[27] | 1 | /*
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| 2 | Converter for RTCM3 data to RINEX.
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[502] | 3 | $Id: rtcm3torinex.c,v 1.22 2007/10/01 11:07:08 stoecker Exp $
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| 4 | Copyright (C) 2005-2006 by Dirk Stoecker <stoecker@alberding.eu>
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[27] | 5 |
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[268] | 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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[27] | 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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[318] | 31 | #include <stdarg.h>
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[27] | 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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[268] | 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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[27] | 45 |
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[269] | 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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[268] | 50 | #include "rtcm3torinex.h"
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[27] | 51 |
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| 52 | /* CVS revision and version */
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[502] | 53 | static char revisionstr[] = "$Revision: 1.22 $";
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[27] | 54 |
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[439] | 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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[27] | 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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[318] | 116 | memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
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[27] | 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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[502] | 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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[27] | 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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[502] | 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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[27] | 177 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
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| 178 |
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[270] | 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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[328] | 212 | #define LEAPSECONDS 14 /* only needed for approx. time */
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[270] | 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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[502] | 238 | static void updatetime(int *week, int *tow, int tk, int fixnumleap)
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[270] | 239 | {
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[502] | 240 | int y,m,d,k,l, nul;
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[270] | 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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[502] | 256 | nul = gnumleap(y, m, d);
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| 257 | glo_timeofday = j-nul;
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[270] | 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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[502] | 264 | if(fixnumleap)
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| 265 | *tow -= nul;
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[270] | 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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[268] | 270 | int RTCM3Parser(struct RTCM3ParserData *handle)
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[27] | 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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[270] | 280 | int syncf, old = 0;
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[27] | 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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[502] | 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)
|
---|
| 392 | /* GETBITS(b, 1) / * GLONASS-M P4 */
|
---|
| 393 | /* GETBITS(b, 4) / * GLONASS-M Ft */
|
---|
| 394 | /* GETBITS(b, 11) / * GLONASS-M Nt */
|
---|
| 395 | /* GETBITS(b, 2) / * GLONASS-M M */
|
---|
| 396 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
| 397 | /* GETBITS(b, 11) / * GLONASS-M Na */
|
---|
| 398 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
| 399 | /* GETBITS(b, 5) / * GLONASS-M N4 */
|
---|
| 400 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
|
---|
| 401 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
|
---|
| 402 | ge->GPSWeek = handle->GPSWeek;
|
---|
| 403 | ge->GPSTOW = handle->GPSTOW;
|
---|
| 404 | ret = 1020;
|
---|
| 405 | }
|
---|
| 406 | break;
|
---|
[33] | 407 | case 1001: case 1002: case 1003: case 1004:
|
---|
[27] | 408 | if(handle->GPSWeek)
|
---|
| 409 | {
|
---|
| 410 | int lastlockl1[64];
|
---|
| 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 |
|
---|
[270] | 418 | gnss = &handle->DataNew;
|
---|
[27] | 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;
|
---|
[270] | 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 | }
|
---|
[27] | 432 | gnss->timeofweek = i;
|
---|
| 433 | gnss->week = handle->GPSWeek;
|
---|
| 434 |
|
---|
[270] | 435 | GETBITS(syncf,1) /* sync */
|
---|
[27] | 436 | GETBITS(i,5)
|
---|
| 437 | gnss->numsats = i;
|
---|
| 438 | SKIPBITS(4) /* smind, smint */
|
---|
| 439 |
|
---|
| 440 | for(num = 0; num < gnss->numsats; ++num)
|
---|
| 441 | {
|
---|
[33] | 442 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[27] | 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);
|
---|
[325] | 461 | if((l1range&((1<<24)-1)) != 0x80000)
|
---|
[27] | 462 | {
|
---|
| 463 | gnss->dataflags[num] |= c;
|
---|
| 464 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
| 465 | }
|
---|
| 466 | GETBITSSIGN(i, 20);
|
---|
[325] | 467 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[27] | 468 | {
|
---|
| 469 | gnss->dataflags[num] |= l;
|
---|
| 470 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 471 | }
|
---|
| 472 | GETBITS(i, 7);
|
---|
| 473 | lastlockl1[sv] = i;
|
---|
| 474 | if(handle->lastlockl1[sv] > i)
|
---|
| 475 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
[33] | 476 | if(type == 1002 || type == 1004)
|
---|
[27] | 477 | {
|
---|
[33] | 478 | GETBITS(amb,8);
|
---|
| 479 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 480 | {
|
---|
| 481 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
| 482 | gnss->measdata[num][le] += amb*299792.458;
|
---|
| 483 | ++wasamb;
|
---|
| 484 | }
|
---|
| 485 | GETBITS(i, 8);
|
---|
| 486 | if(i)
|
---|
| 487 | {
|
---|
| 488 | gnss->dataflags[num] |= s;
|
---|
| 489 | gnss->measdata[num][se] = i*0.25;
|
---|
| 490 | i /= 4*4;
|
---|
| 491 | if(i > 9) i = 9;
|
---|
| 492 | else if(i < 1) i = 1;
|
---|
| 493 | gnss->snrL1[num] = i;
|
---|
| 494 | }
|
---|
[27] | 495 | }
|
---|
[81] | 496 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
[33] | 497 | if(type == 1003 || type == 1004)
|
---|
[27] | 498 | {
|
---|
[33] | 499 | /* L2 */
|
---|
| 500 | GETBITS(code,2);
|
---|
| 501 | if(code)
|
---|
| 502 | {
|
---|
| 503 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 504 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 505 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
| 506 | }
|
---|
| 507 | else
|
---|
| 508 | {
|
---|
| 509 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 510 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 511 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
| 512 | }
|
---|
| 513 | GETBITSSIGN(i,14);
|
---|
[325] | 514 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[33] | 515 | {
|
---|
| 516 | gnss->dataflags[num] |= c;
|
---|
| 517 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 518 | +amb*299792.458;
|
---|
| 519 | }
|
---|
| 520 | GETBITSSIGN(i,20);
|
---|
[325] | 521 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[33] | 522 | {
|
---|
| 523 | gnss->dataflags[num] |= l;
|
---|
| 524 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
| 525 | +amb*299792.458;
|
---|
| 526 | }
|
---|
| 527 | GETBITS(i,7);
|
---|
| 528 | lastlockl2[sv] = i;
|
---|
| 529 | if(handle->lastlockl2[sv] > i)
|
---|
| 530 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
| 531 | if(type == 1004)
|
---|
| 532 | {
|
---|
| 533 | GETBITS(i, 8);
|
---|
| 534 | if(i)
|
---|
| 535 | {
|
---|
| 536 | gnss->dataflags[num] |= s;
|
---|
| 537 | gnss->measdata[num][se] = i*0.25;
|
---|
| 538 | i /= 4*4;
|
---|
| 539 | if(i > 9) i = 9;
|
---|
| 540 | else if(i < 1) i = 1;
|
---|
| 541 | gnss->snrL2[num] = i;
|
---|
| 542 | }
|
---|
| 543 | }
|
---|
[81] | 544 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
[27] | 545 | }
|
---|
| 546 | }
|
---|
| 547 | for(i = 0; i < 64; ++i)
|
---|
| 548 | {
