[27] | 1 | /*
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| 2 | Converter for RTCM3 data to RINEX.
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[2487] | 3 | $Id: rtcm3torinex.c 6599 2015-02-19 17:18:47Z stoecker $
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[4417] | 4 | Copyright (C) 2005-2012 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: 6599 $";
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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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[2860] | 138 | #define GETBITS64(b, a) \
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| 139 | { \
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| 140 | if(((a) > 56) && ((a)-56) > numbits) \
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| 141 | { \
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| 142 | uint64_t x; \
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| 143 | GETBITS(x, 56) \
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| 144 | LOADBITS((a)-56) \
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| 145 | b = ((x<<((a)-56)) | (bitfield<<(sizeof(bitfield)*8-numbits)) \
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| 146 | >>(sizeof(bitfield)*8-((a)-56))); \
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| 147 | numbits -= ((a)-56); \
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| 148 | } \
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| 149 | else \
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| 150 | { \
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| 151 | GETBITS(b, a) \
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| 152 | } \
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| 153 | }
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| 154 |
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| 155 | /* extract bits from data stream
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| 156 | b = variable to store result, a = number of bits */
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[27] | 157 | #define GETBITS(b, a) \
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| 158 | { \
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| 159 | LOADBITS(a) \
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| 160 | b = (bitfield<<(64-numbits))>>(64-(a)); \
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| 161 | numbits -= (a); \
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| 162 | }
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| 163 |
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[2756] | 164 | /* extract bits from data stream
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| 165 | b = variable to store result, a = number of bits */
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| 166 | #define GETBITSFACTOR(b, a, c) \
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| 167 | { \
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| 168 | LOADBITS(a) \
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| 169 | b = ((bitfield<<(sizeof(bitfield)*8-numbits))>>(sizeof(bitfield)*8-(a)))*(c); \
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| 170 | numbits -= (a); \
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| 171 | }
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| 172 |
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[502] | 173 | /* extract floating value from data stream
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| 174 | b = variable to store result, a = number of bits */
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| 175 | #define GETFLOAT(b, a, c) \
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| 176 | { \
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| 177 | LOADBITS(a) \
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| 178 | b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
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| 179 | numbits -= (a); \
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| 180 | }
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| 181 |
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| 182 | /* extract signed floating value from data stream
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| 183 | b = variable to store result, a = number of bits */
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| 184 | #define GETFLOATSIGN(b, a, c) \
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| 185 | { \
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| 186 | LOADBITS(a) \
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| 187 | b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
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| 188 | numbits -= (a); \
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| 189 | }
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| 190 |
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[27] | 191 | /* extract bits from data stream
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| 192 | b = variable to store result, a = number of bits */
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| 193 | #define GETBITSSIGN(b, a) \
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| 194 | { \
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| 195 | LOADBITS(a) \
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| 196 | b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
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| 197 | numbits -= (a); \
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| 198 | }
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| 199 |
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[502] | 200 | #define GETFLOATSIGNM(b, a, c) \
