df = Parser->dataflagGPS[j];
|
---|
1493 | int pos = Parser->dataposGPS[j];
|
---|
1494 | if((Parser->Data.dataflags[i] & df)
|
---|
1495 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1496 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1497 | {
|
---|
1498 | char lli = ' ';
|
---|
1499 | char snr = ' ';
|
---|
1500 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
1501 | {
|
---|
1502 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
1503 | lli = '1';
|
---|
1504 | snr = '0'+Parser->Data.snrL1[i];
|
---|
1505 | }
|
---|
1506 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
1507 | {
|
---|
1508 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
1509 | lli = '1';
|
---|
1510 | snr = '0'+Parser->Data.snrL2[i];
|
---|
1511 | }
|
---|
1512 | RTCM3Text("%14.3f%c%c",
|
---|
1513 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
1514 | }
|
---|
1515 | else
|
---|
1516 | { /* no or illegal data */
|
---|
1517 | RTCM3Text(" ");
|
---|
1518 | }
|
---|
1519 | }
|
---|
1520 | }
|
---|
1521 | RTCM3Text("\n");
|
---|
1522 | }
|
---|
1523 | }
|
---|
1524 | else
|
---|
1525 | {
|
---|
1526 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f 0%3d",
|
---|
1527 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
1528 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
1529 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
1530 | {
|
---|
1531 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
1532 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
1533 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
1534 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
1535 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
1536 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
1537 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
1538 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
1539 | else
|
---|
1540 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
1541 | }
|
---|
1542 | RTCM3Text("\n");
|
---|
1543 | o = 12;
|
---|
1544 | j = Parser->Data.numsats - 12;
|
---|
1545 | while(j > 0)
|
---|
1546 | {
|
---|
1547 | RTCM3Text(" ");
|
---|
1548 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
1549 | {
|
---|
1550 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
1551 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
1552 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
1553 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
1554 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
1555 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
1556 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
1557 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
1558 | else
|
---|
1559 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
1560 | }
|
---|
1561 | RTCM3Text("\n");
|
---|
1562 | j -= 12;
|
---|
1563 | o += 12;
|
---|
1564 | }
|
---|
1565 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1566 | {
|
---|
1567 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
1568 | {
|
---|
1569 | int v = 0;
|
---|
1570 | int df = Parser->dataflag[j];
|
---|
1571 | int pos = Parser->datapos[j];
|
---|
1572 | if((Parser->Data.dataflags[i] & df)
|
---|
1573 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1574 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1575 | {
|
---|
1576 | v = 1;
|
---|
1577 | }
|
---|
1578 | else
|
---|
1579 | {
|
---|
1580 | df = Parser->dataflagGPS[j];
|
---|
1581 | pos = Parser->dataposGPS[j];
|
---|
1582 |
|
---|
1583 | if((Parser->Data.dataflags[i] & df)
|
---|
1584 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
1585 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
1586 | {
|
---|
1587 | v = 1;
|
---|
1588 | }
|
---|
1589 | }
|
---|
1590 |
|
---|
1591 | if(!v)
|
---|
1592 | { /* no or illegal data */
|
---|
1593 | RTCM3Text(" ");
|
---|
1594 | }
|
---|
1595 | else
|
---|
1596 | {
|
---|
1597 | char lli = ' ';
|
---|
1598 | char snr = ' ';
|
---|
1599 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
1600 | {
|
---|
1601 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
1602 | lli = '1';
|
---|
1603 | snr = '0'+Parser->Data.snrL1[i];
|
---|
1604 | }
|
---|
1605 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
1606 | {
|
---|
1607 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
1608 | lli = '1';
|
---|
1609 | snr = '0'+Parser->Data.snrL2[i];
|
---|
1610 | }
|
---|
1611 | RTCM3Text("%14.3f%c%c",
|
---|
1612 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
1613 | }
|
---|
1614 | if(j%5 == 4 || j == Parser->numdatatypesGPS-1)
|
---|
1615 | RTCM3Text("\n");
|
---|
1616 | }
|
---|
1617 | }
|
---|
1618 | }
|
---|
