[27] | 1 | /*
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| 2 | Converter for RTCM3 data to RINEX.
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[2487] | 3 | $Id: rtcm3torinex.c 2764 2010-12-03 11:14:40Z stoecker $
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[744] | 4 | Copyright (C) 2005-2008 by Dirk Stöcker <stoecker@alberding.eu>
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[27] | 5 |
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[268] | 6 | This software is a complete NTRIP-RTCM3 to RINEX converter as well as
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| 7 | a module of the BNC tool for multiformat conversion. Contact Dirk
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[744] | 8 | Stöcker for suggestions and bug reports related to the RTCM3 to RINEX
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[268] | 9 | conversion problems and the author of BNC for all the other problems.
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| 10 |
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[27] | 11 | This program is free software; you can redistribute it and/or modify
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| 12 | it under the terms of the GNU General Public License as published by
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| 13 | the Free Software Foundation; either version 2 of the License, or
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| 14 | (at your option) any later version.
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| 15 |
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| 16 | This program is distributed in the hope that it will be useful,
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| 17 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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| 18 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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| 19 | GNU General Public License for more details.
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| 20 |
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| 21 | You should have received a copy of the GNU General Public License
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| 22 | along with this program; if not, write to the Free Software
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| 23 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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| 24 | or read http://www.gnu.org/licenses/gpl.txt
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| 25 | */
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| 26 |
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| 27 | #include <ctype.h>
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| 28 | #include <errno.h>
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| 29 | #include <math.h>
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| 30 | #include <signal.h>
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[318] | 31 | #include <stdarg.h>
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[27] | 32 | #include <stdio.h>
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| 33 | #include <stdlib.h>
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| 34 | #include <string.h>
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| 35 | #include <sys/types.h>
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| 36 | #include <time.h>
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| 37 | #include <unistd.h>
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| 38 |
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[268] | 39 | #ifndef NO_RTCM3_MAIN
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| 40 | #include <getopt.h>
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| 41 | #include <netdb.h>
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| 42 | #include <netinet/in.h>
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| 43 | #include <sys/socket.h>
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| 44 | #endif
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[27] | 45 |
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[269] | 46 | #ifndef sparc
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| 47 | #include <stdint.h>
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| 48 | #endif
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| 49 |
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[2346] | 50 | #ifndef isinf
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| 51 | #define isinf(x) 0
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| 52 | #endif
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| 53 |
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[268] | 54 | #include "rtcm3torinex.h"
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[27] | 55 |
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| 56 | /* CVS revision and version */
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[2487] | 57 | static char revisionstr[] = "$Revision: 2764 $";
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[27] | 58 |
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[439] | 59 | #ifndef COMPILEDATE
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| 60 | #define COMPILEDATE " built " __DATE__
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| 61 | #endif
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| 62 |
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[27] | 63 | static uint32_t CRC24(long size, const unsigned char *buf)
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| 64 | {
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| 65 | uint32_t crc = 0;
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| 66 | int i;
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| 67 |
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| 68 | while(size--)
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| 69 | {
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| 70 | crc ^= (*buf++) << (16);
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| 71 | for(i = 0; i < 8; i++)
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| 72 | {
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| 73 | crc <<= 1;
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| 74 | if(crc & 0x1000000)
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| 75 | crc ^= 0x01864cfb;
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| 76 | }
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| 77 | }
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| 78 | return crc;
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| 79 | }
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| 80 |
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| 81 | static int GetMessage(struct RTCM3ParserData *handle)
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| 82 | {
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| 83 | unsigned char *m, *e;
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| 84 | int i;
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| 85 |
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| 86 | m = handle->Message+handle->SkipBytes;
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| 87 | e = handle->Message+handle->MessageSize;
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| 88 | handle->NeedBytes = handle->SkipBytes = 0;
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| 89 | while(e-m >= 3)
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| 90 | {
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| 91 | if(m[0] == 0xD3)
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| 92 | {
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| 93 | handle->size = ((m[1]&3)<<8)|m[2];
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| 94 | if(e-m >= handle->size+6)
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| 95 | {
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| 96 | if((uint32_t)((m[3+handle->size]<<16)|(m[3+handle->size+1]<<8)
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| 97 | |(m[3+handle->size+2])) == CRC24(handle->size+3, m))
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| 98 | {
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| 99 | handle->SkipBytes = handle->size;
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| 100 | break;
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| 101 | }
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| 102 | else
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| 103 | ++m;
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| 104 | }
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| 105 | else
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| 106 | {
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| 107 | handle->NeedBytes = handle->size+6;
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| 108 | break;
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| 109 | }
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| 110 | }
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| 111 | else
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| 112 | ++m;
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| 113 | }
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| 114 | if(e-m < 3)
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| 115 | handle->NeedBytes = 3;
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[744] | 116 |
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[27] | 117 | /* copy buffer to front */
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| 118 | i = m - handle->Message;
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| 119 | if(i && m < e)
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[318] | 120 | memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
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[27] | 121 | handle->MessageSize -= i;
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| 122 |
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| 123 | return !handle->NeedBytes;
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| 124 | }
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| 125 |
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| 126 | #define LOADBITS(a) \
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| 127 | { \
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| 128 | while((a) > numbits) \
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| 129 | { \
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| 130 | if(!size--) break; \
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| 131 | bitfield = (bitfield<<8)|*(data++); \
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| 132 | numbits += 8; \
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| 133 | } \
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| 134 | }
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| 135 |
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| 136 | /* extract bits from data stream
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| 137 | b = variable to store result, a = number of bits */
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| 138 | #define GETBITS(b, a) \
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| 139 | { \
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| 140 | LOADBITS(a) \
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| 141 | b = (bitfield<<(64-numbits))>>(64-(a)); \
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| 142 | numbits -= (a); \
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| 143 | }
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| 144 |
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[2756] | 145 | /* extract bits from data stream
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| 146 | b = variable to store result, a = number of bits */
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| 147 | #define GETBITSFACTOR(b, a, c) \
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| 148 | { \
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| 149 | LOADBITS(a) \
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| 150 | b = ((bitfield<<(sizeof(bitfield)*8-numbits))>>(sizeof(bitfield)*8-(a)))*(c); \
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| 151 | numbits -= (a); \
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| 152 | }
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| 153 |
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[502] | 154 | /* extract floating value from data stream
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| 155 | b = variable to store result, a = number of bits */
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| 156 | #define GETFLOAT(b, a, c) \
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| 157 | { \
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| 158 | LOADBITS(a) \
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| 159 | b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
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| 160 | numbits -= (a); \
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| 161 | }
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| 162 |
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| 163 | /* extract signed floating value from data stream
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| 164 | b = variable to store result, a = number of bits */
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| 165 | #define GETFLOATSIGN(b, a, c) \
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| 166 | { \
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| 167 | LOADBITS(a) \
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| 168 | b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
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| 169 | numbits -= (a); \
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| 170 | }
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| 171 |
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[27] | 172 | /* extract bits from data stream
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| 173 | b = variable to store result, a = number of bits */
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| 174 | #define GETBITSSIGN(b, a) \
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| 175 | { \
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| 176 | LOADBITS(a) \
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| 177 | b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
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| 178 | numbits -= (a); \
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| 179 | }
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| 180 |
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[502] | 181 | #define GETFLOATSIGNM(b, a, c) \
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| 182 | { int l; \
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| 183 | LOADBITS(a) \
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| 184 | l = (bitfield<<(64-numbits))>>(64-1); \
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| 185 | b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
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| 186 | numbits -= (a); \
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| 187 | if(l) b *= -1.0; \
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| 188 | }
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| 189 |
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[27] | 190 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
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| 191 |
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[1237] | 192 | /* extract byte-aligned byte from data stream,
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| 193 | b = variable to store size, s = variable to store string pointer */
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| 194 | #define GETSTRING(b, s) \
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| 195 | { \
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| 196 | b = *(data++); \
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| 197 | s = (char *) data; \
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| 198 | data += b; \
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| 199 | size -= b+1; \
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| 200 | }
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| 201 |
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[270] | 202 | struct leapseconds { /* specify the day of leap second */
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| 203 | int day; /* this is the day, where 23:59:59 exists 2 times */
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| 204 | int month; /* not the next day! */
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| 205 | int year;
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| 206 | int taicount;
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[744] | 207 | };
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[270] | 208 | static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
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| 209 | static const struct leapseconds leap[] = {
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| 210 | /*{31, 12, 1971, 11},*/
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| 211 | /*{31, 12, 1972, 12},*/
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| 212 | /*{31, 12, 1973, 13},*/
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| 213 | /*{31, 12, 1974, 14},*/
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| 214 | /*{31, 12, 1975, 15},*/
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| 215 | /*{31, 12, 1976, 16},*/
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| 216 | /*{31, 12, 1977, 17},*/
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| 217 | /*{31, 12, 1978, 18},*/
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| 218 | /*{31, 12, 1979, 19},*/
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| 219 | {30, 06, 1981,20},
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| 220 | {30, 06, 1982,21},
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| 221 | {30, 06, 1983,22},
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| 222 | {30, 06, 1985,23},
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| 223 | {31, 12, 1987,24},
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| 224 | {31, 12, 1989,25},
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| 225 | {31, 12, 1990,26},
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| 226 | {30, 06, 1992,27},
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| 227 | {30, 06, 1993,28},
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| 228 | {30, 06, 1994,29},
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| 229 | {31, 12, 1995,30},
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| 230 | {30, 06, 1997,31},
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| 231 | {31, 12, 1998,32},
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| 232 | {31, 12, 2005,33},