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| 201 | { int l; \
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| 202 | LOADBITS(a) \
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| 203 | l = (bitfield<<(64-numbits))>>(64-1); \
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| 204 | b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
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| 205 | numbits -= (a); \
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| 206 | if(l) b *= -1.0; \
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| 207 | }
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| 208 |
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[27] | 209 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
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| 210 |
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[1237] | 211 | /* extract byte-aligned byte from data stream,
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| 212 | b = variable to store size, s = variable to store string pointer */
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| 213 | #define GETSTRING(b, s) \
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| 214 | { \
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| 215 | b = *(data++); \
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| 216 | s = (char *) data; \
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| 217 | data += b; \
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| 218 | size -= b+1; \
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| 219 | }
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| 220 |
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[270] | 221 | struct leapseconds { /* specify the day of leap second */
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| 222 | int day; /* this is the day, where 23:59:59 exists 2 times */
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| 223 | int month; /* not the next day! */
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| 224 | int year;
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| 225 | int taicount;
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[744] | 226 | };
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[270] | 227 | static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
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| 228 | static const struct leapseconds leap[] = {
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[4367] | 229 | /*{31, 12, 1971, 10},*/
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| 230 | /*{30, 06, 1972, 11},*/
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[270] | 231 | /*{31, 12, 1972, 12},*/
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| 232 | /*{31, 12, 1973, 13},*/
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| 233 | /*{31, 12, 1974, 14},*/
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| 234 | /*{31, 12, 1975, 15},*/
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| 235 | /*{31, 12, 1976, 16},*/
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| 236 | /*{31, 12, 1977, 17},*/
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| 237 | /*{31, 12, 1978, 18},*/
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| 238 | /*{31, 12, 1979, 19},*/
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| 239 | {30, 06, 1981,20},
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| 240 | {30, 06, 1982,21},
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| 241 | {30, 06, 1983,22},
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| 242 | {30, 06, 1985,23},
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| 243 | {31, 12, 1987,24},
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| 244 | {31, 12, 1989,25},
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| 245 | {31, 12, 1990,26},
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| 246 | {30, 06, 1992,27},
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| 247 | {30, 06, 1993,28},
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| 248 | {30, 06, 1994,29},
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| 249 | {31, 12, 1995,30},
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| 250 | {30, 06, 1997,31},
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| 251 | {31, 12, 1998,32},
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| 252 | {31, 12, 2005,33},
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[959] | 253 | {31, 12, 2008,34},
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[4365] | 254 | {30, 06, 2012,35},
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[6538] | 255 | {30, 06, 2015,36},
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[270] | 256 | {0,0,0,0} /* end marker */
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| 257 | };
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[6538] | 258 | #define LEAPSECONDS 17 /* only needed for approx. time */
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[270] | 259 | #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
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| 260 |
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| 261 | static int longyear(int year, int month)
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| 262 | {
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| 263 | if(!(year % 4) && (!(year % 400) || (year % 100)))
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| 264 | {
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| 265 | if(!month || month == 2)
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| 266 | return 1;
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| 267 | }
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| 268 | return 0;
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| 269 | }