1619 | }
|
---|
1620 | }
|
---|
1621 | }
|
---|
1622 | }
|
---|
1623 |
|
---|
1624 | #ifndef NO_RTCM3_MAIN
|
---|
1625 | static char datestr[] = "$Date: 2008/03/25 15:10:48 $";
|
---|
1626 |
|
---|
1627 | /* The string, which is send as agent in HTTP request */
|
---|
1628 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
1629 |
|
---|
1630 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
1631 |
|
---|
1632 | static const char encodingTable [64] = {
|
---|
1633 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
1634 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
1635 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
1636 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
1637 | };
|
---|
1638 |
|
---|
1639 | /* does not buffer overrun, but breaks directly after an error */
|
---|
1640 | /* returns the number of required bytes */
|
---|
1641 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
1642 | {
|
---|
1643 | unsigned char inbuf[3];
|
---|
1644 | char *out = buf;
|
---|
1645 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
1646 |
|
---|
1647 | while(*user || *pwd)
|
---|
1648 | {
|
---|
1649 | i = 0;
|
---|
1650 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
1651 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
1652 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
1653 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
1654 | if(out-buf < size-1)
|
---|
1655 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
1656 | if(out-buf < size-1)
|
---|
1657 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
1658 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
1659 | if(out-buf < size-1)
|
---|
1660 | {
|
---|
1661 | if(fill == 2)
|
---|
1662 | *(out++) = '=';
|
---|
1663 | else
|
---|
1664 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
1665 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
1666 | }
|
---|
1667 | if(out-buf < size-1)
|
---|
1668 | {
|
---|
1669 | if(fill >= 1)
|
---|
1670 | *(out++) = '=';
|
---|
1671 | else
|
---|
1672 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
1673 | }
|
---|
1674 | bytes += 4;
|
---|
1675 | }
|
---|
1676 | if(out-buf < size)
|
---|
1677 | *out = 0;
|
---|
1678 | return bytes;
|
---|
1679 | }
|
---|
1680 |
|
---|
1681 | static int stop = 0;
|
---|
1682 |
|
---|
1683 | struct Args
|
---|
1684 | {
|
---|
1685 | const char *server;
|
---|
1686 | const char *port;
|
---|
1687 | int mode;
|
---|
1688 | int timeout;
|
---|
1689 | int rinex3;
|
---|
1690 | const char *user;
|
---|
1691 | const char *password;
|
---|
1692 | const char *proxyhost;
|
---|
1693 | const char *proxyport;
|
---|
1694 | const char *nmea;
|
---|
1695 | const char *data;
|
---|
1696 | const char *headerfile;
|
---|
1697 | const char *gpsephemeris;
|
---|
1698 | const char *glonassephemeris;
|
---|
1699 | };
|
---|
1700 |
|
---|
1701 | /* option parsing */
|
---|
1702 | #ifdef NO_LONG_OPTS
|
---|
1703 | #define LONG_OPT(a)
|
---|
1704 | #else
|
---|
1705 | #define LONG_OPT(a) a
|
---|
1706 | static struct option opts[] = {
|
---|
1707 | { "data", required_argument, 0, 'd'},
|
---|
1708 | { "server", required_argument, 0, 's'},
|
---|
1709 | { "password", required_argument, 0, 'p'},
|
---|
1710 | { "port", required_argument, 0, 'r'},
|
---|
1711 | { "timeout", required_argument, 0, 't'},
|
---|
1712 | { "header", required_argument, 0, 'f'},
|
---|
1713 | { "user", required_argument, 0, 'u'},
|
---|
1714 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
1715 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
1716 | { "rinex3", no_argument, 0, '3'},
|
---|
1717 | { "proxyport", required_argument, 0, 'R'},
|
---|
1718 | { "proxyhost", required_argument, 0, 'S'},
|
---|
1719 | { "nmea", required_argument, 0, 'n'},
|
---|
1720 | { "mode", required_argument, 0, 'M'},
|
---|
1721 | { "help", no_argument, 0, 'h'},
|
---|
1722 | {0,0,0,0}};
|
---|
1723 | #endif
|
---|
1724 | #define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3"
|
---|
1725 |
|
---|
1726 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
1727 |
|
---|
1728 | static const char *geturl(const char *url, struct Args *args)
|
---|
1729 | {
|
---|
1730 | static char buf[1000];
|
---|
1731 | static char *Buffer = buf;
|
---|
1732 | static char *Bufend = buf+sizeof(buf);
|
---|
1733 |
|
---|
1734 | if(strncmp("ntrip:", url, 6))
|
---|
1735 | return "URL must start with 'ntrip:'.";
|
---|
1736 | url += 6; /* skip ntrip: */
|
---|
1737 |
|
---|
1738 | if(*url != '@' && *url != '/')
|
---|
1739 | {
|
---|
1740 | /* scan for mountpoint */
|
---|
1741 | args->data = Buffer;
|
---|