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[959] | 233 | {31, 12, 2008,34},
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[270] | 234 | {0,0,0,0} /* end marker */
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| 235 | };
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[2659] | 236 | #define LEAPSECONDS 15 /* only needed for approx. time */
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[270] | 237 | #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
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| 238 |
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| 239 | static int longyear(int year, int month)
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| 240 | {
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| 241 | if(!(year % 4) && (!(year % 400) || (year % 100)))
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| 242 | {
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| 243 | if(!month || month == 2)
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| 244 | return 1;
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| 245 | }
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| 246 | return 0;
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| 247 | }
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| 248 |
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[2346] | 249 | int gnumleap(int year, int month, int day)
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[270] | 250 | {
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| 251 | int ls = 0;
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| 252 | const struct leapseconds *l;
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| 253 |
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| 254 | for(l = leap; l->taicount && year >= l->year; ++l)
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| 255 | {
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[1824] | 256 | if(year > l->year || month > l->month || (month == l->month && day > l->day))
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[270] | 257 | ls = l->taicount - GPSLEAPSTART;
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| 258 | }
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| 259 | return ls;
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| 260 | }
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| 261 |
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[2346] | 262 | /* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */
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| 263 | void updatetime(int *week, int *secOfWeek, int mSecOfWeek, int fixnumleap)
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[270] | 264 | {
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[502] | 265 | int y,m,d,k,l, nul;
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[2346] | 266 | unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60;
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[270] | 267 | int glo_daynumber = 0, glo_timeofday;
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| 268 | for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
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| 269 | + gnumleap(y+1,1,1); ++y)
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| 270 | {
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| 271 | j -= k; glo_daynumber += l;
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| 272 | }
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| 273 | for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
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| 274 | + gnumleap(y, m+1, 1); ++m)
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| 275 | {
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| 276 | j -= k; glo_daynumber += l;
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| 277 | }
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| 278 | for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
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| 279 | j -= 24*60*60;
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| 280 | glo_daynumber -= 16*365+4-d;
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[502] | 281 | nul = gnumleap(y, m, d);
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| 282 | glo_timeofday = j-nul;
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[270] | 283 |
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[2346] | 284 | if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60)
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| 285 | *secOfWeek += 24*60*60;
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| 286 | else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000)
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| 287 | *secOfWeek -= 24*60*60;
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| 288 | *secOfWeek += mSecOfWeek/1000-glo_timeofday;
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[502] | 289 | if(fixnumleap)
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[2346] | 290 | *secOfWeek -= nul;
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| 291 | if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; }
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| 292 | if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; }
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[270] | 293 | }
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| 294 |
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[268] | 295 | int RTCM3Parser(struct RTCM3ParserData *handle)
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[27] | 296 | {
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| 297 | int ret=0;
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| 298 |
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[1237] | 299 | #ifdef NO_RTCM3_MAIN
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| 300 | if(GetMessage(handle)) /* don't repeat */
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| 301 | #else
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[27] | 302 | while(!ret && GetMessage(handle))
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[1237] | 303 | #endif /* NO_RTCM3_MAIN */
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[27] | 304 | {
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| 305 | /* using 64 bit integer types, as it is much easier than handling
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| 306 | the long datatypes in 32 bit */
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| 307 | uint64_t numbits = 0, bitfield = 0;
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| 308 | int size = handle->size, type;
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[270] | 309 | int syncf, old = 0;
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[27] | 310 | unsigned char *data = handle->Message+3;
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| 311 |
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| 312 | GETBITS(type,12)
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[1097] | 313 | #ifdef NO_RTCM3_MAIN
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[1237] | 314 | handle->blocktype = type;
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[1092] | 315 | #endif /* NO_RTCM3_MAIN */
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[27] | 316 | switch(type)
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| 317 | {
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[1237] | 318 | #ifdef NO_RTCM3_MAIN
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| 319 | default:
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| 320 | ret = type;
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| 321 | break;
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| 322 | case 1005: case 1006:
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| 323 | {
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| 324 | SKIPBITS(22)
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| 325 | GETBITSSIGN(handle->antX, 38)
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| 326 | SKIPBITS(2)
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| 327 | GETBITSSIGN(handle->antY, 38)
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| 328 | SKIPBITS(2)
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| 329 | GETBITSSIGN(handle->antZ, 38)
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| 330 | if(type == 1006)
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| 331 | GETBITS(handle->antH, 16)
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| 332 | ret = type;
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| 333 | }
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| 334 | break;
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| 335 | case 1007: case 1008: case 1033:
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| 336 | {
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| 337 | char *antenna;
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| 338 | int antnum;
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| 339 |
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| 340 | SKIPBITS(12)
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| 341 | GETSTRING(antnum,antenna)
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| 342 | memcpy(handle->antenna, antenna, antnum);
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| 343 | handle->antenna[antnum] = 0;
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| 344 | ret = type;
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| 345 | }
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| 346 | break;
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[2501] | 347 | case 1013:
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| 348 | {
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| 349 | SKIPBITS(12);
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| 350 | GETBITS(handle->modjulday, 16);
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| 351 | GETBITS(handle->secofday, 17);
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| 352 | SKIPBITS(5);
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| 353 | GETBITS(handle->leapsec, 8);
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| 354 | ret = 1013;
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| 355 | }
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| 356 | break;
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[1237] | 357 | #endif /* NO_RTCM3_MAIN */
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[502] | 358 | case 1019:
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| 359 | {
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| 360 | struct gpsephemeris *ge;
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[2764] | 361 | int sv, i;
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[502] | 362 |
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| 363 | ge = &handle->ephemerisGPS;
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| 364 | memset(ge, 0, sizeof(*ge));
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| 365 |
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| 366 | GETBITS(sv, 6)
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| 367 | ge->satellite = (sv < 40 ? sv : sv+80);
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| 368 | GETBITS(ge->GPSweek, 10)
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| 369 | ge->GPSweek += 1024;
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| 370 | GETBITS(ge->URAindex, 4)
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| 371 | GETBITS(sv, 2)
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| 372 | if(sv & 1)
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| 373 | ge->flags |= GPSEPHF_L2PCODE;
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| 374 | if(sv & 2)
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| 375 | ge->flags |= GPSEPHF_L2CACODE;
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[1092] | 376 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
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[502] | 377 | GETBITS(ge->IODE, 8)
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| 378 | GETBITS(ge->TOC, 16)
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| 379 | ge->TOC <<= 4;
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| 380 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
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| 381 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
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| 382 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
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| 383 | GETBITS(ge->IODC, 10)
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| 384 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
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[1092] | 385 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
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| 386 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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[502] | 387 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
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| 388 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
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| 389 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
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| 390 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
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| 391 | GETBITS(ge->TOE, 16)
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| 392 | ge->TOE <<= 4;
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| 393 |
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| 394 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
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[1092] | 395 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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[502] | 396 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
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[1092] | 397 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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[502] | 398 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
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[1092] | 399 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 400 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
[502] | 401 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 402 | GETBITS(ge->SVhealth, 6)
|
---|
| 403 | GETBITS(sv, 1)
|
---|
| 404 | if(sv)
|
---|
| 405 | ge->flags |= GPSEPHF_L2PCODEDATA;
|
---|
| 406 |
|
---|
[2764] | 407 | i = ((int)ge->GPSweek - (int)handle->GPSWeek)*7*24*60*60
|
---|
| 408 | + ((int)ge->TOE - (int)handle->GPSTOW) - 2*60*60;
|
---|
| 409 | if(i > 5*60*60 && i < 8*60*60)
|
---|
| 410 | {
|
---|
| 411 | handle->GPSTOW = ge->TOE;
|
---|
| 412 | handle->GPSWeek = ge->GPSweek;
|
---|
| 413 | }
|
---|
[502] | 414 | ret = 1019;
|
---|
| 415 | }
|
---|
| 416 | break;
|
---|
[2756] | 417 | case 1045:
|
---|
| 418 | {
|
---|
| 419 | struct galileoephemeris *ge;
|
---|
| 420 | int sv;
|
---|
| 421 |
|
---|
| 422 | ge = &handle->ephemerisGALILEO;
|
---|
| 423 | memset(ge, 0, sizeof(*ge));
|
---|
| 424 |
|
---|
| 425 | GETBITS(sv, 6)
|
---|
| 426 | ge->satellite = sv;
|
---|
| 427 | GETBITS(ge->Week, 12)
|
---|
| 428 | GETBITS(ge->IODnav, 10)
|
---|
| 429 | GETBITS(ge->SISA, 8)
|
---|
| 430 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 431 | GETBITSFACTOR(ge->TOC, 14, 60)
|
---|
| 432 | GETFLOATSIGN(ge->clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29))
|
---|
| 433 | GETFLOATSIGN(ge->clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16))
|
---|
| 434 | GETFLOATSIGN(ge->clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4))
|
---|
| 435 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
|
---|
| 436 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 437 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 438 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 439 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 440 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
|
---|
| 441 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 442 | GETBITSFACTOR(ge->TOE, 14, 60)
|
---|
| 443 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
|
---|
| 444 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 445 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
|
---|
| 446 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 447 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
---|
| 448 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 449 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 450 | GETFLOATSIGN(ge->BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
| 451 | GETBITS(ge->E5aHS, 2)
|
---|
| 452 | GETBITS(sv, 1)
|
---|
| 453 | if(sv)
|
---|
| 454 | ge->flags |= GALEPHF_E5ADINVALID;
|
---|
| 455 | ret = 1045;
|
---|
| 456 | }
|
---|
| 457 | break;
|
---|
[502] | 458 | case 1020:
|
---|
| 459 | {
|
---|
| 460 | struct glonassephemeris *ge;
|
---|
| 461 | int i;
|
---|
| 462 |
|
---|
| 463 | ge = &handle->ephemerisGLONASS;
|
---|
| 464 | memset(ge, 0, sizeof(*ge));
|
---|
| 465 |
|
---|
| 466 | ge->flags |= GLOEPHF_PAVAILABLE;
|
---|
| 467 | GETBITS(ge->almanac_number, 6)
|
---|
| 468 | GETBITS(i, 5)
|
---|
| 469 | ge->frequency_number = i-7;
|
---|
[2659] | 470 | if(ge->almanac_number >= 1 && ge->almanac_number <= PRN_GLONASS_NUM)
|
---|
| 471 | handle->GLOFreq[ge->almanac_number-1] = 100+ge->frequency_number;
|
---|
[502] | 472 | GETBITS(i, 1)
|
---|
| 473 | if(i)
|
---|
| 474 | ge->flags |= GLOEPHF_ALMANACHEALTHY;
|
---|
| 475 | GETBITS(i, 1)
|
---|
| 476 | if(i)
|
---|
| 477 | ge->flags |= GLOEPHF_ALMANACHEALTHOK;
|
---|
| 478 | GETBITS(i, 2)
|
---|
| 479 | if(i & 1)
|
---|
| 480 | ge->flags |= GLOEPHF_P10TRUE;
|
---|
| 481 | if(i & 2)
|
---|
| 482 | ge->flags |= GLOEPHF_P11TRUE;
|
---|
| 483 | GETBITS(i, 5)
|
---|
| 484 | ge->tk = i*60*60;
|
---|
| 485 | GETBITS(i, 6)
|
---|
| 486 | ge->tk += i*60;
|
---|
| 487 | GETBITS(i, 1)
|
---|
| 488 | ge->tk += i*30;
|
---|
| 489 | GETBITS(i, 1)
|
---|
| 490 | if(i)
|
---|
| 491 | ge->flags |= GLOEPHF_UNHEALTHY;
|
---|
| 492 | GETBITS(i, 1)
|
---|
| 493 | if(i)
|
---|
| 494 | ge->flags |= GLOEPHF_P2TRUE;
|
---|
| 495 | GETBITS(i, 7)
|
---|
| 496 | ge->tb = i*15*60;
|
---|
| 497 | GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 498 | GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
|
---|
| 499 | GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 500 | GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 501 | GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
|
---|
| 502 | GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 503 | GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 504 | GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
|
---|
| 505 | GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 506 | GETBITS(i, 1)
|
---|
| 507 | if(i)
|
---|
| 508 | ge->flags |= GLOEPHF_P3TRUE;
|
---|
| 509 | GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
|
---|