|
---|
| 549 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
| 550 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
| 551 | }
|
---|
[270] | 552 | if(!syncf && !old)
|
---|
| 553 | {
|
---|
| 554 | handle->Data = *gnss;
|
---|
| 555 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 556 | }
|
---|
| 557 | if(!syncf || old)
|
---|
| 558 | {
|
---|
| 559 | if(wasamb) /* not RINEX compatible without */
|
---|
| 560 | ret = 1;
|
---|
| 561 | else
|
---|
| 562 | ret = 2;
|
---|
| 563 | }
|
---|
[27] | 564 | }
|
---|
| 565 | break;
|
---|
[270] | 566 | case 1009: case 1010: case 1011: case 1012:
|
---|
| 567 | {
|
---|
| 568 | int lastlockl1[64];
|
---|
| 569 | int lastlockl2[64];
|
---|
| 570 | struct gnssdata *gnss;
|
---|
| 571 | int i, num;
|
---|
| 572 | int wasamb=0;
|
---|
| 573 |
|
---|
| 574 | for(i = 0; i < 64; ++i)
|
---|
| 575 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 576 |
|
---|
| 577 | gnss = &handle->DataNew;
|
---|
| 578 |
|
---|
| 579 | SKIPBITS(12) /* id */;
|
---|
| 580 | GETBITS(i,27) /* tk */
|
---|
| 581 |
|
---|
[502] | 582 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0);
|
---|
[270] | 583 | i = handle->GPSTOW*1000;
|
---|
| 584 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 585 | != handle->GPSWeek))
|
---|
| 586 | {
|
---|
| 587 | handle->Data = *gnss;
|
---|
| 588 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 589 | old = 1;
|
---|
| 590 | }
|
---|
| 591 |
|
---|
| 592 | gnss->timeofweek = i;
|
---|
| 593 | gnss->week = handle->GPSWeek;
|
---|
| 594 |
|
---|
| 595 | GETBITS(syncf,1) /* sync */
|
---|
| 596 | GETBITS(i,5)
|
---|
| 597 | gnss->numsats += i;
|
---|
| 598 |
|
---|
| 599 | SKIPBITS(4) /* smind, smint */
|
---|
| 600 |
|
---|
| 601 | for(num = gnss->numsats-i; num < gnss->numsats; ++num)
|
---|
| 602 | {
|
---|
| 603 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[325] | 604 | int freq;
|
---|
[270] | 605 |
|
---|
| 606 | GETBITS(sv, 6)
|
---|
[325] | 607 | gnss->satellites[num] = sv-1 + PRN_GLONASS_START;
|
---|
| 608 | /* L1 */
|
---|
| 609 | GETBITS(code, 1)
|
---|
| 610 | GETBITS(freq, 5)
|
---|
| 611 | if(code)
|
---|
[270] | 612 | {
|
---|
[325] | 613 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 614 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 615 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
[270] | 616 | }
|
---|
| 617 | else
|
---|
| 618 | {
|
---|
[325] | 619 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 620 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 621 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
| 622 | }
|
---|
| 623 | GETBITS(l1range, 25)
|
---|
| 624 | if((l1range&((1<<25)-1)) != 0x80000)
|
---|
| 625 | {
|
---|
| 626 | gnss->dataflags[num] |= c;
|
---|
| 627 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
| 628 | }
|
---|
| 629 | GETBITSSIGN(i, 20)
|
---|
| 630 | if((i&((1<<20)-1)) != 0x80000)
|
---|
| 631 | {
|
---|
| 632 | gnss->dataflags[num] |= l;
|
---|
| 633 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 634 | }
|
---|
| 635 | GETBITS(i, 7)
|
---|
| 636 | lastlockl1[sv] = i;
|
---|
| 637 | if(handle->lastlockl1[sv] > i)
|
---|
| 638 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL1;
|
---|
| 639 | if(type == 1010 || type == 1012)
|
---|
| 640 | {
|
---|
| 641 | GETBITS(amb,7)
|
---|
| 642 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 643 | {
|
---|
| 644 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
| 645 | gnss->measdata[num][le] += amb*599584.916;
|
---|
| 646 | ++wasamb;
|
---|
| 647 | }
|
---|
| 648 | GETBITS(i, 8)
|
---|
| 649 | if(i)
|
---|
| 650 | {
|
---|
| 651 | gnss->dataflags[num] |= s;
|
---|
| 652 | gnss->measdata[num][se] = i*0.25;
|
---|
| 653 | i /= 4*4;
|
---|
| 654 | if(i > 9) i = 9;
|
---|
| 655 | else if(i < 1) i = 1;
|
---|
| 656 | gnss->snrL1[num] = i;
|
---|
| 657 | }
|
---|
| 658 | }
|
---|
| 659 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
| 660 | if(type == 1011 || type == 1012)
|
---|
| 661 | {
|
---|
| 662 | /* L2 */
|
---|
| 663 | GETBITS(code,2)
|
---|
[270] | 664 | if(code)
|
---|
| 665 | {
|
---|
[325] | 666 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 667 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 668 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
[270] | 669 | }
|
---|
| 670 | else
|
---|
| 671 | {
|
---|
[325] | 672 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 673 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 674 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
[270] | 675 | }
|
---|
[325] | 676 | GETBITSSIGN(i,14)
|
---|
| 677 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[270] | 678 | {
|
---|
| 679 | gnss->dataflags[num] |= c;
|
---|
[325] | 680 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 681 | +amb*599584.916;
|
---|
[270] | 682 | }
|
---|
[325] | 683 | GETBITSSIGN(i,20)
|
---|
| 684 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[270] | 685 | {
|
---|
| 686 | gnss->dataflags[num] |= l;
|
---|
[325] | 687 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
| 688 | +amb*599584.915;
|
---|
[270] | 689 | }
|
---|
[325] | 690 | GETBITS(i,7)
|
---|
| 691 | lastlockl2[sv] = i;
|
---|
| 692 | if(handle->lastlockl2[sv] > i)
|
---|
| 693 | gnss->dataflags[num] |= GNSSDF_LOCKLOSSL2;
|
---|
| 694 | if(type == 1012)
|
---|
[270] | 695 | {
|
---|
| 696 | GETBITS(i, 8)
|
---|
| 697 | if(i)
|
---|
| 698 | {
|
---|
| 699 | gnss->dataflags[num] |= s;
|
---|
| 700 | gnss->measdata[num][se] = i*0.25;
|
---|
| 701 | i /= 4*4;
|
---|
| 702 | if(i > 9) i = 9;
|
---|
| 703 | else if(i < 1) i = 1;
|
---|
[325] | 704 | gnss->snrL2[num] = i;
|
---|
[270] | 705 | }
|
---|
| 706 | }
|
---|
[325] | 707 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
[270] | 708 | }
|
---|
[325] | 709 | if(!sv || sv > 24)
|
---|
| 710 | {
|
---|
| 711 | --num; --gnss->numsats;
|
---|
| 712 | }
|
---|
[270] | 713 | }
|
---|
| 714 | for(i = 0; i < 64; ++i)
|
---|
| 715 | {
|
---|
| 716 | handle->lastlockl1[i] = lastlockl1[i];
|
---|
| 717 | handle->lastlockl2[i] = lastlockl2[i];
|
---|
| 718 | }
|
---|
| 719 | if(!syncf && !old)
|
---|
| 720 | {
|
---|
| 721 | handle->Data = *gnss;
|
---|
| 722 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 723 | }
|
---|
| 724 | if(!syncf || old)
|
---|
| 725 | {
|
---|
| 726 | if(wasamb) /* not RINEX compatible without */
|
---|
| 727 | ret = 1;
|
---|
| 728 | else
|
---|
| 729 | ret = 2;
|
---|
| 730 | }
|
---|
| 731 | }
|
---|
| 732 | break;
|
---|
[27] | 733 | }
|
---|
| 734 | }
|
---|
| 735 | return ret;
|
---|
| 736 | }
|
---|
| 737 |
|
---|
| 738 | struct Header
|
---|
| 739 | {
|
---|
| 740 | const char *version;
|
---|
| 741 | const char *pgm;
|
---|
| 742 | const char *marker;
|
---|
| 743 | const char *observer;
|
---|
| 744 | const char *receiver;
|
---|
| 745 | const char *antenna;
|
---|
| 746 | const char *position;
|
---|
| 747 | const char *antennaposition;
|
---|
| 748 | const char *wavelength;
|
---|
| 749 | const char *typesofobs; /* should not be modified outside */
|
---|
[502] | 750 | const char *typesofobsG; /* should not be modified outside */
|
---|
| 751 | const char *typesofobsR; /* should not be modified outside */
|
---|
| 752 | const char *typesofobsS; /* should not be modified outside */
|
---|
[27] | 753 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
| 754 | };
|
---|
| 755 |
|
---|
| 756 | #define MAXHEADERLINES 50
|
---|
| 757 | #define MAXHEADERBUFFERSIZE 4096
|
---|
| 758 | struct HeaderData
|
---|
| 759 | {
|
---|
| 760 | union
|
---|
| 761 | {
|
---|
| 762 | struct Header named;
|
---|
| 763 | const char *unnamed[MAXHEADERLINES];
|
---|
| 764 | } data;
|
---|
| 765 | int numheaders;
|
---|
| 766 | };
|
---|
| 767 |
|
---|
[270] | 768 | struct converttimeinfo {
|
---|
| 769 | int second; /* seconds of GPS time [0..59] */
|
---|
| 770 | int minute; /* minutes of GPS time [0..59] */
|
---|
| 771 | int hour; /* hour of GPS time [0..24] */
|
---|
| 772 | int day; /* day of GPS time [1..28..30(31)*/
|
---|
| 773 | int month; /* month of GPS time [1..12]*/
|
---|
| 774 | int year; /* year of GPS time [1980..] */
|
---|
| 775 | };
|
---|
| 776 |
|
---|
| 777 | static void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
| 778 | {
|
---|
| 779 | int i, k, doy, j; /* temporary variables */
|
---|
| 780 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
| 781 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
| 782 | j -= k;
|
---|
| 783 | c->year = i;
|
---|
| 784 | doy = 1+ (j / (24*60*60));
|
---|
| 785 | j %= (24*60*60);
|
---|
| 786 | c->hour = j / (60*60);
|
---|
| 787 | j %= (60*60);
|
---|
| 788 | c->minute = j / 60;
|
---|
| 789 | c->second = j % 60;
|
---|
| 790 | j = 0;
|
---|
| 791 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
| 792 | j += k;
|
---|
| 793 | c->month = i;
|
---|
| 794 | c->day = doy - j;
|
---|
| 795 | }
|
---|
| 796 |
|
---|
[318] | 797 | #ifndef NO_RTCM3_MAIN
|
---|
| 798 | void RTCM3Error(const char *fmt, ...)
|
---|
| 799 | {
|
---|
| 800 | va_list v;
|
---|
| 801 | va_start(v, fmt);
|
---|
| 802 | vfprintf(stderr, fmt, v);
|
---|
| 803 | va_end(v);
|
---|
| 804 | }
|
---|
| 805 | #endif
|
---|
| 806 |
|
---|
| 807 | void RTCM3Text(const char *fmt, ...)