1742 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
1743 | *(Buffer++) = *(url++);
|
---|
1744 | if(Buffer == args->data)
|
---|
1745 | return "Mountpoint required.";
|
---|
1746 | else if(Buffer >= Bufend-1)
|
---|
1747 | return "Parsing buffer too short.";
|
---|
1748 | *(Buffer++) = 0;
|
---|
1749 | }
|
---|
1750 |
|
---|
1751 | if(*url == '/') /* username and password */
|
---|
1752 | {
|
---|
1753 | ++url;
|
---|
1754 | args->user = Buffer;
|
---|
1755 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
1756 | *(Buffer++) = *(url++);
|
---|
1757 | if(Buffer == args->user)
|
---|
1758 | return "Username cannot be empty.";
|
---|
1759 | else if(Buffer >= Bufend-1)
|
---|
1760 | return "Parsing buffer too short.";
|
---|
1761 | *(Buffer++) = 0;
|
---|
1762 |
|
---|
1763 | if(*url == ':') ++url;
|
---|
1764 |
|
---|
1765 | args->password = Buffer;
|
---|
1766 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
1767 | *(Buffer++) = *(url++);
|
---|
1768 | if(Buffer == args->password)
|
---|
1769 | return "Password cannot be empty.";
|
---|
1770 | else if(Buffer >= Bufend-1)
|
---|
1771 | return "Parsing buffer too short.";
|
---|
1772 | *(Buffer++) = 0;
|
---|
1773 | }
|
---|
1774 |
|
---|
1775 | if(*url == '@') /* server */
|
---|
1776 | {
|
---|
1777 | ++url;
|
---|
1778 | if(*url != '@' && *url != ':')
|
---|
1779 | {
|
---|
1780 | args->server = Buffer;
|
---|
1781 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
1782 | *(Buffer++) = *(url++);
|
---|
1783 | if(Buffer == args->server)
|
---|
1784 | return "Servername cannot be empty.";
|
---|
1785 | else if(Buffer >= Bufend-1)
|
---|
1786 | return "Parsing buffer too short.";
|
---|
1787 | *(Buffer++) = 0;
|
---|
1788 | }
|
---|
1789 |
|
---|
1790 | if(*url == ':')
|
---|
1791 | {
|
---|
1792 | ++url;
|
---|
1793 | args->port = Buffer;
|
---|
1794 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
1795 | *(Buffer++) = *(url++);
|
---|
1796 | if(Buffer == args->port)
|
---|
1797 | return "Port cannot be empty.";
|
---|
1798 | else if(Buffer >= Bufend-1)
|
---|
1799 | return "Parsing buffer too short.";
|
---|
1800 | *(Buffer++) = 0;
|
---|
1801 | }
|
---|
1802 |
|
---|
1803 | if(*url == '@') /* proxy */
|
---|
1804 | {
|
---|
1805 | ++url;
|
---|
1806 | args->proxyhost = Buffer;
|
---|
1807 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
1808 | *(Buffer++) = *(url++);
|
---|
1809 | if(Buffer == args->proxyhost)
|
---|
1810 | return "Proxy servername cannot be empty.";
|
---|
1811 | else if(Buffer >= Bufend-1)
|
---|
1812 | return "Parsing buffer too short.";
|
---|
1813 | *(Buffer++) = 0;
|
---|
1814 |
|
---|
1815 | if(*url == ':')
|
---|
1816 | {
|
---|
1817 | ++url;
|
---|
1818 | args->proxyport = Buffer;
|
---|
1819 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
1820 | *(Buffer++) = *(url++);
|
---|
1821 | if(Buffer == args->proxyport)
|
---|
1822 | return "Proxy port cannot be empty.";
|
---|
1823 | else if(Buffer >= Bufend-1)
|
---|
1824 | return "Parsing buffer too short.";
|
---|
1825 | *(Buffer++) = 0;
|
---|
1826 | }
|
---|
1827 | }
|
---|
1828 | }
|
---|
1829 | if(*url == ';') /* NMEA */
|
---|
1830 | {
|
---|
1831 | args->nmea = ++url;
|
---|
1832 | while(*url)
|
---|
1833 | ++url;
|
---|
1834 | }
|
---|
1835 |
|
---|
1836 | return *url ? "Garbage at end of server string." : 0;
|
---|
1837 | }
|
---|
1838 |
|
---|
1839 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
1840 | {
|
---|
1841 | int res = 1;
|
---|
1842 | int getoptr;
|
---|
1843 | int help = 0;
|
---|
1844 | char *t;
|
---|
1845 |
|
---|
1846 | args->server = "www.euref-ip.net";
|
---|
1847 | args->port = "2101";
|
---|
1848 | args->timeout = 60;
|
---|
1849 | args->user = "";
|
---|
1850 | args->password = "";
|
---|
1851 | args->data = 0;
|
---|
1852 | args->headerfile = 0;
|
---|
1853 | args->gpsephemeris = 0;
|
---|
1854 | args->glonassephemeris = 0;
|
---|
1855 | args->rinex3 = 0;
|
---|
1856 | args->nmea = 0;
|
---|
1857 | args->proxyhost = 0;
|
---|
1858 | args->proxyport = "2101";
|
---|
1859 | args->mode = AUTO;
|
---|
1860 | help = 0;
|
---|
1861 |
|
---|
1862 | do
|
---|
1863 | {
|
---|
1864 |
|
---|
1865 | #ifdef NO_LONG_OPTS
|
---|
1866 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
1867 | #else
|
---|
1868 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
1869 | #endif
|
---|
1870 | {
|
---|
1871 | case 's': args->server = optarg; break;
|
---|
1872 | case 'u': args->user = optarg; break;
|
---|
1873 | case 'p': args->password = optarg; break;
|
---|
1874 | case 'd': args->data = optarg; break;
|
---|
1875 | case 'f': args->headerfile = optarg; break;
|
---|