| 510 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
|
---|
| 511 | GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
|
---|
| 512 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
|
---|
| 513 | GETBITS(ge->E, 5)
|
---|
| 514 | /* GETBITS(b, 1) / * GLONASS-M P4 */
|
---|
| 515 | /* GETBITS(b, 4) / * GLONASS-M Ft */
|
---|
| 516 | /* GETBITS(b, 11) / * GLONASS-M Nt */
|
---|
| 517 | /* GETBITS(b, 2) / * GLONASS-M M */
|
---|
| 518 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
| 519 | /* GETBITS(b, 11) / * GLONASS-M Na */
|
---|
| 520 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
| 521 | /* GETBITS(b, 5) / * GLONASS-M N4 */
|
---|
| 522 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
|
---|
| 523 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
|
---|
| 524 | ge->GPSWeek = handle->GPSWeek;
|
---|
| 525 | ge->GPSTOW = handle->GPSTOW;
|
---|
| 526 | ret = 1020;
|
---|
| 527 | }
|
---|
| 528 | break;
|
---|
[33] | 529 | case 1001: case 1002: case 1003: case 1004:
|
---|
[27] | 530 | if(handle->GPSWeek)
|
---|
| 531 | {
|
---|
| 532 | int lastlockl1[64];
|
---|
| 533 | int lastlockl2[64];
|
---|
| 534 | struct gnssdata *gnss;
|
---|
[1270] | 535 | int i, numsats, wasamb=0;
|
---|
[27] | 536 |
|
---|
| 537 | for(i = 0; i < 64; ++i)
|
---|
| 538 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 539 |
|
---|
[270] | 540 | gnss = &handle->DataNew;
|
---|
[27] | 541 |
|
---|
| 542 | SKIPBITS(12) /* id */
|
---|
| 543 | GETBITS(i,30)
|
---|
| 544 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
| 545 | ++handle->GPSWeek;
|
---|
| 546 | handle->GPSTOW = i/1000;
|
---|
[270] | 547 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 548 | != handle->GPSWeek))
|
---|
| 549 | {
|
---|
| 550 | handle->Data = *gnss;
|
---|
| 551 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 552 | old = 1;
|
---|
| 553 | }
|
---|
[27] | 554 | gnss->timeofweek = i;
|
---|
| 555 | gnss->week = handle->GPSWeek;
|
---|
| 556 |
|
---|
[270] | 557 | GETBITS(syncf,1) /* sync */
|
---|
[1270] | 558 | GETBITS(numsats,5)
|
---|
[27] | 559 | SKIPBITS(4) /* smind, smint */
|
---|
| 560 |
|
---|
[2352] | 561 | while(numsats-- && gnss->numsats < GNSS_MAXSATS)
|
---|
[27] | 562 | {
|
---|
[33] | 563 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[1270] | 564 | int fullsat, num;
|
---|
[27] | 565 |
|
---|
[1270] | 566 | GETBITS(sv, 6)
|
---|
| 567 | fullsat = sv < 40 ? sv : sv+80;
|
---|
| 568 | for(num = 0; num < gnss->numsats
|
---|
| 569 | && fullsat != gnss->satellites[num]; ++num)
|
---|
| 570 | ;
|
---|
| 571 |
|
---|
| 572 | if(num == gnss->numsats)
|
---|
| 573 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
| 574 |
|
---|
[27] | 575 | /* L1 */
|
---|
| 576 | GETBITS(code, 1);
|
---|
| 577 | if(code)
|
---|
| 578 | {
|
---|
| 579 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 580 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 581 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
| 582 | }
|
---|
| 583 | else
|
---|
| 584 | {
|
---|
| 585 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 586 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 587 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
| 588 | }
|
---|
| 589 | GETBITS(l1range, 24);
|
---|
| 590 | GETBITSSIGN(i, 20);
|
---|
[325] | 591 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[27] | 592 | {
|
---|
[744] | 593 | gnss->dataflags[num] |= (c|l);
|
---|
| 594 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
[27] | 595 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 596 | }
|
---|
| 597 | GETBITS(i, 7);
|
---|
| 598 | lastlockl1[sv] = i;
|
---|
[2500] | 599 | if(handle->lastlockGPSl1[sv] > i || i == 0)
|
---|
[2659] | 600 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
|
---|
[33] | 601 | if(type == 1002 || type == 1004)
|
---|
[27] | 602 | {
|
---|
[33] | 603 | GETBITS(amb,8);
|
---|
| 604 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 605 | {
|
---|
| 606 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
| 607 | gnss->measdata[num][le] += amb*299792.458;
|
---|
| 608 | ++wasamb;
|
---|
| 609 | }
|
---|
| 610 | GETBITS(i, 8);
|
---|
| 611 | if(i)
|
---|
| 612 | {
|
---|
| 613 | gnss->dataflags[num] |= s;
|
---|
| 614 | gnss->measdata[num][se] = i*0.25;
|
---|
| 615 | i /= 4*4;
|
---|
| 616 | if(i > 9) i = 9;
|
---|
| 617 | else if(i < 1) i = 1;
|
---|
| 618 | gnss->snrL1[num] = i;
|
---|
| 619 | }
|
---|
[27] | 620 | }
|
---|
[81] | 621 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
[33] | 622 | if(type == 1003 || type == 1004)
|
---|
[27] | 623 | {
|
---|
[33] | 624 | /* L2 */
|
---|
| 625 | GETBITS(code,2);
|
---|
| 626 | if(code)
|
---|
| 627 | {
|
---|
| 628 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 629 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 630 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
[2422] | 631 | if(code >= 2)
|
---|
[2659] | 632 | gnss->dataflags2[num] |= GNSSDF2_XCORRL2;
|
---|
[33] | 633 | }
|
---|
| 634 | else
|
---|
| 635 | {
|
---|
| 636 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 637 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 638 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
| 639 | }
|
---|
| 640 | GETBITSSIGN(i,14);
|
---|
[325] | 641 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[33] | 642 | {
|
---|
| 643 | gnss->dataflags[num] |= c;
|
---|
| 644 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 645 | +amb*299792.458;
|
---|
| 646 | }
|
---|
| 647 | GETBITSSIGN(i,20);
|
---|
[325] | 648 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[33] | 649 | {
|
---|
| 650 | gnss->dataflags[num] |= l;
|
---|
| 651 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
| 652 | +amb*299792.458;
|
---|
| 653 | }
|
---|
| 654 | GETBITS(i,7);
|
---|
| 655 | lastlockl2[sv] = i;
|
---|
[2500] | 656 | if(handle->lastlockGPSl2[sv] > i || i == 0)
|
---|
[2659] | 657 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
|
---|
[33] | 658 | if(type == 1004)
|
---|
| 659 | {
|
---|
| 660 | GETBITS(i, 8);
|
---|
| 661 | if(i)
|
---|
| 662 | {
|
---|
| 663 | gnss->dataflags[num] |= s;
|
---|
| 664 | gnss->measdata[num][se] = i*0.25;
|
---|
| 665 | i /= 4*4;
|
---|
| 666 | if(i > 9) i = 9;
|
---|
| 667 | else if(i < 1) i = 1;
|
---|
| 668 | gnss->snrL2[num] = i;
|
---|
| 669 | }
|
---|
| 670 | }
|
---|
[81] | 671 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
[27] | 672 | }
|
---|
| 673 | }
|
---|
| 674 | for(i = 0; i < 64; ++i)
|
---|
| 675 | {
|
---|
[2490] | 676 | handle->lastlockGPSl1[i] = lastlockl1[i];
|
---|
| 677 | handle->lastlockGPSl2[i] = lastlockl2[i];
|
---|
[27] | 678 | }
|
---|
[270] | 679 | if(!syncf && !old)
|
---|
| 680 | {
|
---|
| 681 | handle->Data = *gnss;
|
---|
| 682 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 683 | }
|
---|
| 684 | if(!syncf || old)
|
---|
| 685 | {
|
---|
| 686 | if(wasamb) /* not RINEX compatible without */
|
---|
| 687 | ret = 1;
|
---|
| 688 | else
|
---|
| 689 | ret = 2;
|
---|
| 690 | }
|
---|
[1265] | 691 | #ifdef NO_RTCM3_MAIN
|
---|
| 692 | else
|
---|
| 693 | ret = type;
|
---|
| 694 | #endif /* NO_RTCM3_MAIN */
|
---|
[27] | 695 | }
|
---|
| 696 | break;
|
---|
[270] | 697 | case 1009: case 1010: case 1011: case 1012:
|
---|
| 698 | {
|
---|
| 699 | int lastlockl1[64];
|
---|
| 700 | int lastlockl2[64];
|
---|
| 701 | struct gnssdata *gnss;
|
---|
[1270] | 702 | int i, numsats;
|
---|
[270] | 703 | int wasamb=0;
|
---|
| 704 |
|
---|
| 705 | for(i = 0; i < 64; ++i)
|
---|
| 706 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 707 |
|
---|
| 708 | gnss = &handle->DataNew;
|
---|
| 709 |
|
---|
| 710 | SKIPBITS(12) /* id */;
|
---|
| 711 | GETBITS(i,27) /* tk */
|
---|
| 712 |
|
---|
[2346] | 713 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
[270] | 714 | i = handle->GPSTOW*1000;
|
---|
| 715 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 716 | != handle->GPSWeek))
|
---|
| 717 | {
|
---|
| 718 | handle->Data = *gnss;
|
---|
| 719 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 720 | old = 1;
|
---|
| 721 | }
|
---|
| 722 |
|
---|
| 723 | gnss->timeofweek = i;
|
---|
| 724 | gnss->week = handle->GPSWeek;
|
---|
| 725 |
|
---|
| 726 | GETBITS(syncf,1) /* sync */
|
---|
[1270] | 727 | GETBITS(numsats,5)
|
---|
[270] | 728 |
|
---|
| 729 | SKIPBITS(4) /* smind, smint */
|
---|
| 730 |
|
---|
[2352] | 731 | while(numsats-- && gnss->numsats < GNSS_MAXSATS)
|
---|
[270] | 732 | {
|
---|
| 733 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[325] | 734 | int freq;
|
---|
[1270] | 735 | int fullsat, num;
|
---|
[270] | 736 |
|
---|
| 737 | GETBITS(sv, 6)
|
---|
[1270] | 738 | fullsat = sv-1 + PRN_GLONASS_START;
|
---|
| 739 | for(num = 0; num < gnss->numsats
|
---|
| 740 | && fullsat != gnss->satellites[num]; ++num)
|
---|
| 741 | ;
|
---|
| 742 |
|
---|
| 743 | if(num == gnss->numsats)
|
---|
| 744 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
| 745 |
|
---|
[325] | 746 | /* L1 */
|
---|
| 747 | GETBITS(code, 1)
|
---|
| 748 | GETBITS(freq, 5)
|
---|
[2346] | 749 |
|
---|
[2660] | 750 | if(sv >= 1 && sv <= PRN_GLONASS_NUM)
|
---|
| 751 | handle->GLOFreq[sv-1] = 100+freq-7;
|
---|
[2346] | 752 |
|
---|
[325] | 753 | if(code)
|
---|
[270] | 754 | {
|
---|
[325] | 755 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 756 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 757 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
[270] | 758 | }
|
---|
| 759 | else
|
---|
| 760 | {
|
---|
[325] | 761 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 762 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 763 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
| 764 | }
|
---|
| 765 | GETBITS(l1range, 25)
|
---|
| 766 | GETBITSSIGN(i, 20)
|
---|
| 767 | if((i&((1<<20)-1)) != 0x80000)
|
---|
| 768 | {
|
---|
[744] | 769 | /* Handle this like GPS. Actually for GLONASS L1 range is always
|
---|
| 770 | valid. To be on the save side, we handle it as invalid like we
|
---|
| 771 | do for GPS and also remove range in case of 0x80000. */
|
---|
| 772 | gnss->dataflags[num] |= (c|l);
|
---|
| 773 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
[325] | 774 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 775 | }
|
---|
| 776 | GETBITS(i, 7)
|
---|
| 777 | lastlockl1[sv] = i;
|
---|
[2500] | 778 | if(handle->lastlockGLOl1[sv] > i || i == 0)
|
---|
[2659] | 779 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
|
---|
[325] | 780 | if(type == 1010 || type == 1012)
|
---|
| 781 | {
|
---|
| 782 | GETBITS(amb,7)
|
---|
| 783 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 784 | {
|
---|
| 785 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
| 786 | gnss->measdata[num][le] += amb*599584.916;
|
---|
| 787 | ++wasamb;
|
---|
| 788 | }
|
---|
| 789 | GETBITS(i, 8)
|
---|
| 790 | if(i)
|
---|
| 791 | {
|
---|
| 792 | gnss->dataflags[num] |= s;
|
---|
| 793 | gnss->measdata[num][se] = i*0.25;
|
---|
| 794 | i /= 4*4;
|
---|
| 795 | if(i > 9) i = 9;
|
---|
| 796 | else if(i < 1) i = 1;
|
---|
| 797 | gnss->snrL1[num] = i;
|
---|
| 798 | }
|
---|
| 799 | }
|
---|
| 800 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
| 801 | if(type == 1011 || type == 1012)
|
---|
| 802 | {
|
---|
| 803 | /* L2 */
|
---|
| 804 | GETBITS(code,2)
|
---|
[270] | 805 | if(code)
|
---|
| 806 | {
|
---|
[325] | 807 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 808 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 809 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
[270] | 810 | }
|
---|
| 811 | else
|
---|
| 812 | {
|
---|
[325] | 813 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 814 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 815 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
[270] | 816 | }
|
---|
[325] | 817 | GETBITSSIGN(i,14)
|
---|
| 818 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[270] | 819 | {
|
---|
| 820 | gnss->dataflags[num] |= c;
|
---|
[325] | 821 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 822 | +amb*599584.916;
|
---|
[270] | 823 | }
|
---|
[325] | 824 | GETBITSSIGN(i,20)
|
---|
| 825 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[270] | 826 | {
|
---|
| 827 | gnss->dataflags[num] |= l;
|
---|
[325] | 828 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
[949] | 829 | +amb*599584.916;
|
---|
[270] | 830 | }
|
---|
[325] | 831 | GETBITS(i,7)
|
---|
| 832 | lastlockl2[sv] = i;
|
---|
[2500] | 833 | if(handle->lastlockGLOl2[sv] > i || i == 0)
|
---|
[2659] | 834 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
|
---|
[325] | 835 | if(type == 1012)
|
---|
[270] | 836 | {
|
---|
| 837 | GETBITS(i, 8)
|
---|
| 838 | if(i)
|
---|
| 839 | {
|
---|
| 840 | gnss->dataflags[num] |= s;
|
---|
| 841 | gnss->measdata[num][se] = i*0.25;
|
---|
| 842 | i /= 4*4;
|
---|
| 843 | if(i > 9) i = 9;
|
---|
| 844 | else if(i < 1) i = 1;
|
---|
[325] | 845 | gnss->snrL2[num] = i;
|
---|
[270] | 846 | }
|
---|
| 847 | }
|
---|
[325] | 848 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
[270] | 849 | }
|
---|
[1270] | 850 | if(!sv || sv > 24) /* illegal, remove it again */
|
---|
| 851 | --gnss->numsats;
|
---|
[270] | 852 | }
|
---|
| 853 | for(i = 0; i < 64; ++i)
|
---|
| 854 | {
|
---|
[2490] | 855 | handle->lastlockGLOl1[i] = lastlockl1[i];
|
---|
| 856 | handle->lastlockGLOl2[i] = lastlockl2[i];
|
---|
[270] | 857 | }
|
---|
| 858 | if(!syncf && !old)
|
---|
| 859 | {
|
---|
| 860 | handle->Data = *gnss;
|
---|
| 861 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 862 | }
|
---|
| 863 | if(!syncf || old)
|
---|
| 864 | {
|
---|
| 865 | if(wasamb) /* not RINEX compatible without */
|
---|
| 866 | ret = 1;
|
---|
| 867 | else
|
---|
| 868 | ret = 2;
|
---|
| 869 | }
|
---|
[1265] | 870 | #ifdef NO_RTCM3_MAIN
|
---|
| 871 | else
|
---|
| 872 | ret = type;
|
---|
| 873 | #endif /* NO_RTCM3_MAIN */
|
---|
[270] | 874 | }
|
---|
| 875 | break;
|
---|
[2659] | 876 | case 1071: case 1081: case 1091:
|
---|
| 877 | case 1072: case 1082: case 1092:
|
---|
| 878 | case 1073: case 1083: case 1093:
|
---|
| 879 | case 1074: case 1084: case 1094:
|
---|
| 880 | case 1075: case 1085: case 1095:
|
---|
| 881 | case 1076: case 1086: case 1096:
|
---|
| 882 | case 1077: case 1087: case 1097:
|
---|
| 883 | if(handle->GPSWeek)
|
---|
| 884 | {
|
---|
| 885 | struct CodeData {
|
---|
| 886 | int typeR;
|
---|
| 887 | int typeP;
|
---|
| 888 | int typeD;
|
---|
| 889 | int typeS;
|
---|
| 890 | int lock;
|
---|
| 891 | double wl;
|
---|
| 892 | const char *code; /* currently unused */
|
---|
| 893 | };
|
---|
| 894 | struct CodeData gps[RTCM3_MSM_NUMSIG] =
|
---|
| 895 | {
|
---|
| 896 | {0,0,0,0,0,0,0},
|
---|
| 897 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 898 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"},
|
---|
| 899 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 900 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"},
|
---|
| 901 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 902 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1W"},
|
---|
| 903 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 904 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1Y"},
|
---|
| 905 | {0,0,0,0,0,0,0},
|
---|
| 906 | {0,0,0,0,0,0,0},
|
---|
| 907 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 908 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2C"},
|
---|
| 909 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 910 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2P"},
|
---|
| 911 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 912 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2W"},
|
---|
| 913 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 914 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2Y"},
|
---|
| 915 | {0,0,0,0,0,0,0},
|
---|
| 916 | {0,0,0,0,0,0,0},
|
---|
| 917 | {0,0,0,0,0,0,0},
|
---|
| 918 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 919 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"},
|
---|
| 920 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 921 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"},
|
---|
| 922 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 923 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"},
|
---|
| 924 | {0,0,0,0,0,0,0},
|
---|
| 925 | {0,0,0,0,0,0,0},
|
---|
| 926 | {0,0,0,0,0,0,0},
|
---|
| 927 | {0,0,0,0,0,0,0},
|
---|
| 928 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 929 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"},
|
---|
| 930 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 931 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"},
|
---|
| 932 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 933 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"}
|
---|
| 934 | };
|
---|
| 935 | /* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! */
|
---|
| 936 | struct CodeData glo[RTCM3_MSM_NUMSIG] =
|
---|
| 937 | {
|
---|
| 938 | {0,0,0,0,0,0,0},
|
---|
| 939 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 940 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,0.0,"1C"},
|
---|
| 941 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 942 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,0.0,"1P"},
|
---|
| 943 | {0,0,0,0,0,0,0},
|
---|
| 944 | {0,0,0,0,0,0,0},
|
---|
| 945 | {0,0,0,0,0,0,0},
|
---|
| 946 | {0,0,0,0,0,0,0},
|
---|
| 947 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 948 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,1.0,"2C"},
|
---|
| 949 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 950 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,1.0,"2P"},
|
---|
| 951 | {0,0,0,0,0,0,0},
|
---|
| 952 | {0,0,0,0,0,0,0},
|
---|
| 953 | {0,0,0,0,0,0,0},
|
---|
| 954 | {0,0,0,0,0,0,0},
|
---|
| 955 | {0,0,0,0,0,0,0},
|
---|
| 956 | {0,0,0,0,0,0,0},
|
---|
| 957 | {0,0,0,0,0,0,0},
|
---|
| 958 | {0,0,0,0,0,0,0},
|
---|
| 959 | {0,0,0,0,0,0,0},
|
---|
| 960 | {0,0,0,0,0,0,0},
|
---|
| 961 | {0,0,0,0,0,0,0},
|
---|
| 962 | {0,0,0,0,0,0,0},
|
---|
| 963 | {0,0,0,0,0,0,0},
|
---|
| 964 | {0,0,0,0,0,0,0},
|
---|
| 965 | {0,0,0,0,0,0,0}
|
---|
| 966 | };
|
---|
| 967 | struct CodeData gal[RTCM3_MSM_NUMSIG] =
|
---|
| 968 | {
|
---|
| 969 | {0,0,0,0,0,0,0},
|
---|
| 970 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 971 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1C"},
|
---|
| 972 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 973 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1A"},
|
---|
| 974 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 975 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1B"},
|
---|
| 976 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 977 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1X"},
|
---|
| 978 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 979 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1Z"},
|
---|
| 980 | {0,0,0,0,0,0,0},
|
---|
| 981 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
| 982 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6I"},
|
---|
| 983 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
| 984 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Q"},
|
---|
| 985 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
| 986 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6I"},
|
---|
