Index: trunk/clock_and_orbit/lib/rtcm3torinex.c =================================================================== --- trunk/clock_and_orbit/lib/rtcm3torinex.c (revision 6324) +++ (revision ) @@ -1,4140 +1,0 @@ -/* - Converter for RTCM3 data to RINEX. - $Id$ - Copyright (C) 2005-2012 by Dirk Stöcker - - This software is a complete NTRIP-RTCM3 to RINEX converter as well as - a module of the BNC tool for multiformat conversion. Contact Dirk - Stöcker for suggestions and bug reports related to the RTCM3 to RINEX - conversion problems and the author of BNC for all the other problems. - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - or read http://www.gnu.org/licenses/gpl.txt -*/ - -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include - -#ifndef NO_RTCM3_MAIN -#include -#include -#include -#include -#endif - -#ifndef sparc -#include -#endif - -#ifndef isinf -#define isinf(x) 0 -#endif - -#include "rtcm3torinex.h" - -/* CVS revision and version */ -static char revisionstr[] = "$Revision$"; - -#ifndef COMPILEDATE -#define COMPILEDATE " built " __DATE__ -#endif - -static uint32_t CRC24(long size, const unsigned char *buf) -{ - uint32_t crc = 0; - int i; - - while(size--) - { - crc ^= (*buf++) << (16); - for(i = 0; i < 8; i++) - { - crc <<= 1; - if(crc & 0x1000000) - crc ^= 0x01864cfb; - } - } - return crc; -} - -static int GetMessage(struct RTCM3ParserData *handle) -{ - unsigned char *m, *e; - int i; - - m = handle->Message+handle->SkipBytes; - e = handle->Message+handle->MessageSize; - handle->NeedBytes = handle->SkipBytes = 0; - while(e-m >= 3) - { - if(m[0] == 0xD3) - { - handle->size = ((m[1]&3)<<8)|m[2]; - if(e-m >= handle->size+6) - { - if((uint32_t)((m[3+handle->size]<<16)|(m[3+handle->size+1]<<8) - |(m[3+handle->size+2])) == CRC24(handle->size+3, m)) - { - handle->SkipBytes = handle->size; - break; - } - else - ++m; - } - else - { - handle->NeedBytes = handle->size+6; - break; - } - } - else - ++m; - } - if(e-m < 3) - handle->NeedBytes = 3; - - /* copy buffer to front */ - i = m - handle->Message; - if(i && m < e) - memmove(handle->Message, m, (size_t)(handle->MessageSize-i)); - handle->MessageSize -= i; - - return !handle->NeedBytes; -} - -#define LOADBITS(a) \ -{ \ - while((a) > numbits) \ - { \ - if(!size--) break; \ - bitfield = (bitfield<<8)|*(data++); \ - numbits += 8; \ - } \ -} - -/* extract bits from data stream - b = variable to store result, a = number of bits */ -#define GETBITS64(b, a) \ -{ \ - if(((a) > 56) && ((a)-56) > numbits) \ - { \ - uint64_t x; \ - GETBITS(x, 56) \ - LOADBITS((a)-56) \ - b = ((x<<((a)-56)) | (bitfield<<(sizeof(bitfield)*8-numbits)) \ - >>(sizeof(bitfield)*8-((a)-56))); \ - numbits -= ((a)-56); \ - } \ - else \ - { \ - GETBITS(b, a) \ - } \ -} - -/* extract bits from data stream - b = variable to store result, a = number of bits */ -#define GETBITS(b, a) \ -{ \ - LOADBITS(a) \ - b = (bitfield<<(64-numbits))>>(64-(a)); \ - numbits -= (a); \ -} - -/* extract bits from data stream - b = variable to store result, a = number of bits */ -#define GETBITSFACTOR(b, a, c) \ -{ \ - LOADBITS(a) \ - b = ((bitfield<<(sizeof(bitfield)*8-numbits))>>(sizeof(bitfield)*8-(a)))*(c); \ - numbits -= (a); \ -} - -/* extract floating value from data stream - b = variable to store result, a = number of bits */ -#define GETFLOAT(b, a, c) \ -{ \ - LOADBITS(a) \ - b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \ - numbits -= (a); \ -} - -/* extract signed floating value from data stream - b = variable to store result, a = number of bits */ -#define GETFLOATSIGN(b, a, c) \ -{ \ - LOADBITS(a) \ - b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \ - numbits -= (a); \ -} - -/* extract bits from data stream - b = variable to store result, a = number of bits */ -#define GETBITSSIGN(b, a) \ -{ \ - LOADBITS(a) \ - b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \ - numbits -= (a); \ -} - -#define GETFLOATSIGNM(b, a, c) \ -{ int l; \ - LOADBITS(a) \ - l = (bitfield<<(64-numbits))>>(64-1); \ - b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \ - numbits -= (a); \ - if(l) b *= -1.0; \ -} - -#define SKIPBITS(b) { LOADBITS(b) numbits -= (b); } - -/* extract byte-aligned byte from data stream, - b = variable to store size, s = variable to store string pointer */ -#define GETSTRING(b, s) \ -{ \ - b = *(data++); \ - s = (char *) data; \ - data += b; \ - size -= b+1; \ -} - -struct leapseconds { /* specify the day of leap second */ - int day; /* this is the day, where 23:59:59 exists 2 times */ - int month; /* not the next day! */ - int year; - int taicount; -}; -static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31}; -static const struct leapseconds leap[] = { -/*{31, 12, 1971, 10},*/ -/*{30, 06, 1972, 11},*/ -/*{31, 12, 1972, 12},*/ -/*{31, 12, 1973, 13},*/ -/*{31, 12, 1974, 14},*/ -/*{31, 12, 1975, 15},*/ -/*{31, 12, 1976, 16},*/ -/*{31, 12, 1977, 17},*/ -/*{31, 12, 1978, 18},*/ -/*{31, 12, 1979, 19},*/ -{30, 06, 1981,20}, -{30, 06, 1982,21}, -{30, 06, 1983,22}, -{30, 06, 1985,23}, -{31, 12, 1987,24}, -{31, 12, 1989,25}, -{31, 12, 1990,26}, -{30, 06, 1992,27}, -{30, 06, 1993,28}, -{30, 06, 1994,29}, -{31, 12, 1995,30}, -{30, 06, 1997,31}, -{31, 12, 1998,32}, -{31, 12, 2005,33}, -{31, 12, 2008,34}, -{30, 06, 2012,35}, -{0,0,0,0} /* end marker */ -}; -#define LEAPSECONDS 16 /* only needed for approx. time */ -#define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */ - -static int longyear(int year, int month) -{ - if(!(year % 4) && (!(year % 400) || (year % 100))) - { - if(!month || month == 2) - return 1; - } - return 0; -} - -int gnumleap(int year, int month, int day) -{ - int ls = 0; - const struct leapseconds *l; - - for(l = leap; l->taicount && year >= l->year; ++l) - { - if(year > l->year || month > l->month || (month == l->month && day > l->day)) - ls = l->taicount - GPSLEAPSTART; - } - return ls; -} - -/* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */ -void updatetime(int *week, int *secOfWeek, int mSecOfWeek, int fixnumleap) -{ - int y,m,d,k,l, nul; - unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60; - int glo_daynumber = 0, glo_timeofday; - for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60) - + gnumleap(y+1,1,1); ++y) - { - j -= k; glo_daynumber += l; - } - for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60) - + gnumleap(y, m+1, 1); ++m) - { - j -= k; glo_daynumber += l; - } - for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d) - j -= 24*60*60; - glo_daynumber -= 16*365+4-d; - nul = gnumleap(y, m, d); - glo_timeofday = j-nul; - - // original version - // if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60) - // *secOfWeek += 24*60*60; - // else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000) - // *secOfWeek -= 24*60*60; - - // new version - if(mSecOfWeek < 4*60*60*1000 && glo_timeofday > 20*60*60) - *secOfWeek += 24*60*60; - else if(glo_timeofday < 4*60*60 && mSecOfWeek > 20*60*60*1000) - *secOfWeek -= 24*60*60; - - *secOfWeek += mSecOfWeek/1000-glo_timeofday; - if(fixnumleap) - *secOfWeek -= nul; - if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; } - if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; } -} - -int RTCM3Parser(struct RTCM3ParserData *handle) -{ - int ret=0; - -#ifdef NO_RTCM3_MAIN - if(GetMessage(handle)) /* don't repeat */ -#else - while(!ret && GetMessage(handle)) -#endif /* NO_RTCM3_MAIN */ - { - /* using 64 bit integer types, as it is much easier than handling - the long datatypes in 32 bit */ - uint64_t numbits = 0, bitfield = 0; - int size = handle->size, type; - int syncf, old = 0; - unsigned char *data = handle->Message+3; - - GETBITS(type,12) -#ifdef NO_RTCM3_MAIN - handle->blocktype = type; -#endif /* NO_RTCM3_MAIN */ - switch(type) - { -#ifdef NO_RTCM3_MAIN - default: - ret = type; - break; - case 1005: case 1006: - { - SKIPBITS(22) - GETBITSSIGN(handle->antX, 38) - SKIPBITS(2) - GETBITSSIGN(handle->antY, 38) - SKIPBITS(2) - GETBITSSIGN(handle->antZ, 38) - if(type == 1006) - GETBITS(handle->antH, 16) - ret = type; - } - break; - case 1007: case 1008: case 1033: - { - char *antenna; - int antnum; - - SKIPBITS(12) - GETSTRING(antnum,antenna) - memcpy(handle->antenna, antenna, antnum); - handle->antenna[antnum] = 0; - ret = type; - } - break; - case 1013: - { - SKIPBITS(12); - GETBITS(handle->modjulday, 16); - GETBITS(handle->secofday, 17); - SKIPBITS(5); - GETBITS(handle->leapsec, 8); - ret = 1013; - } - break; -#endif /* NO_RTCM3_MAIN */ - case 1019: - { - struct gpsephemeris *ge; - int sv, i; - - ge = &handle->ephemerisGPS; - memset(ge, 0, sizeof(*ge)); - - GETBITS(sv, 6) - ge->satellite = (sv < 40 ? sv : sv+80); - GETBITS(ge->GPSweek, 10) - ge->GPSweek += 1024; - GETBITS(ge->URAindex, 4) - GETBITS(sv, 2) - if(sv & 1) - ge->flags |= GPSEPHF_L2PCODE; - if(sv & 2) - ge->flags |= GPSEPHF_L2CACODE; - GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETBITS(ge->IODE, 8) - GETBITS(ge->TOC, 16) - ge->TOC <<= 4; - GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25)) - GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1)) - GETBITS(ge->IODC, 10) - GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5)) - GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29)) - GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) - GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29)) - GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19)) - GETBITS(ge->TOE, 16) - ge->TOE <<= 4; - - GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29)) - GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29)) - GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5)) - GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1)) - GETBITS(ge->SVhealth, 6) - GETBITS(sv, 1) - if(sv) - ge->flags |= GPSEPHF_L2PCODEDATA; - GETBITS(sv, 1) - if(sv) - ge->flags |= GPSEPHF_6HOURSFIT; - - i = ((int)ge->GPSweek - (int)handle->GPSWeek)*7*24*60*60 - + ((int)ge->TOE - (int)handle->GPSTOW) - 2*60*60; - if(i > 5*60*60 && i < 8*60*60) - { - handle->GPSTOW = ge->TOE; - handle->GPSWeek = ge->GPSweek; - } - ge->TOW = 0.9999E9; - ret = 1019; - } - break; - case 1044: - { - struct gpsephemeris *ge; - int sv, i; - - ge = &handle->ephemerisGPS; - memset(ge, 0, sizeof(*ge)); - - GETBITS(sv, 4) - ge->satellite = PRN_QZSS_START+sv-1; - GETBITS(ge->TOC, 16) - ge->TOC <<= 4; - GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25)) - GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1)) - GETBITS(ge->IODE, 8) - GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5)) - GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29)) - GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) - GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29)) - GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19)) - GETBITS(ge->TOE, 16) - ge->TOE <<= 4; - GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29)) - GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29)) - GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5)) - GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETBITS(sv, 2) - if(sv & 1) - ge->flags |= GPSEPHF_L2PCODE; - if(sv & 2) - ge->flags |= GPSEPHF_L2CACODE; - GETBITS(ge->GPSweek, 10) - ge->GPSweek += 1024; - GETBITS(ge->URAindex, 4) - GETBITS(ge->SVhealth, 6) - GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1)) - GETBITS(ge->IODC, 10) - GETBITS(sv, 1) - if(sv) - ge->flags |= GPSEPHF_6HOURSFIT; - - i = ((int)ge->GPSweek - (int)handle->GPSWeek)*7*24*60*60 - + ((int)ge->TOE - (int)handle->GPSTOW) - 2*60*60; - if(i > 5*60*60 && i < 8*60*60) - { - handle->GPSTOW = ge->TOE; - handle->GPSWeek = ge->GPSweek; - } - ge->TOW = 0.9999E9; - ret = 1044; - } - break; - case 1045: case 1046: - { - struct galileoephemeris *ge; - int sv; - - ge = &handle->ephemerisGALILEO; - memset(ge, 0, sizeof(*ge)); - - GETBITS(sv, 6) - ge->satellite = sv; - GETBITS(ge->Week, 12) - GETBITS(ge->IODnav, 10) - GETBITS(ge->SISA, 8) - GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETBITSFACTOR(ge->TOC, 14, 60) - GETFLOATSIGN(ge->clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29)) - GETFLOATSIGN(ge->clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16)) - GETFLOATSIGN(ge->clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4)) - GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5)) - GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29)) - GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3)) - GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29)) - GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19)) - GETBITSFACTOR(ge->TOE, 14, 60) - GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29)) - GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29)) - GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5)) - GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1)) - GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13)) - GETFLOATSIGN(ge->BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2)) - if(type == 1046) - { - GETFLOATSIGN(ge->BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2)) - GETBITS(ge->E5aHS, 2) - GETBITS(sv, 1) - ge->flags |= GALEPHF_INAV; - if(sv) - ge->flags |= GALEPHF_E5ADINVALID; - GETFLOATSIGN(ge->BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2)) - } - else - { - ge->flags |= GALEPHF_FNAV; - GETBITS(ge->E5bHS, 2) - GETBITS(sv, 1) - if(sv) - ge->flags |= GALEPHF_E5BDINVALID; - } - ret = type; - } - break; - case 1020: - { - struct glonassephemeris *ge; - int i; - - ge = &handle->ephemerisGLONASS; - memset(ge, 0, sizeof(*ge)); - - ge->flags |= GLOEPHF_PAVAILABLE; - GETBITS(ge->almanac_number, 6) - GETBITS(i, 5) - ge->frequency_number = i-7; - if(ge->almanac_number >= 1 && ge->almanac_number <= PRN_GLONASS_NUM) - handle->GLOFreq[ge->almanac_number-1] = 100+ge->frequency_number; - GETBITS(i, 1) - if(i) - ge->flags |= GLOEPHF_ALMANACHEALTHY; - GETBITS(i, 1) - if(i) - ge->flags |= GLOEPHF_ALMANACHEALTHOK; - GETBITS(i, 2) - if(i & 1) - ge->flags |= GLOEPHF_P10TRUE; - if(i & 2) - ge->flags |= GLOEPHF_P11TRUE; - GETBITS(i, 5) - ge->tk = i*60*60; - GETBITS(i, 6) - ge->tk += i*60; - GETBITS(i, 1) - ge->tk += i*30; - GETBITS(i, 1) - if(i) - ge->flags |= GLOEPHF_UNHEALTHY; - GETBITS(i, 1) - if(i) - ge->flags |= GLOEPHF_P2TRUE; - GETBITS(i, 7) - ge->tb = i*15*60; - GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20)) - GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11)) - GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30)) - GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20)) - GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11)) - GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30)) - GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20)) - GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11)) - GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30)) - GETBITS(i, 1) - if(i) - ge->flags |= GLOEPHF_P3TRUE; - GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10)) - SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */ - GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */ - SKIPBITS(5) /* GLONASS-M delta tau n(tb) */ - GETBITS(ge->E, 5) - /* GETBITS(b, 1) / * GLONASS-M P4 */ - /* GETBITS(b, 4) / * GLONASS-M Ft */ - /* GETBITS(b, 11) / * GLONASS-M Nt */ - /* GETBITS(b, 2) / * GLONASS-M M */ - /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */ - /* GETBITS(b, 11) / * GLONASS-M Na */ - /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */ - /* GETBITS(b, 5) / * GLONASS-M N4 */ - /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */ - /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */ - ge->GPSWeek = handle->GPSWeek; - ge->GPSTOW = handle->GPSTOW; - ret = 1020; - } - break; - case 1001: case 1002: case 1003: case 1004: - if(handle->GPSWeek) - { - int lastlockl1[64]; - int lastlockl2[64]; - struct gnssdata *gnss; - int i, numsats, wasamb=0; - - for(i = 0; i < 64; ++i) - lastlockl1[i] = lastlockl2[i] = 0; - - gnss = &handle->DataNew; - - SKIPBITS(12) /* id */ - GETBITS(i,30) - if(i/1000 < (int)handle->GPSTOW - 86400) - ++handle->GPSWeek; - handle->GPSTOW = i/1000; - if(gnss->week && (gnss->timeofweek != i || gnss->week - != handle->GPSWeek)) - { - handle->Data = *gnss; - memset(gnss, 0, sizeof(*gnss)); - old = 1; - } - gnss->timeofweek = i; - gnss->week = handle->GPSWeek; - - GETBITS(syncf,1) /* sync */ - GETBITS(numsats,5) - SKIPBITS(4) /* smind, smint */ - - while(numsats-- && gnss->numsats < GNSS_MAXSATS) - { - int sv, code, l1range, c,l,s,ce,le,se,amb=0; - int fullsat, num; - - GETBITS(sv, 6) - fullsat = sv < 40 ? sv : sv+80; - for(num = 0; num < gnss->numsats - && fullsat != gnss->satellites[num]; ++num) - ; - - if(num == gnss->numsats) - gnss->satellites[gnss->numsats++] = fullsat; - - /* L1 */ - GETBITS(code, 1); - if(code) - { - c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA; - l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA; - s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "1W"; - } - else - { - c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA; - l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA; - s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "1C"; - } - if(!handle->info[RTCM3_MSM_GPS].type[ce]) - { - handle->info[RTCM3_MSM_GPS].type[ce] = - handle->info[RTCM3_MSM_GPS].type[le] = - handle->info[RTCM3_MSM_GPS].type[se] = gnss->codetype[num][ce][1]; - } - GETBITS(l1range, 24); - GETBITSSIGN(i, 20); - if((i&((1<<20)-1)) != 0x80000) - { - gnss->dataflags[num] |= (c|l); - gnss->measdata[num][ce] = l1range*0.02; - gnss->measdata[num][le] = l1range*0.02+i*0.0005; - } - GETBITS(i, 7); - lastlockl1[sv] = i; - if(handle->lastlockGPSl1[sv] > i || i == 0) - gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1; - if(type == 1002 || type == 1004) - { - GETBITS(amb,8); - if(amb && (gnss->dataflags[num] & c)) - { - gnss->measdata[num][ce] += amb*299792.458; - gnss->measdata[num][le] += amb*299792.458; - ++wasamb; - } - GETBITS(i, 8); - if(i) - { - gnss->dataflags[num] |= s; - gnss->measdata[num][se] = i*0.25; - i /= 4*4; - if(i > 9) i = 9; - else if(i < 1) i = 1; - gnss->snrL1[num] = i; - } - } - gnss->measdata[num][le] /= GPS_WAVELENGTH_L1; - if(type == 1003 || type == 1004) - { - /* L2 */ - GETBITS(code,2); - if(code) - { - c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA; - l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA; - s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA; - if(code >= 2) - { - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "2W"; - gnss->dataflags2[num] |= GNSSDF2_XCORRL2; - } - else - { - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "2P"; - } - } - else - { - c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA; - l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA; - s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "2 "; - } - if(!handle->info[RTCM3_MSM_GPS].type[ce]) - { - handle->info[RTCM3_MSM_GPS].type[ce] = - handle->info[RTCM3_MSM_GPS].type[le] = - handle->info[RTCM3_MSM_GPS].type[se] = gnss->codetype[num][ce][1]; - } - GETBITSSIGN(i,14); - if((i&((1<<14)-1)) != 0x2000) - { - gnss->dataflags[num] |= c; - gnss->measdata[num][ce] = l1range*0.02+i*0.02 - +amb*299792.458; - } - GETBITSSIGN(i,20); - if((i&((1<<20)-1)) != 0x80000) - { - gnss->dataflags[num] |= l; - gnss->measdata[num][le] = l1range*0.02+i*0.0005 - +amb*299792.458; - } - GETBITS(i,7); - lastlockl2[sv] = i; - if(handle->lastlockGPSl2[sv] > i || i == 0) - gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2; - if(type == 1004) - { - GETBITS(i, 8); - if(i) - { - gnss->dataflags[num] |= s; - gnss->measdata[num][se] = i*0.25; - i /= 4*4; - if(i > 9) i = 9; - else if(i < 1) i = 1; - gnss->snrL2[num] = i; - } - } - gnss->measdata[num][le] /= GPS_WAVELENGTH_L2; - } - } - for(i = 0; i < 64; ++i) - { - handle->lastlockGPSl1[i] = lastlockl1[i]; - handle->lastlockGPSl2[i] = lastlockl2[i]; - } - if(!syncf && !old) - { - handle->Data = *gnss; - memset(gnss, 0, sizeof(*gnss)); - } - if(!syncf || old) - { - if(wasamb) /* not RINEX compatible without */ - ret = 1; - else - ret = 2; - } -#ifdef NO_RTCM3_MAIN - else - ret = type; -#endif /* NO_RTCM3_MAIN */ - } - break; - case 1009: case 1010: case 1011: case 1012: - { - int lastlockl1[64]; - int lastlockl2[64]; - struct gnssdata *gnss; - int i, numsats; - int wasamb=0; - - for(i = 0; i < 64; ++i) - lastlockl1[i] = lastlockl2[i] = 0; - - gnss = &handle->DataNew; - - SKIPBITS(12) /* id */; - GETBITS(i,27) /* tk */ - - updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */ - i = handle->GPSTOW*1000; - if(gnss->week && (gnss->timeofweek != i || gnss->week - != handle->GPSWeek)) - { - handle->Data = *gnss; - memset(gnss, 0, sizeof(*gnss)); - old = 1; - } - - gnss->timeofweek = i; - gnss->week = handle->GPSWeek; - - GETBITS(syncf,1) /* sync */ - GETBITS(numsats,5) - - SKIPBITS(4) /* smind, smint */ - - while(numsats-- && gnss->numsats < GNSS_MAXSATS) - { - int sv, code, l1range, c,l,s,ce,le,se,amb=0; - int freq; - int fullsat, num; - - GETBITS(sv, 6) - fullsat = sv-1 + PRN_GLONASS_START; - for(num = 0; num < gnss->numsats - && fullsat != gnss->satellites[num]; ++num) - ; - - if(num == gnss->numsats) - gnss->satellites[gnss->numsats++] = fullsat; - - /* L1 */ - GETBITS(code, 1) - GETBITS(freq, 5) - - if(sv >= 1 && sv <= PRN_GLONASS_NUM) - handle->GLOFreq[sv-1] = 100+freq-7; - - if(code) - { - c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA; - l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA; - s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "1P"; - } - else - { - c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA; - l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA; - s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "1C"; - } - if(!handle->info[RTCM3_MSM_GLONASS].type[ce]) - { - handle->info[RTCM3_MSM_GLONASS].type[ce] = - handle->info[RTCM3_MSM_GLONASS].type[le] = - handle->info[RTCM3_MSM_GLONASS].type[se] = gnss->codetype[num][ce][1]; - } - GETBITS(l1range, 25) - GETBITSSIGN(i, 20) - if((i&((1<<20)-1)) != 0x80000) - { - /* Handle this like GPS. Actually for GLONASS L1 range is always - valid. To be on the save side, we handle it as invalid like we - do for GPS and also remove range in case of 0x80000. */ - gnss->dataflags[num] |= (c|l); - gnss->measdata[num][ce] = l1range*0.02; - gnss->measdata[num][le] = l1range*0.02+i*0.0005; - } - GETBITS(i, 7) - lastlockl1[sv] = i; - if(handle->lastlockGLOl1[sv] > i || i == 0) - gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1; - if(type == 1010 || type == 1012) - { - GETBITS(amb,7) - if(amb && (gnss->dataflags[num] & c)) - { - gnss->measdata[num][ce] += amb*599584.916; - gnss->measdata[num][le] += amb*599584.916; - ++wasamb; - } - GETBITS(i, 8) - if(i) - { - gnss->dataflags[num] |= s; - gnss->measdata[num][se] = i*0.25; - i /= 4*4; - if(i > 9) i = 9; - else if(i < 1) i = 1; - gnss->snrL1[num] = i; - } - } - gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7); - if(type == 1011 || type == 1012) - { - /* L2 */ - GETBITS(code,2) - if(code) - { - c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA; - l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA; - s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "2P"; - } - else - { - c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA; - l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA; - s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA; - gnss->codetype[num][se] = - gnss->codetype[num][ce] = gnss->codetype[num][le] = "2C"; - } - if(!handle->info[RTCM3_MSM_GLONASS].type[ce]) - { - handle->info[RTCM3_MSM_GLONASS].type[ce] = - handle->info[RTCM3_MSM_GLONASS].type[le] = - handle->info[RTCM3_MSM_GLONASS].type[se] = gnss->codetype[num][ce][1]; - } - GETBITSSIGN(i,14) - if((i&((1<<14)-1)) != 0x2000) - { - gnss->dataflags[num] |= c; - gnss->measdata[num][ce] = l1range*0.02+i*0.02 - +amb*599584.916; - } - GETBITSSIGN(i,20) - if((i&((1<<20)-1)) != 0x80000) - { - gnss->dataflags[num] |= l; - gnss->measdata[num][le] = l1range*0.02+i*0.0005 - +amb*599584.916; - } - GETBITS(i,7) - lastlockl2[sv] = i; - if(handle->lastlockGLOl2[sv] > i || i == 0) - gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2; - if(type == 1012) - { - GETBITS(i, 8) - if(i) - { - gnss->dataflags[num] |= s; - gnss->measdata[num][se] = i*0.25; - i /= 4*4; - if(i > 9) i = 9; - else if(i < 1) i = 1; - gnss->snrL2[num] = i; - } - } - gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7); - } - if(!sv || sv > 24) /* illegal, remove it again */ - --gnss->numsats; - } - for(i = 0; i < 64; ++i) - { - handle->lastlockGLOl1[i] = lastlockl1[i]; - handle->lastlockGLOl2[i] = lastlockl2[i]; - } - if(!syncf && !old) - { - handle->Data = *gnss; - memset(gnss, 0, sizeof(*gnss)); - } - if(!syncf || old) - { - if(wasamb) /* not RINEX compatible without */ - ret = 1; - else - ret = 2; - } -#ifdef NO_RTCM3_MAIN - else - ret = type; -#endif /* NO_RTCM3_MAIN */ - } - break; - case 1071: case 1081: case 1091: case 1101: case 1111: case 1121: - case 1072: case 1082: case 1092: case 1102: case 1112: case 1122: - case 1073: case 1083: case 1093: case 1103: case 1113: case 1123: - case 1074: case 1084: case 1094: case 1104: case 1114: case 1124: - case 1075: case 1085: case 1095: case 1105: case 1115: case 1125: - case 1076: case 1086: case 1096: case 1106: case 1116: case 1126: - case 1077: case 1087: case 1097: case 1107: case 1117: case 1127: - if(handle->GPSWeek) - { - struct CodeData { - int typeR; - int typeP; - int typeD; - int typeS; - int lock; - double wl; - const char *code; /* currently unused */ - }; - struct CodeData gps[RTCM3_MSM_NUMSIG] = - { - {0,0,0,0,0,0,0}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"}, - {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA, - GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"}, - {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA, - GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1W"}, - {0,0,0,0,0,0,0}/*{GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA, - GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1Y"}*/, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2C"}, - {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA, - GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2P"}, - {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA, - GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2W"}, - {0,0,0,0,0,0,0}/*{GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA, - GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2Y"}*/, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA, - GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1S"}, - {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA, - GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1L"}, - {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA, - GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"} - }; - /* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! */ - struct CodeData glo[RTCM3_MSM_NUMSIG] = - { - {0,0,0,0,0,0,0}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,0.0,"1C"}, - {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA, - GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,0.0,"1P"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,1.0,"2C"}, - {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA, - GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,1.0,"2P"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0} - }; - struct CodeData gal[RTCM3_MSM_NUMSIG] = - { - {0,0,0,0,0,0,0}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1C"}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1A"}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1B"}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1X"}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1Z"}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA, - GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6C"}, - {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA, - GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6A"}, - {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA, - GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6B"}, - {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA, - GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6X"}, - {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA, - GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Z"}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA, - GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7I"}, - {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA, - GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7Q"}, - {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA, - GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7X"}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA, - GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8I"}, - {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA, - GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8Q"}, - {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA, - GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8X"}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5I"}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5Q"}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5X"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - }; - struct CodeData qzss[RTCM3_MSM_NUMSIG] = - { - {0,0,0,0,0,0,0}, - {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA, - GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_CSAIFDATA,GNSSENTRY_LSAIFDATA,GNSSENTRY_DSAIFDATA, - GNSSENTRY_SSAIFDATA,GNSSDF2_LOCKLOSSSAIF,GPS_WAVELENGTH_L1,"1Z"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA, - GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6S"}, - {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA, - GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6L"}, - {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA, - GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6X"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"}, - {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA, - GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"}, - {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA, - GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA, - GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1D"}, - {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA, - GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"}, - {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA, - GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"} - }; - struct CodeData compass[RTCM3_MSM_NUMSIG] = - { - {0,0,0,0,0,0,0}, - {GNSSENTRY_CB1DATA,GNSSENTRY_LB1DATA,GNSSENTRY_DB1DATA, - GNSSENTRY_SB1DATA,GNSSDF2_LOCKLOSSB1,COMPASS_WAVELENGTH_B1,"1I"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_CB3DATA,GNSSENTRY_LB3DATA,GNSSENTRY_DB3DATA, - GNSSENTRY_SB3DATA,GNSSDF2_LOCKLOSSB3,COMPASS_WAVELENGTH_B3,"6I"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {GNSSENTRY_CB2DATA,GNSSENTRY_LB2DATA,GNSSENTRY_DB2DATA, - GNSSENTRY_SB2DATA,GNSSDF2_LOCKLOSSB2,COMPASS_WAVELENGTH_B2,"7I"}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - {0,0,0,0,0,0,0}, - }; - - int sys = RTCM3_MSM_GPS, i=0, count, j, old = 0, wasnoamb = 0, - start=PRN_GPS_START; - int syncf, sigmask, numsat = 0, numsig = 0, numcells; - uint64_t satmask, cellmask, ui; - double rrmod[RTCM3_MSM_NUMSAT]; - int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT], - extsat[RTCM3_MSM_NUMSAT]; - int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/; - double cnr[RTCM3_MSM_NUMCELLS]; - double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS], - dop[RTCM3_MSM_NUMCELLS]; - struct gnssdata *gnss = &handle->DataNew; - - SKIPBITS(12) - if(type >= 1121) - { - sys = RTCM3_MSM_COMPASS; - start = PRN_COMPASS_START; - } - else if(type >= 1111) - { - sys = RTCM3_MSM_QZSS; - start = PRN_QZSS_START; - } - else if(type >= 1101) - { - sys = RTCM3_MSM_SBAS; - start = PRN_SBAS_START; - } - else if(type >= 1091) - { - sys = RTCM3_MSM_GALILEO; - start = PRN_GALILEO_START; - } - else if(type >= 1081) - { - sys = RTCM3_MSM_GLONASS; - start = PRN_GLONASS_START; - } - - for(i = 0; i < RTCM3_MSM_NUMSAT; ++i) - extsat[i] = 15; - - switch(sys) - { - case RTCM3_MSM_COMPASS: - GETBITS(i,30) - i += 14000; - if(i >= 7*24*60*60*1000) - i -= 7*24*60*60*1000; - if(i/1000 < (int)handle->GPSTOW - 86400) - ++handle->GPSWeek; - handle->GPSTOW = i/1000; - break; - case RTCM3_MSM_GALILEO: /* use DF004 instead of DF248 */ - case RTCM3_MSM_QZSS: - case RTCM3_MSM_SBAS: - case RTCM3_MSM_GPS: - GETBITS(i,30) - if(i/1000 < (int)handle->GPSTOW - 86400) - ++handle->GPSWeek; - handle->GPSTOW = i/1000; - break; - case RTCM3_MSM_GLONASS: - SKIPBITS(3) - GETBITS(i,27) /* tk */ - - updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */ - i = handle->GPSTOW*1000; - break; - } - - if(gnss->week && (gnss->timeofweek != i || gnss->week - != handle->GPSWeek)) - { - handle->Data = *gnss; - memset(gnss, 0, sizeof(*gnss)); - old = 1; - } - gnss->timeofweek = i; - gnss->week = handle->GPSWeek; - - GETBITS(syncf, 1) - SKIPBITS(3+7+2+2+1+3) - GETBITS64(satmask, RTCM3_MSM_NUMSAT) - - /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */ - for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */) - ++numsat; - GETBITS(sigmask, RTCM3_MSM_NUMSIG) - for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */) - ++numsig; - i = numsat*numsig; - GETBITS64(cellmask, (unsigned)i) - - switch(type % 10) - { - case 1: case 2: case 3: - ++wasnoamb; - for(j = numsat; j--;) - GETFLOAT(rrmod[j], 10, 1.0/1024.0) - break; - case 4: case 6: - for(j = numsat; j--;) - GETBITS(rrint[j], 8) - for(j = numsat; j--;) - GETFLOAT(rrmod[j], 10, 1.0/1024.0) - break; - case 5: case 7: - for(j = numsat; j--;) - GETBITS(rrint[j], 8) - for(j = numsat; j--;) - GETBITS(extsat[j], 4) - for(j = numsat; j--;) - GETFLOAT(rrmod[j], 10, 1.0/1024.0) - for(j = numsat; j--;) - GETBITSSIGN(rdop[j], 14) - break; - } - - numcells = numsat*numsig; - if(numcells <= RTCM3_MSM_NUMCELLS) - { - switch(type % 10) - { - case 1: - for(count = numcells; count--;) - if(cellmask & (UINT64(1)<= 0 && !(sigmask&(1<<--j))) - ; - if(j < 0) - { - while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */ - ; - j = RTCM3_MSM_NUMSIG; - while(!(sigmask&(1<<--j))) - ; - --numsat; - } - if(cellmask & (UINT64(1)<GLOFreq[RTCM3_MSM_NUMSAT-i-1]; - if(!k && extsat[numsat] < 14) - { - k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1] - = 100+extsat[numsat]-7; - } - if(k) - { - if(cd.wl == 0.0) - wl = GLO_WAVELENGTH_L1(k-100); - else if(cd.wl == 1.0) - wl = GLO_WAVELENGTH_L2(k-100); - } - } - break; - case RTCM3_MSM_GALILEO: cd = gal[RTCM3_MSM_NUMSIG-j-1]; - wl = cd.wl; - break; - } - if(cd.lock && wl) /* lock cannot have a valid zero value */ - { - int fullsat = RTCM3_MSM_NUMSAT-i-1, num; - - if(sys == RTCM3_MSM_GALILEO && fullsat >= 50 && fullsat <= 51) - fullsat += PRN_GIOVE_START-50; - else - fullsat += start; - - for(num = 0; num < gnss->numsats - && fullsat != gnss->satellites[num]; ++num) - ; - - if(num == gnss->numsats) - gnss->satellites[gnss->numsats++] = fullsat; - - gnss->codetype[num][cd.typeR] = - gnss->codetype[num][cd.typeP] = - gnss->codetype[num][cd.typeD] = - gnss->codetype[num][cd.typeS] = cd.code; - if(!handle->info[sys].type[cd.typeR]) - { - handle->info[sys].type[cd.typeR] = - handle->info[sys].type[cd.typeP] = - handle->info[sys].type[cd.typeD] = - handle->info[sys].type[cd.typeS] = cd.code[1]; - } - - switch(type % 10) - { - case 1: - if(psr[count] > -1.0/(1<<10)) - { - gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0 - +(rrmod[numsat])*LIGHTSPEED/1000.0; - gnss->dataflags[num] |= (1LL< -1.0/(1<<8)) - { - gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl - +(rrmod[numsat])*LIGHTSPEED/1000.0/wl; - if(handle->lastlockmsm[j][i] > ll[count]) - gnss->dataflags2[num] |= cd.lock; - handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count]; - gnss->dataflags[num] |= (1LL< -1.0/(1<<10)) - { - gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0 - +(rrmod[numsat])*LIGHTSPEED/1000.0; - gnss->dataflags[num] |= (1LL< -1.0/(1<<8)) - { - gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl; - if(handle->lastlockmsm[j][i] > ll[count]) - gnss->dataflags2[num] |= cd.lock; - handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count]; - gnss->dataflags[num] |= (1LL< -1.0/(1<<10)) - { - gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0 - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; - gnss->dataflags[num] |= (1LL< -1.0/(1<<8)) - { - gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl; - if(handle->lastlockmsm[j][i] > ll[count]) - gnss->dataflags2[num] |= cd.lock; - handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count]; - gnss->dataflags[num] |= (1LL<measdata[num][cd.typeS] = cnr[count]; - gnss->dataflags[num] |= (1LL< -1.0/(1<<10)) - { - gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0 - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; - gnss->dataflags[num] |= (1LL< -1.0/(1<<8)) - { - gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl; - if(handle->lastlockmsm[j][i] > ll[count]) - gnss->dataflags2[num] |= cd.lock; - handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count]; - gnss->dataflags[num] |= (1LL<measdata[num][cd.typeS] = cnr[count]; - gnss->dataflags[num] |= (1< -1.6384) - { - gnss->measdata[num][cd.typeD] = -(dop[count] - +rdop[numsat])/wl; - gnss->dataflags[num] |= (1LL< -1.0/(1<<10)) - { - gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0 - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; - gnss->dataflags[num] |= (1LL< -1.0/(1<<8)) - { - gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl; - if(handle->lastlockmsm[j][i] > ll[count]) - gnss->dataflags2[num] |= cd.lock; - handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count]; - gnss->dataflags[num] |= (1LL<measdata[num][cd.typeS] = cnr[count]; - gnss->dataflags[num] |= (1LL< -1.0/(1<<10)) - { - gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0 - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0; - gnss->dataflags[num] |= (1LL< -1.0/(1<<8)) - { - gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl - +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl; - if(handle->lastlockmsm[j][i] > ll[count]) - gnss->dataflags2[num] |= cd.lock; - handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count]; - gnss->dataflags[num] |= (1LL<measdata[num][cd.typeS] = cnr[count]; - gnss->dataflags[num] |= (1LL< -1.6384) - { - gnss->measdata[num][cd.typeD] = -(dop[count] - +rdop[numsat])/wl; - gnss->dataflags[num] |= (1LL<Data = *gnss; - memset(gnss, 0, sizeof(*gnss)); - } - if(!syncf || old) - { - if(!wasnoamb) /* not RINEX compatible without */ - ret = 1; - else - ret = 2; - } -#ifdef NO_RTCM3_MAIN - else - ret = type; -#endif /* NO_RTCM3_MAIN */ - } - break; - } - } - return ret; -} - -struct Header -{ - const char *version; - const char *pgm; - const char *marker; - const char *markertype; - const char *observer; - const char *receiver; - const char *antenna; - const char *position; - const char *antennaposition; - const char *wavelength; - const char *typesofobs; /* should not be modified outside */ - const char *typesofobsG; /* should not be modified outside */ - const char *typesofobsR; /* should not be modified outside */ - const char *typesofobsS; /* should not be modified outside */ - const char *typesofobsE; /* should not be modified outside */ - const char *typesofobsC; /* should not be modified outside */ - const char *typesofobsJ; /* should not be modified outside */ - const char *timeoffirstobs; /* should not be modified outside */ -}; - -#define MAXHEADERLINES 50 -#define MAXHEADERBUFFERSIZE 4096 -struct HeaderData -{ - union - { - struct Header named; - const char *unnamed[MAXHEADERLINES]; - } data; - int numheaders; -}; - -void converttime(struct converttimeinfo *c, int week, int tow) -{ - int i, k, doy, j; /* temporary variables */ - j = week*(7*24*60*60) + tow + 5*24*60*60; - for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i) - j -= k; - c->year = i; - doy = 1+ (j / (24*60*60)); - j %= (24*60*60); - c->hour = j / (60*60); - j %= (60*60); - c->minute = j / 60; - c->second = j % 60; - j = 0; - for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i) - j += k; - c->month = i; - c->day = doy - j; -} - -void RTCM3Error(const char *fmt, ...) -{ - va_list v; - va_start(v, fmt); - vfprintf(stderr, fmt, v); - va_end(v); -} - -void RTCM3Text(const char *fmt, ...) -{ - va_list v; - va_start(v, fmt); - vprintf(fmt, v); - va_end(v); -} - -static void fixrevision(void) -{ - if(revisionstr[0] == '$') - { - char *a; - int i=sizeof(RTCM3TORINEX_VERSION); /* set version to 1. */ - strcpy(revisionstr, RTCM3TORINEX_VERSION "."); - for(a = revisionstr+11; *a && *a != ' '; ++a) - revisionstr[i++] = *a; - revisionstr[i] = 0; - } -} - -static int HandleRunBy(char *buffer, int buffersize, const char **u, -int rinex3) -{ - const char *user; - time_t t; - struct tm * t2; - -#ifdef NO_RTCM3_MAIN - fixrevision(); -#endif - - user= getenv("USER"); - if(!user) user = ""; - t = time(&t); - t2 = gmtime(&t); - if(u) *u = user; - return 1+snprintf(buffer, buffersize, - rinex3 ? - "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC " - "PGM / RUN BY / DATE" : - "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d " - "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year, - t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec); -} - -#ifdef NO_RTCM3_MAIN -#define NUMSTARTSKIP 1 -#else -#define NUMSTARTSKIP 3 -#endif - -int HandleObsHeader(struct RTCM3ParserData *Parser, char *buffer, -size_t buffersize, struct HeaderData *hdata) -{ - int buffersizeold = buffersize; - int i, modified = 0; - - if(Parser->rinex3) - { - int flags; -#define CHECKFLAGSNEW(a, b, c) \ - if(flags & GNSSDF_##b##DATA) \ - { \ - int new = hdata ? 1 : 0; \ - if(!hdata) /* check if already known */ \ - { \ - int ic; \ - for(ic = 0; ic < Parser->info[RTCM3_MSM_##a].numtypes \ - && Parser->info[RTCM3_MSM_##a].flags[ic] != GNSSDF_##b##DATA; ++ic) \ - ; \ - if(ic == Parser->info[RTCM3_MSM_##a].numtypes) \ - new = 1; \ - } \ - if(new) \ - { \ - Parser->info[RTCM3_MSM_##a].flags[Parser->info[RTCM3_MSM_##a].numtypes] \ - = GNSSDF_##b##DATA; \ - Parser->info[RTCM3_MSM_##a].pos[Parser->info[RTCM3_MSM_##a].numtypes] \ - = GNSSENTRY_##b##DATA; \ - if(Parser->info[RTCM3_MSM_##a].type[GNSSENTRY_##b##DATA]) \ - { \ - snprintf(Parser->fieldbuffer##a+4*Parser->info[RTCM3_MSM_##a].numtypes, \ - sizeof(Parser->fieldbuffer##a)-4*Parser->info[RTCM3_MSM_##a].numtypes, \ - " %-2.2s%c", #c, Parser->info[RTCM3_MSM_##a].type[GNSSENTRY_##b##DATA]); \ - } \ - else \ - { \ - snprintf(Parser->fieldbuffer##a+4*Parser->info[RTCM3_MSM_##a].numtypes, \ - sizeof(Parser->fieldbuffer##a)-4*Parser->info[RTCM3_MSM_##a].numtypes, \ - " %-3s", #c); \ - } \ - ++Parser->info[RTCM3_MSM_##a].numtypes; \ - ++modified; \ - } \ - } - -#define INITFLAGS(a) \ - flags = Parser->startflags; \ - modified = 0; \ - for(i = 0; i < Parser->Data.numsats; ++i) \ - { \ - if(Parser->Data.satellites[i] >= PRN_##a##_START \ - && Parser->Data.satellites[i] <= PRN_##a##_END) \ - flags |= Parser->Data.dataflags[i]; \ - } - - INITFLAGS(SBAS) - CHECKFLAGSNEW(SBAS, C1, C1C) - CHECKFLAGSNEW(SBAS, L1C, L1C) - CHECKFLAGSNEW(SBAS, D1C, D1C) - CHECKFLAGSNEW(SBAS, S1C, S1C) - CHECKFLAGSNEW(SBAS, C5, C5) - CHECKFLAGSNEW(SBAS, L5, L5) - CHECKFLAGSNEW(SBAS, D5, D5) - CHECKFLAGSNEW(SBAS, S5, S5) - - if(modified) - { - if(hdata) - hdata->data.named.typesofobsS = buffer; - i = 1+snprintf(buffer, buffersize, - "S %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_SBAS].numtypes, Parser->fieldbufferSBAS); - buffer += i; buffersize -= i; - } - - INITFLAGS(GPS) - CHECKFLAGSNEW(GPS, C1, C1C) - CHECKFLAGSNEW(GPS, L1C, L1C) - CHECKFLAGSNEW(GPS, D1C, D1C) - CHECKFLAGSNEW(GPS, S1C, S1C) - CHECKFLAGSNEW(GPS, P1, C1W) - CHECKFLAGSNEW(GPS, L1P, L1W) - CHECKFLAGSNEW(GPS, D1P, D1W) - CHECKFLAGSNEW(GPS, S1P, S1W) - CHECKFLAGSNEW(GPS, C5, C5) - CHECKFLAGSNEW(GPS, L5, L5) - CHECKFLAGSNEW(GPS, D5, D5) - CHECKFLAGSNEW(GPS, S5, S5) - CHECKFLAGSNEW(GPS, P2, C2W) - CHECKFLAGSNEW(GPS, L2P, L2W) - CHECKFLAGSNEW(GPS, D2P, D2W) - CHECKFLAGSNEW(GPS, S2P, S2W) - CHECKFLAGSNEW(GPS, C2, C2) - CHECKFLAGSNEW(GPS, L2C, L2) - CHECKFLAGSNEW(GPS, D2C, D2) - CHECKFLAGSNEW(GPS, S2C, S2) - CHECKFLAGSNEW(GPS, C1N, C1) - CHECKFLAGSNEW(GPS, L1N, L1) - CHECKFLAGSNEW(GPS, D1N, D1) - CHECKFLAGSNEW(GPS, S1N, S1) - - if(modified) - { - if(hdata) - hdata->data.named.typesofobsG = buffer; - i = 1+snprintf(buffer, buffersize, - "G %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_GPS].numtypes, Parser->fieldbufferGPS); - if(Parser->info[RTCM3_MSM_GPS].numtypes>13) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGPS+13*4); - } - buffer += i; buffersize -= i; - } - - INITFLAGS(GLONASS) - CHECKFLAGSNEW(GLONASS, C1, C1C) - CHECKFLAGSNEW(GLONASS, L1C, L1C) - CHECKFLAGSNEW(GLONASS, D1C, D1C) - CHECKFLAGSNEW(GLONASS, S1C, S1C) - CHECKFLAGSNEW(GLONASS, P1, C1P) - CHECKFLAGSNEW(GLONASS, L1P, L1P) - CHECKFLAGSNEW(GLONASS, D1P, D1P) - CHECKFLAGSNEW(GLONASS, S1P, S1P) - CHECKFLAGSNEW(GLONASS, P2, C2P) - CHECKFLAGSNEW(GLONASS, L2P, L2P) - CHECKFLAGSNEW(GLONASS, D2P, D2P) - CHECKFLAGSNEW(GLONASS, S2P, S2P) - CHECKFLAGSNEW(GLONASS, C2, C2C) - CHECKFLAGSNEW(GLONASS, L2C, L2C) - CHECKFLAGSNEW(GLONASS, D2C, D2C) - CHECKFLAGSNEW(GLONASS, S2C, S2C) - - if(modified) - { - if(hdata) - hdata->data.named.typesofobsR = buffer; - i = 1+snprintf(buffer, buffersize, - "R %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_GLONASS].numtypes, Parser->fieldbufferGLONASS); - if(Parser->info[RTCM3_MSM_GLONASS].numtypes>13) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGLONASS+13*4); - } - buffer += i; buffersize -= i; - } - - INITFLAGS(GALGIO) - CHECKFLAGSNEW(GALILEO, C1, C1) - CHECKFLAGSNEW(GALILEO, L1C, L1) - CHECKFLAGSNEW(GALILEO, D1C, D1) - CHECKFLAGSNEW(GALILEO, S1C, S1) - CHECKFLAGSNEW(GALILEO, C6, C6) - CHECKFLAGSNEW(GALILEO, L6, L6) - CHECKFLAGSNEW(GALILEO, D6, D6) - CHECKFLAGSNEW(GALILEO, S6, S6) - CHECKFLAGSNEW(GALILEO, C5, C5) - CHECKFLAGSNEW(GALILEO, L5, L5) - CHECKFLAGSNEW(GALILEO, D5, D5) - CHECKFLAGSNEW(GALILEO, S5, S5) - CHECKFLAGSNEW(GALILEO, C5B, C7) - CHECKFLAGSNEW(GALILEO, L5B, L7) - CHECKFLAGSNEW(GALILEO, D5B, D7) - CHECKFLAGSNEW(GALILEO, S5B, S7) - CHECKFLAGSNEW(GALILEO, C5AB, C8) - CHECKFLAGSNEW(GALILEO, L5AB, L8) - CHECKFLAGSNEW(GALILEO, D5AB, D8) - CHECKFLAGSNEW(GALILEO, S5AB, S8) - - if(modified) - { - if(hdata) - hdata->data.named.typesofobsE = buffer; - i = 1+snprintf(buffer, buffersize, - "E %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_GALILEO].numtypes, Parser->fieldbufferGALILEO); - if(Parser->info[RTCM3_MSM_GALILEO].numtypes>13) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGALILEO+13*4); - } - buffer += i; buffersize -= i; - } - - INITFLAGS(COMPASS) - CHECKFLAGSNEW(COMPASS, CB1, C2I) - CHECKFLAGSNEW(COMPASS, LB1, L2I) - CHECKFLAGSNEW(COMPASS, DB1, D2I) - CHECKFLAGSNEW(COMPASS, SB1, S2I) - CHECKFLAGSNEW(COMPASS, CB2, C7I) - CHECKFLAGSNEW(COMPASS, LB2, L7I) - CHECKFLAGSNEW(COMPASS, DB2, D7I) - CHECKFLAGSNEW(COMPASS, SB2, S7I) - CHECKFLAGSNEW(COMPASS, CB3, C6I) - CHECKFLAGSNEW(COMPASS, LB3, L6I) - CHECKFLAGSNEW(COMPASS, DB3, D6I) - CHECKFLAGSNEW(COMPASS, SB3, S6I) - - if(modified) - { - if(hdata) - hdata->data.named.typesofobsC = buffer; - i = 1+snprintf(buffer, buffersize, - "C %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_COMPASS].numtypes, Parser->fieldbufferCOMPASS); - if(Parser->info[RTCM3_MSM_COMPASS].numtypes>13) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferCOMPASS+13*4); - } - buffer += i; buffersize -= i; - } - - INITFLAGS(QZSS) - - CHECKFLAGSNEW(QZSS, C1, C1C) - CHECKFLAGSNEW(QZSS, L1C, L1C) - CHECKFLAGSNEW(QZSS, D1C, D1C) - CHECKFLAGSNEW(QZSS, S1C, S1C) - - CHECKFLAGSNEW(QZSS, CSAIF, C1Z) - CHECKFLAGSNEW(QZSS, LSAIF, L1Z) - CHECKFLAGSNEW(QZSS, DSAIF, D1Z) - CHECKFLAGSNEW(QZSS, SSAIF, S1Z) - - CHECKFLAGSNEW(QZSS, C1N, C1) - CHECKFLAGSNEW(QZSS, L1N, L1) - CHECKFLAGSNEW(QZSS, D1N, D1) - CHECKFLAGSNEW(QZSS, S1N, S1) - - CHECKFLAGSNEW(QZSS, C6, C6) - CHECKFLAGSNEW(QZSS, L6, L6) - CHECKFLAGSNEW(QZSS, D6, D6) - CHECKFLAGSNEW(QZSS, S6, S6) - - CHECKFLAGSNEW(QZSS, C2, C2) - CHECKFLAGSNEW(QZSS, L2C, L2) - CHECKFLAGSNEW(QZSS, D2C, D2) - CHECKFLAGSNEW(QZSS, S2C, S2) - - CHECKFLAGSNEW(QZSS, C5, C5) - CHECKFLAGSNEW(QZSS, L5, L5) - CHECKFLAGSNEW(QZSS, D5, D5) - CHECKFLAGSNEW(QZSS, S5, S5) - - if(modified) - { - if(hdata) - hdata->data.named.typesofobsJ = buffer; - i = 1+snprintf(buffer, buffersize, - "J %3d%-52.52s SYS / # / OBS TYPES", - Parser->info[RTCM3_MSM_QZSS].numtypes, Parser->fieldbufferQZSS); - if(Parser->info[RTCM3_MSM_QZSS].numtypes>13) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferQZSS+13*4); - } - buffer += i; buffersize -= i; - } - } - else - { -#define CHECKFLAGS(a, b) \ - if(flags & GNSSDF_##a##DATA) \ - { \ - if(Parser->datafields[RINEXENTRY_##b##DATA]) \ - { \ - Parser->info[RTCM3_MSM_GPS].flags[Parser->datafields[\ - RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \ - Parser->info[RTCM3_MSM_GPS].pos[Parser->datafields[\ - RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \ - } \ - else \ - { \ - Parser->flags[Parser->info[RTCM3_MSM_GPS].numtypes] = GNSSDF_##a##DATA; \ - Parser->pos[Parser->info[RTCM3_MSM_GPS].numtypes] = GNSSENTRY_##a##DATA; \ - Parser->datafields[RINEXENTRY_##b##DATA] = \ - ++Parser->info[RTCM3_MSM_GPS].numtypes; \ - snprintf(Parser->fieldbuffer+6*Parser->numdatafields, \ - sizeof(Parser->fieldbuffer)-6*Parser->numdatafields, " "#b); \ - ++Parser->numdatafields; \ - ++modified; \ - } \ - } - - int flags = Parser->startflags; - for(i = 0; i < Parser->Data.numsats; ++i) - flags |= Parser->Data.dataflags[i]; - - CHECKFLAGS(C1,C1) - CHECKFLAGS(C2,C2) - CHECKFLAGS(P1,P1) - CHECKFLAGS(P2,P2) - CHECKFLAGS(L1C,L1) - CHECKFLAGS(L1P,L1) - CHECKFLAGS(L2C,L2) - CHECKFLAGS(L2P,L2) - CHECKFLAGS(D1C,D1) - CHECKFLAGS(D1P,D1) - CHECKFLAGS(D2C,D2) - CHECKFLAGS(D2P,D2) - CHECKFLAGS(S1C,S1) - CHECKFLAGS(S1P,S1) - CHECKFLAGS(S2C,S2) - CHECKFLAGS(S2P,S2) - CHECKFLAGS(C5,C5) - CHECKFLAGS(L5,L5) - CHECKFLAGS(D5,D5) - CHECKFLAGS(S5,S5) - CHECKFLAGS(C5AB,C8) - CHECKFLAGS(L5AB,L8) - CHECKFLAGS(D5AB,D8) - CHECKFLAGS(S5AB,S8) - CHECKFLAGS(C5B,C7) - CHECKFLAGS(L5B,L7) - CHECKFLAGS(D5B,D7) - CHECKFLAGS(S5B,S7) - CHECKFLAGS(C6,C6) - CHECKFLAGS(L6,L6) - CHECKFLAGS(D6,D6) - CHECKFLAGS(S6,S6) - /* Skip C1N and SAIF for RINEX2! */ - - if(hdata) - hdata->data.named.typesofobs = buffer; - if(modified) - { - i = 1+snprintf(buffer, buffersize, - "%6d%-54.54s# / TYPES OF OBSERV", Parser->info[RTCM3_MSM_GPS].numtypes, - Parser->fieldbuffer); - if(Parser->info[RTCM3_MSM_GPS].numtypes>9) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-54.54s# / TYPES OF OBSERV", Parser->fieldbuffer+9*6); - } - if(Parser->info[RTCM3_MSM_GPS].numtypes>18) - { - i += snprintf(buffer+i-1, buffersize, - "\n %-54.54s# / TYPES OF OBSERV", Parser->fieldbuffer+18*6); - } - buffer += i; buffersize -= i; - } - } - return buffersizeold - buffersize; -} - -void HandleHeader(struct RTCM3ParserData *Parser) -{ -#ifdef NO_RTCM3_MAIN - int flags, modified = 0; - if(Parser->allflags == 0) - Parser->allflags = ~0; - flags = Parser->allflags; - if(Parser->rinex3) - { - struct HeaderData *hdata = 0; - CHECKFLAGSNEW(GPS, C1, C1C) - CHECKFLAGSNEW(GPS, L1C, L1C) - CHECKFLAGSNEW(GPS, D1C, D1C) - CHECKFLAGSNEW(GPS, S1C, S1C) - CHECKFLAGSNEW(GPS, P1, C1P) - CHECKFLAGSNEW(GPS, L1P, L1P) - CHECKFLAGSNEW(GPS, D1P, D1P) - CHECKFLAGSNEW(GPS, S1P, S1P) - CHECKFLAGSNEW(GPS, P2, C2P) - CHECKFLAGSNEW(GPS, L2P, L2P) - CHECKFLAGSNEW(GPS, D2P, D2P) - CHECKFLAGSNEW(GPS, S2P, S2P) - CHECKFLAGSNEW(GPS, C2, C2X) - CHECKFLAGSNEW(GPS, L2C, L2X) - CHECKFLAGSNEW(GPS, D2C, D2X) - CHECKFLAGSNEW(GPS, S2C, S2X) - CHECKFLAGSNEW(GLONASS, C1, C1C) - CHECKFLAGSNEW(GLONASS, L1C, L1C) - CHECKFLAGSNEW(GLONASS, D1C, D1C) - CHECKFLAGSNEW(GLONASS, S1C, S1C) - CHECKFLAGSNEW(GLONASS, P1, C1P) - CHECKFLAGSNEW(GLONASS, L1P, L1P) - CHECKFLAGSNEW(GLONASS, D1P, D1P) - CHECKFLAGSNEW(GLONASS, S1P, S1P) - CHECKFLAGSNEW(GLONASS, P2, C2P) - CHECKFLAGSNEW(GLONASS, L2P, L2P) - CHECKFLAGSNEW(GLONASS, D2P, D2P) - CHECKFLAGSNEW(GLONASS, S2P, S2P) - CHECKFLAGSNEW(GLONASS, C2, C2C) - CHECKFLAGSNEW(GLONASS, L2C, L2C) - CHECKFLAGSNEW(GLONASS, D2C, D2C) - CHECKFLAGSNEW(GLONASS, S2C, S2C) - } - else - { - CHECKFLAGS(C1,C1) - CHECKFLAGS(C2,C2) - CHECKFLAGS(P1,P1) - CHECKFLAGS(P2,P2) - CHECKFLAGS(L1C,L1) - CHECKFLAGS(L1P,L1) - CHECKFLAGS(L2C,L2) - CHECKFLAGS(L2P,L2) - CHECKFLAGS(D1C,D1) - CHECKFLAGS(D1P,D1) - CHECKFLAGS(D2C,D2) - CHECKFLAGS(D2P,D2) - CHECKFLAGS(S1C,S1) - CHECKFLAGS(S1P,S1) - CHECKFLAGS(S2C,S2) - CHECKFLAGS(S2P,S2) - CHECKFLAGS(C5,C5) - CHECKFLAGS(L5,L5) - CHECKFLAGS(D5,D5) - CHECKFLAGS(S5,S5) - CHECKFLAGS(C5AB,C8) - CHECKFLAGS(L5AB,L8) - CHECKFLAGS(D5AB,D8) - CHECKFLAGS(S5AB,S8) - CHECKFLAGS(C5B,C7) - CHECKFLAGS(L5B,L7) - CHECKFLAGS(D5B,D7) - CHECKFLAGS(S5B,S7) - CHECKFLAGS(C6,C6) - CHECKFLAGS(L6,L6) - CHECKFLAGS(D6,D6) - CHECKFLAGS(S6,S6) - } -#else /* NO_RTCM3_MAIN */ - struct HeaderData hdata; - char thebuffer[MAXHEADERBUFFERSIZE]; - char *buffer = thebuffer; - size_t buffersize = sizeof(thebuffer); - int i; - - memset(&hdata, 0, sizeof(hdata)); - - hdata.data.named.version = buffer; - i = 1+snprintf(buffer, buffersize, - "%9.2f OBSERVATION DATA M (Mixed)" - " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11); - buffer += i; buffersize -= i; - - { - const char *str; - hdata.data.named.pgm = buffer; - i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3); - buffer += i; buffersize -= i; - hdata.data.named.observer = buffer; - i = 1+snprintf(buffer, buffersize, - "%-20.20s " - "OBSERVER / AGENCY", str); - buffer += i; buffersize -= i; - } - - hdata.data.named.marker = - "RTCM3TORINEX " - "MARKER NAME"; - - hdata.data.named.markertype = !Parser->rinex3 ? 