|
---|
| 808 | {
|
---|
| 809 | va_list v;
|
---|
| 810 | va_start(v, fmt);
|
---|
| 811 | vprintf(fmt, v);
|
---|
| 812 | va_end(v);
|
---|
| 813 | }
|
---|
| 814 |
|
---|
[502] | 815 | static int HandleRunBy(char *buffer, int buffersize, const char **u)
|
---|
| 816 | {
|
---|
| 817 | const char *user;
|
---|
| 818 | time_t t;
|
---|
| 819 | struct tm * t2;
|
---|
| 820 |
|
---|
| 821 | #ifdef NO_RTCM3_MAIN
|
---|
| 822 | if(revisionstr[0] == '$')
|
---|
| 823 | {
|
---|
| 824 | char *a;
|
---|
| 825 | int i=0;
|
---|
| 826 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
| 827 | revisionstr[i++] = *a;
|
---|
| 828 | revisionstr[i] = 0;
|
---|
| 829 | }
|
---|
| 830 | #endif
|
---|
| 831 |
|
---|
| 832 | user= getenv("USER");
|
---|
| 833 | if(!user) user = "";
|
---|
| 834 | t = time(&t);
|
---|
| 835 | t2 = gmtime(&t);
|
---|
| 836 | if(u) *u = user;
|
---|
| 837 | return 1+snprintf(buffer, buffersize,
|
---|
| 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);
|
---|
| 841 | }
|
---|
| 842 |
|
---|
[318] | 843 | #define NUMSTARTSKIP 3
|
---|
[268] | 844 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
[27] | 845 | {
|
---|
| 846 | struct HeaderData hdata;
|
---|
| 847 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
| 848 | char *buffer = thebuffer;
|
---|
[318] | 849 | size_t buffersize = sizeof(thebuffer);
|
---|
[27] | 850 | int i;
|
---|
| 851 |
|
---|
[502] | 852 | hdata.data.named.version = buffer;
|
---|
| 853 | i = 1+snprintf(buffer, buffersize,
|
---|
| 854 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
| 855 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
| 856 | buffer += i; buffersize -= i;
|
---|
[27] | 857 |
|
---|
| 858 | {
|
---|
[30] | 859 | const char *str;
|
---|
[27] | 860 | hdata.data.named.pgm = buffer;
|
---|
[502] | 861 | i = HandleRunBy(buffer, buffersize, &str);
|
---|
[27] | 862 | buffer += i; buffersize -= i;
|
---|
| 863 | hdata.data.named.observer = buffer;
|
---|
| 864 | i = 1+snprintf(buffer, buffersize,
|
---|
| 865 | "%-20.20s "
|
---|
| 866 | "OBSERVER / AGENCY", str);
|
---|
| 867 | buffer += i; buffersize -= i;
|
---|
| 868 | }
|
---|
| 869 |
|
---|
| 870 | hdata.data.named.marker =
|
---|
| 871 | "RTCM3TORINEX "
|
---|
| 872 | "MARKER NAME";
|
---|
| 873 |
|
---|
| 874 | hdata.data.named.receiver =
|
---|
| 875 | " "
|
---|
| 876 | "REC # / TYPE / VERS";
|
---|
| 877 |
|
---|
| 878 | hdata.data.named.antenna =
|
---|
| 879 | " "
|
---|
| 880 | "ANT # / TYPE";
|
---|
| 881 |
|
---|
| 882 | hdata.data.named.position =
|
---|
| 883 | " .0000 .0000 .0000 "
|
---|
| 884 | "APPROX POSITION XYZ";
|
---|
| 885 |
|
---|
| 886 | hdata.data.named.antennaposition =
|
---|
| 887 | " .0000 .0000 .0000 "
|
---|
| 888 | "ANTENNA: DELTA H/E/N";
|
---|
| 889 |
|
---|
[502] | 890 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
[27] | 891 | " 1 1 "
|
---|
| 892 | "WAVELENGTH FACT L1/2";
|
---|
| 893 |
|
---|
[502] | 894 | if(Parser->rinex3)
|
---|
[27] | 895 | {
|
---|
[502] | 896 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
| 897 | if(flags & GNSSDF_##b##DATA) \
|
---|
| 898 | { \
|
---|
| 899 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
| 900 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
| 901 | ++Parser->numdatatypes##a; \
|
---|
| 902 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#c); \
|
---|
| 903 | tbufferpos += 4; \
|
---|
| 904 | }
|
---|
| 905 |
|
---|
| 906 | int flags = Parser->startflags;
|
---|
| 907 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
| 908 | int tbufferpos = 0;
|
---|
| 909 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 910 | flags |= Parser->Data.dataflags[i];
|
---|
| 911 |
|
---|
| 912 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
| 913 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
| 914 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
| 915 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
| 916 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
| 917 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
| 918 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
| 919 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
| 920 |
|
---|
| 921 | hdata.data.named.typesofobsS = buffer;
|
---|
| 922 | i = 1+snprintf(buffer, buffersize,
|
---|
| 923 | "S %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
| 924 | buffer += i; buffersize -= i;
|
---|
| 925 |
|
---|
| 926 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
| 927 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
| 928 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
| 929 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
| 930 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
| 931 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
| 932 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
| 933 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
| 934 |
|
---|
| 935 | hdata.data.named.typesofobsG = buffer;
|
---|
| 936 | i = 1+snprintf(buffer, buffersize,
|
---|
| 937 | "G %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
| 938 | if(Parser->numdatatypesGPS>13)
|
---|
| 939 | {
|
---|
| 940 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 941 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 942 | }
|
---|
| 943 | buffer += i; buffersize -= i;
|
---|
| 944 |
|
---|
| 945 | tbufferpos = 0;
|
---|
| 946 |
|
---|
| 947 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
| 948 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
| 949 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
| 950 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
| 951 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
| 952 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
| 953 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
| 954 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
| 955 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
| 956 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
| 957 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
| 958 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
| 959 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
| 960 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
| 961 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
| 962 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
| 963 |
|
---|
| 964 | hdata.data.named.typesofobsR = buffer;
|
---|
| 965 | i = 1+snprintf(buffer, buffersize,
|
---|
| 966 | "R %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGLO, tbuffer);
|
---|
| 967 | if(Parser->numdatatypesGLO>13)
|
---|
| 968 | {
|
---|
| 969 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 970 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 971 | }
|
---|
| 972 | buffer += i; buffersize -= i;
|
---|
| 973 | }
|
---|
| 974 | else
|
---|
| 975 | {
|
---|
[27] | 976 | #define CHECKFLAGS(a, b) \
|
---|
[363] | 977 | if(flags & GNSSDF_##a##DATA) \
|
---|
[27] | 978 | { \
|
---|
[363] | 979 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
| 980 | { \
|
---|
[502] | 981 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
| 982 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
[363] | 983 | } \
|
---|
| 984 | else \
|
---|
| 985 | { \
|
---|
[502] | 986 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
| 987 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
| 988 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
[364] | 989 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#b); \
|
---|
| 990 | tbufferpos += 6; \
|
---|
[363] | 991 | } \
|
---|
[27] | 992 | }
|
---|
| 993 |
|
---|
[318] | 994 | int flags = Parser->startflags;
|
---|
[27] | 995 | int data[RINEXENTRY_NUMBER];
|
---|
| 996 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
| 997 | int tbufferpos = 0;
|
---|
| 998 | for(i = 0; i < RINEXENTRY_NUMBER; ++i)
|
---|
| 999 | data[i] = 0;
|
---|
| 1000 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1001 | flags |= Parser->Data.dataflags[i];
|
---|
| 1002 |
|
---|
| 1003 | CHECKFLAGS(C1,C1)
|
---|
| 1004 | CHECKFLAGS(C2,C2)
|
---|
| 1005 | CHECKFLAGS(P1,P1)
|
---|
| 1006 | CHECKFLAGS(P2,P2)
|
---|
| 1007 | CHECKFLAGS(L1C,L1)
|
---|
| 1008 | CHECKFLAGS(L1P,L1)
|
---|
| 1009 | CHECKFLAGS(L2C,L2)
|
---|
| 1010 | CHECKFLAGS(L2P,L2)
|
---|
| 1011 | CHECKFLAGS(D1C,D1)
|
---|
| 1012 | CHECKFLAGS(D1P,D1)
|
---|
| 1013 | CHECKFLAGS(D2C,D2)
|
---|
| 1014 | CHECKFLAGS(D2P,D2)
|
---|
| 1015 | CHECKFLAGS(S1C,S1)
|
---|
| 1016 | CHECKFLAGS(S1P,S1)
|
---|
| 1017 | CHECKFLAGS(S2C,S2)
|
---|
| 1018 | CHECKFLAGS(S2P,S2)
|
---|
| 1019 |
|
---|
| 1020 | hdata.data.named.typesofobs = buffer;
|
---|
| 1021 | i = 1+snprintf(buffer, buffersize,
|
---|
[502] | 1022 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->numdatatypesGPS, tbuffer);
|
---|
| 1023 | if(Parser->numdatatypesGPS>9)
|
---|
[27] | 1024 | {
|
---|
| 1025 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 1026 | "\n %-54.54s# / TYPES OF OBSERV", tbuffer+9*6);
|
---|
| 1027 | }
|
---|
| 1028 | buffer += i; buffersize -= i;
|
---|
| 1029 | }
|
---|
| 1030 |
|
---|
| 1031 | {
|
---|
| 1032 | struct converttimeinfo cti;
|
---|
| 1033 | converttime(&cti, Parser->Data.week,
|
---|
[268] | 1034 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
[27] | 1035 | hdata.data.named.timeoffirstobs = buffer;
|
---|
[502] | 1036 | i = 1+snprintf(buffer, buffersize,
|
---|
[27] | 1037 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
[378] | 1038 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
[27] | 1039 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
| 1040 |
|
---|
| 1041 | buffer += i; buffersize -= i;
|
---|
| 1042 | }
|
---|
| 1043 |
|
---|
[502] | 1044 | hdata.numheaders = 14;
|
---|
[27] | 1045 |
|
---|
| 1046 | if(Parser->headerfile)
|
---|
| 1047 | {
|
---|
| 1048 | FILE *fh;
|
---|
| 1049 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
| 1050 | {
|
---|
[318] | 1051 | size_t siz;
|
---|
[27] | 1052 | char *lastblockstart;
|
---|
| 1053 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
| 1054 | {
|
---|
| 1055 | buffer[siz] = '\n';
|
---|
| 1056 | if(siz == buffersize)
|
---|
| 1057 | {
|
---|
[318] | 1058 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
[364] | 1059 | (int)siz);
|
---|
[27] | 1060 | }
|
---|
| 1061 | /* scan the file line by line and enter the entries in the list */
|
---|
| 1062 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
| 1063 | /* overwrites entries, except for comments */
|
---|
| 1064 | lastblockstart = buffer;