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| 270 |
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[2346] | 271 | int gnumleap(int year, int month, int day)
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[270] | 272 | {
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| 273 | int ls = 0;
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| 274 | const struct leapseconds *l;
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| 275 |
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| 276 | for(l = leap; l->taicount && year >= l->year; ++l)
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| 277 | {
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[1824] | 278 | if(year > l->year || month > l->month || (month == l->month && day > l->day))
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[270] | 279 | ls = l->taicount - GPSLEAPSTART;
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| 280 | }
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| 281 | return ls;
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| 282 | }
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| 283 |
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[2346] | 284 | /* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */
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| 285 | void updatetime(int *week, int *secOfWeek, int mSecOfWeek, int fixnumleap)
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[270] | 286 | {
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[502] | 287 | int y,m,d,k,l, nul;
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[2346] | 288 | unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60;
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[270] | 289 | int glo_daynumber = 0, glo_timeofday;
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| 290 | for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
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| 291 | + gnumleap(y+1,1,1); ++y)
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| 292 | {
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| 293 | j -= k; glo_daynumber += l;
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| 294 | }
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| 295 | for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
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| 296 | + gnumleap(y, m+1, 1); ++m)
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| 297 | {
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| 298 | j -= k; glo_daynumber += l;
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| 299 | }
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| 300 | for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
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| 301 | j -= 24*60*60;
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| 302 | glo_daynumber -= 16*365+4-d;
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[502] | 303 | nul = gnumleap(y, m, d);
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| 304 | glo_timeofday = j-nul;
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[270] | 305 |
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[3270] | 306 | // original version
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| 307 | // if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60)
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| 308 | // *secOfWeek += 24*60*60;
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| 309 | // else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000)
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| 310 | // *secOfWeek -= 24*60*60;
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| 311 |
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| 312 | // new version
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| 313 | if(mSecOfWeek < 4*60*60*1000 && glo_timeofday > 20*60*60)
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[2346] | 314 | *secOfWeek += 24*60*60;
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[3270] | 315 | else if(glo_timeofday < 4*60*60 && mSecOfWeek > 20*60*60*1000)
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[2346] | 316 | *secOfWeek -= 24*60*60;
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[3270] | 317 |
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[2346] | 318 | *secOfWeek += mSecOfWeek/1000-glo_timeofday;
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[502] | 319 | if(fixnumleap)
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[2346] | 320 | *secOfWeek -= nul;
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| 321 | if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; }
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| 322 | if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; }
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[270] | 323 | }
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| 324 |
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[268] | 325 | int RTCM3Parser(struct RTCM3ParserData *handle)
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[27] | 326 | {
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| 327 | int ret=0;
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| 328 |
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[1237] | 329 | #ifdef NO_RTCM3_MAIN
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| 330 | if(GetMessage(handle)) /* don't repeat */
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| 331 | #else
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[27] | 332 | while(!ret && GetMessage(handle))
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[1237] | 333 | #endif /* NO_RTCM3_MAIN */