1876 | case 'E': args->gpsephemeris = optarg; break;
|
---|
1877 | case 'G': args->glonassephemeris = optarg; break;
|
---|
1878 | case 'r': args->port = optarg; break;
|
---|
1879 | case '3': args->rinex3 = 1; break;
|
---|
1880 | case 'S': args->proxyhost = optarg; break;
|
---|
1881 | case 'n': args->nmea = optarg; break;
|
---|
1882 | case 'R': args->proxyport = optarg; break;
|
---|
1883 | case 'h': help=1; break;
|
---|
1884 | case 'M':
|
---|
1885 | args->mode = 0;
|
---|
1886 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
1887 | args->mode = NTRIP1;
|
---|
1888 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
1889 | args->mode = HTTP;
|
---|
1890 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
1891 | args->mode = RTSP;
|
---|
1892 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
1893 | args->mode = AUTO;
|
---|
1894 | else args->mode = atoi(optarg);
|
---|
1895 | if((args->mode == 0) || (args->mode >= END))
|
---|
1896 | {
|
---|
1897 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
1898 | res = 0;
|
---|
1899 | }
|
---|
1900 | break;
|
---|
1901 | case 't':
|
---|
1902 | args->timeout = strtoul(optarg, &t, 10);
|
---|
1903 | if((t && *t) || args->timeout < 0)
|
---|
1904 | res = 0;
|
---|
1905 | break;
|
---|
1906 |
|
---|
1907 | case 1:
|
---|
1908 | {
|
---|
1909 | const char *err;
|
---|
1910 | if((err = geturl(optarg, args)))
|
---|
1911 | {
|
---|
1912 | RTCM3Error("%s\n\n", err);
|
---|
1913 | res = 0;
|
---|
1914 | }
|
---|
1915 | }
|
---|
1916 | break;
|
---|
1917 | case -1: break;
|
---|
1918 | }
|
---|
1919 | } while(getoptr != -1 || !res);
|
---|
1920 |
|
---|
1921 | datestr[0] = datestr[7];
|
---|
1922 | datestr[1] = datestr[8];
|
---|
1923 | datestr[2] = datestr[9];
|
---|
1924 | datestr[3] = datestr[10];
|
---|
1925 | datestr[5] = datestr[12];
|
---|
1926 | datestr[6] = datestr[13];
|
---|
1927 | datestr[8] = datestr[15];
|
---|
1928 | datestr[9] = datestr[16];
|
---|
1929 | datestr[4] = datestr[7] = '-';
|
---|
1930 | datestr[10] = 0;
|
---|
1931 |
|
---|
1932 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
1933 | {
|
---|
1934 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
|
---|
1935 | "Please specify only one navigation file.\n");
|
---|
1936 | res = 0;
|
---|
1937 | }
|
---|
1938 | else if(!res || help)
|
---|
1939 | {
|
---|
1940 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
1941 | "\nUsage: %s -s server -u user ...\n"
|
---|
1942 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
1943 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
1944 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
1945 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
1946 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
1947 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
1948 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
1949 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
1950 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
1951 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
1952 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
1953 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
1954 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
1955 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
1956 | " Valid modes are:\n"
|
---|
1957 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
1958 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
1959 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
1960 | " 4, a, auto automatic detection (default)\n"
|
---|
1961 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
1962 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
1963 | exit(1);
|
---|
1964 | }
|
---|
1965 | return res;
|
---|
1966 | }
|
---|
1967 |
|
---|
1968 | /* let the output complete a block if necessary */
|
---|
1969 | static void signalhandler(int sig)
|
---|
1970 | {
|
---|
1971 | if(!stop)
|
---|
1972 | {
|
---|
1973 | RTCM3Error("Stop signal number %d received. "
|
---|
1974 | "Trying to terminate gentle.\n", sig);
|
---|
1975 | stop = 1;
|
---|
1976 | alarm(1);
|
---|
1977 | }
|
---|
1978 | }
|
---|
1979 |
|
---|
1980 | #define ALARMTIME (2*60)
|
---|
1981 |
|
---|
1982 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
1983 | #ifdef __GNUC__
|
---|
1984 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
1985 | int sig __attribute__((__unused__)))
|
---|
1986 | #else /* __GNUC__ */
|
---|
1987 | static void signalhandler_alarm(int sig)
|
---|
1988 | #endif /* __GNUC__ */
|
---|
1989 | {
|
---|
1990 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
1991 | exit(1);
|
---|
1992 | }
|
---|
1993 |
|