|
---|
[318] | 1065 | for(i = 0; i < (int)siz; ++i)
|
---|
[27] | 1066 | {
|
---|
| 1067 | if(buffer[i] == '\n')
|
---|
| 1068 | { /* we found a line */
|
---|
| 1069 | char *end;
|
---|
| 1070 | while(buffer[i+1] == '\r')
|
---|
| 1071 | ++i; /* skip \r in case there are any */
|
---|
| 1072 | end = buffer+i;
|
---|
| 1073 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
| 1074 | *(end--) = 0;
|
---|
| 1075 | if(end-lastblockstart < 60+5) /* short line */
|
---|
[318] | 1076 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
[27] | 1077 | else
|
---|
| 1078 | {
|
---|
| 1079 | int pos;
|
---|
| 1080 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
| 1081 | pos = hdata.numheaders;
|
---|
| 1082 | else
|
---|
| 1083 | {
|
---|
| 1084 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
| 1085 | {
|
---|
| 1086 | if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
| 1087 | break;
|
---|
| 1088 | }
|
---|
| 1089 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
| 1090 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
| 1091 | {
|
---|
[318] | 1092 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
[27] | 1093 | lastblockstart+60);
|
---|
| 1094 | }
|
---|
| 1095 | }
|
---|
| 1096 | if(pos >= MAXHEADERLINES)
|
---|
| 1097 | {
|
---|
[318] | 1098 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
[27] | 1099 | MAXHEADERLINES);
|
---|
| 1100 | }
|
---|
| 1101 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
| 1102 | {
|
---|
[318] | 1103 | RTCM3Error("End of header ignored.\n");
|
---|
[27] | 1104 | }
|
---|
| 1105 | else
|
---|
| 1106 | {
|
---|
| 1107 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
| 1108 | if(pos == hdata.numheaders)
|
---|
| 1109 | ++hdata.numheaders;
|
---|
| 1110 | }
|
---|
| 1111 | }
|
---|
| 1112 | lastblockstart = buffer+i+1;
|
---|
| 1113 | }
|
---|
| 1114 | }
|
---|
| 1115 | }
|
---|
| 1116 | else
|
---|
| 1117 | {
|
---|
[318] | 1118 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
[27] | 1119 | Parser->headerfile);
|
---|
| 1120 | }
|
---|
| 1121 | fclose(fh);
|
---|
| 1122 | }
|
---|
| 1123 | else
|
---|
| 1124 | {
|
---|
[318] | 1125 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
[27] | 1126 | Parser->headerfile);
|
---|
| 1127 | }
|
---|
| 1128 | }
|
---|
| 1129 |
|
---|
[287] | 1130 | #ifndef NO_RTCM3_MAIN
|
---|
[27] | 1131 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
[502] | 1132 | {
|
---|
| 1133 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
| 1134 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
| 1135 | }
|
---|
[318] | 1136 | RTCM3Text(" "
|
---|
[27] | 1137 | "END OF HEADER\n");
|
---|
[287] | 1138 | #endif
|
---|
[27] | 1139 | }
|
---|
| 1140 |
|
---|
[502] | 1141 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
| 1142 | {
|
---|
| 1143 | char buffer[100], *b;
|
---|
| 1144 | va_list v;
|
---|
| 1145 | va_start(v, fmt);
|
---|
| 1146 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
| 1147 | for(b = buffer; *b; ++b)
|
---|
| 1148 | {
|
---|
| 1149 | if(*b == 'e') *b = 'D';
|
---|
| 1150 | }
|
---|
| 1151 | fprintf(file, "%s", buffer);
|
---|
| 1152 | va_end(v);
|
---|
| 1153 | }
|
---|
| 1154 |
|
---|
[268] | 1155 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
[27] | 1156 | {
|
---|
| 1157 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
| 1158 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
| 1159 | {
|
---|
| 1160 | int r;
|
---|
| 1161 | while((r = RTCM3Parser(Parser)))
|
---|
| 1162 | {
|
---|
[502] | 1163 | if(r == 1020 || r == 1019)
|
---|
[27] | 1164 | {
|
---|
[502] | 1165 | FILE *file = 0;
|
---|
[318] | 1166 |
|
---|
[502] | 1167 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
| 1168 | {
|
---|
| 1169 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
|
---|
| 1170 | if(n)
|
---|
| 1171 | {
|
---|
| 1172 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
| 1173 | {
|
---|
| 1174 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
| 1175 | }
|
---|
| 1176 | else
|
---|
| 1177 | {
|
---|
| 1178 | char buffer[100];
|
---|
| 1179 | fprintf(Parser->gpsfile,
|
---|
| 1180 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
| 1181 | HandleRunBy(buffer, sizeof(buffer), 0);
|
---|
| 1182 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 1183 | }
|
---|
| 1184 | Parser->gpsephemeris = 0;
|
---|
| 1185 | Parser->glonassephemeris = 0;
|
---|
| 1186 | file = Parser->gpsfile;
|
---|
| 1187 | }
|
---|
| 1188 | }
|
---|
[318] | 1189 | else
|
---|
| 1190 | {
|
---|
[502] | 1191 | if(r == 1020)
|
---|
| 1192 | {
|
---|
| 1193 | if(Parser->glonassephemeris)
|
---|
| 1194 | {
|
---|
| 1195 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
| 1196 | {
|
---|
| 1197 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
| 1198 | }
|
---|
| 1199 | else
|
---|
| 1200 | {
|
---|
| 1201 | char buffer[100];
|
---|
| 1202 | fprintf(Parser->glonassfile,
|
---|
| 1203 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
| 1204 | HandleRunBy(buffer, sizeof(buffer), 0);
|
---|
| 1205 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 1206 | }
|
---|
| 1207 | Parser->glonassephemeris = 0;
|
---|
| 1208 | }
|
---|
| 1209 | file = Parser->glonassfile;
|
---|
| 1210 | }
|
---|
| 1211 | else if(r == 1019)
|
---|
| 1212 | {
|
---|
| 1213 | if(Parser->gpsephemeris)
|
---|
| 1214 | {
|
---|
| 1215 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
| 1216 | {
|
---|
| 1217 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
| 1218 | }
|
---|
| 1219 | else
|
---|
| 1220 | {
|
---|
| 1221 | char buffer[100];
|
---|
| 1222 | fprintf(Parser->gpsfile,
|
---|
| 1223 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
| 1224 | HandleRunBy(buffer, sizeof(buffer), 0);
|
---|
| 1225 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 1226 | }
|
---|
| 1227 | Parser->gpsephemeris = 0;
|
---|
| 1228 | }
|
---|
| 1229 | file = Parser->gpsfile;
|
---|
| 1230 | }
|
---|
[318] | 1231 | }
|
---|
[502] | 1232 | if(file)
|
---|
| 1233 | {
|
---|
| 1234 | if(r == 1020)
|
---|
| 1235 | {
|
---|
| 1236 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
| 1237 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
| 1238 | struct converttimeinfo cti;
|
---|
| 1239 |
|
---|
| 1240 | updatetime(&w, &tow, e->tb*1000, 1);
|
---|
| 1241 | converttime(&cti, w, tow);
|
---|
| 1242 |
|
---|
| 1243 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
| 1244 |
|
---|
| 1245 | if(Parser->rinex3)
|
---|
| 1246 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 1247 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 1248 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
| 1249 | else
|
---|
| 1250 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 1251 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 1252 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
| 1253 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
|
---|
| 1254 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
| 1255 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
|
---|
| 1256 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
| 1257 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
|
---|
| 1258 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
| 1259 | }
|
---|
| 1260 | else /* if(r == 1019) */
|
---|
| 1261 | {
|
---|
| 1262 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
| 1263 | double d; /* temporary variable */
|
---|
| 1264 | unsigned long int i; /* temporary variable */
|
---|
| 1265 | struct converttimeinfo cti;
|
---|
| 1266 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
| 1267 |
|
---|
| 1268 | if(Parser->rinex3)
|
---|
| 1269 | ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 1270 | e->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 1271 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
| 1272 | e->clock_driftrate);
|
---|
| 1273 | else
|
---|
| 1274 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
| 1275 | e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 1276 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
| 1277 | e->clock_driftrate);
|
---|
| 1278 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
|
---|
| 1279 | e->Crs, e->Delta_n, e->M0);
|
---|
| 1280 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
|
---|
| 1281 | e->e, e->Cus, e->sqrt_A);
|
---|
| 1282 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
|
---|
| 1283 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
| 1284 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
|
---|
| 1285 | e->Crc, e->omega, e->OMEGADOT);
|
---|
| 1286 | d = 0;
|
---|
| 1287 | i = e->flags;
|
---|
| 1288 | if(i & GPSEPHF_L2CACODE)
|
---|
| 1289 | d += 2.0;
|
---|
| 1290 | if(i & GPSEPHF_L2PCODE)
|
---|
| 1291 | d += 1.0;
|
---|
| 1292 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
|
---|
| 1293 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
| 1294 | if(e->URAindex <= 6) /* URA index */
|
---|
| 1295 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
| 1296 | else
|
---|
| 1297 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
| 1298 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
| 1299 | case, so we create a high "non"-accuracy value. */
|
---|
| 1300 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
|
---|
| 1301 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
| 1302 |
|
---|
| 1303 | ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW), 0.0);
|
---|
| 1304 | /* TOW */
|
---|
| 1305 | }
|
---|
| 1306 | }
|
---|
[27] | 1307 | }
|
---|
[502] | 1308 | else
|
---|
[27] | 1309 | {
|
---|
[502] | 1310 | int i, j, o;
|
---|
| 1311 | struct converttimeinfo cti;
|
---|
[27] | 1312 |
|
---|
[502] | 1313 | if(Parser->init < NUMSTARTSKIP) /* skip first epochs to detect correct data types */
|
---|
[27] | 1314 | {
|
---|
[502] | 1315 | ++Parser->init;
|
---|
| 1316 |
|
---|
| 1317 | if(Parser->init == NUMSTARTSKIP)
|
---|
| 1318 | HandleHeader(Parser);
|
---|
[27] | 1319 | else
|
---|
[502] | 1320 | {
|
---|
| 1321 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1322 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
| 1323 | continue;
|
---|
| 1324 | }
|
---|
[27] | 1325 | }
|
---|
[502] | 1326 | if(r == 2 && !Parser->validwarning)
|
---|
[27] | 1327 | {
|
---|
[502] | 1328 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
| 1329 | " COMMENT\n");
|
---|
| 1330 | Parser->validwarning = 1;
|
---|
| 1331 | }
|
---|
| 1332 |
|
---|
| 1333 | converttime(&cti, Parser->Data.week,
|
---|
| 1334 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