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[27] | 334 | {
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| 335 | /* using 64 bit integer types, as it is much easier than handling
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| 336 | the long datatypes in 32 bit */
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| 337 | uint64_t numbits = 0, bitfield = 0;
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| 338 | int size = handle->size, type;
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[270] | 339 | int syncf, old = 0;
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[27] | 340 | unsigned char *data = handle->Message+3;
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| 341 |
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| 342 | GETBITS(type,12)
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[1097] | 343 | #ifdef NO_RTCM3_MAIN
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[1237] | 344 | handle->blocktype = type;
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[1092] | 345 | #endif /* NO_RTCM3_MAIN */
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[27] | 346 | switch(type)
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| 347 | {
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[1237] | 348 | #ifdef NO_RTCM3_MAIN
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| 349 | default:
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| 350 | ret = type;
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| 351 | break;
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| 352 | case 1005: case 1006:
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| 353 | {
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| 354 | SKIPBITS(22)
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| 355 | GETBITSSIGN(handle->antX, 38)
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| 356 | SKIPBITS(2)
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| 357 | GETBITSSIGN(handle->antY, 38)
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| 358 | SKIPBITS(2)
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| 359 | GETBITSSIGN(handle->antZ, 38)
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| 360 | if(type == 1006)
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| 361 | GETBITS(handle->antH, 16)
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| 362 | ret = type;
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| 363 | }
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| 364 | break;
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| 365 | case 1007: case 1008: case 1033:
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| 366 | {
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| 367 | char *antenna;
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| 368 | int antnum;
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| 369 |
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| 370 | SKIPBITS(12)
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| 371 | GETSTRING(antnum,antenna)
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| 372 | memcpy(handle->antenna, antenna, antnum);
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| 373 | handle->antenna[antnum] = 0;
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| 374 | ret = type;
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| 375 | }
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| 376 | break;
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[2501] | 377 | case 1013:
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| 378 | {
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| 379 | SKIPBITS(12);
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| 380 | GETBITS(handle->modjulday, 16);
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| 381 | GETBITS(handle->secofday, 17);
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| 382 | SKIPBITS(5);
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| 383 | GETBITS(handle->leapsec, 8);
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| 384 | ret = 1013;
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| 385 | }
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| 386 | break;
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[1237] | 387 | #endif /* NO_RTCM3_MAIN */
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[502] | 388 | case 1019:
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| 389 | {
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| 390 | struct gpsephemeris *ge;
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[2764] | 391 | int sv, i;
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[502] | 392 |
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| 393 | ge = &handle->ephemerisGPS;
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| 394 | memset(ge, 0, sizeof(*ge));
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| 395 |
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| 396 | GETBITS(sv, 6)
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| 397 | ge->satellite = (sv < 40 ? sv : sv+80);
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| 398 | GETBITS(ge->GPSweek, 10)
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| 399 | ge->GPSweek += 1024;
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| 400 | GETBITS(ge->URAindex, 4)
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| 401 | GETBITS(sv, 2)
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| 402 | if(sv & 1)
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| 403 | ge->flags |= GPSEPHF_L2PCODE;
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| 404 | if(sv & 2)
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| 405 | ge->flags |= GPSEPHF_L2CACODE;