| 987 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
| 988 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Q"},
|
---|
| 989 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
| 990 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6X"},
|
---|
| 991 | {0,0,0,0,0,0,0},
|
---|
| 992 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
| 993 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7I"},
|
---|
| 994 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
| 995 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7Q"},
|
---|
| 996 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
| 997 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7X"},
|
---|
| 998 | {0,0,0,0,0,0,0},
|
---|
| 999 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
| 1000 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8I"},
|
---|
| 1001 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
| 1002 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8Q"},
|
---|
| 1003 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
| 1004 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8X"},
|
---|
| 1005 | {0,0,0,0,0,0,0},
|
---|
| 1006 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1007 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5I"},
|
---|
| 1008 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1009 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5Q"},
|
---|
| 1010 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1011 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5X"},
|
---|
| 1012 | };
|
---|
| 1013 |
|
---|
[2699] | 1014 | int sys = RTCM3_MSM_GPS, i=0, count, j, old = 0, wasnoamb = 0;
|
---|
[2659] | 1015 | int syncf, sigmask, numsat = 0, numsig = 0, numcells;
|
---|
| 1016 | uint64_t satmask, cellmask, ui;
|
---|
| 1017 | double rrmod[RTCM3_MSM_NUMSAT];
|
---|
| 1018 | int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT];
|
---|
| 1019 | int ll[RTCM3_MSM_NUMCELLS];
|
---|
| 1020 | double cnr[RTCM3_MSM_NUMCELLS];
|
---|
| 1021 | double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
|
---|
| 1022 | dop[RTCM3_MSM_NUMCELLS];
|
---|
| 1023 | struct gnssdata *gnss = &handle->DataNew;
|
---|
| 1024 |
|
---|
| 1025 | SKIPBITS(12)
|
---|
| 1026 | if(type >= 1091)
|
---|
| 1027 | sys = RTCM3_MSM_GALILEO;
|
---|
| 1028 | else if(type >= 1081)
|
---|
| 1029 | sys = RTCM3_MSM_GLONASS;
|
---|
| 1030 |
|
---|
| 1031 | switch(sys)
|
---|
| 1032 | {
|
---|
| 1033 | case RTCM3_MSM_GALILEO: /* use DF004 instead of DF248 */
|
---|
| 1034 | case RTCM3_MSM_GPS:
|
---|
| 1035 | GETBITS(i,30)
|
---|
| 1036 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
| 1037 | ++handle->GPSWeek;
|
---|
| 1038 | handle->GPSTOW = i/1000;
|
---|
| 1039 | break;
|
---|
| 1040 | case RTCM3_MSM_GLONASS:
|
---|
| 1041 | SKIPBITS(3)
|
---|
| 1042 | GETBITS(i,27) /* tk */
|
---|
| 1043 |
|
---|
| 1044 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
| 1045 | i = handle->GPSTOW*1000;
|
---|
| 1046 | break;
|
---|
| 1047 | }
|
---|
| 1048 |
|
---|
| 1049 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 1050 | != handle->GPSWeek))
|
---|
| 1051 | {
|
---|
| 1052 | handle->Data = *gnss;
|
---|
| 1053 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 1054 | old = 1;
|
---|
| 1055 | }
|
---|
| 1056 | gnss->timeofweek = i;
|
---|
| 1057 | gnss->week = handle->GPSWeek;
|
---|
| 1058 |
|
---|
| 1059 | GETBITS(syncf, 1)
|
---|
| 1060 | if(((type % 10) == 6) || ((type % 10) == 7))
|
---|
| 1061 | SKIPBITS(3)
|
---|
| 1062 | GETBITS(satmask, RTCM3_MSM_NUMSAT)
|
---|
| 1063 |
|
---|
| 1064 | /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
|
---|
| 1065 | for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
|
---|
| 1066 | ++numsat;
|
---|
| 1067 | GETBITS(sigmask, RTCM3_MSM_NUMSIG)
|
---|
| 1068 | for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
|
---|
| 1069 | ++numsig;
|
---|
| 1070 | i = numsat*numsig;
|
---|
| 1071 | GETBITS(cellmask, (unsigned)i)
|
---|
| 1072 |
|
---|
| 1073 | switch(type % 10)
|
---|
| 1074 | {
|
---|
| 1075 | case 1: case 2: case 3:
|
---|
[2668] | 1076 | ++wasnoamb;
|
---|
[2659] | 1077 | for(j = numsat; j--;)
|
---|
| 1078 | GETFLOAT(rrmod[j], 10, 1/1024.0)
|
---|
| 1079 | break;
|
---|
| 1080 | case 4: case 6:
|
---|
| 1081 | for(j = numsat; j--;)
|
---|
| 1082 | GETBITS(rrint[j], 8)
|
---|
| 1083 | for(j = numsat; j--;)
|
---|
| 1084 | GETFLOAT(rrmod[j], 10, 1/1024.0)
|
---|
| 1085 | break;
|
---|
| 1086 | case 5: case 7:
|
---|
| 1087 | for(j = numsat; j--;)
|
---|
| 1088 | GETBITS(rrint[j], 8)
|
---|
| 1089 | for(j = numsat; j--;)
|
---|
| 1090 | GETFLOAT(rrmod[j], 10, 1/1024.0)
|
---|
| 1091 | for(j = numsat; j--;)
|
---|
| 1092 | GETBITSSIGN(rdop[j], 14)
|
---|
| 1093 | break;
|
---|
| 1094 | }
|
---|
| 1095 |
|
---|
| 1096 | numcells = numsat*numsig;
|
---|
| 1097 | if(numcells <= RTCM3_MSM_NUMCELLS)
|
---|
| 1098 | {
|
---|
| 1099 | switch(type % 10)
|
---|
| 1100 | {
|
---|
| 1101 | case 1:
|
---|
| 1102 | for(count = numcells; count--;)
|
---|
| 1103 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1104 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
| 1105 | break;
|
---|
| 1106 | case 2:
|
---|
| 1107 | for(count = numcells; count--;)
|
---|
| 1108 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1109 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
| 1110 | for(count = numcells; count--;)
|
---|
| 1111 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1112 | GETBITS(ll[count], 4)
|
---|
| 1113 | break;
|
---|
| 1114 | case 3:
|
---|
| 1115 | for(count = numcells; count--;)
|
---|
| 1116 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1117 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
| 1118 | for(count = numcells; count--;)
|
---|
| 1119 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1120 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
| 1121 | for(count = numcells; count--;)
|
---|
| 1122 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1123 | GETBITS(ll[count], 4)
|
---|
| 1124 | break;
|
---|
| 1125 | case 4:
|
---|
| 1126 | for(count = numcells; count--;)
|
---|
| 1127 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1128 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
| 1129 | for(count = numcells; count--;)
|
---|
| 1130 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1131 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
| 1132 | for(count = numcells; count--;)
|
---|
| 1133 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1134 | GETBITS(ll[count], 4)
|
---|
| 1135 | for(count = numcells; count--;)
|
---|
| 1136 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1137 | GETBITS(cnr[count], 6)
|
---|
| 1138 | break;
|
---|
| 1139 | case 5:
|
---|
| 1140 | for(count = numcells; count--;)
|
---|
| 1141 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1142 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
| 1143 | for(count = numcells; count--;)
|
---|
| 1144 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1145 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
| 1146 | for(count = numcells; count--;)
|
---|
| 1147 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1148 | GETBITS(ll[count], 4)
|
---|
| 1149 | for(count = numcells; count--;)
|
---|
| 1150 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1151 | GETFLOAT(cnr[count], 6, 1.0)
|
---|
| 1152 | for(count = numcells; count--;)
|
---|
| 1153 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1154 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
| 1155 | break;
|
---|
| 1156 | case 6:
|
---|
| 1157 | for(count = numcells; count--;)
|
---|
| 1158 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1159 | GETFLOATSIGN(psr[count], 20, 0.001)
|
---|
| 1160 | for(count = numcells; count--;)
|
---|
| 1161 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1162 | GETFLOATSIGN(cp[count], 22, 1/1024.0)
|
---|
| 1163 | for(count = numcells; count--;)
|
---|
| 1164 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1165 | GETBITS(ll[count], 10)
|
---|
| 1166 | for(count = numcells; count--;)
|
---|
| 1167 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1168 | GETFLOAT(cnr[count], 10, 0.1)
|
---|
| 1169 | case 7:
|
---|
| 1170 | for(count = numcells; count--;)
|
---|
| 1171 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1172 | GETFLOATSIGN(psr[count], 20, 0.001)
|
---|
| 1173 | for(count = numcells; count--;)
|
---|
| 1174 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1175 | GETFLOATSIGN(cp[count], 22, 1/1024.0)
|
---|
| 1176 | for(count = numcells; count--;)
|
---|
| 1177 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1178 | GETBITS(ll[count], 10)
|
---|
| 1179 | for(count = numcells; count--;)
|
---|
| 1180 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1181 | GETFLOAT(cnr[count], 10, 0.1)
|
---|
| 1182 | for(count = numcells; count--;)
|
---|
| 1183 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1184 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
| 1185 | break;
|
---|
| 1186 | }
|
---|
| 1187 | i = RTCM3_MSM_NUMSAT;
|
---|
| 1188 | j = -1;
|
---|
| 1189 | for(count = numcells; count--;)
|
---|
| 1190 | {
|
---|
| 1191 | while(j >= 0 && !(sigmask&(1<<--j)))
|
---|
| 1192 | ;
|
---|
| 1193 | if(j < 0)
|
---|
| 1194 | {
|
---|
| 1195 | while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */
|
---|
| 1196 | ;
|
---|
| 1197 | j = RTCM3_MSM_NUMSIG;
|
---|
| 1198 | while(!(sigmask&(1<<--j)))
|
---|
| 1199 | ;
|
---|
| 1200 | --numsat;
|
---|
| 1201 | }
|
---|
| 1202 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1203 | {
|
---|
| 1204 | struct CodeData cd = {0,0,0,0,0,0,0};
|
---|
| 1205 | double wl = 0.0;
|
---|
| 1206 | switch(sys)
|
---|
| 1207 | {
|
---|
| 1208 | case RTCM3_MSM_GPS: cd = gps[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 1209 | wl = cd.wl;
|
---|
| 1210 | break;
|
---|
| 1211 | case RTCM3_MSM_GLONASS: cd = glo[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 1212 | {
|
---|
| 1213 | int k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1];
|
---|
| 1214 | if(k)
|
---|
| 1215 | {
|
---|
| 1216 | if(cd.wl == 0.0)
|
---|
| 1217 | wl = GLO_WAVELENGTH_L1(k-100);
|
---|
| 1218 | else if(cd.wl == 1.0)
|
---|
| 1219 | wl = GLO_WAVELENGTH_L2(k-100);
|
---|
| 1220 | }
|
---|
| 1221 | }
|
---|
| 1222 | break;
|
---|
| 1223 | case RTCM3_MSM_GALILEO: cd = gal[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 1224 | wl = cd.wl;
|
---|
| 1225 | break;
|
---|
| 1226 | }
|
---|
| 1227 | if(cd.lock && wl) /* lock cannot have a valid zero value */
|
---|
| 1228 | {
|
---|
| 1229 | int fullsat = sys+RTCM3_MSM_NUMSAT-i-1, num;
|
---|
[2699] | 1230 | /* FIXME: workaround for GIOVE */
|
---|
| 1231 | if(fullsat >= PRN_GALILEO_START && fullsat <= PRN_GALILEO_START+2)
|
---|
| 1232 | fullsat += PRN_GIOVE_START-PRN_GALILEO_START;
|
---|
[2659] | 1233 | for(num = 0; num < gnss->numsats
|
---|
| 1234 | && fullsat != gnss->satellites[num]; ++num)
|
---|
| 1235 | ;
|
---|
| 1236 |
|
---|
| 1237 | if(num == gnss->numsats)
|
---|
| 1238 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
| 1239 |
|
---|
| 1240 | switch(type % 10)
|
---|
| 1241 | {
|
---|
| 1242 | case 1:
|
---|
| 1243 | if(psr[count] > -327.68)
|
---|
| 1244 | {
|
---|
| 1245 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
[2668] | 1246 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
[2659] | 1247 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
| 1248 | }
|
---|
| 1249 | break;
|
---|
| 1250 | case 2:
|
---|
| 1251 | if(wl && cp[count] > -2048.0)
|
---|
| 1252 | {
|
---|
| 1253 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
[2668] | 1254 | +(rrmod[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[2659] | 1255 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
| 1256 | {
|
---|
| 1257 | gnss->dataflags2[num] |= cd.lock;
|
---|
| 1258 | handle->lastlockmsm[j][i] = ll[count];
|
---|
| 1259 | }
|
---|
| 1260 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
| 1261 | }
|
---|
| 1262 | break;
|
---|
| 1263 | case 3:
|
---|
| 1264 | if(psr[count] > -327.68)
|
---|
| 1265 | {
|
---|
| 1266 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
[2668] | 1267 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
[2659] | 1268 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
| 1269 | }
|
---|
| 1270 |
|
---|
| 1271 | if(wl && cp[count] > -2048.0)
|
---|
| 1272 | {
|
---|
| 1273 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
| 1274 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
| 1275 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
| 1276 | {
|
---|
| 1277 | gnss->dataflags2[num] |= cd.lock;
|
---|
| 1278 | handle->lastlockmsm[j][i] = ll[count];
|
---|
| 1279 | }
|
---|
| 1280 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
| 1281 | }
|
---|
| 1282 | break;
|
---|
| 1283 | case 4:
|
---|
| 1284 | if(psr[count] > -327.68)
|
---|
| 1285 | {
|
---|
| 1286 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
| 1287 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 1288 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
| 1289 | }
|
---|
| 1290 |
|
---|
| 1291 | if(wl && cp[count] > -2048.0)
|
---|
| 1292 | {
|
---|
| 1293 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
| 1294 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
| 1295 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
| 1296 | {
|
---|
| 1297 | gnss->dataflags2[num] |= cd.lock;
|
---|
| 1298 | handle->lastlockmsm[j][i] = ll[count];
|
---|
| 1299 | }
|
---|
| 1300 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
| 1301 | }
|
---|
| 1302 |
|
---|
| 1303 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
| 1304 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
| 1305 | break;
|
---|
| 1306 | case 5:
|
---|
| 1307 | if(psr[count] > -327.68)
|
---|
| 1308 | {
|
---|
| 1309 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
| 1310 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 1311 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
| 1312 | }
|
---|
| 1313 |
|
---|
| 1314 | if(wl && cp[count] > -2048.0)
|
---|
| 1315 | {
|
---|
| 1316 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
| 1317 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
| 1318 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
| 1319 | {
|
---|
| 1320 | gnss->dataflags2[num] |= cd.lock;
|
---|
| 1321 | handle->lastlockmsm[j][i] = ll[count];
|
---|
| 1322 | }
|
---|
| 1323 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
| 1324 | }
|
---|
| 1325 |
|
---|
| 1326 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
| 1327 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
| 1328 |
|
---|
| 1329 | if(dop[count] > -1.6384)
|
---|
| 1330 | {
|
---|
| 1331 | gnss->measdata[num][cd.typeD] = dop[count]+rdop[numsat];
|
---|
| 1332 | gnss->dataflags[num] |= (1<<cd.typeD);
|
---|
| 1333 | }
|
---|
| 1334 | break;
|
---|
| 1335 | case 6:
|
---|
| 1336 | if(psr[count] > -524.288)
|
---|
| 1337 | {
|
---|
| 1338 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
| 1339 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 1340 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
| 1341 | }
|
---|
| 1342 |
|
---|
| 1343 | if(wl && cp[count] > -2055.0)
|
---|
| 1344 | {
|
---|
| 1345 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
| 1346 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
| 1347 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
| 1348 | {
|
---|
| 1349 | gnss->dataflags2[num] |= cd.lock;
|
---|
| 1350 | handle->lastlockmsm[j][i] = ll[count];
|
---|
| 1351 | }
|
---|
| 1352 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
| 1353 | }
|
---|
| 1354 |
|
---|
| 1355 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
| 1356 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
| 1357 | break;
|
---|
| 1358 | case 7:
|
---|
| 1359 | if(psr[count] > -524.288)
|
---|
| 1360 | {
|
---|
| 1361 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
| 1362 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
| 1363 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
| 1364 | }
|
---|
| 1365 |
|
---|
| 1366 | if(wl && cp[count] > -2055.0)
|
---|
| 1367 | {
|
---|
| 1368 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
| 1369 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
| 1370 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
| 1371 | {
|
---|
| 1372 | gnss->dataflags2[num] |= cd.lock;
|
---|
| 1373 | handle->lastlockmsm[j][i] = ll[count];
|
---|
| 1374 | }
|
---|
| 1375 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
| 1376 | }
|
---|
| 1377 |
|
---|
| 1378 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
| 1379 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
| 1380 |
|
---|
| 1381 | if(dop[count] > -1.6384)
|
---|
| 1382 | {
|
---|
| 1383 | gnss->measdata[num][cd.typeD] = dop[count]+rdop[numsat];
|
---|
| 1384 | gnss->dataflags[num] |= (1<<cd.typeD);
|
---|
| 1385 | }
|
---|
| 1386 | break;
|
---|
| 1387 | }
|
---|
| 1388 | }
|
---|
| 1389 | }
|
---|
| 1390 | }
|
---|
| 1391 | }
|
---|
| 1392 | if(!syncf && !old)
|
---|
| 1393 | {
|
---|
| 1394 | handle->Data = *gnss;
|
---|
| 1395 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 1396 | }
|
---|
| 1397 | if(!syncf || old)
|
---|
| 1398 | {
|
---|
[2668] | 1399 | if(!wasnoamb) /* not RINEX compatible without */
|
---|
[2659] | 1400 | ret = 1;
|
---|
| 1401 | else
|
---|
| 1402 | ret = 2;
|
---|
| 1403 | }
|
---|
| 1404 | #ifdef NO_RTCM3_MAIN
|
---|
| 1405 | else
|
---|
| 1406 | ret = type;
|
---|
| 1407 | #endif /* NO_RTCM3_MAIN */
|
---|
| 1408 | }
|
---|
| 1409 | break;
|
---|
[27] | 1410 | }
|
---|
| 1411 | }
|
---|
| 1412 | return ret;
|
---|
| 1413 | }
|
---|
| 1414 |
|
---|
| 1415 | struct Header
|
---|
| 1416 | {
|
---|
| 1417 | const char *version;
|
---|
| 1418 | const char *pgm;
|
---|
| 1419 | const char *marker;
|
---|
[503] | 1420 | const char *markertype;
|
---|
[27] | 1421 | const char *observer;
|
---|
| 1422 | const char *receiver;
|
---|
| 1423 | const char *antenna;
|
---|
| 1424 | const char *position;
|
---|
| 1425 | const char *antennaposition;
|
---|
| 1426 | const char *wavelength;
|
---|
| 1427 | const char *typesofobs; /* should not be modified outside */
|
---|
[502] | 1428 | const char *typesofobsG; /* should not be modified outside */
|
---|
| 1429 | const char *typesofobsR; /* should not be modified outside */
|
---|
| 1430 | const char *typesofobsS; /* should not be modified outside */
|
---|
[2699] | 1431 | const char *typesofobsE; /* should not be modified outside */
|
---|
[27] | 1432 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
| 1433 | };
|
---|
| 1434 |
|
---|
| 1435 | #define MAXHEADERLINES 50
|
---|
| 1436 | #define MAXHEADERBUFFERSIZE 4096
|
---|
| 1437 | struct HeaderData
|
---|
| 1438 | {
|
---|
| 1439 | union
|
---|
| 1440 | {
|
---|
| 1441 | struct Header named;
|
---|
| 1442 | const char *unnamed[MAXHEADERLINES];
|
---|
| 1443 | } data;
|
---|
| 1444 | int numheaders;
|
---|
| 1445 | };
|
---|
| 1446 |
|
---|
[1092] | 1447 | void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
[270] | 1448 | {
|
---|
| 1449 | int i, k, doy, j; /* temporary variables */
|
---|
| 1450 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
| 1451 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