0 : - "GEODETIC " - "MARKER TYPE"; - - hdata.data.named.receiver = - " " - "REC # / TYPE / VERS"; - - hdata.data.named.antenna = - " " - "ANT # / TYPE"; - - hdata.data.named.position = - " .0000 .0000 .0000 " - "APPROX POSITION XYZ"; - - hdata.data.named.antennaposition = - " .0000 .0000 .0000 " - "ANTENNA: DELTA H/E/N"; - - hdata.data.named.wavelength = Parser->rinex3 ? 0 : - " 1 1 " - "WAVELENGTH FACT L1/2"; - - hdata.numheaders = 18; - - i = HandleObsHeader(Parser, buffer, buffersize, &hdata); - buffer += i; buffersize -= i; - - { - struct converttimeinfo cti; - converttime(&cti, Parser->Data.week, - (int)floor(Parser->Data.timeofweek/1000.0)); - hdata.data.named.timeoffirstobs = buffer; - i = 1+snprintf(buffer, buffersize, - " %4d %2d %2d %2d %2d %10.7f GPS " - "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour, - cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0)); - - buffer += i; buffersize -= i; - } - - if(Parser->headerfile) - { - FILE *fh; - if((fh = fopen(Parser->headerfile, "r"))) - { - size_t siz; - char *lastblockstart; - if((siz = fread(buffer, 1, buffersize-1, fh)) > 0) - { - buffer[siz] = '\n'; - if(siz == buffersize) - { - RTCM3Error("Header file is too large. Only %d bytes read.", - (int)siz); - } - /* scan the file line by line and enter the entries in the list */ - /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */ - /* overwrites entries, except for comments */ - lastblockstart = buffer; - for(i = 0; i < (int)siz; ++i) - { - if(buffer[i] == '\n') - { /* we found a line */ - char *end; - while(buffer[i+1] == '\r') - ++i; /* skip \r in case there are any */ - end = buffer+i; - while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n') - *(end--) = 0; - if(end-lastblockstart < 60+5) /* short line */ - RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart); - else - { - int pos; - if(!strcmp("COMMENT", lastblockstart+60)) - pos = hdata.numheaders; - else - { - for(pos = 0; pos < hdata.numheaders; ++pos) - { - if(hdata.data.unnamed[pos] && - !strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60)) - break; - } - if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60) - || !strcmp("SYS / # / OBS TYPES", lastblockstart+60) - || !strcmp("TIME OF FIRST OBS", lastblockstart+60)) - { - RTCM3Error("Overwriting header '%s' is dangerous.\n", - lastblockstart+60); - } - } - if(pos >= MAXHEADERLINES) - { - RTCM3Error("Maximum number of header lines of %d reached.\n", - MAXHEADERLINES); - } - else if(!strcmp("END OF HEADER", lastblockstart+60)) - { - RTCM3Error("End of header ignored.\n"); - } - else - { - hdata.data.unnamed[pos] = lastblockstart; - if(pos == hdata.numheaders) - ++hdata.numheaders; - } - } - lastblockstart = buffer+i+1; - } - } - } - else - { - RTCM3Error("Could not read data from headerfile '%s'.\n", - Parser->headerfile); - } - fclose(fh); - } - else - { - RTCM3Error("Could not open header datafile '%s'.\n", - Parser->headerfile); - } - } - - for(i = 0; i < hdata.numheaders; ++i) - { - if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0]) - RTCM3Text("%s\n", hdata.data.unnamed[i]); - } - RTCM3Text(" " - "END OF HEADER\n"); -#endif -} - -static void ConvLine(FILE *file, const char *fmt, ...) -{ - char buffer[100], *b; - va_list v; - va_start(v, fmt); - vsnprintf(buffer, sizeof(buffer), fmt, v); - for(b = buffer; *b; ++b) - { - if(*b == 'e') *b = 'D'; - } - fprintf(file, "%s", buffer); - va_end(v); -} - -void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte) -{ - Parser->Message[Parser->MessageSize++] = byte; - if(Parser->MessageSize >= Parser->NeedBytes) - { - int r; - while((r = RTCM3Parser(Parser))) - { - if(r == 1020 || r == 1019 || r == 1044) - { - FILE *file = 0; - - if(Parser->rinex3 && !(file = Parser->gpsfile)) - { - const char *n = Parser->gpsephemeris ? Parser->gpsephemeris - : Parser->qzssephemeris ? Parser->qzssephemeris : Parser->glonassephemeris; - if(n) - { - if(!(Parser->gpsfile = fopen(n, "w"))) - { - RTCM3Error("Could not open ephemeris output file.\n"); - } - else - { - char buffer[100]; - fprintf(Parser->gpsfile, - "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", ""); - HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3); - fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, ""); - } - Parser->qzssephemeris = 0; - Parser->gpsephemeris = 0; - Parser->glonassephemeris = 0; - file = Parser->gpsfile; - } - } - else - { - if(r == 1020) - { - if(Parser->glonassephemeris) - { - if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w"))) - { - RTCM3Error("Could not open GLONASS ephemeris output file.\n"); - } - else - { - char buffer[100]; - fprintf(Parser->glonassfile, - "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", ""); - HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3); - fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, ""); - } - Parser->glonassephemeris = 0; - } - file = Parser->glonassfile; - } - else if(r == 1019) - { - if(Parser->gpsephemeris) - { - if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w"))) - { - RTCM3Error("Could not open GPS ephemeris output file.\n"); - } - else - { - char buffer[100]; - fprintf(Parser->gpsfile, - "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", ""); - HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3); - fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, ""); - } - Parser->gpsephemeris = 0; - } - file = Parser->gpsfile; - } - else if(r == 1044) - { - if(Parser->qzssephemeris) - { - if(!(Parser->qzssfile = fopen(Parser->qzssephemeris, "w"))) - { - RTCM3Error("Could not open QZSS ephemeris output file.\n"); - } - else - { - char buffer[100]; - fprintf(Parser->qzssfile, - "%9.2f%11sN: QZSS NAV DATA%24sRINEX VERSION / TYPE\n", 2.1, "", ""); - HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3); - fprintf(Parser->qzssfile, "%s\n%60sEND OF HEADER\n", buffer, ""); - } - Parser->qzssephemeris = 0; - } - file = Parser->qzssfile; - } - } - if(file) - { - if(r == 1020) - { - struct glonassephemeris *e = &Parser->ephemerisGLONASS; - int w = e->GPSWeek, tow = e->GPSTOW, i; - struct converttimeinfo cti; - - updatetime(&w, &tow, e->tb*1000, 1); /* Moscow - > UTC */ - converttime(&cti, w, tow); - - i = e->tk-3*60*60; if(i < 0) i += 86400; - - if(Parser->rinex3) - ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n", - e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute, - cti.second, -e->tau, e->gamma, (double) i); - else - ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n", - e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute, - (double) cti.second, -e->tau, e->gamma, (double) i); - ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos, - e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0); - ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos, - e->y_velocity, e->y_acceleration, (double) e->frequency_number); - ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos, - e->z_velocity, e->z_acceleration, (double) e->E); - } - else /* if(r == 1019 || r == 1044) */ - { - struct gpsephemeris *e = &Parser->ephemerisGPS; - double d; /* temporary variable */ - unsigned long int i; /* temporary variable */ - struct converttimeinfo cti; - converttime(&cti, e->GPSweek, e->TOC); - const char *sep = " "; - int qzss = 0; - int num = e->satellite; - - if(num >= PRN_QZSS_START) - { - qzss = 1; - num -= PRN_QZSS_START-1; - } - if(Parser->rinex3) - { - ConvLine(file, - "%s%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n", - qzss ? "J" : "G", num, cti.year, cti.month, cti.day, cti.hour, - cti.minute, cti.second, e->clock_bias, e->clock_drift, - e->clock_driftrate); - sep = " "; - } - else - { - ConvLine(file, - "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n", - num, cti.year%100, cti.month, cti.day, cti.hour, - cti.minute, (double) cti.second, e->clock_bias, e->clock_drift, - e->clock_driftrate); - } - ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, - (double)e->IODE, e->Crs, e->Delta_n, e->M0); - ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->Cuc, - e->e, e->Cus, e->sqrt_A); - ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, - (double) e->TOE, e->Cic, e->OMEGA0, e->Cis); - ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->i0, - e->Crc, e->omega, e->OMEGADOT); - d = 0; - i = e->flags; - if(i & GPSEPHF_L2CACODE) - d += 2.0; - if(i & GPSEPHF_L2PCODE) - d += 1.0; - ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->IDOT, d, - (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0); - if(e->URAindex <= 6) /* URA index */ - d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0; - else - d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0; - /* 15 indicates not to use satellite. We can't handle this special - case, so we create a high "non"-accuracy value. */ - ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, d, - ((double) e->SVhealth), e->TGD, ((double) e->IODC)); - - ConvLine(file, "%s%19.12e%19.12e\n", sep, ((double)e->TOW), - (i & GPSEPHF_6HOURSFIT) ? (Parser->rinex3 ? 1 : qzss ? 4.0 : 6.0) - : (Parser->rinex3 ? 0 : qzss ? 2.0 : 4.0)); - /* TOW */ - } - } - } - else if (r == 1 || r == 2) - { - int i, j, o, nh=0, hl=2; - char newheader[512]; - struct converttimeinfo cti; - - /* skip first epochs to detect correct data types */ - if(Parser->init < (Parser->changeobs ? 1 : NUMSTARTSKIP)) - { - ++Parser->init; - - if(Parser->init == (Parser->changeobs ? 1 : NUMSTARTSKIP)) - HandleHeader(Parser); - else - { - for(i = 0; i < Parser->Data.numsats; ++i) - Parser->startflags |= Parser->Data.dataflags[i]; - continue; - } - } - if(r == 2 && !Parser->validwarning) - { - RTCM3Text("No valid RINEX! All values are modulo 299792.458!" - " COMMENT\n"); - Parser->validwarning = 1; - } - - converttime(&cti, Parser->Data.week, - (int)floor(Parser->Data.timeofweek/1000.0)); - newheader[0] = 0; - if(Parser->changeobs) - { - nh = HandleObsHeader(Parser, newheader, sizeof(newheader), 0); - for(i = 0; i < nh; ++i) - { - if(newheader[i] == '\n') - ++hl; - } - } - if(Parser->rinex3) - { - if(nh) - { - RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 4%3d\n", - cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second - + fmod(Parser->Data.timeofweek/1000.0,1.0), hl); - RTCM3Text("%s\n " - " END OF HEADER\n", newheader); - } - RTCM3Text("> %04d %02d %02d %02d %02d%11.7f %d%3d\n", - cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second - + fmod(Parser->Data.timeofweek/1000.0,1.0), 0, - Parser->Data.numsats); - for(i = 0; i < Parser->Data.numsats; ++i) - { - int sys[RTCM3_MSM_NUMSYS] = {0,0,0,0,0,0}; - if(Parser->Data.satellites[i] <= PRN_GPS_END) - { - RTCM3Text("G%02d", Parser->Data.satellites[i]); - sys[RTCM3_MSM_GPS] = 1; - } - else if(Parser->Data.satellites[i] >= PRN_GLONASS_START - && Parser->Data.satellites[i] <= PRN_GLONASS_END) - { - RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1)); - sys[RTCM3_MSM_GLONASS] = 1; - } - else if(Parser->Data.satellites[i] >= PRN_GALILEO_START - && Parser->Data.satellites[i] <= PRN_GALILEO_END) - { - RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GALILEO_START-1)); - sys[RTCM3_MSM_GALILEO] = 1; - } - else if(Parser->Data.satellites[i] >= PRN_GIOVE_START - && Parser->Data.satellites[i] <= PRN_GIOVE_END) - { - RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GIOVE_START-PRN_GIOVE_OFFSET)); - sys[RTCM3_MSM_GALILEO] = 1; - } - else if(Parser->Data.satellites[i] >= PRN_QZSS_START - && Parser->Data.satellites[i] <= PRN_QZSS_END) - { - RTCM3Text("J%02d", Parser->Data.satellites[i] - (PRN_QZSS_START-1)); - sys[RTCM3_MSM_QZSS] = 1; - } - else if(Parser->Data.satellites[i] >= PRN_COMPASS_START - && Parser->Data.satellites[i] <= PRN_COMPASS_END) - { - RTCM3Text("C%02d", Parser->Data.satellites[i] - (PRN_COMPASS_START-1)); - sys[RTCM3_MSM_COMPASS] = 