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[1092] | 406 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
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[502] | 407 | GETBITS(ge->IODE, 8)
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| 408 | GETBITS(ge->TOC, 16)
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| 409 | ge->TOC <<= 4;
|
---|
| 410 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
|
---|
| 411 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 412 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 413 | GETBITS(ge->IODC, 10)
|
---|
| 414 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
|
---|
[1092] | 415 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 416 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
[502] | 417 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 418 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 419 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
|
---|
| 420 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 421 | GETBITS(ge->TOE, 16)
|
---|
| 422 | ge->TOE <<= 4;
|
---|
| 423 |
|
---|
| 424 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
|
---|
[1092] | 425 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
[502] | 426 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
|
---|
[1092] | 427 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
[502] | 428 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
---|
[1092] | 429 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 430 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
[502] | 431 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 432 | GETBITS(ge->SVhealth, 6)
|
---|
| 433 | GETBITS(sv, 1)
|
---|
| 434 | if(sv)
|
---|
| 435 | ge->flags |= GPSEPHF_L2PCODEDATA;
|
---|
[5332] | 436 | GETBITS(sv, 1)
|
---|
| 437 | if(sv)
|
---|
| 438 | ge->flags |= GPSEPHF_6HOURSFIT;
|
---|
[502] | 439 |
|
---|
[2764] | 440 | i = ((int)ge->GPSweek - (int)handle->GPSWeek)*7*24*60*60
|
---|
| 441 | + ((int)ge->TOE - (int)handle->GPSTOW) - 2*60*60;
|
---|
| 442 | if(i > 5*60*60 && i < 8*60*60)
|
---|
| 443 | {
|
---|
| 444 | handle->GPSTOW = ge->TOE;
|
---|
| 445 | handle->GPSWeek = ge->GPSweek;
|
---|
| 446 | }
|
---|
[2994] | 447 | ge->TOW = 0.9999E9;
|
---|
[502] | 448 | ret = 1019;
|
---|
| 449 | }
|
---|
| 450 | break;
|
---|
[6599] | 451 | case RTCM3ID_BDS:
|
---|
| 452 | {
|
---|
| 453 | struct bdsephemeris *be;
|
---|
| 454 | int sv, i, week, tow;
|
---|
| 455 | be = &handle->ephemerisBDS;
|
---|
| 456 | memset(be, 0, sizeof(*be));
|
---|
| 457 |
|
---|
| 458 | GETBITS(sv, 6)
|
---|
| 459 | be->satellite += PRN_BDS_START-1;
|
---|
| 460 | GETBITS(be->BDSweek, 13)
|
---|
| 461 | GETBITS(be->URAI, 4)
|
---|
| 462 | GETFLOATSIGN(be->IDOT, 14, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 463 | GETBITS(be->AODE, 5)
|
---|
| 464 | GETBITS(be->TOC, 17)
|
---|
| 465 | be->TOC <<= 3;
|
---|
| 466 | GETFLOATSIGN(be->clock_driftrate, 11, 1.0/(double)(1<<30)/(double)(1<<30)/(double)(1<<6))
|
---|
| 467 | GETFLOATSIGN(be->clock_drift, 22, 1.0/(double)(1<<30)/(double)(1<<20))
|
---|
| 468 | GETFLOATSIGN(be->clock_bias, 24, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 469 | GETBITS(be->AODC, 5)
|
---|
| 470 | GETFLOATSIGN(be->Crs, 18, 1.0/(double)(1<<6))
|
---|
| 471 | GETFLOATSIGN(be->Delta_n, 16, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 472 | GETFLOATSIGN(be->M0, 32, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 473 | GETFLOATSIGN(be->Cuc, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 474 | GETFLOAT(be->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 475 | GETFLOATSIGN(be->Cus, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 476 | GETFLOAT(be->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 477 | GETBITS(be->TOE, 17)
|
---|
| 478 | be->TOE <<= 3;
|
---|
| 479 | GETFLOATSIGN(be->Cic, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 480 | GETFLOATSIGN(be->OMEGA0, 32, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 481 | GETFLOATSIGN(be->Cis, 18, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 482 | GETFLOATSIGN(be->i0, 32, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 483 | GETFLOATSIGN(be->Crc, 18, 1.0/(double)(1<<8))
|
---|
| 484 | GETFLOATSIGN(be->omega, 32, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 485 | GETFLOATSIGN(be->OMEGADOT, 24, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 486 | GETFLOATSIGN(be->TGD_B1_B3, 10, 0.000000001)
|
---|
| 487 | GETFLOATSIGN(be->TGD_B2_B3, 10, 0.000000001)
|
---|
| 488 | GETBITS(sv, 1)
|
---|
| 489 | if(sv)
|
---|
| 490 | be->flags |= BDSEPHF_SATH1;
|
---|
| 491 | week = 1356+be->BDSweek;
|
---|
| 492 | tow = 14+be->TOE;
|
---|
| 493 | if(tow > 7*24*60*60) /* overflow due to leap */
|
---|
| 494 | {
|
---|
| 495 | ++week;
|
---|
| 496 | tow -= 7*24*60*60;
|
---|
| 497 | }
|
---|
| 498 | i = (week - (int)handle->GPSWeek)*7*24*60*60
|
---|
| 499 | + (tow - (int)handle->GPSTOW) - 2*60*60;
|
---|
| 500 | if(i > 5*60*60 && i < 8*60*60)
|
---|
| 501 | {
|
---|
| 502 | handle->GPSTOW = tow;
|
---|
| 503 | handle->GPSWeek = week;
|
---|
| 504 | }
|
---|
| 505 | ret = RTCM3ID_BDS;
|
---|
| 506 | }
|
---|
| 507 | break;
|
---|
[6329] | 508 | case 1043:
|
---|
| 509 | if(handle->GPSWeek)
|
---|
| 510 | {
|
---|
| 511 | struct sbasephemeris *gs;
|
---|
| 512 | int sv, i, time, tod, day;
|
---|
| 513 | gs = &handle->ephemerisSBAS;
|
---|
| 514 | memset(gs, 0, sizeof(*gs));
|
---|
| 515 |
|
---|
| 516 | GETBITS(sv, 6)
|
---|
| 517 | gs->satellite = PRN_SBAS_START+sv;
|
---|
| 518 | GETBITS(gs->IODN, 8)
|
---|
| 519 | GETBITS(time, 13)
|
---|
| 520 | time <<= 4;
|
---|
| 521 | gs->GPSweek_TOE = handle->GPSWeek;
|
---|
| 522 | GETBITS(gs->URA, 4)
|
---|
| 523 | GETFLOATSIGN(gs->x_pos, 30, 0.08)
|
---|
| 524 | GETFLOATSIGN(gs->y_pos, 30, 0.08)
|