| 1452 | j -= k;
|
---|
| 1453 | c->year = i;
|
---|
| 1454 | doy = 1+ (j / (24*60*60));
|
---|
| 1455 | j %= (24*60*60);
|
---|
| 1456 | c->hour = j / (60*60);
|
---|
| 1457 | j %= (60*60);
|
---|
| 1458 | c->minute = j / 60;
|
---|
| 1459 | c->second = j % 60;
|
---|
| 1460 | j = 0;
|
---|
| 1461 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
| 1462 | j += k;
|
---|
| 1463 | c->month = i;
|
---|
| 1464 | c->day = doy - j;
|
---|
| 1465 | }
|
---|
| 1466 |
|
---|
[318] | 1467 | #ifndef NO_RTCM3_MAIN
|
---|
| 1468 | void RTCM3Error(const char *fmt, ...)
|
---|
| 1469 | {
|
---|
| 1470 | va_list v;
|
---|
| 1471 | va_start(v, fmt);
|
---|
| 1472 | vfprintf(stderr, fmt, v);
|
---|
| 1473 | va_end(v);
|
---|
| 1474 | }
|
---|
| 1475 | #endif
|
---|
| 1476 |
|
---|
| 1477 | void RTCM3Text(const char *fmt, ...)
|
---|
| 1478 | {
|
---|
| 1479 | va_list v;
|
---|
| 1480 | va_start(v, fmt);
|
---|
| 1481 | vprintf(fmt, v);
|
---|
| 1482 | va_end(v);
|
---|
| 1483 | }
|
---|
| 1484 |
|
---|
[2487] | 1485 | static void fixrevision(void)
|
---|
| 1486 | {
|
---|
| 1487 | if(revisionstr[0] == '$')
|
---|
| 1488 | {
|
---|
| 1489 | char *a;
|
---|
| 1490 | int i=sizeof(RTCM3TORINEX_VERSION); /* set version to 1.<revision> */
|
---|
| 1491 | strcpy(revisionstr, RTCM3TORINEX_VERSION ".");
|
---|
| 1492 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
| 1493 | revisionstr[i++] = *a;
|
---|
| 1494 | revisionstr[i] = 0;
|
---|
| 1495 | }
|
---|
| 1496 | }
|
---|
| 1497 |
|
---|
[503] | 1498 | static int HandleRunBy(char *buffer, int buffersize, const char **u,
|
---|
| 1499 | int rinex3)
|
---|
[502] | 1500 | {
|
---|
| 1501 | const char *user;
|
---|
| 1502 | time_t t;
|
---|
| 1503 | struct tm * t2;
|
---|
| 1504 |
|
---|
| 1505 | #ifdef NO_RTCM3_MAIN
|
---|
[2487] | 1506 | fixrevision();
|
---|
[502] | 1507 | #endif
|
---|
| 1508 |
|
---|
| 1509 | user= getenv("USER");
|
---|
| 1510 | if(!user) user = "";
|
---|
| 1511 | t = time(&t);
|
---|
| 1512 | t2 = gmtime(&t);
|
---|
| 1513 | if(u) *u = user;
|
---|
| 1514 | return 1+snprintf(buffer, buffersize,
|
---|
[1088] | 1515 | rinex3 ?
|
---|
[503] | 1516 | "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
|
---|
| 1517 | "PGM / RUN BY / DATE" :
|
---|
[502] | 1518 | "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
|
---|
| 1519 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
[503] | 1520 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
|
---|
[502] | 1521 | }
|
---|
| 1522 |
|
---|
[1092] | 1523 | #ifdef NO_RTCM3_MAIN
|
---|
| 1524 | #define NUMSTARTSKIP 1
|
---|
| 1525 | #else
|
---|
[318] | 1526 | #define NUMSTARTSKIP 3
|
---|
[1092] | 1527 | #endif
|
---|
| 1528 |
|
---|
[268] | 1529 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
[27] | 1530 | {
|
---|
[1092] | 1531 | #ifdef NO_RTCM3_MAIN
|
---|
| 1532 | int i;
|
---|
[2502] | 1533 | if(Parser->allflags == 0)
|
---|
| 1534 | Parser->allflags = ~0;
|
---|
[1092] | 1535 | if(Parser->rinex3)
|
---|
| 1536 | {
|
---|
| 1537 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
[2502] | 1538 | if(Parser->allflags & GNSSDF_##b##DATA) \
|
---|
[1092] | 1539 | { \
|
---|
| 1540 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
| 1541 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
| 1542 | ++Parser->numdatatypes##a; \
|
---|
| 1543 | }
|
---|
| 1544 |
|
---|
| 1545 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
| 1546 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
| 1547 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
| 1548 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
| 1549 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
| 1550 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
| 1551 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
| 1552 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
| 1553 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
| 1554 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
| 1555 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
| 1556 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
| 1557 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
| 1558 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
| 1559 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
| 1560 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
| 1561 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
| 1562 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
| 1563 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
| 1564 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
| 1565 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
| 1566 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
| 1567 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
| 1568 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
| 1569 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
| 1570 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
| 1571 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
| 1572 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
| 1573 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
| 1574 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
| 1575 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
| 1576 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
| 1577 | }
|
---|
| 1578 | else
|
---|
| 1579 | {
|
---|
| 1580 | #define CHECKFLAGS(a, b) \
|
---|
[2502] | 1581 | if(Parser->allflags & GNSSDF_##a##DATA) \
|
---|
[1092] | 1582 | { \
|
---|
| 1583 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
| 1584 | { \
|
---|
| 1585 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
| 1586 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
| 1587 | } \
|
---|
| 1588 | else \
|
---|
| 1589 | { \
|
---|
| 1590 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
| 1591 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
| 1592 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
| 1593 | } \
|
---|
| 1594 | }
|
---|
| 1595 |
|
---|
| 1596 | int data[RINEXENTRY_NUMBER];
|
---|
| 1597 | for(i = 0; i < RINEXENTRY_NUMBER; ++i) data[i] = 0;
|
---|
| 1598 |
|
---|
| 1599 | CHECKFLAGS(C1,C1)
|
---|
| 1600 | CHECKFLAGS(C2,C2)
|
---|
| 1601 | CHECKFLAGS(P1,P1)
|
---|
| 1602 | CHECKFLAGS(P2,P2)
|
---|
| 1603 | CHECKFLAGS(L1C,L1)
|
---|
| 1604 | CHECKFLAGS(L1P,L1)
|
---|
| 1605 | CHECKFLAGS(L2C,L2)
|
---|
| 1606 | CHECKFLAGS(L2P,L2)
|
---|
| 1607 | CHECKFLAGS(D1C,D1)
|
---|
| 1608 | CHECKFLAGS(D1P,D1)
|
---|
| 1609 | CHECKFLAGS(D2C,D2)
|
---|
| 1610 | CHECKFLAGS(D2P,D2)
|
---|
| 1611 | CHECKFLAGS(S1C,S1)
|
---|
| 1612 | CHECKFLAGS(S1P,S1)
|
---|
| 1613 | CHECKFLAGS(S2C,S2)
|
---|
| 1614 | CHECKFLAGS(S2P,S2)
|
---|
[2659] | 1615 | CHECKFLAGS(C5,C5)
|
---|
| 1616 | CHECKFLAGS(L5,L5)
|
---|
| 1617 | CHECKFLAGS(D5,D5)
|
---|
| 1618 | CHECKFLAGS(S5,S5)
|
---|
| 1619 | CHECKFLAGS(C5AB,C5AB)
|
---|
| 1620 | CHECKFLAGS(L5AB,L5AB)
|
---|
| 1621 | CHECKFLAGS(D5AB,D5AB)
|
---|
| 1622 | CHECKFLAGS(S5AB,S5AB)
|
---|
| 1623 | CHECKFLAGS(C5B,C5B)
|
---|
| 1624 | CHECKFLAGS(L5B,L5B)
|
---|
| 1625 | CHECKFLAGS(D5B,D5B)
|
---|
| 1626 | CHECKFLAGS(S5B,S5B)
|
---|
| 1627 | CHECKFLAGS(C6,C6)
|
---|
| 1628 | CHECKFLAGS(L6,L6)
|
---|
| 1629 | CHECKFLAGS(D6,D6)
|
---|
| 1630 | CHECKFLAGS(S6,S6)
|
---|
[1092] | 1631 | }
|
---|
| 1632 | #else /* NO_RTCM3_MAIN */
|
---|
[27] | 1633 | struct HeaderData hdata;
|
---|
| 1634 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
| 1635 | char *buffer = thebuffer;
|
---|
[318] | 1636 | size_t buffersize = sizeof(thebuffer);
|
---|
[27] | 1637 | int i;
|
---|
| 1638 |
|
---|
[549] | 1639 | memset(&hdata, 0, sizeof(hdata));
|
---|
| 1640 |
|
---|
[502] | 1641 | hdata.data.named.version = buffer;
|
---|
| 1642 | i = 1+snprintf(buffer, buffersize,
|
---|
| 1643 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
| 1644 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
| 1645 | buffer += i; buffersize -= i;
|
---|
[27] | 1646 |
|
---|
| 1647 | {
|
---|
[30] | 1648 | const char *str;
|
---|
[27] | 1649 | hdata.data.named.pgm = buffer;
|
---|
[503] | 1650 | i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
|
---|
[27] | 1651 | buffer += i; buffersize -= i;
|
---|
| 1652 | hdata.data.named.observer = buffer;
|
---|
| 1653 | i = 1+snprintf(buffer, buffersize,
|
---|
| 1654 | "%-20.20s "
|
---|
| 1655 | "OBSERVER / AGENCY", str);
|
---|
| 1656 | buffer += i; buffersize -= i;
|
---|
| 1657 | }
|
---|
| 1658 |
|
---|
| 1659 | hdata.data.named.marker =
|
---|
| 1660 | "RTCM3TORINEX "
|
---|
| 1661 | "MARKER NAME";
|
---|
| 1662 |
|
---|
[503] | 1663 | hdata.data.named.markertype = !Parser->rinex3 ? 0 :
|
---|
| 1664 | "GEODETIC "
|
---|
| 1665 | "MARKER TYPE";
|
---|
| 1666 |
|
---|
[27] | 1667 | hdata.data.named.receiver =
|
---|
| 1668 | " "
|
---|
| 1669 | "REC # / TYPE / VERS";
|
---|
| 1670 |
|
---|
| 1671 | hdata.data.named.antenna =
|
---|
| 1672 | " "
|
---|
| 1673 | "ANT # / TYPE";
|
---|
| 1674 |
|
---|
| 1675 | hdata.data.named.position =
|
---|
| 1676 | " .0000 .0000 .0000 "
|
---|
| 1677 | "APPROX POSITION XYZ";
|
---|
| 1678 |
|
---|
| 1679 | hdata.data.named.antennaposition =
|
---|
| 1680 | " .0000 .0000 .0000 "
|
---|
| 1681 | "ANTENNA: DELTA H/E/N";
|
---|
[744] | 1682 |
|
---|
[502] | 1683 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
[27] | 1684 | " 1 1 "
|
---|
| 1685 | "WAVELENGTH FACT L1/2";
|
---|
| 1686 |
|
---|
[502] | 1687 | if(Parser->rinex3)
|
---|
[27] | 1688 | {
|
---|
[502] | 1689 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
| 1690 | if(flags & GNSSDF_##b##DATA) \
|
---|
| 1691 | { \
|
---|
| 1692 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
| 1693 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
| 1694 | ++Parser->numdatatypes##a; \
|
---|
[2699] | 1695 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " %-3s", #c); \
|
---|
[502] | 1696 | tbufferpos += 4; \
|
---|
| 1697 | }
|
---|
| 1698 |
|
---|
| 1699 | int flags = Parser->startflags;
|
---|
| 1700 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
| 1701 | int tbufferpos = 0;
|
---|
| 1702 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1703 | flags |= Parser->Data.dataflags[i];
|
---|
| 1704 |
|
---|
| 1705 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
| 1706 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
| 1707 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
| 1708 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
[2699] | 1709 | CHECKFLAGSNEW(GPS, P1, C1W)
|
---|
| 1710 | CHECKFLAGSNEW(GPS, L1P, L1W)
|
---|
| 1711 | CHECKFLAGSNEW(GPS, D1P, D1W)
|
---|
| 1712 | CHECKFLAGSNEW(GPS, S1P, S1W)
|
---|
[502] | 1713 |
|
---|
| 1714 | hdata.data.named.typesofobsS = buffer;
|
---|
| 1715 | i = 1+snprintf(buffer, buffersize,
|
---|
| 1716 | "S %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
| 1717 | buffer += i; buffersize -= i;
|
---|
| 1718 |
|
---|
| 1719 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
| 1720 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
| 1721 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
| 1722 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
| 1723 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
| 1724 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
| 1725 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
| 1726 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
[2699] | 1727 | CHECKFLAGSNEW(GPS, C5, C5)
|
---|
| 1728 | CHECKFLAGSNEW(GPS, L5, L5)
|
---|
| 1729 | CHECKFLAGSNEW(GPS, D5, D5)
|
---|
| 1730 | CHECKFLAGSNEW(GPS, S5, S5)
|
---|
[502] | 1731 |
|
---|
| 1732 | hdata.data.named.typesofobsG = buffer;
|
---|
| 1733 | i = 1+snprintf(buffer, buffersize,
|
---|
| 1734 | "G %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
| 1735 | if(Parser->numdatatypesGPS>13)
|
---|
| 1736 | {
|
---|
| 1737 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 1738 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 1739 | }
|
---|
| 1740 | buffer += i; buffersize -= i;
|
---|
| 1741 |
|
---|
| 1742 | tbufferpos = 0;
|
---|
| 1743 |
|
---|
| 1744 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
| 1745 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
| 1746 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
| 1747 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
| 1748 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
| 1749 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
| 1750 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
| 1751 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
| 1752 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
| 1753 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
| 1754 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
| 1755 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
| 1756 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
| 1757 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
| 1758 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
| 1759 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
| 1760 |
|
---|
| 1761 | hdata.data.named.typesofobsR = buffer;
|
---|
| 1762 | i = 1+snprintf(buffer, buffersize,
|
---|
| 1763 | "R %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGLO, tbuffer);
|
---|
| 1764 | if(Parser->numdatatypesGLO>13)
|
---|
| 1765 | {
|
---|
| 1766 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 1767 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 1768 | }
|
---|
| 1769 | buffer += i; buffersize -= i;
|
---|
[2699] | 1770 |
|
---|
| 1771 | tbufferpos = 0;
|
---|
| 1772 |
|
---|
| 1773 | CHECKFLAGSNEW(GAL, C1, C1)
|
---|
| 1774 | CHECKFLAGSNEW(GAL, L1C, L1)
|
---|
| 1775 | CHECKFLAGSNEW(GAL, D1C, D1)
|
---|
| 1776 | CHECKFLAGSNEW(GAL, S1C, S1)
|
---|
| 1777 | CHECKFLAGSNEW(GAL, C6, C6)
|
---|
| 1778 | CHECKFLAGSNEW(GAL, L6, L6)
|
---|
| 1779 | CHECKFLAGSNEW(GAL, D6, D6)
|
---|
| 1780 | CHECKFLAGSNEW(GAL, S6, S6)
|
---|
| 1781 | CHECKFLAGSNEW(GAL, C5, C5)
|
---|
| 1782 | CHECKFLAGSNEW(GAL, L5, L5)
|
---|
| 1783 | CHECKFLAGSNEW(GAL, D5, D5)
|
---|
| 1784 | CHECKFLAGSNEW(GAL, S5, S5)
|
---|
| 1785 | CHECKFLAGSNEW(GAL, C5B, C7)
|
---|
| 1786 | CHECKFLAGSNEW(GAL, L5B, L7)
|
---|
| 1787 | CHECKFLAGSNEW(GAL, D5B, D7)
|
---|
| 1788 | CHECKFLAGSNEW(GAL, S5B, S7)
|
---|
| 1789 | CHECKFLAGSNEW(GAL, C5AB, C8)
|
---|
| 1790 | CHECKFLAGSNEW(GAL, L5AB, L8)
|
---|
| 1791 | CHECKFLAGSNEW(GAL, D5AB, D8)
|
---|
| 1792 | CHECKFLAGSNEW(GAL, S5AB, S8)
|
---|
| 1793 |
|
---|
| 1794 | hdata.data.named.typesofobsE = buffer;
|
---|
| 1795 | i = 1+snprintf(buffer, buffersize,
|
---|
| 1796 | "E %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGAL, tbuffer);
|
---|
| 1797 | if(Parser->numdatatypesGAL>13)
|
---|
| 1798 | {
|
---|
| 1799 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 1800 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
| 1801 | }
|
---|
| 1802 | buffer += i; buffersize -= i;
|
---|
[502] | 1803 | }
|
---|
| 1804 | else
|
---|
| 1805 | {
|
---|
[27] | 1806 | #define CHECKFLAGS(a, b) \
|
---|
[363] | 1807 | if(flags & GNSSDF_##a##DATA) \
|
---|
[27] | 1808 | { \
|
---|
[363] | 1809 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
| 1810 | { \
|
---|
[502] | 1811 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
| 1812 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
[363] | 1813 | } \
|
---|
| 1814 | else \
|
---|
| 1815 | { \
|
---|
[502] | 1816 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
| 1817 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
| 1818 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
[364] | 1819 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#b); \
|
---|
| 1820 | tbufferpos += 6; \
|
---|
[363] | 1821 | } \
|
---|
[27] | 1822 | }
|
---|
| 1823 |
|
---|
[318] | 1824 | int flags = Parser->startflags;
|
---|
[27] | 1825 | int data[RINEXENTRY_NUMBER];
|
---|
| 1826 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
| 1827 | int tbufferpos = 0;
|
---|
| 1828 | for(i = 0; i < RINEXENTRY_NUMBER; ++i)
|
---|
| 1829 | data[i] = 0;
|
---|
| 1830 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 1831 | flags |= Parser->Data.dataflags[i];
|
---|
| 1832 |
|
---|
| 1833 | CHECKFLAGS(C1,C1)
|
---|
| 1834 | CHECKFLAGS(C2,C2)
|
---|
| 1835 | CHECKFLAGS(P1,P1)
|
---|
| 1836 | CHECKFLAGS(P2,P2)
|
---|
| 1837 | CHECKFLAGS(L1C,L1)
|
---|
| 1838 | CHECKFLAGS(L1P,L1)
|
---|
| 1839 | CHECKFLAGS(L2C,L2)
|
---|
| 1840 | CHECKFLAGS(L2P,L2)
|
---|
| 1841 | CHECKFLAGS(D1C,D1)
|
---|
| 1842 | CHECKFLAGS(D1P,D1)
|
---|
| 1843 | CHECKFLAGS(D2C,D2)
|
---|
| 1844 | CHECKFLAGS(D2P,D2)
|
---|
| 1845 | CHECKFLAGS(S1C,S1)
|
---|
| 1846 | CHECKFLAGS(S1P,S1)
|
---|
| 1847 | CHECKFLAGS(S2C,S2)
|
---|
| 1848 | CHECKFLAGS(S2P,S2)
|
---|
[2659] | 1849 | CHECKFLAGS(C5,C5)
|
---|
| 1850 | CHECKFLAGS(L5,L5)
|
---|
| 1851 | CHECKFLAGS(D5,D5)
|
---|
| 1852 | CHECKFLAGS(S5,S5)
|
---|
| 1853 | CHECKFLAGS(C5AB,C5AB)
|
---|
| 1854 | CHECKFLAGS(L5AB,L5AB)
|
---|
| 1855 | CHECKFLAGS(D5AB,D5AB)
|
---|
| 1856 | CHECKFLAGS(S5AB,S5AB)
|
---|
| 1857 | CHECKFLAGS(C5B,C5B)
|
---|
| 1858 | CHECKFLAGS(L5B,L5B)
|
---|
| 1859 | CHECKFLAGS(D5B,D5B)
|
---|
| 1860 | CHECKFLAGS(S5B,S5B)
|
---|
| 1861 | CHECKFLAGS(C6,C6)
|
---|
| 1862 | CHECKFLAGS(L6,L6)
|
---|
| 1863 | CHECKFLAGS(D6,D6)
|
---|
| 1864 | CHECKFLAGS(S6,S6)
|
---|
[27] | 1865 |
|
---|
| 1866 | hdata.data.named.typesofobs = buffer;
|
---|
| 1867 | i = 1+snprintf(buffer, buffersize,
|
---|
[502] | 1868 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->numdatatypesGPS, tbuffer);
|
---|
| 1869 | if(Parser->numdatatypesGPS>9)
|
---|
[27] | 1870 | {
|
---|
| 1871 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 1872 | "\n %-54.54s# / TYPES OF OBSERV", tbuffer+9*6);
|
---|
| 1873 | }
|
---|
| 1874 | buffer += i; buffersize -= i;
|
---|
| 1875 | }
|
---|
| 1876 |
|
---|
| 1877 | {
|
---|
| 1878 | struct converttimeinfo cti;
|
---|
| 1879 | converttime(&cti, Parser->Data.week,
|
---|
[268] | 1880 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
[27] | 1881 | hdata.data.named.timeoffirstobs = buffer;
|
---|
[502] | 1882 | i = 1+snprintf(buffer, buffersize,
|
---|
[27] | 1883 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
[378] | 1884 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
[27] | 1885 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
| 1886 |
|
---|
| 1887 | buffer += i; buffersize -= i;
|
---|
| 1888 | }
|
---|
| 1889 |
|
---|
[503] | 1890 | hdata.numheaders = 15;
|
---|
[27] | 1891 |
|
---|
| 1892 | if(Parser->headerfile)
|
---|
| 1893 | {
|
---|
| 1894 | FILE *fh;
|
---|
| 1895 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
| 1896 | {
|
---|
[318] | 1897 | size_t siz;
|
---|
[27] | 1898 | char *lastblockstart;
|
---|
| 1899 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
| 1900 | {
|
---|
| 1901 | buffer[siz] = '\n';
|
---|
| 1902 | if(siz == buffersize)
|
---|
| 1903 | {
|
---|
[318] | 1904 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
[364] | 1905 | (int)siz);
|
---|
[27] | 1906 | }
|
---|
| 1907 | /* scan the file line by line and enter the entries in the list */
|
---|
| 1908 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
| 1909 | /* overwrites entries, except for comments */
|
---|
| 1910 | lastblockstart = buffer;
|
---|
[318] | 1911 | for(i = 0; i < (int)siz; ++i)
|
---|
[27] | 1912 | {
|
---|