| 1335 | if(Parser->rinex3)
|
---|
| 1336 | {
|
---|
| 1337 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 0%3d\n",
|
---|
| 1338 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 1339 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
| 1340 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
[363] | 1341 | {
|
---|
[502] | 1342 | int glo = 0;
|
---|
| 1343 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 1344 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 1345 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 1346 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 1347 | {
|
---|
| 1348 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 1349 | glo = 1;
|
---|
| 1350 | }
|
---|
| 1351 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 1352 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 1353 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 1354 | else
|
---|
| 1355 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[363] | 1356 |
|
---|
[502] | 1357 | if(glo)
|
---|
[363] | 1358 | {
|
---|
[502] | 1359 | for(j = 0; j < Parser->numdatatypesGLO; ++j)
|
---|
| 1360 | {
|
---|
| 1361 | int df = Parser->dataflagGLO[j];
|
---|
| 1362 | int pos = Parser->dataposGLO[j];
|
---|
| 1363 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1364 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1365 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1366 | {
|
---|
| 1367 | char lli = ' ';
|
---|
| 1368 | char snr = ' ';
|
---|
| 1369 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 1370 | {
|
---|
| 1371 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
| 1372 | lli = '1';
|
---|
| 1373 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 1374 | }
|
---|
| 1375 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 1376 | {
|
---|
| 1377 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
| 1378 | lli = '1';
|
---|
| 1379 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 1380 | }
|
---|
| 1381 | RTCM3Text("%14.3f%c%c",
|
---|
| 1382 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 1383 | }
|
---|
| 1384 | else
|
---|
| 1385 | { /* no or illegal data */
|
---|
| 1386 | RTCM3Text(" ");
|
---|
| 1387 | }
|
---|
| 1388 | }
|
---|
[363] | 1389 | }
|
---|
[502] | 1390 | else
|
---|
| 1391 | {
|
---|
| 1392 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
| 1393 | {
|
---|
| 1394 | int df = Parser->dataflagGPS[j];
|
---|
| 1395 | int pos = Parser->dataposGPS[j];
|
---|
| 1396 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1397 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1398 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1399 | {
|
---|
| 1400 | char lli = ' ';
|
---|
| 1401 | char snr = ' ';
|
---|
| 1402 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 1403 | {
|
---|
| 1404 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
| 1405 | lli = '1';
|
---|
| 1406 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 1407 | }
|
---|
| 1408 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 1409 | {
|
---|
| 1410 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
| 1411 | lli = '1';
|
---|
| 1412 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 1413 | }
|
---|
| 1414 | RTCM3Text("%14.3f%c%c",
|
---|
| 1415 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 1416 | }
|
---|
| 1417 | else
|
---|
| 1418 | { /* no or illegal data */
|
---|
| 1419 | RTCM3Text(" ");
|
---|
| 1420 | }
|
---|
| 1421 | }
|
---|
| 1422 | }
|
---|
| 1423 | RTCM3Text("\n");
|
---|
[363] | 1424 | }
|
---|
[502] | 1425 | }
|
---|
| 1426 | else
|
---|
| 1427 | {
|
---|
| 1428 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f 0%3d",
|
---|
| 1429 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 1430 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
| 1431 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
| 1432 | {
|
---|
| 1433 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 1434 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 1435 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 1436 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 1437 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 1438 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 1439 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 1440 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 1441 | else
|
---|
| 1442 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 1443 | }
|
---|
[502] | 1444 | RTCM3Text("\n");
|
---|
| 1445 | o = 12;
|
---|
| 1446 | j = Parser->Data.numsats - 12;
|
---|
| 1447 | while(j > 0)
|
---|
[27] | 1448 | {
|
---|
[502] | 1449 | RTCM3Text(" ");
|
---|
| 1450 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
[27] | 1451 | {
|
---|
[502] | 1452 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 1453 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 1454 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 1455 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 1456 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 1457 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 1458 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 1459 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 1460 | else
|
---|
| 1461 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 1462 | }
|
---|
[502] | 1463 | RTCM3Text("\n");
|
---|
| 1464 | j -= 12;
|
---|
| 1465 | o += 12;
|
---|
| 1466 | }
|
---|
| 1467 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1468 | {
|
---|
| 1469 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
[27] | 1470 | {
|
---|
[502] | 1471 | int v = 0;
|
---|
| 1472 | int df = Parser->dataflag[j];
|
---|
| 1473 | int pos = Parser->datapos[j];
|
---|
| 1474 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1475 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1476 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1477 | {
|
---|
| 1478 | v = 1;
|
---|
| 1479 | }
|
---|
| 1480 | else
|
---|
| 1481 | {
|
---|
| 1482 | df = Parser->dataflagGPS[j];
|
---|
| 1483 | pos = Parser->dataposGPS[j];
|
---|
| 1484 |
|
---|
| 1485 | if((Parser->Data.dataflags[i] & df)
|
---|
| 1486 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 1487 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 1488 | {
|
---|
| 1489 | v = 1;
|
---|
| 1490 | }
|
---|
| 1491 | }
|
---|
| 1492 |
|
---|
| 1493 | if(!v)
|
---|
| 1494 | { /* no or illegal data */
|
---|
| 1495 | RTCM3Text(" ");
|
---|
| 1496 | }
|
---|
| 1497 | else
|
---|
| 1498 | {
|
---|
| 1499 | char lli = ' ';
|
---|
| 1500 | char snr = ' ';
|
---|
| 1501 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 1502 | {
|
---|
| 1503 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL1)
|
---|
| 1504 | lli = '1';
|
---|
| 1505 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 1506 | }
|
---|
| 1507 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 1508 | {
|
---|
| 1509 | if(Parser->Data.dataflags[i] & GNSSDF_LOCKLOSSL2)
|
---|
| 1510 | lli = '1';
|
---|
| 1511 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 1512 | }
|
---|
| 1513 | RTCM3Text("%14.3f%c%c",
|
---|
| 1514 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 1515 | }
|
---|
| 1516 | if(j%5 == 4 || j == Parser->numdatatypesGPS-1)
|
---|
| 1517 | RTCM3Text("\n");
|
---|
[27] | 1518 | }
|
---|
| 1519 | }
|
---|
| 1520 | }
|
---|
| 1521 | }
|
---|
| 1522 | }
|
---|
| 1523 | }
|
---|
| 1524 | }
|
---|
| 1525 |
|
---|
[268] | 1526 | #ifndef NO_RTCM3_MAIN
|
---|
[502] | 1527 | static char datestr[] = "$Date: 2007/10/01 11:07:08 $";
|
---|
[269] | 1528 |
|
---|
[268] | 1529 | /* The string, which is send as agent in HTTP request */
|
---|
| 1530 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
| 1531 |
|
---|
| 1532 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
| 1533 |
|
---|
[269] | 1534 | static const char encodingTable [64] = {
|
---|
| 1535 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
| 1536 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
| 1537 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
| 1538 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
| 1539 | };
|
---|
| 1540 |
|
---|
| 1541 | /* does not buffer overrun, but breaks directly after an error */
|
---|
| 1542 | /* returns the number of required bytes */
|
---|
| 1543 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
| 1544 | {
|
---|
| 1545 | unsigned char inbuf[3];
|
---|
| 1546 | char *out = buf;
|
---|
| 1547 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
| 1548 |
|
---|
| 1549 | while(*user || *pwd)
|
---|
| 1550 | {
|
---|
| 1551 | i = 0;
|
---|
| 1552 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
| 1553 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
| 1554 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
| 1555 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
| 1556 | if(out-buf < size-1)
|
---|
| 1557 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
| 1558 | if(out-buf < size-1)
|
---|
| 1559 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
| 1560 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
| 1561 | if(out-buf < size-1)
|
---|
| 1562 | {
|
---|
| 1563 | if(fill == 2)
|
---|
| 1564 | *(out++) = '=';
|
---|
| 1565 | else
|
---|
| 1566 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
| 1567 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
| 1568 | }
|
---|
| 1569 | if(out-buf < size-1)
|
---|
| 1570 | {
|
---|
| 1571 | if(fill >= 1)
|
---|
| 1572 | *(out++) = '=';
|
---|
| 1573 | else
|
---|
| 1574 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
| 1575 | }
|
---|
| 1576 | bytes += 4;
|
---|
| 1577 | }
|
---|
| 1578 | if(out-buf < size)
|
---|
| 1579 | *out = 0;
|
---|
| 1580 | return bytes;
|
---|
| 1581 | }
|
---|
| 1582 |
|
---|
[268] | 1583 | static int stop = 0;
|
---|
| 1584 |
|
---|
| 1585 | struct Args
|
---|
| 1586 | {
|
---|
| 1587 | const char *server;
|
---|
[502] | 1588 | const char *port;
|
---|
| 1589 | int mode;
|
---|
[477] | 1590 | int timeout;
|
---|
[502] | 1591 | int rinex3;
|
---|
[268] | 1592 | const char *user;
|
---|
| 1593 | const char *password;
|
---|
[502] | 1594 | const char *proxyhost;
|
---|
| 1595 | const char *proxyport;
|
---|
| 1596 | const char *nmea;
|
---|
[268] | 1597 | const char *data;
|
---|
| 1598 | const char *headerfile;
|
---|
[502] | 1599 | const char *gpsephemeris;
|
---|
| 1600 | const char *glonassephemeris;
|
---|
[268] | 1601 | };
|
---|
| 1602 |
|
---|
| 1603 | /* option parsing */
|
---|
| 1604 | #ifdef NO_LONG_OPTS