1; - } - else if(Parser->Data.satellites[i] >= PRN_SBAS_START - && Parser->Data.satellites[i] <= PRN_SBAS_END) - { - RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_SBAS_START+20); - sys[RTCM3_MSM_SBAS] = 1; - } - else - { - RTCM3Text("%3d", Parser->Data.satellites[i]); - } - - if(sys[RTCM3_MSM_GLONASS]) - { - for(j = 0; j < Parser->info[RTCM3_MSM_GLONASS].numtypes; ++j) - { - long long df = Parser->info[RTCM3_MSM_GLONASS].flags[j]; - int pos = Parser->info[RTCM3_MSM_GLONASS].pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos]) - && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_GLONASS].type[pos] - && Parser->info[RTCM3_MSM_GLONASS].type[pos] - == Parser->Data.codetype[i][pos][1])) - { - char lli = ' '; - char snr = ' '; - if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1) - lli = '1'; - snr = '0'+Parser->Data.snrL1[i]; - } - if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2) - lli = '1'; - snr = '0'+Parser->Data.snrL2[i]; - } - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - else - { /* no or illegal data */ - RTCM3Text(" "); - } - } - } - else if(sys[RTCM3_MSM_GALILEO]) - { - for(j = 0; j < Parser->info[RTCM3_MSM_GALILEO].numtypes; ++j) - { - long long df = Parser->info[RTCM3_MSM_GALILEO].flags[j]; - int pos = Parser->info[RTCM3_MSM_GALILEO].pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos]) - && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_GALILEO].type[pos] - && Parser->info[RTCM3_MSM_GALILEO].type[pos] - == Parser->Data.codetype[i][pos][1])) - { - char lli = ' '; - char snr = ' '; - if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1) - lli = '1'; - snr = '0'+Parser->Data.snrL1[i]; - } - if(df & GNSSDF_L6DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE6) - lli = '1'; - snr = ' '; - } - if(df & GNSSDF_L5DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5) - lli = '1'; - snr = ' '; - } - if(df & GNSSDF_L5BDATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5B) - lli = '1'; - snr = ' '; - } - if(df & GNSSDF_L5ABDATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5AB) - lli = '1'; - snr = ' '; - } - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - else - { /* no or illegal data */ - RTCM3Text(" "); - } - } - } - else if(sys[RTCM3_MSM_COMPASS]) - { - for(j = 0; j < Parser->info[RTCM3_MSM_COMPASS].numtypes; ++j) - { - long long df = Parser->info[RTCM3_MSM_COMPASS].flags[j]; - int pos = Parser->info[RTCM3_MSM_COMPASS].pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos]) - && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_COMPASS].type[pos] - && Parser->info[RTCM3_MSM_COMPASS].type[pos] - == Parser->Data.codetype[i][pos][1])) - { - char lli = ' '; - char snr = ' '; - if(df & GNSSDF_LB1DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB1) - lli = '1'; - } - if(df & GNSSDF_LB2DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB2) - lli = '1'; - } - if(df & GNSSDF_LB3DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB3) - lli = '1'; - } - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - else - { /* no or illegal data */ - RTCM3Text(" "); - } - } - } - else if(sys[RTCM3_MSM_QZSS]) - { - for(j = 0; j < Parser->info[RTCM3_MSM_QZSS].numtypes; ++j) - { - long long df = Parser->info[RTCM3_MSM_QZSS].flags[j]; - int pos = Parser->info[RTCM3_MSM_QZSS].pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos]) - && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_QZSS].type[pos] - && Parser->info[RTCM3_MSM_QZSS].type[pos] - == Parser->Data.codetype[i][pos][1])) - { - char lli = ' '; - char snr = ' '; - if(df & GNSSDF_L1CDATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1) - lli = '1'; - snr = '0'+Parser->Data.snrL1[i]; - } - if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2) - lli = '1'; - snr = '0'+Parser->Data.snrL2[i]; - } - if(df & GNSSDF_L5DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5) - lli = '1'; - snr = ' '; - } - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - else - { /* no or illegal data */ - RTCM3Text(" "); - } - } - } - else if(sys[RTCM3_MSM_SBAS]) - { - for(j = 0; j < Parser->info[RTCM3_MSM_SBAS].numtypes; ++j) - { - long long df = Parser->info[RTCM3_MSM_SBAS].flags[j]; - int pos = Parser->info[RTCM3_MSM_SBAS].pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos]) - && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_SBAS].type[pos] - && Parser->info[RTCM3_MSM_SBAS].type[pos] - == Parser->Data.codetype[i][pos][1])) - { - char lli = ' '; - char snr = ' '; - if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1) - lli = '1'; - snr = '0'+Parser->Data.snrL1[i]; - } - if(df & GNSSDF_L5DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5) - lli = '1'; - snr = ' '; - } - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - else - { /* no or illegal data */ - RTCM3Text(" "); - } - } - } - else - { - for(j = 0; j < Parser->info[RTCM3_MSM_GPS].numtypes; ++j) - { - long long df = Parser->info[RTCM3_MSM_GPS].flags[j]; - int pos = Parser->info[RTCM3_MSM_GPS].pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos]) - && (Parser->Data.codetype[i][pos] - && Parser->info[RTCM3_MSM_GPS].type[pos] - && Parser->info[RTCM3_MSM_GPS].type[pos] - == Parser->Data.codetype[i][pos][1])) - { - char lli = ' '; - char snr = ' '; - if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1) - lli = '1'; - snr = '0'+Parser->Data.snrL1[i]; - } - if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2) - lli = '1'; - snr = '0'+Parser->Data.snrL2[i]; - } - if(df & GNSSDF_L5DATA) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5) - lli = '1'; - snr = ' '; - } - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - else - { /* no or illegal data */ - RTCM3Text(" "); - } - } - } - RTCM3Text("\n"); - } - } - else - { - RTCM3Text(" %02d %2d %2d %2d %2d %10.7f %d%3d", - cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second - + fmod(Parser->Data.timeofweek/1000.0,1.0), nh ? 4 : 0, - Parser->Data.numsats); - for(i = 0; i < 12 && i < Parser->Data.numsats; ++i) - { - if(Parser->Data.satellites[i] <= PRN_GPS_END) - RTCM3Text("G%02d", Parser->Data.satellites[i]); - else if(Parser->Data.satellites[i] >= PRN_GLONASS_START - && Parser->Data.satellites[i] <= PRN_GLONASS_END) - RTCM3Text("R%02d", Parser->Data.satellites[i] - - (PRN_GLONASS_START-1)); - else if(Parser->Data.satellites[i] >= PRN_SBAS_START - && Parser->Data.satellites[i] <= PRN_SBAS_END) - RTCM3Text("S%02d", Parser->Data.satellites[i] - - PRN_SBAS_START+20); - else if(Parser->Data.satellites[i] >= PRN_GALILEO_START - && Parser->Data.satellites[i] <= PRN_GALILEO_END) - RTCM3Text("E%02d", Parser->Data.satellites[i] - - (PRN_GALILEO_START-1)); - else if(Parser->Data.satellites[i] >= PRN_GIOVE_START - && Parser->Data.satellites[i] <= PRN_GIOVE_END) - RTCM3Text("E%02d", Parser->Data.satellites[i] - - (PRN_GIOVE_START-PRN_GIOVE_OFFSET)); - else if(Parser->Data.satellites[i] >= PRN_QZSS_START - && Parser->Data.satellites[i] <= PRN_QZSS_END) - RTCM3Text("J%02d", Parser->Data.satellites[i] - - (PRN_QZSS_START-1)); - else if(Parser->Data.satellites[i] >= PRN_COMPASS_START - && Parser->Data.satellites[i] <= PRN_COMPASS_END) - RTCM3Text("C%02d", Parser->Data.satellites[i] - - (PRN_COMPASS_START-1)); - else - RTCM3Text("%3d", Parser->Data.satellites[i]); - } - RTCM3Text("\n"); - o = 12; - j = Parser->Data.numsats - 12; - while(j > 0) - { - RTCM3Text(" "); - for(i = o; i < o+12 && i < Parser->Data.numsats; ++i) - { - if(Parser->Data.satellites[i] <= PRN_GPS_END) - RTCM3Text("G%02d", Parser->Data.satellites[i]); - else if(Parser->Data.satellites[i] >= PRN_GLONASS_START - && Parser->Data.satellites[i] <= PRN_GLONASS_END) - RTCM3Text("R%02d", Parser->Data.satellites[i] - - (PRN_GLONASS_START-1)); - else if(Parser->Data.satellites[i] >= PRN_SBAS_START - && Parser->Data.satellites[i] <= PRN_SBAS_END) - RTCM3Text("S%02d", Parser->Data.satellites[i] - - PRN_SBAS_START+20); - else if(Parser->Data.satellites[i] >= PRN_GALILEO_START - && Parser->Data.satellites[i] <= PRN_GALILEO_END) - RTCM3Text("E%02d", Parser->Data.satellites[i] - - (PRN_GALILEO_START-1)); - else if(Parser->Data.satellites[i] >= PRN_GIOVE_START - && Parser->Data.satellites[i] <= PRN_GIOVE_END) - RTCM3Text("E%02d", Parser->Data.satellites[i] - - (PRN_GIOVE_START-PRN_GIOVE_OFFSET)); - else if(Parser->Data.satellites[i] >= PRN_QZSS_START - && Parser->Data.satellites[i] <= PRN_QZSS_END) - RTCM3Text("J%02d", Parser->Data.satellites[i] - - (PRN_QZSS_START-1)); - else if(Parser->Data.satellites[i] >= PRN_COMPASS_START - && Parser->Data.satellites[i] <= PRN_COMPASS_END) - RTCM3Text("C%02d", Parser->Data.satellites[i] - - (PRN_COMPASS_START-1)); - else - RTCM3Text("%3d", Parser->Data.satellites[i]); - } - RTCM3Text("\n"); - j -= 12; - o += 12; - } - if(nh) - { - RTCM3Text("%s\n " - " END OF HEADER\n", newheader); - } - for(i = 0; i < Parser->Data.numsats; ++i) - { - for(j = 0; j < Parser->info[RTCM3_MSM_GPS].numtypes; ++j) - { - int v = 0; - long long df = Parser->flags[j]; - int pos = Parser->pos[j]; - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos])) - { - v = 1; - } - else - { - df = Parser->info[RTCM3_MSM_GPS].flags[j]; - pos = Parser->info[RTCM3_MSM_GPS].pos[j]; - - if((Parser->Data.dataflags[i] & df) - && !isnan(Parser->Data.measdata[i][pos]) - && !isinf(Parser->Data.measdata[i][pos])) - { - v = 1; - } - } - - if(!v) - { /* no or illegal data */ - RTCM3Text(" "); - } - else - { - char lli = ' '; - char snr = ' '; - if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA)) - { - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1) - lli = '1'; - snr = '0'+Parser->Data.snrL1[i]; - } - if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA)) - { - if(Parser->Data.dataflags2[i] - & (GNSSDF2_LOCKLOSSL2|GNSSDF2_XCORRL2)) - { - lli = '0'; - if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2) - lli += 1; - if(Parser->Data.dataflags2[i] & GNSSDF2_XCORRL2) - lli += 4; - } - snr = '0'+Parser->Data.snrL2[i]; - } - if((df & GNSSDF_P2DATA) && (Parser->Data.dataflags2[i] - & GNSSDF2_XCORRL2)) - lli = '4'; - RTCM3Text("%14.3f%c%c", - Parser->Data.measdata[i][pos],lli,snr); - } - if(j%5 == 4 || j == Parser->info[RTCM3_MSM_GPS].numtypes-1) - RTCM3Text("\n"); - } - } - } - } - } - } -} - -#ifndef NO_RTCM3_MAIN -static char datestr[] = "$Date$"; - -/* The string, which is send as agent in HTTP request */ -#define AGENTSTRING "NTRIP NtripRTCM3ToRINEX" - -#define MAXDATASIZE 1000 /* max number of bytes we can get at once */ - -static const char encodingTable [64] = { - 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P', - 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f', - 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v', - 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/' -}; - -/* does not buffer overrun, but breaks directly after an error */ -/* returns the number of required bytes */ -static int encode(char *buf, int size, const char *user, const char *pwd) -{ - unsigned char inbuf[3]; - char *out = buf; - int i, sep = 0, fill = 0, bytes = 0; - - while(*user || *pwd) - { - i = 0; - while(i < 3 && *user) inbuf[i++] = *(user++); - if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; } - while(i < 3 && *pwd) inbuf[i++] = *(pwd++); - while(i < 3) {inbuf[i++] = 0; ++fill; } - if(out-buf < size-1) - *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2]; - if(out-buf < size-1) - *(out++) = encodingTable[((inbuf [0] & 0x03) << 4) - | ((inbuf [1] & 0xF0) >> 4)]; - if(out-buf < size-1) - { - if(fill == 2) - *(out++) = '='; - else - *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2) - | ((inbuf [2] & 0xC0) >> 6)]; - } - if(out-buf < size-1) - { - if(fill >= 1) - *(out++) = '='; - else - *(out++) = encodingTable[inbuf [2] & 0x3F]; - } - bytes += 4; - } - if(out-buf < size) - *out = 0; - return bytes; -} - -static int stop = 0; - -struct Args -{ - const char *server; - const char *port; - int mode; - int timeout; - int rinex3; - int changeobs; - const char *user; - const char *password; - const char *proxyhost; - const char *proxyport; - const char *nmea; - const char *data; - const char *headerfile; - const char *gpsephemeris; - const char *qzssephemeris; - const char *glonassephemeris; -}; - -/* option parsing */ -#ifdef NO_LONG_OPTS -#define LONG_OPT(a) -#else -#define LONG_OPT(a) a -static struct option opts[] = { -{ "data", required_argument, 0, 'd'}, -{ "server", required_argument, 0, 's'}, -{ "password", required_argument, 0, 'p'}, -{ "port", required_argument, 0, 'r'}, -{ "timeout", required_argument, 0, 't'}, -{ "header", required_argument, 0, 'f'}, -{ "user", required_argument, 0, 'u'}, -{ "gpsephemeris", required_argument, 0, 'E'}, -{ "qzssephemeris", required_argument, 0, 'Q'}, -{ "glonassephemeris", required_argument, 0, 'G'}, -{ "rinex3", no_argument, 0, '3'}, -{ "changeobs", no_argument, 0, 'O'}, -{ "proxyport", required_argument, 0, 'R'}, -{ "proxyhost", required_argument, 0, 'S'}, -{ "nmea", required_argument, 0, 'n'}, -{ "mode", required_argument, 0, 'M'}, -{ "help", no_argument, 0, 'h'}, -{0,0,0,0}}; -#endif -#define ARGOPT "-d:s:p:r:t:f:u:E:G:Q:M:S:R:n:h3O" - -enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END }; - -static const char *geturl(const char *url, struct Args *args) -{ - static char buf[1000]; - static char *Buffer = buf; - static char *Bufend = buf+sizeof(buf); - - if(strncmp("ntrip:", url, 6)) - return "URL must start with 'ntrip:'."; - url += 6; /* skip ntrip: */ - - if(*url != '@' && *url != '/') - { - /* scan for mountpoint */ - args->data = Buffer; - while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->data) - return "Mountpoint required."