---|
| 525 | GETFLOATSIGN(gs->z_pos, 25, 0.4)
|
---|
| 526 | GETFLOATSIGN(gs->x_velocity, 17, 0.000625)
|
---|
| 527 | GETFLOATSIGN(gs->y_velocity, 17, 0.000625)
|
---|
| 528 | GETFLOATSIGN(gs->z_velocity, 18, 0.004)
|
---|
| 529 | GETFLOATSIGN(gs->x_acceleration, 10, 0.0000125)
|
---|
| 530 | GETFLOATSIGN(gs->y_acceleration, 10, 0.0000125)
|
---|
| 531 | GETFLOATSIGN(gs->z_acceleration, 10, 0.0000625)
|
---|
| 532 | GETFLOATSIGN(gs->agf0, 12, 1.0/(1<<30)/(1<<1))
|
---|
| 533 | GETFLOATSIGN(gs->agf1, 8, 1.0/(1<<30)/(1<<10))
|
---|
| 534 |
|
---|
| 535 | /* calculate time */
|
---|
| 536 | tod = handle->GPSTOW%(24*60*60);
|
---|
| 537 | day = handle->GPSTOW/(24*60*60);
|
---|
| 538 | if(time > 19*60*60 && tod < 5*60*60)
|
---|
| 539 | --day;
|
---|
| 540 | else if(time < 5*60*60 && tod > 19*60*60)
|
---|
| 541 | ++day;
|
---|
| 542 | time += day*24*60*60;
|
---|
| 543 | if(time > 7*24*60*60)
|
---|
| 544 | ++gs->GPSweek_TOE;
|
---|
| 545 | else if(time < 0)
|
---|
| 546 | --gs->GPSweek_TOE;
|
---|
| 547 | gs->TOE = time;
|
---|
| 548 |
|
---|
| 549 | i = (gs->GPSweek_TOE - handle->GPSWeek)*7*24*60*60
|
---|
| 550 | + (gs->TOE - handle->GPSTOW) - 2*60*60;
|
---|
| 551 | if(i > 5*60*60 && i < 8*60*60)
|
---|
| 552 | {
|
---|
| 553 | handle->GPSTOW = gs->TOE;
|
---|
| 554 | handle->GPSWeek = gs->GPSweek_TOE;
|
---|
| 555 | }
|
---|
| 556 | gs->TOW = 0.9999E9;
|
---|
| 557 | ret = 1043;
|
---|
| 558 | }
|
---|
| 559 | break;
|
---|
[5595] | 560 | case 1044:
|
---|
| 561 | {
|
---|
| 562 | struct gpsephemeris *ge;
|
---|
| 563 | int sv, i;
|
---|
| 564 |
|
---|
| 565 | ge = &handle->ephemerisGPS;
|
---|
| 566 | memset(ge, 0, sizeof(*ge));
|
---|
| 567 |
|
---|
| 568 | GETBITS(sv, 4)
|
---|
| 569 | ge->satellite = PRN_QZSS_START+sv-1;
|
---|
| 570 | GETBITS(ge->TOC, 16)
|
---|
| 571 | ge->TOC <<= 4;
|
---|
| 572 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
|
---|
| 573 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
|
---|
| 574 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 575 | GETBITS(ge->IODE, 8)
|
---|
| 576 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
|
---|
| 577 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 578 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 579 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 580 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 581 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
|
---|
| 582 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 583 | GETBITS(ge->TOE, 16)
|
---|
| 584 | ge->TOE <<= 4;
|
---|
| 585 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
|
---|
| 586 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 587 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
|
---|
| 588 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 589 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
---|
| 590 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 591 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 592 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 593 | GETBITS(sv, 2)
|
---|
| 594 | if(sv & 1)
|
---|
| 595 | ge->flags |= GPSEPHF_L2PCODE;
|
---|
| 596 | if(sv & 2)
|
---|
| 597 | ge->flags |= GPSEPHF_L2CACODE;
|
---|
| 598 | GETBITS(ge->GPSweek, 10)
|
---|
| 599 | ge->GPSweek += 1024;
|
---|
| 600 | GETBITS(ge->URAindex, 4)
|
---|
| 601 | GETBITS(ge->SVhealth, 6)
|
---|
| 602 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
|
---|
| 603 | GETBITS(ge->IODC, 10)
|
---|
| 604 | GETBITS(sv, 1)
|
---|
| 605 | if(sv)
|
---|
| 606 | ge->flags |= GPSEPHF_6HOURSFIT;
|
---|
| 607 |
|
---|
| 608 | i = ((int)ge->GPSweek - (int)handle->GPSWeek)*7*24*60*60
|
---|
| 609 | + ((int)ge->TOE - (int)handle->GPSTOW) - 2*60*60;
|
---|
| 610 | if(i > 5*60*60 && i < 8*60*60)
|
---|
| 611 | {
|
---|
| 612 | handle->GPSTOW = ge->TOE;
|
---|
| 613 | handle->GPSWeek = ge->GPSweek;
|
---|
| 614 | }
|
---|
| 615 | ge->TOW = 0.9999E9;
|
---|
| 616 | ret = 1044;
|
---|
| 617 | }
|
---|
| 618 | break;
|
---|
[5318] | 619 | case 1045: case 1046:
|
---|
[2756] | 620 | {
|
---|
| 621 | struct galileoephemeris *ge;
|
---|
| 622 | int sv;
|
---|
| 623 |
|
---|
| 624 | ge = &handle->ephemerisGALILEO;
|
---|
| 625 | memset(ge, 0, sizeof(*ge));
|
---|
| 626 |
|
---|
| 627 | GETBITS(sv, 6)
|
---|
| 628 | ge->satellite = sv;
|
---|
| 629 | GETBITS(ge->Week, 12)
|
---|
| 630 | GETBITS(ge->IODnav, 10)
|
---|
| 631 | GETBITS(ge->SISA, 8)
|
---|
| 632 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 633 | GETBITSFACTOR(ge->TOC, 14, 60)
|
---|
| 634 | GETFLOATSIGN(ge->clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29))
|
---|
| 635 | GETFLOATSIGN(ge->clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16))
|
---|
| 636 | GETFLOATSIGN(ge->clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4))
|
---|
| 637 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
|
---|
| 638 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 639 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 640 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
|
---|
| 641 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
| 642 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
|
---|
| 643 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
| 644 | GETBITSFACTOR(ge->TOE, 14, 60)
|
---|
| 645 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
|
---|
| 646 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 647 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
|
---|
| 648 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 649 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
---|
| 650 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
| 651 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
| 652 | GETFLOATSIGN(ge->BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