|
---|
| 1605 | #define LONG_OPT(a)
|
---|
| 1606 | #else
|
---|
| 1607 | #define LONG_OPT(a) a
|
---|
| 1608 | static struct option opts[] = {
|
---|
[502] | 1609 | { "data", required_argument, 0, 'd'},
|
---|
| 1610 | { "server", required_argument, 0, 's'},
|
---|
| 1611 | { "password", required_argument, 0, 'p'},
|
---|
| 1612 | { "port", required_argument, 0, 'r'},
|
---|
| 1613 | { "timeout", required_argument, 0, 't'},
|
---|
| 1614 | { "header", required_argument, 0, 'f'},
|
---|
| 1615 | { "user", required_argument, 0, 'u'},
|
---|
| 1616 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
| 1617 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
| 1618 | { "rinex3", no_argument, 0, '3'},
|
---|
| 1619 | { "proxyport", required_argument, 0, 'R'},
|
---|
| 1620 | { "proxyhost", required_argument, 0, 'S'},
|
---|
| 1621 | { "nmea", required_argument, 0, 'n'},
|
---|
| 1622 | { "mode", required_argument, 0, 'M'},
|
---|
| 1623 | { "help", no_argument, 0, 'h'},
|
---|
[268] | 1624 | {0,0,0,0}};
|
---|
| 1625 | #endif
|
---|
[502] | 1626 | #define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3"
|
---|
[268] | 1627 |
|
---|
[502] | 1628 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
| 1629 |
|
---|
[270] | 1630 | static const char *geturl(const char *url, struct Args *args)
|
---|
| 1631 | {
|
---|
| 1632 | static char buf[1000];
|
---|
| 1633 | static char *Buffer = buf;
|
---|
| 1634 | static char *Bufend = buf+sizeof(buf);
|
---|
| 1635 |
|
---|
| 1636 | if(strncmp("ntrip:", url, 6))
|
---|
| 1637 | return "URL must start with 'ntrip:'.";
|
---|
| 1638 | url += 6; /* skip ntrip: */
|
---|
| 1639 |
|
---|
| 1640 | if(*url != '@' && *url != '/')
|
---|
| 1641 | {
|
---|
| 1642 | /* scan for mountpoint */
|
---|
| 1643 | args->data = Buffer;
|
---|
[502] | 1644 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
[270] | 1645 | *(Buffer++) = *(url++);
|
---|
| 1646 | if(Buffer == args->data)
|
---|
| 1647 | return "Mountpoint required.";
|
---|
| 1648 | else if(Buffer >= Bufend-1)
|
---|
| 1649 | return "Parsing buffer too short.";
|
---|
| 1650 | *(Buffer++) = 0;
|
---|
| 1651 | }
|
---|
| 1652 |
|
---|
| 1653 | if(*url == '/') /* username and password */
|
---|
| 1654 | {
|
---|
| 1655 | ++url;
|
---|
| 1656 | args->user = Buffer;
|
---|
[502] | 1657 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
[270] | 1658 | *(Buffer++) = *(url++);
|
---|
| 1659 | if(Buffer == args->user)
|
---|
| 1660 | return "Username cannot be empty.";
|
---|
| 1661 | else if(Buffer >= Bufend-1)
|
---|
| 1662 | return "Parsing buffer too short.";
|
---|
| 1663 | *(Buffer++) = 0;
|
---|
| 1664 |
|
---|
| 1665 | if(*url == ':') ++url;
|
---|
| 1666 |
|
---|
| 1667 | args->password = Buffer;
|
---|
[502] | 1668 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
[270] | 1669 | *(Buffer++) = *(url++);
|
---|
| 1670 | if(Buffer == args->password)
|
---|
| 1671 | return "Password cannot be empty.";
|
---|
| 1672 | else if(Buffer >= Bufend-1)
|
---|
| 1673 | return "Parsing buffer too short.";
|
---|
| 1674 | *(Buffer++) = 0;
|
---|
| 1675 | }
|
---|
| 1676 |
|
---|
| 1677 | if(*url == '@') /* server */
|
---|
| 1678 | {
|
---|
| 1679 | ++url;
|
---|
[502] | 1680 | if(*url != '@' && *url != ':')
|
---|
| 1681 | {
|
---|
| 1682 | args->server = Buffer;
|
---|
| 1683 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 1684 | *(Buffer++) = *(url++);
|
---|
| 1685 | if(Buffer == args->server)
|
---|
| 1686 | return "Servername cannot be empty.";
|
---|
| 1687 | else if(Buffer >= Bufend-1)
|
---|
| 1688 | return "Parsing buffer too short.";
|
---|
| 1689 | *(Buffer++) = 0;
|
---|
| 1690 | }
|
---|
[270] | 1691 |
|
---|
| 1692 | if(*url == ':')
|
---|
| 1693 | {
|
---|
[502] | 1694 | ++url;
|
---|
| 1695 | args->port = Buffer;
|
---|
| 1696 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
| 1697 | *(Buffer++) = *(url++);
|
---|
| 1698 | if(Buffer == args->port)
|
---|
| 1699 | return "Port cannot be empty.";
|
---|
| 1700 | else if(Buffer >= Bufend-1)
|
---|
| 1701 | return "Parsing buffer too short.";
|
---|
| 1702 | *(Buffer++) = 0;
|
---|
[270] | 1703 | }
|
---|
[502] | 1704 |
|
---|
| 1705 | if(*url == '@') /* proxy */
|
---|
| 1706 | {
|
---|
| 1707 | ++url;
|
---|
| 1708 | args->proxyhost = Buffer;
|
---|
| 1709 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 1710 | *(Buffer++) = *(url++);
|
---|
| 1711 | if(Buffer == args->proxyhost)
|
---|
| 1712 | return "Proxy servername cannot be empty.";
|
---|
| 1713 | else if(Buffer >= Bufend-1)
|
---|
| 1714 | return "Parsing buffer too short.";
|
---|
| 1715 | *(Buffer++) = 0;
|
---|
| 1716 |
|
---|
| 1717 | if(*url == ':')
|
---|
| 1718 | {
|
---|
| 1719 | ++url;
|
---|
| 1720 | args->proxyport = Buffer;
|
---|
| 1721 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
| 1722 | *(Buffer++) = *(url++);
|
---|
| 1723 | if(Buffer == args->proxyport)
|
---|
| 1724 | return "Proxy port cannot be empty.";
|
---|
| 1725 | else if(Buffer >= Bufend-1)
|
---|
| 1726 | return "Parsing buffer too short.";
|
---|
| 1727 | *(Buffer++) = 0;
|
---|
| 1728 | }
|
---|
| 1729 | }
|
---|
[270] | 1730 | }
|
---|
[502] | 1731 | if(*url == ';') /* NMEA */
|
---|
| 1732 | {
|
---|
| 1733 | args->nmea = ++url;
|
---|
| 1734 | while(*url)
|
---|
| 1735 | ++url;
|
---|
| 1736 | }
|
---|
[270] | 1737 |
|
---|
| 1738 | return *url ? "Garbage at end of server string." : 0;
|
---|
| 1739 | }
|
---|
| 1740 |
|
---|
[268] | 1741 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
| 1742 | {
|
---|
| 1743 | int res = 1;
|
---|
| 1744 | int getoptr;
|
---|
| 1745 | int help = 0;
|
---|
| 1746 | char *t;
|
---|
| 1747 |
|
---|
| 1748 | args->server = "www.euref-ip.net";
|
---|
[502] | 1749 | args->port = "2101";
|
---|
[477] | 1750 | args->timeout = 60;
|
---|
[268] | 1751 | args->user = "";
|
---|
| 1752 | args->password = "";
|
---|
| 1753 | args->data = 0;
|
---|
| 1754 | args->headerfile = 0;
|
---|
[502] | 1755 | args->gpsephemeris = 0;
|
---|
| 1756 | args->glonassephemeris = 0;
|
---|
| 1757 | args->rinex3 = 0;
|
---|
| 1758 | args->nmea = 0;
|
---|
| 1759 | args->proxyhost = 0;
|
---|
| 1760 | args->proxyport = "2101";
|
---|
| 1761 | args->mode = AUTO;
|
---|
[268] | 1762 | help = 0;
|
---|
| 1763 |
|
---|
| 1764 | do
|
---|
| 1765 | {
|
---|
[477] | 1766 |
|
---|
[268] | 1767 | #ifdef NO_LONG_OPTS
|
---|
| 1768 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
| 1769 | #else
|
---|
| 1770 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
| 1771 | #endif
|
---|
| 1772 | {
|
---|
| 1773 | case 's': args->server = optarg; break;
|
---|
| 1774 | case 'u': args->user = optarg; break;
|
---|
| 1775 | case 'p': args->password = optarg; break;
|
---|
| 1776 | case 'd': args->data = optarg; break;
|
---|
| 1777 | case 'f': args->headerfile = optarg; break;
|
---|
[502] | 1778 | case 'E': args->gpsephemeris = optarg; break;
|
---|
| 1779 | case 'G': args->glonassephemeris = optarg; break;
|
---|
| 1780 | case 'r': args->port = optarg; break;
|
---|
| 1781 | case '3': args->rinex3 = 1; break;
|
---|
| 1782 | case 'S': args->proxyhost = optarg; break;
|
---|
| 1783 | case 'n': args->nmea = optarg; break;
|
---|
| 1784 | case 'R': args->proxyport = optarg; break;
|
---|
[268] | 1785 | case 'h': help=1; break;
|
---|
[502] | 1786 | case 'M':
|
---|
| 1787 | args->mode = 0;
|
---|
| 1788 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
| 1789 | args->mode = NTRIP1;
|
---|
| 1790 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
| 1791 | args->mode = HTTP;
|
---|
| 1792 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
| 1793 | args->mode = RTSP;
|
---|
| 1794 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
| 1795 | args->mode = AUTO;
|
---|
| 1796 | else args->mode = atoi(optarg);
|
---|
| 1797 | if((args->mode == 0) || (args->mode >= END))
|
---|
| 1798 | {
|
---|
| 1799 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
[268] | 1800 | res = 0;
|
---|
[502] | 1801 | }
|
---|
[268] | 1802 | break;
|
---|
[502] | 1803 | case 't':
|
---|
[477] | 1804 | args->timeout = strtoul(optarg, &t, 10);
|
---|
| 1805 | if((t && *t) || args->timeout < 0)
|
---|
| 1806 | res = 0;
|
---|
| 1807 | break;
|
---|
| 1808 |
|
---|
[270] | 1809 | case 1:
|
---|
| 1810 | {
|
---|
| 1811 | const char *err;
|
---|
| 1812 | if((err = geturl(optarg, args)))
|
---|
| 1813 | {
|
---|
[318] | 1814 | RTCM3Error("%s\n\n", err);
|
---|
[270] | 1815 | res = 0;
|
---|
| 1816 | }
|
---|
| 1817 | }
|
---|
| 1818 | break;
|
---|
[268] | 1819 | case -1: break;
|
---|
| 1820 | }
|
---|
| 1821 | } while(getoptr != -1 || !res);
|
---|
| 1822 |
|
---|
| 1823 | datestr[0] = datestr[7];
|
---|
| 1824 | datestr[1] = datestr[8];
|
---|
| 1825 | datestr[2] = datestr[9];
|
---|
| 1826 | datestr[3] = datestr[10];
|
---|
| 1827 | datestr[5] = datestr[12];
|
---|
| 1828 | datestr[6] = datestr[13];
|
---|
| 1829 | datestr[8] = datestr[15];
|
---|
| 1830 | datestr[9] = datestr[16];
|
---|
| 1831 | datestr[4] = datestr[7] = '-';
|
---|
| 1832 | datestr[10] = 0;
|
---|
| 1833 |
|
---|
[502] | 1834 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
[268] | 1835 | {
|
---|
[502] | 1836 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n");
|
---|
| 1837 | res = 0;
|
---|
| 1838 | }
|
---|
| 1839 | else if(!res || help)
|
---|
| 1840 | {
|
---|
[439] | 1841 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
| 1842 | "\nUsage: %s -s server -u user ...\n"
|
---|
[502] | 1843 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
| 1844 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
| 1845 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
| 1846 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
| 1847 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
| 1848 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
| 1849 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
| 1850 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
| 1851 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
| 1852 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
| 1853 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
| 1854 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
| 1855 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
| 1856 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
| 1857 | " Valid modes are:\n"
|
---|
| 1858 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
| 1859 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
| 1860 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