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - } - - if(*url == '/') /* username and password */ - { - ++url; - args->user = Buffer; - while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->user) - return "Username cannot be empty."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - - if(*url == ':') ++url; - - args->password = Buffer; - while(*url && *url != '@' && *url != ';' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->password) - return "Password cannot be empty."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - } - - if(*url == '@') /* server */ - { - ++url; - if(*url != '@' && *url != ':') - { - args->server = Buffer; - while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->server) - return "Servername cannot be empty."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - } - - if(*url == ':') - { - ++url; - args->port = Buffer; - while(*url && *url != '@' && *url != ';' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->port) - return "Port cannot be empty."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - } - - if(*url == '@') /* proxy */ - { - ++url; - args->proxyhost = Buffer; - while(*url && *url != ':' && *url != ';' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->proxyhost) - return "Proxy servername cannot be empty."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - - if(*url == ':') - { - ++url; - args->proxyport = Buffer; - while(*url && *url != ';' && Buffer != Bufend) - *(Buffer++) = *(url++); - if(Buffer == args->proxyport) - return "Proxy port cannot be empty."; - else if(Buffer >= Bufend-1) - return "Parsing buffer too short."; - *(Buffer++) = 0; - } - } - } - if(*url == ';') /* NMEA */ - { - args->nmea = ++url; - while(*url) - ++url; - } - - return *url ? "Garbage at end of server string." : 0; -} - -static int getargs(int argc, char **argv, struct Args *args) -{ - int res = 1; - int getoptr; - int help = 0; - char *t; - - args->server = "www.euref-ip.net"; - args->port = "2101"; - args->timeout = 60; - args->user = ""; - args->password = ""; - args->data = 0; - args->headerfile = 0; - args->gpsephemeris = 0; - args->qzssephemeris = 0; - args->glonassephemeris = 0; - args->rinex3 = 0; - args->nmea = 0; - args->changeobs = 0; - args->proxyhost = 0; - args->proxyport = "2101"; - args->mode = AUTO; - help = 0; - - do - { - -#ifdef NO_LONG_OPTS - switch((getoptr = getopt(argc, argv, ARGOPT))) -#else - switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0))) -#endif - { - case 's': args->server = optarg; break; - case 'u': args->user = optarg; break; - case 'p': args->password = optarg; break; - case 'd': args->data = optarg; break; - case 'f': args->headerfile = optarg; break; - case 'E': args->gpsephemeris = optarg; break; - case 'G': args->glonassephemeris = optarg; break; - case 'Q': args->qzssephemeris = optarg; break; - case 'r': args->port = optarg; break; - case '3': args->rinex3 = 1; break; - case 'S': args->proxyhost = optarg; break; - case 'n': args->nmea = optarg; break; - case 'R': args->proxyport = optarg; break; - case 'O': args->changeobs = 1; break; - case 'h': help=1; break; - case 'M': - args->mode = 0; - if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1")) - args->mode = NTRIP1; - else if(!strcmp(optarg,"h") || !strcmp(optarg,"http")) - args->mode = HTTP; - else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp")) - args->mode = RTSP; - else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto")) - args->mode = AUTO; - else args->mode = atoi(optarg); - if((args->mode == 0) || (args->mode >= END)) - { - fprintf(stderr, "Mode %s unknown\n", optarg); - res = 0; - } - break; - case 't': - args->timeout = strtoul(optarg, &t, 10); - if((t && *t) || args->timeout < 0) - res = 0; - break; - - case 1: - { - const char *err; - if((err = geturl(optarg, args))) - { - RTCM3Error("%s\n\n", err); - res = 0; - } - } - break; - case -1: break; - } - } while(getoptr != -1 || !res); - - datestr[0] = datestr[7]; - datestr[1] = datestr[8]; - datestr[2] = datestr[9]; - datestr[3] = datestr[10]; - datestr[5] = datestr[12]; - datestr[6] = datestr[13]; - datestr[8] = datestr[15]; - datestr[9] = datestr[16]; - datestr[4] = datestr[7] = '-'; - datestr[10] = 0; - - if(args->gpsephemeris && args->glonassephemeris && args->rinex3) - { - RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n" - "Please specify only one navigation file.\n"); - res = 0; - } - else if(!res || help) - { - RTCM3Error("Version %s (%s) GPL" COMPILEDATE - "\nUsage: %s -s server -u user ...\n" - " -d " LONG_OPT("--data ") "the requested data set\n" - " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n" - " -s " LONG_OPT("--server ") "the server name or address\n" - " -p " LONG_OPT("--password ") "the login password\n" - " -r " LONG_OPT("--port ") "the server port number (default 2101)\n" - " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n" - " -u " LONG_OPT("--user ") "the user name\n" - " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n" - " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n" - " -Q " LONG_OPT("--qzssephemeris ") "output file for QZSS ephemeris data\n" - " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n" - " -S " LONG_OPT("--proxyhost ") "proxy name or address\n" - " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n" - " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n" - " -O " LONG_OPT("--changeobs ") "Add observation type change header lines\n" - " -M " LONG_OPT("--mode ") "mode for data request\n" - " Valid modes are:\n" - " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n" - " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n" - " 3, n, ntrip1 NTRIP Version 1.0 Caster\n" - " 4, a, auto automatic detection (default)\n" - "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n" - , revisionstr, datestr, argv[0], argv[0]); - exit(1); - } - return res; -} - -/* let the output complete a block if necessary */ -static void signalhandler(int sig) -{ - if(!stop) - { - RTCM3Error("Stop signal number %d received. " - "Trying to terminate gentle.\n", sig); - stop = 1; - alarm(1); - } -} - -#ifndef WINDOWSVERSION -static void WaitMicro(int mic) -{ - struct timeval tv; - tv.tv_sec = mic/1000000; - tv.tv_usec = mic%1000000; -#ifdef DEBUG - fprintf(stderr, "Waiting %d micro seconds\n", mic); -#endif - select(0, 0, 0, 0, &tv); -} -#else /* WINDOWSVERSION */ -void WaitMicro(int mic) -{ - Sleep(mic/1000); -} -#endif /* WINDOWSVERSION */ - -#define ALARMTIME (2*60) - -/* for some reason we had to abort hard (maybe waiting for data */ -#ifdef __GNUC__ -static __attribute__ ((noreturn)) void signalhandler_alarm( -int sig __attribute__((__unused__))) -#else /* __GNUC__ */ -static void signalhandler_alarm(int sig) -#endif /* __GNUC__ */ -{ - RTCM3Error("Programm forcefully terminated.\n"); - exit(1); -} - -int main(int argc, char **argv) -{ - struct Args args; - struct RTCM3ParserData Parser; - - setbuf(stdout, 0); - setbuf(stdin, 0); - setbuf(stderr, 0); - - fixrevision(); - - signal(SIGINT, signalhandler); - signal(SIGALRM,signalhandler_alarm); - signal(SIGQUIT,signalhandler); - signal(SIGTERM,signalhandler); - signal(SIGPIPE,signalhandler); - memset(&Parser, 0, sizeof(Parser)); - { - time_t tim; - tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS); - Parser.GPSWeek = tim/(7*24*60*60); - Parser.GPSTOW = tim%(7*24*60*60); - } - - if(getargs(argc, argv, &args)) - { - int sockfd, numbytes; - char buf[MAXDATASIZE]; - struct sockaddr_in their_addr; /* connector's address information */ - struct hostent *he; - struct servent *se; - const char *server, *port, *proxyserver = 0; - char proxyport[6]; - char *b; - long i; - struct timeval tv; - - alarm(ALARMTIME); - - Parser.headerfile = args.headerfile; - Parser.glonassephemeris = args.glonassephemeris; - Parser.gpsephemeris = args.gpsephemeris; - Parser.qzssephemeris = args.qzssephemeris; - Parser.rinex3 = args.rinex3; - Parser.changeobs = args.changeobs; - - if(args.proxyhost) - { - int p; - if((i = strtol(args.port, &b, 10)) && (!b || !*b)) - p = i; - else if(!(se = getservbyname(args.port, 0))) - { - RTCM3Error("Can't resolve port %s.", args.port); - exit(1); - } - else - { - p = ntohs(se->s_port); - } - snprintf(proxyport, sizeof(proxyport), "%d", p); - port = args.proxyport; - proxyserver = args.server; - server = args.proxyhost; - } - else - { - server = args.server; - port = args.port; - } - - memset(&their_addr, 0, sizeof(struct sockaddr_in)); - if((i = strtol(port, &b, 10)) && (!b || !*b)) - their_addr.sin_port = htons(i); - else if(!(se = getservbyname(port, 0))) - { - RTCM3Error("Can't resolve port %s.", port); - exit(1); - } - else - { - their_addr.sin_port = se->s_port; - } - if(!(he=gethostbyname(server))) - { - RTCM3Error("Server name lookup failed for '%s'.\n", server); - exit(1); - } - if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1) - { - perror("socket"); - exit(1); - } - - tv.tv_sec = args.timeout; - tv.tv_usec = 0; - if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1) - { - RTCM3Error("Function setsockopt: %s\n", strerror(errno)); - exit(1); - } - - their_addr.sin_family = AF_INET; - their_addr.sin_addr = *((struct in_addr *)he->h_addr); - - if(args.data && args.mode == RTSP) - { - struct sockaddr_in local; - int sockudp, localport; - int cseq = 1; - socklen_t len; - - if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1) - { - perror("socket"); - exit(1); - } - /* fill structure with local address information for UDP */ - memset(&local, 0, sizeof(local)); - local.sin_family = AF_INET; - local.sin_port = htons(0); - local.sin_addr.s_addr = htonl(INADDR_ANY); - len = sizeof(local); - /* bind() in order to get a random RTP client_port */ - if((bind(sockudp, (struct sockaddr *)&local, len)) < 0) - { - perror("bind"); - exit(1); - } - if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1) - { - localport = ntohs(local.sin_port); - } - else - { - perror("local access failed"); - exit(1); - } - if(connect(sockfd, (struct sockaddr *)&their_addr, - sizeof(struct sockaddr)) == -1) - { - perror("connect"); - exit(1); - } - i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */ - "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n" - "CSeq: %d\r\n" - "Ntrip-Version: Ntrip/2.0\r\n" - "Ntrip-Component: Ntripclient\r\n" - "User-Agent: %s/%s\r\n" - "Transport: RTP/GNSS;unicast;client_port=%u\r\n" - "Authorization: Basic ", - args.server, proxyserver ? ":" : "", proxyserver ? args.port : "", - args.data, cseq++, AGENTSTRING, revisionstr, localport); - if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */ - { - RTCM3Error("Requested data too long\n"); - exit(1); - } - i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password); - if(i > MAXDATASIZE-4) - { - RTCM3Error("Username and/or password too long\n"); - exit(1); - } - buf[i++] = '\r'; - buf[i++] = '\n'; - buf[i++] = '\r'; - buf[i++] = '\n'; - if(args.nmea) - { - int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea); - if(j >= 0 && j < MAXDATASIZE-i) - i += j; - else - { - RTCM3Error("NMEA string too long\n"); - exit(1); - } - } - if(send(sockfd, buf, (size_t)i, 0) != i) - { - perror("send"); - exit(1); - } - if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1) - { - if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17)) - { - int serverport = 0, session = 0; - const char *portcheck = "server_port="; - const char *sessioncheck = "session: "; - int l = strlen(portcheck)-1; - int j=0; - for(i = 0; j != l && i < numbytes-l; ++i) - { - for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j) - ; - } - if(i == numbytes-l) - { - RTCM3Error("No server port number found\n"); - exit(1); - } - else - { - i+=l; - while(i < numbytes && buf[i] >= '0' && buf[i] <= '9') - serverport = serverport * 10 + buf[i++]-'0'; - if(buf[i] != '\r' && buf[i] != ';') - { - RTCM3Error("Could not extract server port\n"); - exit(1); - } - } - l = strlen(sessioncheck)-1; - j=0; - for(i = 0; j != l && i < numbytes-l; ++i) - { - for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j) - ; - } - if(i == numbytes-l) - { - RTCM3Error("No session number found\n"); - exit(1); - } - else - { - i+=l; - while(i < numbytes && buf[i] >= '0' && buf[i] <= '9') - session = session * 10 + buf[i++]-'0'; - if(buf[i] != '\r') - { - RTCM3Error("Could not extract session number\n"); - exit(1); - } - } - - i = snprintf(buf, MAXDATASIZE, - "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n" - "CSeq: %d\r\n" - "Session: %d\r\n" - "\r\n", - args.server, proxyserver ? ":" : "", proxyserver ? args.port : "", - args.data, cseq++, session); - - if(i > MAXDATASIZE || i < 0) /* second check for old glibc */ - { - RTCM3Error("Requested data too long\n"); - exit(1); - } - if(send(sockfd, buf, (size_t)i, 0) != i) - { - perror("send"); - exit(1); - } - if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1) - { - if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17)) - { - struct sockaddr_in addrRTP; - /* fill structure with caster address information for UDP */ - memset(&addrRTP, 0, sizeof(addrRTP)); - addrRTP.sin_family = AF_INET; - addrRTP.sin_port = htons(serverport); - their_addr.sin_addr = *((struct in_addr *)he->h_addr); - len = sizeof(addrRTP); - int ts = 0; - int sn = 0; - int ssrc = 0; - int init = 0; - int u, v, w; - while(!stop && (i = recvfrom(sockudp, buf, 1526, 0, - (struct sockaddr*) &addrRTP, &len)) > 0) - { - alarm(ALARMTIME); - if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60) - { - u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3]; - v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16) - +((unsigned char)buf[6]<<8)+(unsigned char)buf[7]; - w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16) - +((unsigned char)buf[10]<<8)+(unsigned char)buf[11]; - - if(init) - { - int z; - if(u < -30000 && sn > 30000) sn -= 0xFFFF; - if(ssrc != w || ts > v) - { - RTCM3Error("Illegal UDP data received.