[5318] | 653 | if(type == 1046)
|
---|
| 654 | {
|
---|
| 655 | GETFLOATSIGN(ge->BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
| 656 | GETBITS(ge->E5aHS, 2)
|
---|
| 657 | GETBITS(sv, 1)
|
---|
[5533] | 658 | ge->flags |= GALEPHF_INAV;
|
---|
[5318] | 659 | if(sv)
|
---|
| 660 | ge->flags |= GALEPHF_E5ADINVALID;
|
---|
| 661 | GETFLOATSIGN(ge->BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
| 662 | }
|
---|
| 663 | else
|
---|
| 664 | {
|
---|
[5533] | 665 | ge->flags |= GALEPHF_FNAV;
|
---|
[5318] | 666 | GETBITS(ge->E5bHS, 2)
|
---|
| 667 | GETBITS(sv, 1)
|
---|
| 668 | if(sv)
|
---|
| 669 | ge->flags |= GALEPHF_E5BDINVALID;
|
---|
| 670 | }
|
---|
| 671 | ret = type;
|
---|
[2756] | 672 | }
|
---|
| 673 | break;
|
---|
[502] | 674 | case 1020:
|
---|
| 675 | {
|
---|
| 676 | struct glonassephemeris *ge;
|
---|
| 677 | int i;
|
---|
| 678 |
|
---|
| 679 | ge = &handle->ephemerisGLONASS;
|
---|
| 680 | memset(ge, 0, sizeof(*ge));
|
---|
| 681 |
|
---|
| 682 | ge->flags |= GLOEPHF_PAVAILABLE;
|
---|
| 683 | GETBITS(ge->almanac_number, 6)
|
---|
| 684 | GETBITS(i, 5)
|
---|
| 685 | ge->frequency_number = i-7;
|
---|
[2659] | 686 | if(ge->almanac_number >= 1 && ge->almanac_number <= PRN_GLONASS_NUM)
|
---|
| 687 | handle->GLOFreq[ge->almanac_number-1] = 100+ge->frequency_number;
|
---|
[502] | 688 | GETBITS(i, 1)
|
---|
| 689 | if(i)
|
---|
| 690 | ge->flags |= GLOEPHF_ALMANACHEALTHY;
|
---|
| 691 | GETBITS(i, 1)
|
---|
| 692 | if(i)
|
---|
| 693 | ge->flags |= GLOEPHF_ALMANACHEALTHOK;
|
---|
| 694 | GETBITS(i, 2)
|
---|
| 695 | if(i & 1)
|
---|
| 696 | ge->flags |= GLOEPHF_P10TRUE;
|
---|
| 697 | if(i & 2)
|
---|
| 698 | ge->flags |= GLOEPHF_P11TRUE;
|
---|
| 699 | GETBITS(i, 5)
|
---|
| 700 | ge->tk = i*60*60;
|
---|
| 701 | GETBITS(i, 6)
|
---|
| 702 | ge->tk += i*60;
|
---|
| 703 | GETBITS(i, 1)
|
---|
| 704 | ge->tk += i*30;
|
---|
| 705 | GETBITS(i, 1)
|
---|
| 706 | if(i)
|
---|
| 707 | ge->flags |= GLOEPHF_UNHEALTHY;
|
---|
| 708 | GETBITS(i, 1)
|
---|
| 709 | if(i)
|
---|
| 710 | ge->flags |= GLOEPHF_P2TRUE;
|
---|
| 711 | GETBITS(i, 7)
|
---|
| 712 | ge->tb = i*15*60;
|
---|
| 713 | GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 714 | GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
|
---|
| 715 | GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 716 | GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 717 | GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
|
---|
| 718 | GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 719 | GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
|
---|
| 720 | GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
|
---|
| 721 | GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
|
---|
| 722 | GETBITS(i, 1)
|
---|
| 723 | if(i)
|
---|
| 724 | ge->flags |= GLOEPHF_P3TRUE;
|
---|
| 725 | GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
|
---|
| 726 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
|
---|
| 727 | GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
|
---|
| 728 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
|
---|
| 729 | GETBITS(ge->E, 5)
|
---|
| 730 | /* GETBITS(b, 1) / * GLONASS-M P4 */
|
---|
| 731 | /* GETBITS(b, 4) / * GLONASS-M Ft */
|
---|
| 732 | /* GETBITS(b, 11) / * GLONASS-M Nt */
|
---|
| 733 | /* GETBITS(b, 2) / * GLONASS-M M */
|
---|
| 734 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
| 735 | /* GETBITS(b, 11) / * GLONASS-M Na */
|
---|
| 736 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
| 737 | /* GETBITS(b, 5) / * GLONASS-M N4 */
|
---|
| 738 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
|
---|
| 739 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
|
---|
| 740 | ge->GPSWeek = handle->GPSWeek;
|
---|
| 741 | ge->GPSTOW = handle->GPSTOW;
|
---|
| 742 | ret = 1020;
|
---|
| 743 | }
|
---|
| 744 | break;
|
---|
[33] | 745 | case 1001: case 1002: case 1003: case 1004:
|
---|
[27] | 746 | if(handle->GPSWeek)
|
---|
| 747 | {
|
---|
| 748 | int lastlockl1[64];
|
---|
| 749 | int lastlockl2[64];
|
---|
| 750 | struct gnssdata *gnss;
|
---|
[1270] | 751 | int i, numsats, wasamb=0;
|
---|
[27] | 752 |
|
---|
| 753 | for(i = 0; i < 64; ++i)
|
---|
| 754 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 755 |
|
---|
[270] | 756 | gnss = &handle->DataNew;
|
---|
[27] | 757 |
|
---|
| 758 | SKIPBITS(12) /* id */
|
---|
| 759 | GETBITS(i,30)
|
---|
| 760 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
| 761 | ++handle->GPSWeek;
|
---|
| 762 | handle->GPSTOW = i/1000;
|
---|
[270] | 763 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 764 | != handle->GPSWeek))
|
---|
| 765 | {
|
---|
| 766 | handle->Data = *gnss;
|
---|
| 767 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 768 | old = 1;
|
---|
| 769 | }
|
---|
[27] | 770 | gnss->timeofweek = i;
|
---|
| 771 | gnss->week = handle->GPSWeek;
|
---|
| 772 |
|
---|
[270] | 773 | GETBITS(syncf,1) /* sync */
|
---|
[1270] | 774 | GETBITS(numsats,5)
|
---|
[27] | 775 | SKIPBITS(4) /* smind, smint */
|
---|
| 776 |
|
---|
[2352] | 777 | while(numsats-- && gnss->numsats < GNSS_MAXSATS)
|
---|
[27] | 778 | {
|
---|
[33] | 779 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[1270] | 780 | int fullsat, num;
|
---|
[27] | 781 |
|
---|
[1270] | 782 | GETBITS(sv, 6)
|
---|
| 783 | fullsat = sv < 40 ? sv : sv+80;
|
---|
| 784 | for(num = 0; num < gnss->numsats
|
---|
| 785 | && fullsat != gnss->satellites[num]; ++num)
|
---|
| 786 | ;
|
---|
| 787 |
|
---|
| 788 | if(num == gnss->numsats)
|
---|
| 789 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
| 790 |
|
---|
[27] | 791 | /* L1 */
|
---|
| 792 | GETBITS(code, 1);
|
---|
| 793 | if(code)
|
---|
| 794 | {
|
---|