| 1861 | " 4, a, auto automatic detection (default)\n"
|
---|
| 1862 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
[270] | 1863 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
[268] | 1864 | exit(1);
|
---|
| 1865 | }
|
---|
| 1866 | return res;
|
---|
| 1867 | }
|
---|
| 1868 |
|
---|
| 1869 | /* let the output complete a block if necessary */
|
---|
| 1870 | static void signalhandler(int sig)
|
---|
| 1871 | {
|
---|
| 1872 | if(!stop)
|
---|
| 1873 | {
|
---|
[318] | 1874 | RTCM3Error("Stop signal number %d received. "
|
---|
[268] | 1875 | "Trying to terminate gentle.\n", sig);
|
---|
| 1876 | stop = 1;
|
---|
| 1877 | alarm(1);
|
---|
| 1878 | }
|
---|
| 1879 | }
|
---|
| 1880 |
|
---|
[502] | 1881 | #define ALARMTIME (2*60)
|
---|
| 1882 |
|
---|
[268] | 1883 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
| 1884 | #ifdef __GNUC__
|
---|
| 1885 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
| 1886 | int sig __attribute__((__unused__)))
|
---|
| 1887 | #else /* __GNUC__ */
|
---|
| 1888 | static void signalhandler_alarm(int sig)
|
---|
| 1889 | #endif /* __GNUC__ */
|
---|
| 1890 | {
|
---|
[318] | 1891 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
[268] | 1892 | exit(1);
|
---|
| 1893 | }
|
---|
| 1894 |
|
---|
[27] | 1895 | int main(int argc, char **argv)
|
---|
| 1896 | {
|
---|
| 1897 | struct Args args;
|
---|
| 1898 | struct RTCM3ParserData Parser;
|
---|
| 1899 |
|
---|
| 1900 | setbuf(stdout, 0);
|
---|
| 1901 | setbuf(stdin, 0);
|
---|
| 1902 | setbuf(stderr, 0);
|
---|
| 1903 |
|
---|
| 1904 | {
|
---|
| 1905 | char *a;
|
---|
| 1906 | int i=0;
|
---|
| 1907 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
| 1908 | revisionstr[i++] = *a;
|
---|
| 1909 | revisionstr[i] = 0;
|
---|
| 1910 | }
|
---|
| 1911 |
|
---|
| 1912 | signal(SIGINT, signalhandler);
|
---|
| 1913 | signal(SIGALRM,signalhandler_alarm);
|
---|
| 1914 | signal(SIGQUIT,signalhandler);
|
---|
| 1915 | signal(SIGTERM,signalhandler);
|
---|
| 1916 | signal(SIGPIPE,signalhandler);
|
---|
| 1917 | memset(&Parser, 0, sizeof(Parser));
|
---|
| 1918 | {
|
---|
| 1919 | time_t tim;
|
---|
| 1920 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
| 1921 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
| 1922 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
| 1923 | }
|
---|
| 1924 |
|
---|
| 1925 | if(getargs(argc, argv, &args))
|
---|
| 1926 | {
|
---|
[502] | 1927 | int sockfd, numbytes;
|
---|
[27] | 1928 | char buf[MAXDATASIZE];
|
---|
[502] | 1929 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
[27] | 1930 | struct hostent *he;
|
---|
[502] | 1931 | struct servent *se;
|
---|
| 1932 | const char *server, *port, *proxyserver = 0;
|
---|
| 1933 | char proxyport[6];
|
---|
| 1934 | char *b;
|
---|
| 1935 | long i;
|
---|
| 1936 | struct timeval tv;
|
---|
[27] | 1937 |
|
---|
[502] | 1938 | alarm(ALARMTIME);
|
---|
| 1939 |
|
---|
[27] | 1940 | Parser.headerfile = args.headerfile;
|
---|
[502] | 1941 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
| 1942 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
| 1943 | Parser.rinex3 = args.rinex3;
|
---|
[27] | 1944 |
|
---|
[502] | 1945 | if(args.proxyhost)
|
---|
[27] | 1946 | {
|
---|
[502] | 1947 | int p;
|
---|
| 1948 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
| 1949 | p = i;
|
---|
| 1950 | else if(!(se = getservbyname(args.port, 0)))
|
---|
| 1951 | {
|
---|
| 1952 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
| 1953 | exit(1);
|
---|
| 1954 | }
|
---|
| 1955 | else
|
---|
| 1956 | {
|
---|
| 1957 | p = ntohs(se->s_port);
|
---|
| 1958 | }
|
---|
| 1959 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
| 1960 | port = args.proxyport;
|
---|
| 1961 | proxyserver = args.server;
|
---|
| 1962 | server = args.proxyhost;
|
---|
| 1963 | }
|
---|
| 1964 | else
|
---|
| 1965 | {
|
---|
| 1966 | server = args.server;
|
---|
| 1967 | port = args.port;
|
---|
| 1968 | }
|
---|
| 1969 |
|
---|
| 1970 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
| 1971 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
| 1972 | their_addr.sin_port = htons(i);
|
---|
| 1973 | else if(!(se = getservbyname(port, 0)))
|
---|
| 1974 | {
|
---|
| 1975 | RTCM3Error("Can't resolve port %s.", port);
|
---|
[27] | 1976 | exit(1);
|
---|
| 1977 | }
|
---|
[502] | 1978 | else
|
---|
| 1979 | {
|
---|
| 1980 | their_addr.sin_port = se->s_port;
|
---|
| 1981 | }
|
---|
| 1982 | if(!(he=gethostbyname(server)))
|
---|
| 1983 | {
|
---|
| 1984 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
| 1985 | exit(1);
|
---|
| 1986 | }
|
---|
[27] | 1987 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
| 1988 | {
|
---|
[502] | 1989 | perror("socket");
|
---|
[27] | 1990 | exit(1);
|
---|
| 1991 | }
|
---|
[477] | 1992 |
|
---|
| 1993 | tv.tv_sec = args.timeout;
|
---|
| 1994 | tv.tv_usec = 0;
|
---|
| 1995 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
| 1996 | {
|
---|
| 1997 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
| 1998 | exit(1);
|
---|
| 1999 | }
|
---|
| 2000 |
|
---|
[502] | 2001 | their_addr.sin_family = AF_INET;
|
---|
[27] | 2002 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
[502] | 2003 |
|
---|
| 2004 | if(args.data && args.mode == RTSP)
|
---|
[27] | 2005 | {
|
---|
[502] | 2006 | struct sockaddr_in local;
|
---|
| 2007 | int sockudp, localport;
|
---|
| 2008 | int cseq = 1;
|
---|
| 2009 | socklen_t len;
|
---|
[27] | 2010 |
|
---|
[502] | 2011 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
| 2012 | {
|
---|
| 2013 | perror("socket");
|
---|
| 2014 | exit(1);
|
---|
| 2015 | }
|
---|
| 2016 | /* fill structure with local address information for UDP */
|
---|
| 2017 | memset(&local, 0, sizeof(local));
|
---|
| 2018 | local.sin_family = AF_INET;
|
---|
| 2019 | local.sin_port = htons(0);
|
---|
| 2020 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
| 2021 | len = sizeof(local);
|
---|
| 2022 | /* bind() in order to get a random RTP client_port */
|
---|
| 2023 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
| 2024 | {
|
---|
| 2025 | perror("bind");
|
---|
| 2026 | exit(1);
|
---|
| 2027 | }
|
---|
| 2028 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
| 2029 | {
|
---|
| 2030 | localport = ntohs(local.sin_port);
|
---|
| 2031 | }
|
---|
| 2032 | else
|
---|
| 2033 | {
|
---|
| 2034 | perror("local access failed");
|
---|
| 2035 | exit(1);
|
---|
| 2036 | }
|
---|
| 2037 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 2038 | sizeof(struct sockaddr)) == -1)
|
---|
| 2039 | {
|
---|
| 2040 | perror("connect");
|
---|
| 2041 | exit(1);
|
---|
| 2042 | }
|
---|
[27] | 2043 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
[502] | 2044 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 2045 | "CSeq: %d\r\n"
|
---|
| 2046 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
| 2047 | "Ntrip-Component: Ntripclient\r\n"
|
---|
[27] | 2048 | "User-Agent: %s/%s\r\n"
|
---|
[502] | 2049 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
| 2050 | "Authorization: Basic ",
|
---|
| 2051 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 2052 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
[479] | 2053 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
[27] | 2054 | {
|
---|
[318] | 2055 | RTCM3Error("Requested data too long\n");
|
---|
[27] | 2056 | exit(1);
|
---|
| 2057 | }
|
---|
[339] | 2058 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 2059 | if(i > MAXDATASIZE-4)
|
---|
[27] | 2060 | {
|
---|
[318] | 2061 | RTCM3Error("Username and/or password too long\n");
|
---|
[27] | 2062 | exit(1);
|
---|
| 2063 | }
|
---|
[339] | 2064 | buf[i++] = '\r';
|
---|
| 2065 | buf[i++] = '\n';
|
---|
| 2066 | buf[i++] = '\r';
|
---|
| 2067 | buf[i++] = '\n';
|
---|
[502] | 2068 | if(args.nmea)
|
---|
[27] | 2069 | {
|
---|
[502] | 2070 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 2071 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 2072 | i += j;
|
---|
| 2073 | else
|
---|
[27] | 2074 | {
|
---|
[502] | 2075 | RTCM3Error("NMEA string too long\n");
|
---|
| 2076 | exit(1);
|
---|
| 2077 | }
|
---|
| 2078 | }
|
---|
| 2079 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2080 | {
|
---|
| 2081 | perror("send");
|
---|
| 2082 | exit(1);
|
---|
| 2083 | }
|
---|
| 2084 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 2085 | {
|
---|
| 2086 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
| 2087 | {
|
---|
| 2088 | int serverport = 0, session = 0;
|
---|
| 2089 | const char *portcheck = "server_port=";
|
---|
| 2090 | const char *sessioncheck = "session: ";
|
---|
| 2091 | int l = strlen(portcheck)-1;
|
---|
| 2092 | int j=0;
|
---|
| 2093 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
[27] | 2094 | {
|
---|
[502] | 2095 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
| 2096 | ;
|
---|
| 2097 | }
|
---|
| 2098 | if(i == numbytes-l)
|
---|
| 2099 | {
|
---|
| 2100 | RTCM3Error("No server port number found\n");
|
---|
| 2101 | exit(1);
|
---|
| 2102 | }
|
---|
| 2103 | else
|
---|
| 2104 | {
|
---|
| 2105 | i+=l;
|
---|
| 2106 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 2107 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
| 2108 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
[27] | 2109 | {
|
---|
[502] | 2110 | RTCM3Error("Could not extract server port\n");
|
---|
| 2111 | exit(1);
|
---|
[27] | 2112 | }
|
---|
[502] | 2113 | }
|
---|
| 2114 | l = strlen(sessioncheck)-1;
|
---|
| 2115 | j=0;
|
---|
| 2116 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 2117 | {
|
---|
| 2118 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
| 2119 | ;
|
---|
| 2120 | }
|
---|
| 2121 | if(i == numbytes-l)
|
---|
| 2122 | {
|
---|
| 2123 | RTCM3Error("No session number found\n");
|
---|
[27] | 2124 | exit(1);
|
---|
| 2125 | }
|
---|
[502] | 2126 | else
|
---|
| 2127 | {
|
---|
| 2128 | i+=l;
|
---|
| 2129 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 2130 | session = session * 10 + buf[i++]-'0';
|
---|
| 2131 | if(buf[i] != '\r')
|
---|
| 2132 | {
|
---|
| 2133 | RTCM3Error("Could not extract session number\n");
|
---|
| 2134 | exit(1);
|
---|
| 2135 | }
|
---|
| 2136 | }
|
---|
| 2137 |
|
---|
| 2138 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 2139 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 2140 | "CSeq: %d\r\n"
|
---|
| 2141 | "Session: %d\r\n"
|
---|
| 2142 | "\r\n",
|
---|
| 2143 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 2144 | args.data, cseq++, session);