\n"); - exit(1); - } - if(u > sn) /* don't show out-of-order packets */ - for(z = 12; z < i && !stop; ++z) - HandleByte(&Parser, (unsigned int) buf[z]); - } - sn = u; ts = v; ssrc = w; init = 1; - } - else - { - RTCM3Error("Illegal UDP header.\n"); - exit(1); - } - } - } - i = snprintf(buf, MAXDATASIZE, - "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n" - "CSeq: %d\r\n" - "Session: %d\r\n" - "\r\n", - args.server, proxyserver ? ":" : "", proxyserver ? args.port : "", - args.data, cseq++, session); - - if(i > MAXDATASIZE || i < 0) /* second check for old glibc */ - { - RTCM3Error("Requested data too long\n"); - exit(1); - } - if(send(sockfd, buf, (size_t)i, 0) != i) - { - perror("send"); - exit(1); - } - } - else - { - RTCM3Error("Could not start data stream.\n"); - exit(1); - } - } - else - { - RTCM3Error("Could not setup initial control connection.\n"); - exit(1); - } - } - else - { - perror("recv"); - exit(1); - } - } - else - { - if(connect(sockfd, (struct sockaddr *)&their_addr, - sizeof(struct sockaddr)) == -1) - { - perror("connect"); - exit(1); - } - if(!args.data) - { - i = snprintf(buf, MAXDATASIZE, - "GET %s%s%s%s/ HTTP/1.0\r\n" - "Host: %s\r\n%s" - "User-Agent: %s/%s\r\n" - "Connection: close\r\n" - "\r\n" - , proxyserver ? "http://" : "", proxyserver ? proxyserver : "", - proxyserver ? ":" : "", proxyserver ? proxyport : "", - args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n", - AGENTSTRING, revisionstr); - } - else - { - i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */ - "GET %s%s%s%s/%s HTTP/1.0\r\n" - "Host: %s\r\n%s" - "User-Agent: %s/%s\r\n" - "Connection: close\r\n" - "Authorization: Basic " - , proxyserver ? "http://" : "", proxyserver ? proxyserver : "", - proxyserver ? ":" : "", proxyserver ? proxyport : "", - args.data, args.server, - args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n", - AGENTSTRING, revisionstr); - if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */ - { - RTCM3Error("Requested data too long\n"); - exit(1); - } - i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password); - if(i > MAXDATASIZE-4) - { - RTCM3Error("Username and/or password too long\n"); - exit(1); - } - buf[i++] = '\r'; - buf[i++] = '\n'; - buf[i++] = '\r'; - buf[i++] = '\n'; - if(args.nmea) - { - int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea); - if(j >= 0 && j < MAXDATASIZE-i) - i += j; - else - { - RTCM3Error("NMEA string too long\n"); - exit(1); - } - } - } - if(send(sockfd, buf, (size_t)i, 0) != i) - { - perror("send"); - exit(1); - } - if(args.data) - { - int k = 0; - int chunkymode = 0; - int totalbytes = 0; - int chunksize = 0; - - while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1) - { - if(numbytes > 0) - alarm(ALARMTIME); - else - { - WaitMicro(100); - continue; - } - if(!k) - { - if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17) - || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17))) - { - const char *datacheck = "Content-Type: gnss/data\r\n"; - const char *chunkycheck = "Transfer-Encoding: chunked\r\n"; - int l = strlen(datacheck)-1; - int j=0; - for(i = 0; j != l && i < numbytes-l; ++i) - { - for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j) - ; - } - if(i == numbytes-l) - { - RTCM3Error("No 'Content-Type: gnss/data' found\n"); - exit(1); - } - l = strlen(chunkycheck)-1; - j=0; - for(i = 0; j != l && i < numbytes-l; ++i) - { - for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j) - ; - } - if(i < numbytes-l) - chunkymode = 1; - } - else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12)) - { - RTCM3Error("Could not get the requested data: "); - for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k) - { - RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.'); - } - RTCM3Error("\n"); - exit(1); - } - else if(args.mode != NTRIP1) - { - if(args.mode != AUTO) - { - RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n", - args.mode == AUTO ? ", falling back to NTRIP1" : ""); - } - if(args.mode == HTTP) - exit(1); - } - ++k; - } - else - { - if(chunkymode) - { - int stop = 0; - int pos = 0; - while(!stop && pos < numbytes) - { - switch(chunkymode) - { - case 1: /* reading number starts */ - chunksize = 0; - ++chunkymode; /* no break */ - case 2: /* during reading number */ - i = buf[pos++]; - if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0'; - else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10; - else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10; - else if(i == '\r') ++chunkymode; - else if(i == ';') chunkymode = 5; - else stop = 1; - break; - case 3: /* scanning for return */ - if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1; - else stop = 1; - break; - case 4: /* output data */ - i = numbytes-pos; - if(i > chunksize) i = chunksize; - { - int z; - for(z = 0; z < i && !stop; ++z) - HandleByte(&Parser, (unsigned int) buf[pos+z]); - } - totalbytes += i; - chunksize -= i; - pos += i; - if(!chunksize) - chunkymode = 1; - break; - case 5: - if(i == '\r') chunkymode = 3; - break; - } - } - if(stop) - { - RTCM3Error("Error in chunky transfer encoding\n"); - break; - } - } - else - { - totalbytes += numbytes; - { - int z; - for(z = 0; z < numbytes && !stop; ++z) - HandleByte(&Parser, (unsigned int) buf[z]); - } - } - if(totalbytes < 0) /* overflow */ - { - totalbytes = 0; - } - } - } - } - else - { - while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0) - { - alarm(ALARMTIME); - fwrite(buf, (size_t)numbytes, 1, stdout); - } - } - close(sockfd); - } - } - return 0; -} -#endif /* NO_RTCM3_MAIN */ Index: trunk/clock_and_orbit/lib/rtcm3torinex.h =================================================================== --- trunk/clock_and_orbit/lib/rtcm3torinex.h (revision 6324) +++ (revision ) @@ -1,518 +1,0 @@ -#ifndef RTCM3TORINEX_H -#define RTCM3TORINEX_H - -/* - Converter for RTCM3 data to RINEX. - $Id$ - Copyright (C) 2005-2012 by Dirk Stöcker - - This program is free software; you can redistribute it and/or modify - it under the terms of the GNU General Public License as published by - the Free Software Foundation; either version 2 of the License, or - (at your option) any later version. - - This program is distributed in the hope that it will be useful, - but WITHOUT ANY WARRANTY; without even the implied warranty of - MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - GNU General Public License for more details. - - You should have received a copy of the GNU General Public License - along with this program; if not, write to the Free Software - Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA - or read http://www.gnu.org/licenses/gpl.txt -*/ - -#define RTCM3TORINEX_VERSION "2" - -#include - -#define NUMRTCM3PARSERSATS 144 -#define GNSS_MAXSATS 64 - -#define PRN_GPS_START 1 -#define PRN_GPS_END 32 -#define PRN_GLONASS_START 38 -#define PRN_GLONASS_END 61 -#define PRN_GALILEO_START 71 -#define PRN_GALILEO_END 100 -#define PRN_GIOVE_START 101 -#define PRN_GIOVE_END 102 -#define PRN_SBAS_START 120 -#define PRN_SBAS_END 141 -#define PRN_COMPASS_START 161 -#define PRN_COMPASS_END 190 -#define PRN_QZSS_START 193 -#define PRN_QZSS_END 202 - -#define PRN_GALGIO_START PRN_GALILEO_START -#define PRN_GALGIO_END PRN_GIOVE_END - -#define PRN_GLONASS_NUM (PRN_GLONASS_END-PRN_GLONASS_START+1) - -#define RTCM3_MSM_NUMSIG 32 -#define RTCM3_MSM_NUMSAT 64 -#define RTCM3_MSM_NUMCELLS 96 /* arbitrary limit */ - -/* system identifiers */ -#define RTCM3_MSM_GPS 0 -#define RTCM3_MSM_GLONASS 1 -#define RTCM3_MSM_GALILEO 2 -#define RTCM3_MSM_SBAS 3 -#define RTCM3_MSM_QZSS 4 -#define RTCM3_MSM_COMPASS 5 - -#define RTCM3_MSM_NUMSYS 6 - -#define GNSSENTRY_CODE 0 -#define GNSSENTRY_PHASE 1 -#define GNSSENTRY_DOPPLER 2 -#define GNSSENTRY_SNR 3 - -#define GNSSENTRY_TYPEC1 (0<<2) -#define GNSSENTRY_TYPEC2 (1<<2) -#define GNSSENTRY_TYPEP1 (2<<2) -#define GNSSENTRY_TYPEP2 (3<<2) -#define GNSSENTRY_TYPEC5 (4<<2) -#define GNSSENTRY_TYPEC6 (5<<2) -#define GNSSENTRY_TYPEC5B (6<<2) -#define GNSSENTRY_TYPEC5AB (7<<2) -#define GNSSENTRY_TYPECSAIF (8<<2) -#define GNSSENTRY_TYPEC1N (9<<2) - -#define GNSSENTRY_C1DATA (GNSSENTRY_TYPEC1+GNSSENTRY_CODE) -#define GNSSENTRY_L1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_PHASE) -#define GNSSENTRY_D1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S1CDATA (GNSSENTRY_TYPEC1+GNSSENTRY_SNR) - -#define GNSSENTRY_C2DATA (GNSSENTRY_TYPEC2+GNSSENTRY_CODE) -#define GNSSENTRY_L2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_PHASE) -#define GNSSENTRY_D2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S2CDATA (GNSSENTRY_TYPEC2+GNSSENTRY_SNR) - -#define GNSSENTRY_CB1DATA GNSSENTRY_C1DATA -#define GNSSENTRY_LB1DATA GNSSENTRY_L1CDATA -#define GNSSENTRY_DB1DATA GNSSENTRY_D1CDATA -#define GNSSENTRY_SB1DATA GNSSENTRY_S1CDATA - -#define GNSSENTRY_P1DATA (GNSSENTRY_TYPEP1+GNSSENTRY_CODE) -#define GNSSENTRY_L1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_PHASE) -#define GNSSENTRY_D1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S1PDATA (GNSSENTRY_TYPEP1+GNSSENTRY_SNR) - -#define GNSSENTRY_P2DATA (GNSSENTRY_TYPEP2+GNSSENTRY_CODE) -#define GNSSENTRY_L2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_PHASE) -#define GNSSENTRY_D2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S2PDATA (GNSSENTRY_TYPEP2+GNSSENTRY_SNR) - -#define GNSSENTRY_C5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_CODE) -#define GNSSENTRY_L5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_PHASE) -#define GNSSENTRY_D5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S5DATA (GNSSENTRY_TYPEC5+GNSSENTRY_SNR) - -#define GNSSENTRY_C6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_CODE) -#define GNSSENTRY_L6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_PHASE) -#define GNSSENTRY_D6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S6DATA (GNSSENTRY_TYPEC6+GNSSENTRY_SNR) - -#define GNSSENTRY_CB3DATA GNSSENTRY_C6DATA -#define GNSSENTRY_LB3DATA GNSSENTRY_L6DATA -#define GNSSENTRY_DB3DATA GNSSENTRY_D6DATA -#define GNSSENTRY_SB3DATA GNSSENTRY_S6DATA - -#define GNSSENTRY_CLEXDATA GNSSENTRY_C6DATA -#define GNSSENTRY_LLEXDATA GNSSENTRY_L6DATA -#define GNSSENTRY_DLEXDATA GNSSENTRY_D6DATA -#define GNSSENTRY_SLEXDATA GNSSENTRY_S6DATA - -#define GNSSENTRY_C5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_CODE) -#define GNSSENTRY_L5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_PHASE) -#define GNSSENTRY_D5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S5BDATA (GNSSENTRY_TYPEC5B+GNSSENTRY_SNR) - -#define GNSSENTRY_CB2DATA GNSSENTRY_C5BDATA -#define GNSSENTRY_LB2DATA GNSSENTRY_L5BDATA -#define GNSSENTRY_DB2DATA GNSSENTRY_D5BDATA -#define GNSSENTRY_SB2DATA GNSSENTRY_S5BDATA - -#define GNSSENTRY_C5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_CODE) -#define GNSSENTRY_L5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_PHASE) -#define GNSSENTRY_D5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S5ABDATA (GNSSENTRY_TYPEC5AB+GNSSENTRY_SNR) - -#define GNSSENTRY_CSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_CODE) -#define GNSSENTRY_LSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_PHASE) -#define GNSSENTRY_DSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_DOPPLER) -#define GNSSENTRY_SSAIFDATA (GNSSENTRY_TYPECSAIF+GNSSENTRY_SNR) - -#define GNSSENTRY_C1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_CODE) -#define GNSSENTRY_L1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_PHASE) -#define GNSSENTRY_D1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_DOPPLER) -#define GNSSENTRY_S1NDATA (GNSSENTRY_TYPEC1N+GNSSENTRY_SNR) - -#define GNSSENTRY_NUMBER 40 /* number of types!!! */ - -/* Data flags. These flags are used in the dataflags field of gpsdata structure - and are required to determine, which data fields are filled with valid data. */ -#define GNSSDF_C1DATA (1<