---|
1994 | int main(int argc, char **argv)
|
---|
1995 | {
|
---|
1996 | struct Args args;
|
---|
1997 | struct RTCM3ParserData Parser;
|
---|
1998 |
|
---|
1999 | setbuf(stdout, 0);
|
---|
2000 | setbuf(stdin, 0);
|
---|
2001 | setbuf(stderr, 0);
|
---|
2002 |
|
---|
2003 | {
|
---|
2004 | char *a;
|
---|
2005 | int i=0;
|
---|
2006 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
2007 | revisionstr[i++] = *a;
|
---|
2008 | revisionstr[i] = 0;
|
---|
2009 | }
|
---|
2010 |
|
---|
2011 | signal(SIGINT, signalhandler);
|
---|
2012 | signal(SIGALRM,signalhandler_alarm);
|
---|
2013 | signal(SIGQUIT,signalhandler);
|
---|
2014 | signal(SIGTERM,signalhandler);
|
---|
2015 | signal(SIGPIPE,signalhandler);
|
---|
2016 | memset(&Parser, 0, sizeof(Parser));
|
---|
2017 | {
|
---|
2018 | time_t tim;
|
---|
2019 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
2020 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
2021 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
2022 | }
|
---|
2023 |
|
---|
2024 | if(getargs(argc, argv, &args))
|
---|
2025 | {
|
---|
2026 | int sockfd, numbytes;
|
---|
2027 | char buf[MAXDATASIZE];
|
---|
2028 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
2029 | struct hostent *he;
|
---|
2030 | struct servent *se;
|
---|
2031 | const char *server, *port, *proxyserver = 0;
|
---|
2032 | char proxyport[6];
|
---|
2033 | char *b;
|
---|
2034 | long i;
|
---|
2035 | struct timeval tv;
|
---|
2036 |
|
---|
2037 | alarm(ALARMTIME);
|
---|
2038 |
|
---|
2039 | Parser.headerfile = args.headerfile;
|
---|
2040 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
2041 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
2042 | Parser.rinex3 = args.rinex3;
|
---|
2043 |
|
---|
2044 | if(args.proxyhost)
|
---|
2045 | {
|
---|
2046 | int p;
|
---|
2047 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
2048 | p = i;
|
---|
2049 | else if(!(se = getservbyname(args.port, 0)))
|
---|
2050 | {
|
---|
2051 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
2052 | exit(1);
|
---|
2053 | }
|
---|
2054 | else
|
---|
2055 | {
|
---|
2056 | p = ntohs(se->s_port);
|
---|
2057 | }
|
---|
2058 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
2059 | port = args.proxyport;
|
---|
2060 | proxyserver = args.server;
|
---|
2061 | server = args.proxyhost;
|
---|
2062 | }
|
---|
2063 | else
|
---|
2064 | {
|
---|
2065 | server = args.server;
|
---|
2066 | port = args.port;
|
---|
2067 | }
|
---|
2068 |
|
---|
2069 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
2070 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
2071 | their_addr.sin_port = htons(i);
|
---|
2072 | else if(!(se = getservbyname(port, 0)))
|
---|
2073 | {
|
---|
2074 | RTCM3Error("Can't resolve port %s.", port);
|
---|
2075 | exit(1);
|
---|
2076 | }
|
---|
2077 | else
|
---|
2078 | {
|
---|
2079 | their_addr.sin_port = se->s_port;
|
---|
2080 | }
|
---|
2081 | if(!(he=gethostbyname(server)))
|
---|
2082 | {
|
---|
2083 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
2084 | exit(1);
|
---|
2085 | }
|
---|
2086 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
2087 | {
|
---|
2088 | perror("socket");
|
---|
2089 | exit(1);
|
---|
2090 | }
|
---|
2091 |
|
---|
2092 | tv.tv_sec = args.timeout;
|
---|
2093 | tv.tv_usec = 0;
|
---|
2094 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
2095 | {
|
---|
2096 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
2097 | exit(1);
|
---|
2098 | }
|
---|
2099 |
|
---|
2100 | their_addr.sin_family = AF_INET;
|
---|
2101 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
2102 |
|
---|
2103 | if(args.data && args.mode == RTSP)
|
---|
2104 | {
|
---|
2105 | struct sockaddr_in local;
|
---|
2106 | int sockudp, localport;
|
---|
2107 | int cseq = 1;
|
---|
2108 | socklen_t len;
|
---|
2109 |
|
---|
2110 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
2111 | {
|
---|
2112 | perror("socket");
|
---|
2113 | exit(1);
|
---|
2114 | }
|
---|
2115 | /* fill structure with local address information for UDP */
|
---|
2116 | memset(&local, 0, sizeof(local));
|
---|
2117 | local.sin_family = AF_INET;
|
---|
2118 | local.sin_port = htons(0);
|
---|
2119 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
2120 | len = sizeof(local);
|
---|
2121 | /* bind() in order to get a random RTP client_port */
|
---|
2122 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
2123 | {
|
---|
2124 | perror("bind");
|
---|
2125 | exit(1);
|
---|
2126 | }
|
---|
2127 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
2128 | {
|
---|
2129 | localport = ntohs(local.sin_port);
|
---|
2130 | }
|
---|
2131 | else
|