| 1913 | if(buffer[i] == '\n')
|
---|
| 1914 | { /* we found a line */
|
---|
| 1915 | char *end;
|
---|
| 1916 | while(buffer[i+1] == '\r')
|
---|
| 1917 | ++i; /* skip \r in case there are any */
|
---|
| 1918 | end = buffer+i;
|
---|
| 1919 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
| 1920 | *(end--) = 0;
|
---|
| 1921 | if(end-lastblockstart < 60+5) /* short line */
|
---|
[318] | 1922 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
[27] | 1923 | else
|
---|
| 1924 | {
|
---|
| 1925 | int pos;
|
---|
| 1926 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
| 1927 | pos = hdata.numheaders;
|
---|
| 1928 | else
|
---|
| 1929 | {
|
---|
| 1930 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
| 1931 | {
|
---|
| 1932 | if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
| 1933 | break;
|
---|
| 1934 | }
|
---|
| 1935 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
| 1936 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
| 1937 | {
|
---|
[318] | 1938 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
[27] | 1939 | lastblockstart+60);
|
---|
| 1940 | }
|
---|
| 1941 | }
|
---|
| 1942 | if(pos >= MAXHEADERLINES)
|
---|
| 1943 | {
|
---|
[318] | 1944 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
[27] | 1945 | MAXHEADERLINES);
|
---|
| 1946 | }
|
---|
| 1947 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
| 1948 | {
|
---|
[318] | 1949 | RTCM3Error("End of header ignored.\n");
|
---|
[27] | 1950 | }
|
---|
| 1951 | else
|
---|
| 1952 | {
|
---|
| 1953 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
| 1954 | if(pos == hdata.numheaders)
|
---|
| 1955 | ++hdata.numheaders;
|
---|
| 1956 | }
|
---|
| 1957 | }
|
---|
| 1958 | lastblockstart = buffer+i+1;
|
---|
| 1959 | }
|
---|
| 1960 | }
|
---|
| 1961 | }
|
---|
| 1962 | else
|
---|
| 1963 | {
|
---|
[318] | 1964 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
[27] | 1965 | Parser->headerfile);
|
---|
| 1966 | }
|
---|
| 1967 | fclose(fh);
|
---|
| 1968 | }
|
---|
| 1969 | else
|
---|
| 1970 | {
|
---|
[318] | 1971 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
[27] | 1972 | Parser->headerfile);
|
---|
| 1973 | }
|
---|
| 1974 | }
|
---|
| 1975 |
|
---|
| 1976 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
[502] | 1977 | {
|
---|
| 1978 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
| 1979 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
| 1980 | }
|
---|
[318] | 1981 | RTCM3Text(" "
|
---|
[27] | 1982 | "END OF HEADER\n");
|
---|
[287] | 1983 | #endif
|
---|
[27] | 1984 | }
|
---|
| 1985 |
|
---|
[502] | 1986 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
| 1987 | {
|
---|
| 1988 | char buffer[100], *b;
|
---|
| 1989 | va_list v;
|
---|
| 1990 | va_start(v, fmt);
|
---|
| 1991 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
| 1992 | for(b = buffer; *b; ++b)
|
---|
| 1993 | {
|
---|
| 1994 | if(*b == 'e') *b = 'D';
|
---|
| 1995 | }
|
---|
| 1996 | fprintf(file, "%s", buffer);
|
---|
| 1997 | va_end(v);
|
---|
| 1998 | }
|
---|
| 1999 |
|
---|
[268] | 2000 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
[27] | 2001 | {
|
---|
| 2002 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
| 2003 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
| 2004 | {
|
---|
| 2005 | int r;
|
---|
| 2006 | while((r = RTCM3Parser(Parser)))
|
---|
| 2007 | {
|
---|
[502] | 2008 | if(r == 1020 || r == 1019)
|
---|
[27] | 2009 | {
|
---|
[502] | 2010 | FILE *file = 0;
|
---|
[318] | 2011 |
|
---|
[502] | 2012 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
| 2013 | {
|
---|
| 2014 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
|
---|
| 2015 | if(n)
|
---|
| 2016 | {
|
---|
| 2017 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
| 2018 | {
|
---|
| 2019 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
| 2020 | }
|
---|
| 2021 | else
|
---|
| 2022 | {
|
---|
| 2023 | char buffer[100];
|
---|
| 2024 | fprintf(Parser->gpsfile,
|
---|
| 2025 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
[503] | 2026 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 2027 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2028 | }
|
---|
| 2029 | Parser->gpsephemeris = 0;
|
---|
| 2030 | Parser->glonassephemeris = 0;
|
---|
| 2031 | file = Parser->gpsfile;
|
---|
| 2032 | }
|
---|
| 2033 | }
|
---|
[318] | 2034 | else
|
---|
| 2035 | {
|
---|
[502] | 2036 | if(r == 1020)
|
---|
| 2037 | {
|
---|
| 2038 | if(Parser->glonassephemeris)
|
---|
| 2039 | {
|
---|
| 2040 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
| 2041 | {
|
---|
| 2042 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
| 2043 | }
|
---|
| 2044 | else
|
---|
| 2045 | {
|
---|
| 2046 | char buffer[100];
|
---|
| 2047 | fprintf(Parser->glonassfile,
|
---|
| 2048 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
[503] | 2049 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 2050 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2051 | }
|
---|
| 2052 | Parser->glonassephemeris = 0;
|
---|
| 2053 | }
|
---|
| 2054 | file = Parser->glonassfile;
|
---|
| 2055 | }
|
---|
| 2056 | else if(r == 1019)
|
---|
| 2057 | {
|
---|
| 2058 | if(Parser->gpsephemeris)
|
---|
| 2059 | {
|
---|
| 2060 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
| 2061 | {
|
---|
| 2062 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
| 2063 | }
|
---|
| 2064 | else
|
---|
| 2065 | {
|
---|
| 2066 | char buffer[100];
|
---|
| 2067 | fprintf(Parser->gpsfile,
|
---|
| 2068 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
[503] | 2069 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 2070 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2071 | }
|
---|
| 2072 | Parser->gpsephemeris = 0;
|
---|
| 2073 | }
|
---|
| 2074 | file = Parser->gpsfile;
|
---|
| 2075 | }
|
---|
[318] | 2076 | }
|
---|
[502] | 2077 | if(file)
|
---|
| 2078 | {
|
---|
| 2079 | if(r == 1020)
|
---|
| 2080 | {
|
---|
| 2081 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
| 2082 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
| 2083 | struct converttimeinfo cti;
|
---|
| 2084 |
|
---|
[2346] | 2085 | updatetime(&w, &tow, e->tb*1000, 1); /* Moscow - > UTC */
|
---|
[502] | 2086 | converttime(&cti, w, tow);
|
---|
| 2087 |
|
---|
| 2088 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
| 2089 |
|
---|
| 2090 | if(Parser->rinex3)
|
---|
| 2091 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 2092 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 2093 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
| 2094 | else
|
---|
| 2095 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 2096 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 2097 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
| 2098 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
|
---|
| 2099 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
| 2100 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
|
---|
| 2101 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
| 2102 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
|
---|
| 2103 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
| 2104 | }
|
---|
| 2105 | else /* if(r == 1019) */
|
---|
| 2106 | {
|
---|
| 2107 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
| 2108 | double d; /* temporary variable */
|
---|
| 2109 | unsigned long int i; /* temporary variable */
|
---|
| 2110 | struct converttimeinfo cti;
|
---|
| 2111 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
| 2112 |
|
---|
| 2113 | if(Parser->rinex3)
|
---|
| 2114 | ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 2115 | e->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 2116 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
| 2117 | e->clock_driftrate);
|
---|
| 2118 | else
|
---|
| 2119 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
| 2120 | e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 2121 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
| 2122 | e->clock_driftrate);
|
---|
| 2123 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
|
---|
| 2124 | e->Crs, e->Delta_n, e->M0);
|
---|
| 2125 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
|
---|
| 2126 | e->e, e->Cus, e->sqrt_A);
|
---|
| 2127 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
|
---|
| 2128 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
| 2129 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
|
---|
| 2130 | e->Crc, e->omega, e->OMEGADOT);
|
---|
| 2131 | d = 0;
|
---|
| 2132 | i = e->flags;
|
---|
| 2133 | if(i & GPSEPHF_L2CACODE)
|
---|
| 2134 | d += 2.0;
|
---|
| 2135 | if(i & GPSEPHF_L2PCODE)
|
---|
| 2136 | d += 1.0;
|
---|
| 2137 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
|
---|
| 2138 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
| 2139 | if(e->URAindex <= 6) /* URA index */
|
---|
| 2140 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
| 2141 | else
|
---|
| 2142 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
| 2143 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
| 2144 | case, so we create a high "non"-accuracy value. */
|
---|
| 2145 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
|
---|
| 2146 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
| 2147 |
|
---|
| 2148 | ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW), 0.0);
|
---|
| 2149 | /* TOW */
|
---|
| 2150 | }
|
---|
| 2151 | }
|
---|
[27] | 2152 | }
|
---|
[2507] | 2153 | else if (r == 1 || r == 2)
|
---|
[27] | 2154 | {
|
---|
[502] | 2155 | int i, j, o;
|
---|
| 2156 | struct converttimeinfo cti;
|
---|
[27] | 2157 |
|
---|
[502] | 2158 | if(Parser->init < NUMSTARTSKIP) /* skip first epochs to detect correct data types */
|
---|
[27] | 2159 | {
|
---|
[502] | 2160 | ++Parser->init;
|
---|
| 2161 |
|
---|
| 2162 | if(Parser->init == NUMSTARTSKIP)
|
---|
| 2163 | HandleHeader(Parser);
|
---|
[27] | 2164 | else
|
---|
[502] | 2165 | {
|
---|
| 2166 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 2167 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
| 2168 | continue;
|
---|
| 2169 | }
|
---|
[27] | 2170 | }
|
---|
[502] | 2171 | if(r == 2 && !Parser->validwarning)
|
---|
[27] | 2172 | {
|
---|
[502] | 2173 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
| 2174 | " COMMENT\n");
|
---|
| 2175 | Parser->validwarning = 1;
|
---|
| 2176 | }
|
---|
| 2177 |
|
---|
| 2178 | converttime(&cti, Parser->Data.week,
|
---|
| 2179 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
| 2180 | if(Parser->rinex3)
|
---|
| 2181 | {
|
---|
| 2182 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 0%3d\n",
|
---|
| 2183 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 2184 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
| 2185 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
[363] | 2186 | {
|
---|
[2699] | 2187 | int glo = 0, gal = 0;
|
---|
[502] | 2188 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 2189 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 2190 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 2191 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 2192 | {
|
---|
| 2193 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
| 2194 | glo = 1;
|
---|
| 2195 | }
|
---|
[2699] | 2196 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
| 2197 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
| 2198 | {
|
---|
| 2199 | RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GALILEO_START-1));
|
---|
| 2200 | gal = 1;
|
---|
| 2201 | }
|
---|
| 2202 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
| 2203 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
| 2204 | {
|
---|
| 2205 | RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
| 2206 | gal = 1;
|
---|
| 2207 | }
|
---|
[502] | 2208 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 2209 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
| 2210 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
| 2211 | else
|
---|
| 2212 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[363] | 2213 |
|
---|
[502] | 2214 | if(glo)
|
---|
[363] | 2215 | {
|
---|
[502] | 2216 | for(j = 0; j < Parser->numdatatypesGLO; ++j)
|
---|
| 2217 | {
|
---|
| 2218 | int df = Parser->dataflagGLO[j];
|
---|
| 2219 | int pos = Parser->dataposGLO[j];
|
---|
| 2220 | if((Parser->Data.dataflags[i] & df)
|
---|
| 2221 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 2222 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 2223 | {
|
---|
| 2224 | char lli = ' ';
|
---|
| 2225 | char snr = ' ';
|
---|
| 2226 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 2227 | {
|
---|
[2659] | 2228 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
[502] | 2229 | lli = '1';
|
---|
| 2230 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 2231 | }
|
---|
| 2232 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 2233 | {
|
---|
[2659] | 2234 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
[502] | 2235 | lli = '1';
|
---|
| 2236 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 2237 | }
|
---|
| 2238 | RTCM3Text("%14.3f%c%c",
|
---|
| 2239 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 2240 | }
|
---|
| 2241 | else
|
---|
| 2242 | { /* no or illegal data */
|
---|
| 2243 | RTCM3Text(" ");
|
---|
| 2244 | }
|
---|
| 2245 | }
|
---|
[363] | 2246 | }
|
---|
[2699] | 2247 | else if(gal)
|
---|
| 2248 | {
|
---|
| 2249 | for(j = 0; j < Parser->numdatatypesGAL; ++j)
|
---|
| 2250 | {
|
---|
| 2251 | int df = Parser->dataflagGAL[j];
|
---|
| 2252 | int pos = Parser->dataposGAL[j];
|
---|
| 2253 | if((Parser->Data.dataflags[i] & df)
|
---|
| 2254 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 2255 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 2256 | {
|
---|
| 2257 | char lli = ' ';
|
---|
| 2258 | char snr = ' ';
|
---|
| 2259 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 2260 | {
|
---|
| 2261 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
| 2262 | lli = '1';
|
---|
| 2263 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 2264 | }
|
---|
| 2265 | if(df & GNSSDF_L6DATA)
|
---|
| 2266 | {
|
---|
| 2267 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE6)
|
---|
| 2268 | lli = '1';
|
---|
| 2269 | snr = ' ';
|
---|
| 2270 | }
|
---|
| 2271 | if(df & GNSSDF_L5DATA)
|
---|
| 2272 | {
|
---|
| 2273 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
| 2274 | lli = '1';
|
---|
| 2275 | snr = ' ';
|
---|
| 2276 | }
|
---|
| 2277 | if(df & GNSSDF_L5BDATA)
|
---|
| 2278 | {
|
---|
| 2279 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5B)
|
---|
| 2280 | lli = '1';
|
---|
| 2281 | snr = ' ';
|
---|
| 2282 | }
|
---|
| 2283 | if(df & GNSSDF_L5ABDATA)
|
---|
| 2284 | {
|
---|
| 2285 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5AB)
|
---|
| 2286 | lli = '1';
|
---|
| 2287 | snr = ' ';
|
---|
| 2288 | }
|
---|
| 2289 | RTCM3Text("%14.3f%c%c",
|
---|
| 2290 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 2291 | }
|
---|
| 2292 | else
|
---|
| 2293 | { /* no or illegal data */
|
---|
| 2294 | RTCM3Text(" ");
|
---|
| 2295 | }
|
---|
| 2296 | }
|
---|
| 2297 | }
|
---|
[502] | 2298 | else
|
---|
| 2299 | {
|
---|
| 2300 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
| 2301 | {
|
---|
| 2302 | int df = Parser->dataflagGPS[j];
|
---|
| 2303 | int pos = Parser->dataposGPS[j];
|
---|
| 2304 | if((Parser->Data.dataflags[i] & df)
|
---|
| 2305 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 2306 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 2307 | {
|
---|
| 2308 | char lli = ' ';
|
---|
| 2309 | char snr = ' ';
|
---|
| 2310 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 2311 | {
|
---|
[2659] | 2312 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
[502] | 2313 | lli = '1';
|
---|
| 2314 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 2315 | }
|
---|
| 2316 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 2317 | {
|
---|
[2659] | 2318 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
[502] | 2319 | lli = '1';
|
---|
| 2320 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 2321 | }
|
---|
[2699] | 2322 | if(df & GNSSDF_L5DATA)
|
---|
| 2323 | {
|
---|
| 2324 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
| 2325 | lli = '1';
|
---|
| 2326 | snr = ' ';
|
---|
| 2327 | }
|
---|
[502] | 2328 | RTCM3Text("%14.3f%c%c",
|
---|
| 2329 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 2330 | }
|
---|
| 2331 | else
|
---|
| 2332 | { /* no or illegal data */
|
---|
| 2333 | RTCM3Text(" ");
|
---|
| 2334 | }
|
---|
| 2335 | }
|
---|
| 2336 | }
|
---|
| 2337 | RTCM3Text("\n");
|
---|
[363] | 2338 | }
|
---|
[502] | 2339 | }
|
---|
| 2340 | else
|
---|
| 2341 | {
|
---|
| 2342 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f 0%3d",
|
---|
| 2343 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 2344 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
| 2345 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
| 2346 | {
|
---|
| 2347 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 2348 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 2349 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 2350 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
[2659] | 2351 | RTCM3Text("R%02d", Parser->Data.satellites[i]
|
---|
| 2352 | - (PRN_GLONASS_START-1));
|
---|
[502] | 2353 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 2354 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
[2659] | 2355 | RTCM3Text("S%02d", Parser->Data.satellites[i]
|
---|
| 2356 | - PRN_WAAS_START+20);
|
---|
| 2357 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
| 2358 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
| 2359 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 2360 | - (PRN_GALILEO_START-1));
|
---|
| 2361 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
| 2362 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
| 2363 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 2364 | - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
[502] | 2365 | else
|
---|
| 2366 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 2367 | }
|
---|
[502] | 2368 | RTCM3Text("\n");
|
---|
| 2369 | o = 12;
|
---|
| 2370 | j = Parser->Data.numsats - 12;
|
---|
| 2371 | while(j > 0)
|
---|
[27] | 2372 | {
|
---|
[502] | 2373 | RTCM3Text(" ");
|
---|
| 2374 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
[27] | 2375 | {
|
---|
[502] | 2376 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 2377 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 2378 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 2379 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
[2659] | 2380 | RTCM3Text("R%02d", Parser->Data.satellites[i]
|
---|
| 2381 | - (PRN_GLONASS_START-1));
|
---|
[502] | 2382 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
| 2383 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
[2659] | 2384 | RTCM3Text("S%02d", Parser->Data.satellites[i]
|
---|
| 2385 | - PRN_WAAS_START+20);
|
---|
| 2386 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
| 2387 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
| 2388 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 2389 | - (PRN_GALILEO_START-1));
|
---|
| 2390 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
| 2391 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