|
---|
| 2145 |
|
---|
| 2146 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 2147 | {
|
---|
| 2148 | RTCM3Error("Requested data too long\n");
|
---|
| 2149 | exit(1);
|
---|
| 2150 | }
|
---|
| 2151 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2152 | {
|
---|
| 2153 | perror("send");
|
---|
| 2154 | exit(1);
|
---|
| 2155 | }
|
---|
| 2156 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 2157 | {
|
---|
| 2158 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
| 2159 | {
|
---|
| 2160 | struct sockaddr_in addrRTP;
|
---|
| 2161 | /* fill structure with caster address information for UDP */
|
---|
| 2162 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
| 2163 | addrRTP.sin_family = AF_INET;
|
---|
| 2164 | addrRTP.sin_port = htons(serverport);
|
---|
| 2165 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
| 2166 | len = sizeof(addrRTP);
|
---|
| 2167 | int ts = 0;
|
---|
| 2168 | int sn = 0;
|
---|
| 2169 | int ssrc = 0;
|
---|
| 2170 | int init = 0;
|
---|
| 2171 | int u, v, w;
|
---|
| 2172 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
| 2173 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
| 2174 | {
|
---|
| 2175 | alarm(ALARMTIME);
|
---|
| 2176 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
| 2177 | {
|
---|
| 2178 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
| 2179 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
| 2180 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
| 2181 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
| 2182 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
| 2183 |
|
---|
| 2184 | if(init)
|
---|
| 2185 | {
|
---|
| 2186 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
| 2187 | if(ssrc != w || ts > v)
|
---|
| 2188 | {
|
---|
| 2189 | RTCM3Error("Illegal UDP data received.\n");
|
---|
| 2190 | exit(1);
|
---|
| 2191 | }
|
---|
| 2192 | if(u > sn) /* don't show out-of-order packets */
|
---|
| 2193 | fwrite(buf+12, (size_t)i-12, 1, stdout);
|
---|
| 2194 | }
|
---|
| 2195 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
| 2196 | }
|
---|
| 2197 | else
|
---|
| 2198 | {
|
---|
| 2199 | RTCM3Error("Illegal UDP header.\n");
|
---|
| 2200 | exit(1);
|
---|
| 2201 | }
|
---|
| 2202 | }
|
---|
| 2203 | }
|
---|
| 2204 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 2205 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 2206 | "CSeq: %d\r\n"
|
---|
| 2207 | "Session: %d\r\n"
|
---|
| 2208 | "\r\n",
|
---|
| 2209 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 2210 | args.data, cseq++, session);
|
---|
| 2211 |
|
---|
| 2212 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 2213 | {
|
---|
| 2214 | RTCM3Error("Requested data too long\n");
|
---|
| 2215 | exit(1);
|
---|
| 2216 | }
|
---|
| 2217 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2218 | {
|
---|
| 2219 | perror("send");
|
---|
| 2220 | exit(1);
|
---|
| 2221 | }
|
---|
| 2222 | }
|
---|
| 2223 | else
|
---|
| 2224 | {
|
---|
| 2225 | RTCM3Error("Could not start data stream.\n");
|
---|
| 2226 | exit(1);
|
---|
| 2227 | }
|
---|
[27] | 2228 | }
|
---|
| 2229 | else
|
---|
| 2230 | {
|
---|
[502] | 2231 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
| 2232 | exit(1);
|
---|
[27] | 2233 | }
|
---|
| 2234 | }
|
---|
[502] | 2235 | else
|
---|
| 2236 | {
|
---|
| 2237 | perror("recv");
|
---|
| 2238 | exit(1);
|
---|
| 2239 | }
|
---|
[27] | 2240 | }
|
---|
| 2241 | else
|
---|
| 2242 | {
|
---|
[502] | 2243 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 2244 | sizeof(struct sockaddr)) == -1)
|
---|
[27] | 2245 | {
|
---|
[502] | 2246 | perror("connect");
|
---|
| 2247 | exit(1);
|
---|
[27] | 2248 | }
|
---|
[502] | 2249 | if(!args.data)
|
---|
| 2250 | {
|
---|
| 2251 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 2252 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
| 2253 | "Host: %s\r\n%s"
|
---|
| 2254 | "User-Agent: %s/%s\r\n"
|
---|
| 2255 | "\r\n"
|
---|
| 2256 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 2257 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 2258 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 2259 | AGENTSTRING, revisionstr);
|
---|
| 2260 | }
|
---|
| 2261 | else
|
---|
| 2262 | {
|
---|
| 2263 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
| 2264 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
| 2265 | "Host: %s\r\n%s"
|
---|
| 2266 | "User-Agent: %s/%s\r\n"
|
---|
| 2267 | "Authorization: Basic "
|
---|
| 2268 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 2269 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 2270 | args.data, args.server,
|
---|
| 2271 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 2272 | AGENTSTRING, revisionstr);
|
---|
| 2273 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
| 2274 | {
|
---|
| 2275 | RTCM3Error("Requested data too long\n");
|
---|
| 2276 | exit(1);
|
---|
| 2277 | }
|
---|
| 2278 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 2279 | if(i > MAXDATASIZE-4)
|
---|
| 2280 | {
|
---|
| 2281 | RTCM3Error("Username and/or password too long\n");
|
---|
| 2282 | exit(1);
|
---|
| 2283 | }
|
---|
| 2284 | buf[i++] = '\r';
|
---|
| 2285 | buf[i++] = '\n';
|
---|
| 2286 | buf[i++] = '\r';
|
---|
| 2287 | buf[i++] = '\n';
|
---|
| 2288 | if(args.nmea)
|
---|
| 2289 | {
|
---|
| 2290 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 2291 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 2292 | i += j;
|
---|
| 2293 | else
|
---|
| 2294 | {
|
---|
| 2295 | RTCM3Error("NMEA string too long\n");
|
---|
| 2296 | exit(1);
|
---|
| 2297 | }
|
---|
| 2298 | }
|
---|
| 2299 | }
|
---|
| 2300 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 2301 | {
|
---|
| 2302 | perror("send");
|
---|
| 2303 | exit(1);
|
---|
| 2304 | }
|
---|
| 2305 | if(args.data)
|
---|
| 2306 | {
|
---|
| 2307 | int k = 0;
|
---|
| 2308 | int chunkymode = 0;
|
---|
| 2309 | int starttime = time(0);
|
---|
| 2310 | int lastout = starttime;
|
---|
| 2311 | int totalbytes = 0;
|
---|
| 2312 | int chunksize = 0;
|
---|
| 2313 |
|
---|
| 2314 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 2315 | {
|
---|
| 2316 | alarm(ALARMTIME);
|
---|
| 2317 | if(!k)
|
---|
| 2318 | {
|
---|
| 2319 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
| 2320 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
| 2321 | {
|
---|
| 2322 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
| 2323 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
| 2324 | int l = strlen(datacheck)-1;
|
---|
| 2325 | int j=0;
|
---|
| 2326 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 2327 | {
|
---|
| 2328 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
| 2329 | ;
|
---|
| 2330 | }
|
---|
| 2331 | if(i == numbytes-l)
|
---|
| 2332 | {
|
---|
| 2333 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
| 2334 | exit(1);
|
---|
| 2335 | }
|
---|
| 2336 | l = strlen(chunkycheck)-1;
|
---|
| 2337 | j=0;
|
---|
| 2338 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 2339 | {
|
---|
| 2340 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
| 2341 | ;
|
---|
| 2342 | }
|
---|
| 2343 | if(i < numbytes-l)
|
---|
| 2344 | chunkymode = 1;
|
---|
| 2345 | }
|
---|
| 2346 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
| 2347 | {
|
---|
| 2348 | RTCM3Error("Could not get the requested data: ");
|
---|
| 2349 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
| 2350 | {
|
---|
| 2351 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
| 2352 | }
|
---|
| 2353 | RTCM3Error("\n");
|
---|
| 2354 | exit(1);
|
---|
| 2355 | }
|
---|
| 2356 | else if(args.mode != NTRIP1)
|
---|
| 2357 | {
|
---|
| 2358 | if(args.mode != AUTO)
|
---|
| 2359 | {
|
---|
| 2360 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
| 2361 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
| 2362 | }
|
---|
| 2363 | if(args.mode == HTTP)
|
---|
| 2364 | exit(1);
|
---|
| 2365 | }
|
---|
| 2366 | ++k;
|
---|
| 2367 | }
|
---|
| 2368 | else
|
---|
| 2369 | {
|
---|
| 2370 | if(chunkymode)
|
---|
| 2371 | {
|
---|
| 2372 | int stop = 0;
|
---|
| 2373 | int pos = 0;
|
---|
| 2374 | while(!stop && pos < numbytes)
|
---|
| 2375 | {
|
---|
| 2376 | switch(chunkymode)
|
---|
| 2377 | {
|
---|
| 2378 | case 1: /* reading number starts */
|
---|
| 2379 | chunksize = 0;
|
---|
| 2380 | ++chunkymode; /* no break */
|
---|
| 2381 | case 2: /* during reading number */
|
---|
| 2382 | i = buf[pos++];
|
---|
| 2383 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
| 2384 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
| 2385 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
| 2386 | else if(i == '\r') ++chunkymode;
|
---|
| 2387 | else stop = 1;
|
---|
| 2388 | break;
|
---|
| 2389 | case 3: /* scanning for return */
|
---|
| 2390 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
| 2391 | else stop = 1;
|
---|
| 2392 | break;
|
---|
| 2393 | case 4: /* output data */
|
---|
| 2394 | i = numbytes-pos;
|
---|
| 2395 | if(i > chunksize) i = chunksize;
|
---|
| 2396 | {
|
---|
| 2397 | int z;
|
---|
| 2398 | for(z = 0; z < i && !stop; ++z)
|
---|
| 2399 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
| 2400 | }
|
---|
| 2401 | totalbytes += i;
|
---|
| 2402 | chunksize -= i;
|
---|
| 2403 | pos += i;
|
---|
| 2404 | if(!chunksize)
|
---|
| 2405 | chunkymode = 1;
|
---|
| 2406 | break;
|
---|
| 2407 | }
|
---|
| 2408 | }
|
---|
| 2409 | if(stop)
|
---|
| 2410 | {
|
---|
| 2411 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
| 2412 | break;
|
---|
| 2413 | }
|
---|
| 2414 | }
|
---|
| 2415 | else
|
---|
| 2416 | {
|
---|
| 2417 | totalbytes += numbytes;
|
---|
| 2418 | {
|
---|
| 2419 | int z;
|
---|
| 2420 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
| 2421 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
| 2422 | }
|
---|
| 2423 | }
|
---|
| 2424 | if(totalbytes < 0) /* overflow */
|
---|
| 2425 | {
|
---|
| 2426 | totalbytes = 0;
|
---|
| 2427 | starttime = time(0);
|
---|
| 2428 | lastout = starttime;
|
---|
| 2429 | }
|
---|
| 2430 | }
|
---|
| 2431 | }
|
---|
| 2432 | }
|
---|
| 2433 | else
|
---|
| 2434 | {
|
---|
| 2435 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
| 2436 | {
|
---|
| 2437 | alarm(ALARMTIME);
|
---|
| 2438 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
| 2439 | }
|
---|
| 2440 | }
|
---|
| 2441 | close(sockfd);
|
---|
[27] | 2442 | }
|
---|
| 2443 | }
|
---|
| 2444 | return 0;
|
---|
| 2445 | }
|
---|
[268] | 2446 | #endif /* NO_RTCM3_MAIN */
|
---|