---|
2132 | {
|
---|
2133 | perror("local access failed");
|
---|
2134 | exit(1);
|
---|
2135 | }
|
---|
2136 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
2137 | sizeof(struct sockaddr)) == -1)
|
---|
2138 | {
|
---|
2139 | perror("connect");
|
---|
2140 | exit(1);
|
---|
2141 | }
|
---|
2142 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
2143 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2144 | "CSeq: %d\r\n"
|
---|
2145 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
2146 | "Ntrip-Component: Ntripclient\r\n"
|
---|
2147 | "User-Agent: %s/%s\r\n"
|
---|
2148 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
2149 | "Authorization: Basic ",
|
---|
2150 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
2151 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
2152 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
2153 | {
|
---|
2154 | RTCM3Error("Requested data too long\n");
|
---|
2155 | exit(1);
|
---|
2156 | }
|
---|
2157 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
2158 | if(i > MAXDATASIZE-4)
|
---|
2159 | {
|
---|
2160 | RTCM3Error("Username and/or password too long\n");
|
---|
2161 | exit(1);
|
---|
2162 | }
|
---|
2163 | buf[i++] = '\r';
|
---|
2164 | buf[i++] = '\n';
|
---|
2165 | buf[i++] = '\r';
|
---|
2166 | buf[i++] = '\n';
|
---|
2167 | if(args.nmea)
|
---|
2168 | {
|
---|
2169 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
2170 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
2171 | i += j;
|
---|
2172 | else
|
---|
2173 | {
|
---|
2174 | RTCM3Error("NMEA string too long\n");
|
---|
2175 | exit(1);
|
---|
2176 | }
|
---|
2177 | }
|
---|
2178 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2179 | {
|
---|
2180 | perror("send");
|
---|
2181 | exit(1);
|
---|
2182 | }
|
---|
2183 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
2184 | {
|
---|
2185 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
2186 | {
|
---|
2187 | int serverport = 0, session = 0;
|
---|
2188 | const char *portcheck = "server_port=";
|
---|
2189 | const char *sessioncheck = "session: ";
|
---|
2190 | int l = strlen(portcheck)-1;
|
---|
2191 | int j=0;
|
---|
2192 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2193 | {
|
---|
2194 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
2195 | ;
|
---|
2196 | }
|
---|
2197 | if(i == numbytes-l)
|
---|
2198 | {
|
---|
2199 | RTCM3Error("No server port number found\n");
|
---|
2200 | exit(1);
|
---|
2201 | }
|
---|
2202 | else
|
---|
2203 | {
|
---|
2204 | i+=l;
|
---|
2205 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
2206 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
2207 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
2208 | {
|
---|
2209 | RTCM3Error("Could not extract server port\n");
|
---|
2210 | exit(1);
|
---|
2211 | }
|
---|
2212 | }
|
---|
2213 | l = strlen(sessioncheck)-1;
|
---|
2214 | j=0;
|
---|
2215 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2216 | {
|
---|
2217 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
2218 | ;
|
---|
2219 | }
|
---|
2220 | if(i == numbytes-l)
|
---|
2221 | {
|
---|
2222 | RTCM3Error("No session number found\n");
|
---|
2223 | exit(1);
|
---|
2224 | }
|
---|
2225 | else
|
---|
2226 | {
|
---|
2227 | i+=l;
|
---|
2228 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
2229 | session = session * 10 + buf[i++]-'0';
|
---|
2230 | if(buf[i] != '\r')
|
---|
2231 | {
|
---|
2232 | RTCM3Error("Could not extract session number\n");
|
---|
2233 | exit(1);
|
---|
2234 | }
|
---|
2235 | }
|
---|
2236 |
|
---|
2237 | i = snprintf(buf, MAXDATASIZE,
|
---|
2238 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2239 | "CSeq: %d\r\n"
|
---|
2240 | "Session: %d\r\n"
|
---|
2241 | "\r\n",
|
---|
2242 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
2243 | args.data, cseq++, session);
|
---|
2244 |
|
---|
2245 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
2246 | {
|
---|
2247 | RTCM3Error("Requested data too long\n");
|
---|
2248 | exit(1);
|
---|
2249 | }
|
---|
2250 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2251 | {
|
---|
2252 | perror("send");
|
---|
2253 | exit(1);
|
---|
2254 | }
|
---|
2255 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
2256 | {
|
---|
2257 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
2258 | {
|
---|
2259 | struct sockaddr_in addrRTP;
|
---|
2260 | /* fill structure with caster address information for UDP */
|
---|
2261 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
2262 | addrRTP.sin_family = AF_INET;
|
---|
2263 | addrRTP.sin_port = htons(serverport);
|
---|
2264 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