| 2392 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 2393 | - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
[502] | 2394 | else
|
---|
| 2395 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 2396 | }
|
---|
[502] | 2397 | RTCM3Text("\n");
|
---|
| 2398 | j -= 12;
|
---|
| 2399 | o += 12;
|
---|
| 2400 | }
|
---|
| 2401 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 2402 | {
|
---|
| 2403 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
[27] | 2404 | {
|
---|
[502] | 2405 | int v = 0;
|
---|
| 2406 | int df = Parser->dataflag[j];
|
---|
| 2407 | int pos = Parser->datapos[j];
|
---|
| 2408 | if((Parser->Data.dataflags[i] & df)
|
---|
| 2409 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 2410 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 2411 | {
|
---|
| 2412 | v = 1;
|
---|
| 2413 | }
|
---|
| 2414 | else
|
---|
| 2415 | {
|
---|
| 2416 | df = Parser->dataflagGPS[j];
|
---|
| 2417 | pos = Parser->dataposGPS[j];
|
---|
| 2418 |
|
---|
| 2419 | if((Parser->Data.dataflags[i] & df)
|
---|
| 2420 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 2421 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 2422 | {
|
---|
| 2423 | v = 1;
|
---|
| 2424 | }
|
---|
| 2425 | }
|
---|
| 2426 |
|
---|
| 2427 | if(!v)
|
---|
| 2428 | { /* no or illegal data */
|
---|
| 2429 | RTCM3Text(" ");
|
---|
| 2430 | }
|
---|
| 2431 | else
|
---|
| 2432 | {
|
---|
| 2433 | char lli = ' ';
|
---|
| 2434 | char snr = ' ';
|
---|
| 2435 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 2436 | {
|
---|
[2659] | 2437 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
[502] | 2438 | lli = '1';
|
---|
| 2439 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 2440 | }
|
---|
| 2441 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 2442 | {
|
---|
[2659] | 2443 | if(Parser->Data.dataflags2[i]
|
---|
| 2444 | & (GNSSDF2_LOCKLOSSL2|GNSSDF2_XCORRL2))
|
---|
[2422] | 2445 | {
|
---|
| 2446 | lli = '0';
|
---|
[2659] | 2447 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
[2422] | 2448 | lli += 1;
|
---|
[2659] | 2449 | if(Parser->Data.dataflags2[i] & GNSSDF2_XCORRL2)
|
---|
[2422] | 2450 | lli += 4;
|
---|
| 2451 | }
|
---|
[502] | 2452 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 2453 | }
|
---|
[2659] | 2454 | if((df & GNSSDF_P2DATA) && (Parser->Data.dataflags2[i]
|
---|
| 2455 | & GNSSDF2_XCORRL2))
|
---|
[2422] | 2456 | lli = '4';
|
---|
[502] | 2457 | RTCM3Text("%14.3f%c%c",
|
---|
| 2458 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 2459 | }
|
---|
| 2460 | if(j%5 == 4 || j == Parser->numdatatypesGPS-1)
|
---|
| 2461 | RTCM3Text("\n");
|
---|
[27] | 2462 | }
|
---|
| 2463 | }
|
---|
| 2464 | }
|
---|
| 2465 | }
|
---|
| 2466 | }
|
---|
| 2467 | }
|
---|
| 2468 | }
|
---|
| 2469 |
|
---|
[268] | 2470 | #ifndef NO_RTCM3_MAIN
|
---|
[2487] | 2471 | static char datestr[] = "$Date: 2010-12-03 11:14:40 +0000 (Fri, 03 Dec 2010) $";
|
---|
[269] | 2472 |
|
---|
[268] | 2473 | /* The string, which is send as agent in HTTP request */
|
---|
| 2474 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
| 2475 |
|
---|
| 2476 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
| 2477 |
|
---|
[269] | 2478 | static const char encodingTable [64] = {
|
---|
| 2479 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
| 2480 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
| 2481 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
| 2482 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
| 2483 | };
|
---|
| 2484 |
|
---|
| 2485 | /* does not buffer overrun, but breaks directly after an error */
|
---|
| 2486 | /* returns the number of required bytes */
|
---|
| 2487 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
| 2488 | {
|
---|
| 2489 | unsigned char inbuf[3];
|
---|
| 2490 | char *out = buf;
|
---|
| 2491 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
| 2492 |
|
---|
| 2493 | while(*user || *pwd)
|
---|
| 2494 | {
|
---|
| 2495 | i = 0;
|
---|
| 2496 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
| 2497 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
| 2498 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
| 2499 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
| 2500 | if(out-buf < size-1)
|
---|
| 2501 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
| 2502 | if(out-buf < size-1)
|
---|
| 2503 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
| 2504 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
| 2505 | if(out-buf < size-1)
|
---|
| 2506 | {
|
---|
| 2507 | if(fill == 2)
|
---|
| 2508 | *(out++) = '=';
|
---|
| 2509 | else
|
---|
| 2510 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
| 2511 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
| 2512 | }
|
---|
| 2513 | if(out-buf < size-1)
|
---|
| 2514 | {
|
---|
| 2515 | if(fill >= 1)
|
---|
| 2516 | *(out++) = '=';
|
---|
| 2517 | else
|
---|
| 2518 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
| 2519 | }
|
---|
| 2520 | bytes += 4;
|
---|
| 2521 | }
|
---|
| 2522 | if(out-buf < size)
|
---|
| 2523 | *out = 0;
|
---|
| 2524 | return bytes;
|
---|
| 2525 | }
|
---|
| 2526 |
|
---|
[268] | 2527 | static int stop = 0;
|
---|
| 2528 |
|
---|
| 2529 | struct Args
|
---|
| 2530 | {
|
---|
| 2531 | const char *server;
|
---|
[502] | 2532 | const char *port;
|
---|
| 2533 | int mode;
|
---|
[477] | 2534 | int timeout;
|
---|
[502] | 2535 | int rinex3;
|
---|
[268] | 2536 | const char *user;
|
---|
| 2537 | const char *password;
|
---|
[502] | 2538 | const char *proxyhost;
|
---|
| 2539 | const char *proxyport;
|
---|
| 2540 | const char *nmea;
|
---|
[268] | 2541 | const char *data;
|
---|
| 2542 | const char *headerfile;
|
---|
[502] | 2543 | const char *gpsephemeris;
|
---|
| 2544 | const char *glonassephemeris;
|
---|
[268] | 2545 | };
|
---|
| 2546 |
|
---|
| 2547 | /* option parsing */
|
---|
| 2548 | #ifdef NO_LONG_OPTS
|
---|
| 2549 | #define LONG_OPT(a)
|
---|
| 2550 | #else
|
---|
| 2551 | #define LONG_OPT(a) a
|
---|
| 2552 | static struct option opts[] = {
|
---|
[502] | 2553 | { "data", required_argument, 0, 'd'},
|
---|
| 2554 | { "server", required_argument, 0, 's'},
|
---|
| 2555 | { "password", required_argument, 0, 'p'},
|
---|
| 2556 | { "port", required_argument, 0, 'r'},
|
---|
| 2557 | { "timeout", required_argument, 0, 't'},
|
---|
| 2558 | { "header", required_argument, 0, 'f'},
|
---|
| 2559 | { "user", required_argument, 0, 'u'},
|
---|
| 2560 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
| 2561 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
| 2562 | { "rinex3", no_argument, 0, '3'},
|
---|
| 2563 | { "proxyport", required_argument, 0, 'R'},
|
---|
| 2564 | { "proxyhost", required_argument, 0, 'S'},
|
---|
| 2565 | { "nmea", required_argument, 0, 'n'},
|
---|
| 2566 | { "mode", required_argument, 0, 'M'},
|
---|
| 2567 | { "help", no_argument, 0, 'h'},
|
---|
[268] | 2568 | {0,0,0,0}};
|
---|
| 2569 | #endif
|
---|
[502] | 2570 | #define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3"
|
---|
[268] | 2571 |
|
---|
[502] | 2572 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
| 2573 |
|
---|
[270] | 2574 | static const char *geturl(const char *url, struct Args *args)
|
---|
| 2575 | {
|
---|
| 2576 | static char buf[1000];
|
---|
| 2577 | static char *Buffer = buf;
|
---|
| 2578 | static char *Bufend = buf+sizeof(buf);
|
---|
| 2579 |
|
---|
| 2580 | if(strncmp("ntrip:", url, 6))
|
---|
| 2581 | return "URL must start with 'ntrip:'.";
|
---|
| 2582 | url += 6; /* skip ntrip: */
|
---|
| 2583 |
|
---|
| 2584 | if(*url != '@' && *url != '/')
|
---|
| 2585 | {
|
---|
| 2586 | /* scan for mountpoint */
|
---|
| 2587 | args->data = Buffer;
|
---|
[502] | 2588 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
[270] | 2589 | *(Buffer++) = *(url++);
|
---|
| 2590 | if(Buffer == args->data)
|
---|
| 2591 | return "Mountpoint required.";
|
---|
| 2592 | else if(Buffer >= Bufend-1)
|
---|
| 2593 | return "Parsing buffer too short.";
|
---|
| 2594 | *(Buffer++) = 0;
|
---|
| 2595 | }
|
---|
| 2596 |
|
---|
| 2597 | if(*url == '/') /* username and password */
|
---|
| 2598 | {
|
---|
| 2599 | ++url;
|
---|
| 2600 | args->user = Buffer;
|
---|
[502] | 2601 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
[270] | 2602 | *(Buffer++) = *(url++);
|
---|
| 2603 | if(Buffer == args->user)
|
---|
| 2604 | return "Username cannot be empty.";
|
---|
| 2605 | else if(Buffer >= Bufend-1)
|
---|
| 2606 | return "Parsing buffer too short.";
|
---|
| 2607 | *(Buffer++) = 0;
|
---|
| 2608 |
|
---|
| 2609 | if(*url == ':') ++url;
|
---|
| 2610 |
|
---|
| 2611 | args->password = Buffer;
|
---|
[502] | 2612 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
[270] | 2613 | *(Buffer++) = *(url++);
|
---|
| 2614 | if(Buffer == args->password)
|
---|
| 2615 | return "Password cannot be empty.";
|
---|
| 2616 | else if(Buffer >= Bufend-1)
|
---|
| 2617 | return "Parsing buffer too short.";
|
---|
| 2618 | *(Buffer++) = 0;
|
---|
| 2619 | }
|
---|
| 2620 |
|
---|
| 2621 | if(*url == '@') /* server */
|
---|
| 2622 | {
|
---|
| 2623 | ++url;
|
---|
[502] | 2624 | if(*url != '@' && *url != ':')
|
---|
| 2625 | {
|
---|
| 2626 | args->server = Buffer;
|
---|
| 2627 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 2628 | *(Buffer++) = *(url++);
|
---|
| 2629 | if(Buffer == args->server)
|
---|
| 2630 | return "Servername cannot be empty.";
|
---|
| 2631 | else if(Buffer >= Bufend-1)
|
---|
| 2632 | return "Parsing buffer too short.";
|
---|
| 2633 | *(Buffer++) = 0;
|
---|
| 2634 | }
|
---|
[270] | 2635 |
|
---|
| 2636 | if(*url == ':')
|
---|
| 2637 | {
|
---|
[502] | 2638 | ++url;
|
---|
| 2639 | args->port = Buffer;
|
---|
| 2640 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
| 2641 | *(Buffer++) = *(url++);
|
---|
| 2642 | if(Buffer == args->port)
|
---|
| 2643 | return "Port cannot be empty.";
|
---|
| 2644 | else if(Buffer >= Bufend-1)
|
---|
| 2645 | return "Parsing buffer too short.";
|
---|
| 2646 | *(Buffer++) = 0;
|
---|
[270] | 2647 | }
|
---|
[502] | 2648 |
|
---|
| 2649 | if(*url == '@') /* proxy */
|
---|
| 2650 | {
|
---|
| 2651 | ++url;
|
---|
| 2652 | args->proxyhost = Buffer;
|
---|
| 2653 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 2654 | *(Buffer++) = *(url++);
|
---|
| 2655 | if(Buffer == args->proxyhost)
|
---|
| 2656 | return "Proxy servername cannot be empty.";
|
---|
| 2657 | else if(Buffer >= Bufend-1)
|
---|
| 2658 | return "Parsing buffer too short.";
|
---|
| 2659 | *(Buffer++) = 0;
|
---|
| 2660 |
|
---|
| 2661 | if(*url == ':')
|
---|
| 2662 | {
|
---|
| 2663 | ++url;
|
---|
| 2664 | args->proxyport = Buffer;
|
---|
| 2665 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
| 2666 | *(Buffer++) = *(url++);
|
---|
| 2667 | if(Buffer == args->proxyport)
|
---|
| 2668 | return "Proxy port cannot be empty.";
|
---|
| 2669 | else if(Buffer >= Bufend-1)
|
---|
| 2670 | return "Parsing buffer too short.";
|
---|
| 2671 | *(Buffer++) = 0;
|
---|
| 2672 | }
|
---|
| 2673 | }
|
---|
[270] | 2674 | }
|
---|
[502] | 2675 | if(*url == ';') /* NMEA */
|
---|
| 2676 | {
|
---|
| 2677 | args->nmea = ++url;
|
---|
| 2678 | while(*url)
|
---|
| 2679 | ++url;
|
---|
| 2680 | }
|
---|
[270] | 2681 |
|
---|
| 2682 | return *url ? "Garbage at end of server string." : 0;
|
---|
| 2683 | }
|
---|
| 2684 |
|
---|
[268] | 2685 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
| 2686 | {
|
---|
| 2687 | int res = 1;
|
---|
| 2688 | int getoptr;
|
---|
| 2689 | int help = 0;
|
---|
| 2690 | char *t;
|
---|
| 2691 |
|
---|
| 2692 | args->server = "www.euref-ip.net";
|
---|
[502] | 2693 | args->port = "2101";
|
---|
[477] | 2694 | args->timeout = 60;
|
---|
[268] | 2695 | args->user = "";
|
---|
| 2696 | args->password = "";
|
---|
| 2697 | args->data = 0;
|
---|
| 2698 | args->headerfile = 0;
|
---|
[502] | 2699 | args->gpsephemeris = 0;
|
---|
| 2700 | args->glonassephemeris = 0;
|
---|
| 2701 | args->rinex3 = 0;
|
---|
| 2702 | args->nmea = 0;
|
---|
| 2703 | args->proxyhost = 0;
|
---|
| 2704 | args->proxyport = "2101";
|
---|
| 2705 | args->mode = AUTO;
|
---|
[268] | 2706 | help = 0;
|
---|
| 2707 |
|
---|
| 2708 | do
|
---|
| 2709 | {
|
---|
[477] | 2710 |
|
---|
[268] | 2711 | #ifdef NO_LONG_OPTS
|
---|
| 2712 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
| 2713 | #else
|
---|
| 2714 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
| 2715 | #endif
|
---|
| 2716 | {
|
---|
| 2717 | case 's': args->server = optarg; break;
|
---|
| 2718 | case 'u': args->user = optarg; break;
|
---|
| 2719 | case 'p': args->password = optarg; break;
|
---|
| 2720 | case 'd': args->data = optarg; break;
|
---|
| 2721 | case 'f': args->headerfile = optarg; break;
|
---|
[502] | 2722 | case 'E': args->gpsephemeris = optarg; break;
|
---|
| 2723 | case 'G': args->glonassephemeris = optarg; break;
|
---|
| 2724 | case 'r': args->port = optarg; break;
|
---|
| 2725 | case '3': args->rinex3 = 1; break;
|
---|
| 2726 | case 'S': args->proxyhost = optarg; break;
|
---|
| 2727 | case 'n': args->nmea = optarg; break;
|
---|
| 2728 | case 'R': args->proxyport = optarg; break;
|
---|
[268] | 2729 | case 'h': help=1; break;
|
---|
[502] | 2730 | case 'M':
|
---|
| 2731 | args->mode = 0;
|
---|
| 2732 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
| 2733 | args->mode = NTRIP1;
|
---|
| 2734 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
| 2735 | args->mode = HTTP;
|
---|
| 2736 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
| 2737 | args->mode = RTSP;
|
---|
| 2738 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
| 2739 | args->mode = AUTO;
|
---|
| 2740 | else args->mode = atoi(optarg);
|
---|
| 2741 | if((args->mode == 0) || (args->mode >= END))
|
---|
| 2742 | {
|
---|
| 2743 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
[268] | 2744 | res = 0;
|
---|
[502] | 2745 | }
|
---|
[268] | 2746 | break;
|
---|
[502] | 2747 | case 't':
|
---|
[477] | 2748 | args->timeout = strtoul(optarg, &t, 10);
|
---|
| 2749 | if((t && *t) || args->timeout < 0)
|
---|
| 2750 | res = 0;
|
---|
| 2751 | break;
|
---|
| 2752 |
|
---|
[270] | 2753 | case 1:
|
---|
| 2754 | {
|
---|
| 2755 | const char *err;
|
---|
| 2756 | if((err = geturl(optarg, args)))
|
---|
| 2757 | {
|
---|
[318] | 2758 | RTCM3Error("%s\n\n", err);
|
---|
[270] | 2759 | res = 0;
|
---|
| 2760 | }
|
---|
| 2761 | }
|
---|
| 2762 | break;
|
---|
[268] | 2763 | case -1: break;
|
---|
| 2764 | }
|
---|
| 2765 | } while(getoptr != -1 || !res);
|
---|
| 2766 |
|
---|
| 2767 | datestr[0] = datestr[7];
|
---|
| 2768 | datestr[1] = datestr[8];
|
---|
| 2769 | datestr[2] = datestr[9];
|
---|
| 2770 | datestr[3] = datestr[10];
|
---|
| 2771 | datestr[5] = datestr[12];
|
---|
| 2772 | datestr[6] = datestr[13];
|
---|
| 2773 | datestr[8] = datestr[15];
|
---|
| 2774 | datestr[9] = datestr[16];
|
---|
| 2775 | datestr[4] = datestr[7] = '-';
|
---|
| 2776 | datestr[10] = 0;
|
---|
| 2777 |
|
---|
[502] | 2778 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
[268] | 2779 | {
|
---|
[503] | 2780 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
|
---|
| 2781 | "Please specify only one navigation file.\n");
|
---|
[502] | 2782 | res = 0;
|
---|
| 2783 | }
|
---|
| 2784 | else if(!res || help)
|
---|
| 2785 | {
|
---|
[439] | 2786 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
| 2787 | "\nUsage: %s -s server -u user ...\n"
|
---|
[502] | 2788 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
| 2789 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
| 2790 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
| 2791 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
| 2792 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
| 2793 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
| 2794 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
| 2795 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
| 2796 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
| 2797 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
| 2798 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
| 2799 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
| 2800 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
| 2801 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
| 2802 | " Valid modes are:\n"
|
---|
| 2803 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
| 2804 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
| 2805 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
| 2806 | " 4, a, auto automatic detection (default)\n"
|
---|
| 2807 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
[270] | 2808 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
[268] | 2809 | exit(1);
|
---|
| 2810 | }
|
---|
| 2811 | return res;
|
---|
| 2812 | }
|
---|
| 2813 |
|
---|
| 2814 | /* let the output complete a block if necessary */
|
---|
| 2815 | static void signalhandler(int sig)
|
---|
| 2816 | {
|
---|
| 2817 | if(!stop)
|
---|
| 2818 | {
|
---|
[318] | 2819 | RTCM3Error("Stop signal number %d received. "
|
---|
[268] | 2820 | "Trying to terminate gentle.\n", sig);
|
---|
| 2821 | stop = 1;
|
---|
| 2822 | alarm(1);
|
---|
| 2823 | }
|
---|
| 2824 | }
|
---|
| 2825 |
|
---|
[1091] | 2826 | #ifndef WINDOWSVERSION
|
---|
| 2827 | static void WaitMicro(int mic)
|
---|
| 2828 | {
|
---|
| 2829 | struct timeval tv;
|
---|
| 2830 | tv.tv_sec = mic/1000000;
|
---|
| 2831 | tv.tv_usec = mic%1000000;
|
---|
| 2832 | #ifdef DEBUG
|
---|
| 2833 | fprintf(stderr, "Waiting %d micro seconds\n", mic);
|
---|
| 2834 | #endif
|
---|
| 2835 | select(0, 0, 0, 0, &tv);
|
---|
| 2836 | }
|
---|
| 2837 | #else /* WINDOWSVERSION */
|
---|
| 2838 | void WaitMicro(int mic)
|
---|
| 2839 | {
|
---|
| 2840 | Sleep(mic/1000);
|
---|
| 2841 | }
|
---|
| 2842 | #endif /* WINDOWSVERSION */
|
---|
| 2843 |
|
---|
[502] | 2844 | #define ALARMTIME (2*60)
|
---|
| 2845 |
|
---|
[268] | 2846 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
| 2847 | #ifdef __GNUC__
|
---|
| 2848 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
| 2849 | int sig __attribute__((__unused__)))
|
---|
| 2850 | #else /* __GNUC__ */
|
---|
| 2851 | static void signalhandler_alarm(int sig)
|
---|
| 2852 | #endif /* __GNUC__ */
|
---|
| 2853 | {
|
---|
[318] | 2854 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
[268] | 2855 | exit(1);
|
---|
| 2856 | }
|
---|
| 2857 |
|
---|
[27] | 2858 | int main(int argc, char **argv)
|
---|
| 2859 | {
|
---|
| 2860 | struct Args args;
|
---|
| 2861 | struct RTCM3ParserData Parser;
|
---|
| 2862 |
|
---|
| 2863 | setbuf(stdout, 0);
|
---|
| 2864 | setbuf(stdin, 0);
|
---|
| 2865 | setbuf(stderr, 0);
|
---|
| 2866 |
|
---|
[2487] | 2867 | fixrevision();
|
---|
[27] | 2868 |
|
---|
| 2869 | signal(SIGINT, signalhandler);
|
---|
| 2870 | signal(SIGALRM,signalhandler_alarm);
|
---|
| 2871 | signal(SIGQUIT,signalhandler);
|
---|
| 2872 | signal(SIGTERM,signalhandler);
|
---|
| 2873 | signal(SIGPIPE,signalhandler);
|
---|
| 2874 | memset(&Parser, 0, sizeof(Parser));
|
---|
| 2875 | {
|
---|
| 2876 | time_t tim;
|
---|
| 2877 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
| 2878 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
| 2879 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
| 2880 | }
|
---|
| 2881 |
|
---|
| 2882 | if(getargs(argc, argv, &args))