2265 | len = sizeof(addrRTP);
|
---|
2266 | int ts = 0;
|
---|
2267 | int sn = 0;
|
---|
2268 | int ssrc = 0;
|
---|
2269 | int init = 0;
|
---|
2270 | int u, v, w;
|
---|
2271 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
2272 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
2273 | {
|
---|
2274 | alarm(ALARMTIME);
|
---|
2275 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
2276 | {
|
---|
2277 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
2278 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
2279 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
2280 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
2281 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
2282 |
|
---|
2283 | if(init)
|
---|
2284 | {
|
---|
2285 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
2286 | if(ssrc != w || ts > v)
|
---|
2287 | {
|
---|
2288 | RTCM3Error("Illegal UDP data received.\n");
|
---|
2289 | exit(1);
|
---|
2290 | }
|
---|
2291 | if(u > sn) /* don't show out-of-order packets */
|
---|
2292 | fwrite(buf+12, (size_t)i-12, 1, stdout);
|
---|
2293 | }
|
---|
2294 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
2295 | }
|
---|
2296 | else
|
---|
2297 | {
|
---|
2298 | RTCM3Error("Illegal UDP header.\n");
|
---|
2299 | exit(1);
|
---|
2300 | }
|
---|
2301 | }
|
---|
2302 | }
|
---|
2303 | i = snprintf(buf, MAXDATASIZE,
|
---|
2304 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2305 | "CSeq: %d\r\n"
|
---|
2306 | "Session: %d\r\n"
|
---|
2307 | "\r\n",
|
---|
2308 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
2309 | args.data, cseq++, session);
|
---|
2310 |
|
---|
2311 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
2312 | {
|
---|
2313 | RTCM3Error("Requested data too long\n");
|
---|
2314 | exit(1);
|
---|
2315 | }
|
---|
2316 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2317 | {
|
---|
2318 | perror("send");
|
---|
2319 | exit(1);
|
---|
2320 | }
|
---|
2321 | }
|
---|
2322 | else
|
---|
2323 | {
|
---|
2324 | RTCM3Error("Could not start data stream.\n");
|
---|
2325 | exit(1);
|
---|
2326 | }
|
---|
2327 | }
|
---|
2328 | else
|
---|
2329 | {
|
---|
2330 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
2331 | exit(1);
|
---|
2332 | }
|
---|
2333 | }
|
---|
2334 | else
|
---|
2335 | {
|
---|
2336 | perror("recv");
|
---|
2337 | exit(1);
|
---|
2338 | }
|
---|
2339 | }
|
---|
2340 | else
|
---|
2341 | {
|
---|
2342 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
2343 | sizeof(struct sockaddr)) == -1)
|
---|
2344 | {
|
---|
2345 | perror("connect");
|
---|
2346 | exit(1);
|
---|
2347 | }
|
---|
2348 | if(!args.data)
|
---|
2349 | {
|
---|
2350 | i = snprintf(buf, MAXDATASIZE,
|
---|
2351 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
2352 | "Host: %s\r\n%s"
|
---|
2353 | "User-Agent: %s/%s\r\n"
|
---|
2354 | "Connection: close\r\n"
|
---|
2355 | "\r\n"
|
---|
2356 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
2357 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
2358 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
2359 | AGENTSTRING, revisionstr);
|
---|
2360 | }
|
---|
2361 | else
|
---|
2362 | {
|
---|
2363 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
2364 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
2365 | "Host: %s\r\n%s"
|
---|
2366 | "User-Agent: %s/%s\r\n"
|
---|
2367 | "Connection: close\r\n"
|
---|
2368 | "Authorization: Basic "
|
---|
2369 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
2370 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
2371 | args.data, args.server,
|
---|
2372 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
2373 | AGENTSTRING, revisionstr);
|
---|
2374 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
2375 | {
|
---|
2376 | RTCM3Error("Requested data too long\n");
|
---|
2377 | exit(1);
|
---|
2378 | }
|
---|
2379 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
2380 | if(i > MAXDATASIZE-4)
|
---|
2381 | {
|
---|
2382 | RTCM3Error("Username and/or password too long\n");
|
---|
2383 | exit(1);
|
---|
2384 | }
|
---|
2385 | buf[i++] = '\r';
|
---|
2386 | buf[i++] = '\n';
|
---|
2387 | buf[i++] = '\r';
|
---|
2388 | buf[i++] = '\n';
|
---|
2389 | if(args.nmea)
|
---|
2390 | {
|
---|
2391 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
2392 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
2393 | i += j;
|
---|
2394 | else
|
---|
2395 | {
|
---|
2396 | RTCM3Error("NMEA string too long\n");
|
---|
2397 | exit(1);
|
---|
2398 | }
|
---|
2399 | }
|
---|
2400 | }
|
---|
2401 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
2402 | {
|
---|
2403 | perror("send");
|
---|
2404 | exit(1);
|
---|
2405 | }
|
---|
2406 | if(args.data)
|
---|
2407 | {
|
---|
2408 | int k = 0;
|
---|
2409 | int chunkymode = 0;
|
---|
2410 | int starttime = time(0);
|
---|
2411 | int lastout = starttime;
|
---|
2412 | int totalbytes = 0;
|
---|
2413 | int chunksize = 0;
|
---|
2414 |
|
---|
2415 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
2416 | {
|
---|
2417 | alarm(ALARMTIME);
|
---|
2418 | if(!k)
|
---|
2419 | {
|
---|
2420 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
2421 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
2422 | {
|
---|
2423 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
2424 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
2425 | int l = strlen(datacheck)-1;
|
---|
2426 | int j=0;
|
---|
2427 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2428 | {
|
---|
2429 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
2430 | ;
|
---|
2431 | }
|
---|
2432 | if(i == numbytes-l)
|
---|
2433 | {
|
---|
2434 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
2435 | exit(1);
|
---|
2436 | }
|
---|
2437 | l = strlen(chunkycheck)-1;
|
---|
2438 | j=0;
|
---|
2439 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
2440 | {
|
---|
2441 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
2442 | ;
|
---|
2443 | }
|
---|
2444 | if(i < numbytes-l)
|
---|
2445 | chunkymode = 1;
|
---|
2446 | }
|
---|
2447 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
2448 | {
|
---|
2449 | RTCM3Error("Could not get the requested data: ");
|
---|
2450 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
2451 | {
|
---|
2452 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
2453 | }
|
---|
2454 | RTCM3Error("\n");
|
---|
2455 | exit(1);
|
---|
2456 | }
|
---|
2457 | else if(args.mode != NTRIP1)
|
---|
2458 | {
|
---|
2459 | if(args.mode != AUTO)
|
---|
2460 | {
|
---|
2461 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
2462 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
2463 | }
|
---|
2464 | if(args.mode == HTTP)
|
---|
2465 | exit(1);
|
---|
2466 | }
|
---|
2467 | ++k;
|
---|
2468 | }
|
---|
2469 | else
|
---|
2470 | {
|
---|
2471 | if(chunkymode)
|
---|
2472 | {
|
---|
2473 | int stop = 0;
|
---|
2474 | int pos = 0;
|
---|
2475 | while(!stop && pos < numbytes)
|
---|
2476 | {
|
---|
2477 | switch(chunkymode)
|
---|
2478 | {
|
---|
2479 | case 1: /* reading number starts */
|
---|
2480 | chunksize = 0;
|
---|
2481 | ++chunkymode; /* no break */
|
---|
2482 | case 2: /* during reading number */
|
---|
2483 | i = buf[pos++];
|
---|
2484 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
2485 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
2486 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
2487 | else if(i == '\r') ++chunkymode;
|
---|
2488 | else if(i == ';') chunkymode = 5;
|
---|
2489 | else stop = 1;
|
---|
2490 | break;
|
---|
2491 | case 3: /* scanning for return */
|
---|
2492 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
2493 | else stop = 1;
|
---|
2494 | break;
|
---|
2495 | case 4: /* output data */
|
---|
2496 | i = numbytes-pos;
|
---|
2497 | if(i > chunksize) i = chunksize;
|
---|
2498 | {
|
---|
2499 | int z;
|
---|
2500 | for(z = 0; z < i && !stop; ++z)
|
---|
2501 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
2502 | }
|
---|
2503 | totalbytes += i;
|
---|
2504 | chunksize -= i;
|
---|
2505 | pos += i;
|
---|
2506 | if(!chunksize)
|
---|
2507 | chunkymode = 1;
|
---|
2508 | break;
|
---|
2509 | case 5:
|
---|
2510 | if(i == '\r') chunkymode = 3;
|
---|
2511 | break;
|
---|
2512 | }
|
---|
2513 | }
|
---|
2514 | if(stop)
|
---|
2515 | {
|
---|
2516 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
2517 | break;
|
---|
2518 | }
|
---|
2519 | }
|
---|
2520 | else
|
---|
2521 | {
|
---|
2522 | totalbytes += numbytes;
|
---|
2523 | {
|
---|
2524 | int z;
|
---|
2525 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
2526 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
2527 | }
|
---|
2528 | }
|
---|
2529 | if(totalbytes < 0) /* overflow */
|
---|
2530 | {
|
---|
2531 | totalbytes = 0;
|
---|
2532 | starttime = time(0);
|
---|
2533 | lastout = starttime;
|
---|
2534 | }
|
---|
2535 | }
|
---|
2536 | }
|
---|
2537 | }
|
---|
2538 | else
|
---|
2539 | {
|
---|
2540 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
2541 | {
|
---|
2542 | alarm(ALARMTIME);
|
---|
2543 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
2544 | }
|
---|
2545 | }
|
---|
2546 | close(sockfd);
|
---|
2547 | }
|
---|
2548 | }
|
---|
2549 | return 0;
|
---|
2550 | }
|
---|
2551 | #endif /* NO_RTCM3_MAIN */
|
---|