|
---|
| 2883 | {
|
---|
[1088] | 2884 | int sockfd, numbytes;
|
---|
[27] | 2885 | char buf[MAXDATASIZE];
|
---|
[502] | 2886 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
[27] | 2887 | struct hostent *he;
|
---|
[502] | 2888 | struct servent *se;
|
---|
| 2889 | const char *server, *port, *proxyserver = 0;
|
---|
| 2890 | char proxyport[6];
|
---|
| 2891 | char *b;
|
---|
| 2892 | long i;
|
---|
| 2893 | struct timeval tv;
|
---|
[27] | 2894 |
|
---|
[502] | 2895 | alarm(ALARMTIME);
|
---|
| 2896 |
|
---|
[27] | 2897 | Parser.headerfile = args.headerfile;
|
---|
[502] | 2898 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
| 2899 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
| 2900 | Parser.rinex3 = args.rinex3;
|
---|
[27] | 2901 |
|
---|
[502] | 2902 | if(args.proxyhost)
|
---|
[27] | 2903 | {
|
---|
[502] | 2904 | int p;
|
---|
| 2905 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
| 2906 | p = i;
|
---|
| 2907 | else if(!(se = getservbyname(args.port, 0)))
|
---|
| 2908 | {
|
---|
| 2909 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
| 2910 | exit(1);
|
---|
| 2911 | }
|
---|
| 2912 | else
|
---|
| 2913 | {
|
---|
| 2914 | p = ntohs(se->s_port);
|
---|
| 2915 | }
|
---|
| 2916 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
| 2917 | port = args.proxyport;
|
---|
| 2918 | proxyserver = args.server;
|
---|
| 2919 | server = args.proxyhost;
|
---|
| 2920 | }
|
---|
| 2921 | else
|
---|
| 2922 | {
|
---|
| 2923 | server = args.server;
|
---|
| 2924 | port = args.port;
|
---|
| 2925 | }
|
---|
| 2926 |
|
---|
| 2927 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
| 2928 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
| 2929 | their_addr.sin_port = htons(i);
|
---|
| 2930 | else if(!(se = getservbyname(port, 0)))
|
---|
| 2931 | {
|
---|
| 2932 | RTCM3Error("Can't resolve port %s.", port);
|
---|
[27] | 2933 | exit(1);
|
---|
| 2934 | }
|
---|
[502] | 2935 | else
|
---|
| 2936 | {
|
---|
| 2937 | their_addr.sin_port = se->s_port;
|
---|
| 2938 | }
|
---|
| 2939 | if(!(he=gethostbyname(server)))
|
---|
| 2940 | {
|
---|
| 2941 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
| 2942 | exit(1);
|
---|
| 2943 | }
|
---|
[27] | 2944 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
| 2945 | {
|
---|
[502] | 2946 | perror("socket");
|
---|
[27] | 2947 | exit(1);
|
---|
| 2948 | }
|
---|
[477] | 2949 |
|
---|
| 2950 | tv.tv_sec = args.timeout;
|
---|
| 2951 | tv.tv_usec = 0;
|
---|
| 2952 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
| 2953 | {
|
---|
| 2954 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
| 2955 | exit(1);
|
---|
| 2956 | }
|
---|
| 2957 |
|
---|
[502] | 2958 | their_addr.sin_family = AF_INET;
|
---|
[27] | 2959 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
[502] | 2960 |
|
---|
| 2961 | if(args.data && args.mode == RTSP)
|
---|
[27] | 2962 | {
|
---|
[502] | 2963 | struct sockaddr_in local;
|
---|
| 2964 | int sockudp, localport;
|
---|
| 2965 | int cseq = 1;
|
---|
| 2966 | socklen_t len;
|
---|
[27] | 2967 |
|
---|
[502] | 2968 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
| 2969 | {
|
---|
| 2970 | perror("socket");
|
---|
| 2971 | exit(1);
|
---|
| 2972 | }
|
---|
| 2973 | /* fill structure with local address information for UDP */
|
---|
| 2974 | memset(&local, 0, sizeof(local));
|
---|
[1088] | 2975 | local.sin_family = AF_INET;
|
---|
[502] | 2976 | local.sin_port = htons(0);
|
---|
[1088] | 2977 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
[502] | 2978 | len = sizeof(local);
|
---|
[1088] | 2979 | /* bind() in order to get a random RTP client_port */
|
---|
[502] | 2980 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
| 2981 | {
|
---|
| 2982 | perror("bind");
|
---|
| 2983 | exit(1);
|
---|
| 2984 | }
|
---|
[1088] | 2985 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
[502] | 2986 | {
|
---|
[1088] | 2987 | localport = ntohs(local.sin_port);
|
---|
[502] | 2988 | }
|
---|
| 2989 | else
|
---|
| 2990 | {
|
---|
[1088] | 2991 | perror("local access failed");
|
---|
[502] | 2992 | exit(1);
|
---|
| 2993 | }
|
---|
| 2994 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 2995 | sizeof(struct sockaddr)) == -1)
|
---|
| 2996 | {
|
---|
| 2997 | perror("connect");
|
---|
| 2998 | exit(1);
|
---|
| 2999 | }
|
---|
[27] | 3000 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
[1088] | 3001 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 3002 | "CSeq: %d\r\n"
|
---|
[502] | 3003 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
| 3004 | "Ntrip-Component: Ntripclient\r\n"
|
---|
[27] | 3005 | "User-Agent: %s/%s\r\n"
|
---|
[502] | 3006 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
| 3007 | "Authorization: Basic ",
|
---|
| 3008 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 3009 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
[479] | 3010 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
[27] | 3011 | {
|
---|
[318] | 3012 | RTCM3Error("Requested data too long\n");
|
---|
[27] | 3013 | exit(1);
|
---|
| 3014 | }
|
---|
[339] | 3015 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 3016 | if(i > MAXDATASIZE-4)
|
---|
[27] | 3017 | {
|
---|
[318] | 3018 | RTCM3Error("Username and/or password too long\n");
|
---|
[27] | 3019 | exit(1);
|
---|
| 3020 | }
|
---|
[339] | 3021 | buf[i++] = '\r';
|
---|
| 3022 | buf[i++] = '\n';
|
---|
| 3023 | buf[i++] = '\r';
|
---|
| 3024 | buf[i++] = '\n';
|
---|
[502] | 3025 | if(args.nmea)
|
---|
[27] | 3026 | {
|
---|
[502] | 3027 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 3028 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 3029 | i += j;
|
---|
| 3030 | else
|
---|
[27] | 3031 | {
|
---|
[502] | 3032 | RTCM3Error("NMEA string too long\n");
|
---|
| 3033 | exit(1);
|
---|
| 3034 | }
|
---|
| 3035 | }
|
---|
| 3036 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 3037 | {
|
---|
| 3038 | perror("send");
|
---|
| 3039 | exit(1);
|
---|
| 3040 | }
|
---|
| 3041 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 3042 | {
|
---|
| 3043 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
[744] | 3044 | {
|
---|
[502] | 3045 | int serverport = 0, session = 0;
|
---|
| 3046 | const char *portcheck = "server_port=";
|
---|
| 3047 | const char *sessioncheck = "session: ";
|
---|
| 3048 | int l = strlen(portcheck)-1;
|
---|
| 3049 | int j=0;
|
---|
| 3050 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
[27] | 3051 | {
|
---|
[502] | 3052 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
| 3053 | ;
|
---|
| 3054 | }
|
---|
| 3055 | if(i == numbytes-l)
|
---|
| 3056 | {
|
---|
| 3057 | RTCM3Error("No server port number found\n");
|
---|
| 3058 | exit(1);
|
---|
| 3059 | }
|
---|
| 3060 | else
|
---|
| 3061 | {
|
---|
| 3062 | i+=l;
|
---|
| 3063 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 3064 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
| 3065 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
[27] | 3066 | {
|
---|
[502] | 3067 | RTCM3Error("Could not extract server port\n");
|
---|
| 3068 | exit(1);
|
---|
[27] | 3069 | }
|
---|
[502] | 3070 | }
|
---|
| 3071 | l = strlen(sessioncheck)-1;
|
---|
| 3072 | j=0;
|
---|
| 3073 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 3074 | {
|
---|
| 3075 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
| 3076 | ;
|
---|
| 3077 | }
|
---|
| 3078 | if(i == numbytes-l)
|
---|
| 3079 | {
|
---|
| 3080 | RTCM3Error("No session number found\n");
|
---|
[27] | 3081 | exit(1);
|
---|
| 3082 | }
|
---|
[502] | 3083 | else
|
---|
| 3084 | {
|
---|
| 3085 | i+=l;
|
---|
| 3086 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 3087 | session = session * 10 + buf[i++]-'0';
|
---|
| 3088 | if(buf[i] != '\r')
|
---|
| 3089 | {
|
---|
| 3090 | RTCM3Error("Could not extract session number\n");
|
---|
| 3091 | exit(1);
|
---|
| 3092 | }
|
---|
| 3093 | }
|
---|
| 3094 |
|
---|
| 3095 | i = snprintf(buf, MAXDATASIZE,
|
---|
[1088] | 3096 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
[502] | 3097 | "CSeq: %d\r\n"
|
---|
| 3098 | "Session: %d\r\n"
|
---|
[1088] | 3099 | "\r\n",
|
---|
[502] | 3100 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 3101 | args.data, cseq++, session);
|
---|
| 3102 |
|
---|
| 3103 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 3104 | {
|
---|
| 3105 | RTCM3Error("Requested data too long\n");
|
---|
| 3106 | exit(1);
|
---|
| 3107 | }
|
---|
| 3108 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 3109 | {
|
---|
| 3110 | perror("send");
|
---|
| 3111 | exit(1);
|
---|
| 3112 | }
|
---|
| 3113 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 3114 | {
|
---|
| 3115 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
| 3116 | {
|
---|
| 3117 | struct sockaddr_in addrRTP;
|
---|
| 3118 | /* fill structure with caster address information for UDP */
|
---|
| 3119 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
[1088] | 3120 | addrRTP.sin_family = AF_INET;
|
---|
[502] | 3121 | addrRTP.sin_port = htons(serverport);
|
---|
| 3122 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
| 3123 | len = sizeof(addrRTP);
|
---|
| 3124 | int ts = 0;
|
---|
| 3125 | int sn = 0;
|
---|
| 3126 | int ssrc = 0;
|
---|
| 3127 | int init = 0;
|
---|
| 3128 | int u, v, w;
|
---|
| 3129 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
| 3130 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
| 3131 | {
|
---|
| 3132 | alarm(ALARMTIME);
|
---|
| 3133 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
| 3134 | {
|
---|
| 3135 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
| 3136 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
| 3137 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
| 3138 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
| 3139 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
| 3140 |
|
---|
| 3141 | if(init)
|
---|
| 3142 | {
|
---|
[1091] | 3143 | int z;
|
---|
[502] | 3144 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
| 3145 | if(ssrc != w || ts > v)
|
---|
| 3146 | {
|
---|
| 3147 | RTCM3Error("Illegal UDP data received.\n");
|
---|
| 3148 | exit(1);
|
---|
| 3149 | }
|
---|
| 3150 | if(u > sn) /* don't show out-of-order packets */
|
---|
[1091] | 3151 | for(z = 12; z < i && !stop; ++z)
|
---|
| 3152 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
[502] | 3153 | }
|
---|
| 3154 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
| 3155 | }
|
---|
| 3156 | else
|
---|
| 3157 | {
|
---|
| 3158 | RTCM3Error("Illegal UDP header.\n");
|
---|
| 3159 | exit(1);
|
---|
| 3160 | }
|
---|
| 3161 | }
|
---|
| 3162 | }
|
---|
| 3163 | i = snprintf(buf, MAXDATASIZE,
|
---|
[1088] | 3164 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
[502] | 3165 | "CSeq: %d\r\n"
|
---|
| 3166 | "Session: %d\r\n"
|
---|
[1088] | 3167 | "\r\n",
|
---|
[502] | 3168 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 3169 | args.data, cseq++, session);
|
---|
| 3170 |
|
---|
| 3171 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 3172 | {
|
---|
| 3173 | RTCM3Error("Requested data too long\n");
|
---|
| 3174 | exit(1);
|
---|
| 3175 | }
|
---|
| 3176 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 3177 | {
|
---|
| 3178 | perror("send");
|
---|
| 3179 | exit(1);
|
---|
| 3180 | }
|
---|
| 3181 | }
|
---|
| 3182 | else
|
---|
| 3183 | {
|
---|
| 3184 | RTCM3Error("Could not start data stream.\n");
|
---|
| 3185 | exit(1);
|
---|
| 3186 | }
|
---|
[27] | 3187 | }
|
---|
| 3188 | else
|
---|
| 3189 | {
|
---|
[502] | 3190 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
| 3191 | exit(1);
|
---|
[27] | 3192 | }
|
---|
| 3193 | }
|
---|
[502] | 3194 | else
|
---|
| 3195 | {
|
---|
| 3196 | perror("recv");
|
---|
| 3197 | exit(1);
|
---|
| 3198 | }
|
---|
[27] | 3199 | }
|
---|
| 3200 | else
|
---|
| 3201 | {
|
---|
[502] | 3202 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 3203 | sizeof(struct sockaddr)) == -1)
|
---|
[27] | 3204 | {
|
---|
[502] | 3205 | perror("connect");
|
---|
| 3206 | exit(1);
|
---|
[27] | 3207 | }
|
---|
[502] | 3208 | if(!args.data)
|
---|
| 3209 | {
|
---|
| 3210 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 3211 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
| 3212 | "Host: %s\r\n%s"
|
---|
| 3213 | "User-Agent: %s/%s\r\n"
|
---|
[646] | 3214 | "Connection: close\r\n"
|
---|
[502] | 3215 | "\r\n"
|
---|
| 3216 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 3217 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 3218 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 3219 | AGENTSTRING, revisionstr);
|
---|
| 3220 | }
|
---|
| 3221 | else
|
---|
| 3222 | {
|
---|
| 3223 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
| 3224 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
| 3225 | "Host: %s\r\n%s"
|
---|
| 3226 | "User-Agent: %s/%s\r\n"
|
---|
[646] | 3227 | "Connection: close\r\n"
|
---|
[502] | 3228 | "Authorization: Basic "
|
---|
| 3229 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 3230 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 3231 | args.data, args.server,
|
---|
| 3232 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 3233 | AGENTSTRING, revisionstr);
|
---|
| 3234 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
| 3235 | {
|
---|
| 3236 | RTCM3Error("Requested data too long\n");
|
---|
| 3237 | exit(1);
|
---|
| 3238 | }
|
---|
| 3239 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 3240 | if(i > MAXDATASIZE-4)
|
---|
| 3241 | {
|
---|
| 3242 | RTCM3Error("Username and/or password too long\n");
|
---|
| 3243 | exit(1);
|
---|
| 3244 | }
|
---|
| 3245 | buf[i++] = '\r';
|
---|
| 3246 | buf[i++] = '\n';
|
---|
| 3247 | buf[i++] = '\r';
|
---|
| 3248 | buf[i++] = '\n';
|
---|
| 3249 | if(args.nmea)
|
---|
| 3250 | {
|
---|
| 3251 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 3252 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 3253 | i += j;
|
---|
| 3254 | else
|
---|
| 3255 | {
|
---|
| 3256 | RTCM3Error("NMEA string too long\n");
|
---|
| 3257 | exit(1);
|
---|
| 3258 | }
|
---|
| 3259 | }
|
---|
| 3260 | }
|
---|
| 3261 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 3262 | {
|
---|
| 3263 | perror("send");
|
---|
| 3264 | exit(1);
|
---|
| 3265 | }
|
---|
| 3266 | if(args.data)
|
---|
| 3267 | {
|
---|
| 3268 | int k = 0;
|
---|
| 3269 | int chunkymode = 0;
|
---|
| 3270 | int starttime = time(0);
|
---|
| 3271 | int lastout = starttime;
|
---|
| 3272 | int totalbytes = 0;
|
---|
| 3273 | int chunksize = 0;
|
---|
| 3274 |
|
---|
| 3275 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 3276 | {
|
---|
[1091] | 3277 | if(numbytes > 0)
|
---|
| 3278 | alarm(ALARMTIME);
|
---|
| 3279 | else
|
---|
| 3280 | {
|
---|
| 3281 | WaitMicro(100);
|
---|
| 3282 | continue;
|
---|
| 3283 | }
|
---|
[502] | 3284 | if(!k)
|
---|
| 3285 | {
|
---|
| 3286 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
| 3287 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
[744] | 3288 | {
|
---|
[502] | 3289 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
| 3290 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
| 3291 | int l = strlen(datacheck)-1;
|
---|
| 3292 | int j=0;
|
---|
| 3293 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 3294 | {
|
---|
| 3295 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
| 3296 | ;
|
---|
| 3297 | }
|
---|
| 3298 | if(i == numbytes-l)
|
---|
| 3299 | {
|
---|
| 3300 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
| 3301 | exit(1);
|
---|
| 3302 | }
|
---|
| 3303 | l = strlen(chunkycheck)-1;
|
---|
| 3304 | j=0;
|
---|
| 3305 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 3306 | {
|
---|
| 3307 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
| 3308 | ;
|
---|
| 3309 | }
|
---|
| 3310 | if(i < numbytes-l)
|
---|
| 3311 | chunkymode = 1;
|
---|
[1091] | 3312 | }
|
---|
[502] | 3313 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
| 3314 | {
|
---|
| 3315 | RTCM3Error("Could not get the requested data: ");
|
---|
| 3316 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
| 3317 | {
|
---|
| 3318 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
| 3319 | }
|
---|
| 3320 | RTCM3Error("\n");
|
---|
| 3321 | exit(1);
|
---|
| 3322 | }
|
---|
| 3323 | else if(args.mode != NTRIP1)
|
---|
| 3324 | {
|
---|
| 3325 | if(args.mode != AUTO)
|
---|
| 3326 | {
|
---|
| 3327 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
| 3328 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
| 3329 | }
|
---|
| 3330 | if(args.mode == HTTP)
|
---|
| 3331 | exit(1);
|
---|
| 3332 | }
|
---|
| 3333 | ++k;
|
---|
| 3334 | }
|
---|
| 3335 | else
|
---|
| 3336 | {
|
---|
| 3337 | if(chunkymode)
|
---|
| 3338 | {
|
---|
| 3339 | int stop = 0;
|
---|
| 3340 | int pos = 0;
|
---|
| 3341 | while(!stop && pos < numbytes)
|
---|
| 3342 | {
|
---|
| 3343 | switch(chunkymode)
|
---|
| 3344 | {
|
---|
| 3345 | case 1: /* reading number starts */
|
---|
| 3346 | chunksize = 0;
|
---|
| 3347 | ++chunkymode; /* no break */
|
---|
| 3348 | case 2: /* during reading number */
|
---|
| 3349 | i = buf[pos++];
|
---|
| 3350 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
| 3351 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
| 3352 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
| 3353 | else if(i == '\r') ++chunkymode;
|
---|
[646] | 3354 | else if(i == ';') chunkymode = 5;
|
---|
[502] | 3355 | else stop = 1;
|
---|
| 3356 | break;
|
---|
| 3357 | case 3: /* scanning for return */
|
---|
| 3358 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
| 3359 | else stop = 1;
|
---|
| 3360 | break;
|
---|
| 3361 | case 4: /* output data */
|
---|
| 3362 | i = numbytes-pos;
|
---|
| 3363 | if(i > chunksize) i = chunksize;
|
---|
| 3364 | {
|
---|
| 3365 | int z;
|
---|
| 3366 | for(z = 0; z < i && !stop; ++z)
|
---|
| 3367 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
| 3368 | }
|
---|
| 3369 | totalbytes += i;
|
---|
| 3370 | chunksize -= i;
|
---|
| 3371 | pos += i;
|
---|
| 3372 | if(!chunksize)
|
---|
| 3373 | chunkymode = 1;
|
---|
| 3374 | break;
|
---|
[646] | 3375 | case 5:
|
---|
| 3376 | if(i == '\r') chunkymode = 3;
|
---|
| 3377 | break;
|
---|
[502] | 3378 | }
|
---|
| 3379 | }
|
---|
| 3380 | if(stop)
|
---|
| 3381 | {
|
---|
| 3382 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
| 3383 | break;
|
---|
| 3384 | }
|
---|
| 3385 | }
|
---|
| 3386 | else
|
---|
| 3387 | {
|
---|
| 3388 | totalbytes += numbytes;
|
---|
| 3389 | {
|
---|
| 3390 | int z;
|
---|
| 3391 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
| 3392 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
| 3393 | }
|
---|
| 3394 | }
|
---|
| 3395 | if(totalbytes < 0) /* overflow */
|
---|
| 3396 | {
|
---|
| 3397 | totalbytes = 0;
|
---|
| 3398 | starttime = time(0);
|
---|
| 3399 | lastout = starttime;
|
---|
| 3400 | }
|
---|
| 3401 | }
|
---|
| 3402 | }
|
---|
| 3403 | }
|
---|
| 3404 | else
|
---|
| 3405 | {
|
---|
| 3406 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
| 3407 | {
|
---|
| 3408 | alarm(ALARMTIME);
|
---|
| 3409 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
| 3410 | }
|
---|
| 3411 | }
|
---|
| 3412 | close(sockfd);
|
---|
[27] | 3413 | }
|
---|
| 3414 | }
|
---|
| 3415 | return 0;
|
---|
| 3416 | }
|
---|
[268] | 3417 | #endif /* NO_RTCM3_MAIN */
|
---|