| 795 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 796 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 797 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
[4796] | 798 | gnss->codetype[num][se] =
|
---|
[5156] | 799 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "1W";
|
---|
[27] | 800 | }
|
---|
| 801 | else
|
---|
| 802 | {
|
---|
| 803 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 804 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 805 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
[4796] | 806 | gnss->codetype[num][se] =
|
---|
[4430] | 807 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "1C";
|
---|
[27] | 808 | }
|
---|
[4959] | 809 | if(!handle->info[RTCM3_MSM_GPS].type[ce])
|
---|
| 810 | {
|
---|
| 811 | handle->info[RTCM3_MSM_GPS].type[ce] =
|
---|
| 812 | handle->info[RTCM3_MSM_GPS].type[le] =
|
---|
| 813 | handle->info[RTCM3_MSM_GPS].type[se] = gnss->codetype[num][ce][1];
|
---|
| 814 | }
|
---|
[27] | 815 | GETBITS(l1range, 24);
|
---|
| 816 | GETBITSSIGN(i, 20);
|
---|
[325] | 817 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[27] | 818 | {
|
---|
[744] | 819 | gnss->dataflags[num] |= (c|l);
|
---|
| 820 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
[27] | 821 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 822 | }
|
---|
| 823 | GETBITS(i, 7);
|
---|
| 824 | lastlockl1[sv] = i;
|
---|
[2500] | 825 | if(handle->lastlockGPSl1[sv] > i || i == 0)
|
---|
[2659] | 826 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
|
---|
[33] | 827 | if(type == 1002 || type == 1004)
|
---|
[27] | 828 | {
|
---|
[33] | 829 | GETBITS(amb,8);
|
---|
| 830 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 831 | {
|
---|
| 832 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
| 833 | gnss->measdata[num][le] += amb*299792.458;
|
---|
| 834 | ++wasamb;
|
---|
| 835 | }
|
---|
| 836 | GETBITS(i, 8);
|
---|
| 837 | if(i)
|
---|
| 838 | {
|
---|
| 839 | gnss->dataflags[num] |= s;
|
---|
| 840 | gnss->measdata[num][se] = i*0.25;
|
---|
| 841 | i /= 4*4;
|
---|
| 842 | if(i > 9) i = 9;
|
---|
| 843 | else if(i < 1) i = 1;
|
---|
| 844 | gnss->snrL1[num] = i;
|
---|
| 845 | }
|
---|
[27] | 846 | }
|
---|
[81] | 847 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
[33] | 848 | if(type == 1003 || type == 1004)
|
---|
[27] | 849 | {
|
---|
[33] | 850 | /* L2 */
|
---|
| 851 | GETBITS(code,2);
|
---|
| 852 | if(code)
|
---|
| 853 | {
|
---|
| 854 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 855 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 856 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
[2422] | 857 | if(code >= 2)
|
---|
[4430] | 858 | {
|
---|
[4796] | 859 | gnss->codetype[num][se] =
|
---|
[4430] | 860 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "2W";
|
---|
[2659] | 861 | gnss->dataflags2[num] |= GNSSDF2_XCORRL2;
|
---|
[4430] | 862 | }
|
---|
| 863 | else
|
---|
| 864 | {
|
---|
[4796] | 865 | gnss->codetype[num][se] =
|
---|
[4430] | 866 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "2P";
|
---|
| 867 | }
|
---|
[33] | 868 | }
|
---|
| 869 | else
|
---|
| 870 | {
|
---|
| 871 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 872 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 873 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
[4796] | 874 | gnss->codetype[num][se] =
|
---|
[5521] | 875 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "2 ";
|
---|
[33] | 876 | }
|
---|
[4959] | 877 | if(!handle->info[RTCM3_MSM_GPS].type[ce])
|
---|
| 878 | {
|
---|
| 879 | handle->info[RTCM3_MSM_GPS].type[ce] =
|
---|
| 880 | handle->info[RTCM3_MSM_GPS].type[le] =
|
---|
| 881 | handle->info[RTCM3_MSM_GPS].type[se] = gnss->codetype[num][ce][1];
|
---|
| 882 | }
|
---|
[33] | 883 | GETBITSSIGN(i,14);
|
---|
[325] | 884 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[33] | 885 | {
|
---|
| 886 | gnss->dataflags[num] |= c;
|
---|
| 887 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 888 | +amb*299792.458;
|
---|
| 889 | }
|
---|
| 890 | GETBITSSIGN(i,20);
|
---|
[325] | 891 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[33] | 892 | {
|
---|
| 893 | gnss->dataflags[num] |= l;
|
---|
| 894 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
| 895 | +amb*299792.458;
|
---|
| 896 | }
|
---|
| 897 | GETBITS(i,7);
|
---|
| 898 | lastlockl2[sv] = i;
|
---|
[2500] | 899 | if(handle->lastlockGPSl2[sv] > i || i == 0)
|
---|
[2659] | 900 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
|
---|
[33] | 901 | if(type == 1004)
|
---|
| 902 | {
|
---|
| 903 | GETBITS(i, 8);
|
---|
| 904 | if(i)
|
---|
| 905 | {
|
---|
| 906 | gnss->dataflags[num] |= s;
|
---|
| 907 | gnss->measdata[num][se] = i*0.25;
|
---|
| 908 | i /= 4*4;
|
---|
| 909 | if(i > 9) i = 9;
|
---|
| 910 | else if(i < 1) i = 1;
|
---|
| 911 | gnss->snrL2[num] = i;
|
---|
| 912 | }
|
---|
| 913 | }
|
---|
[81] | 914 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
[27] | 915 | }
|
---|
| 916 | }
|
---|
| 917 | for(i = 0; i < 64; ++i)
|
---|
| 918 | {
|
---|
[2490] | 919 | handle->lastlockGPSl1[i] = lastlockl1[i];
|
---|
| 920 | handle->lastlockGPSl2[i] = lastlockl2[i];
|
---|
[27] | 921 | }
|
---|
[270] | 922 | if(!syncf && !old)
|
---|
| 923 | {
|
---|
| 924 | handle->Data = *gnss;
|
---|
| 925 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 926 | }
|
---|
| 927 | if(!syncf || old)
|
---|
| 928 | {
|
---|
| 929 | if(wasamb) /* not RINEX compatible without */
|
---|
| 930 | ret = 1;
|
---|
| 931 | else
|
---|
| 932 | ret = 2;
|
---|
| 933 | }
|
---|
[1265] | 934 | #ifdef NO_RTCM3_MAIN
|
---|
| 935 | else
|
---|
| 936 | ret = type;
|
---|
| 937 | #endif /* NO_RTCM3_MAIN */
|
---|
[27] | 938 | }
|
---|
| 939 | break;
|
---|
[270] | 940 | case 1009: case 1010: case 1011: case 1012:
|
---|
| 941 | {
|
---|
| 942 | int lastlockl1[64];
|
---|
| 943 | int lastlockl2[64];
|
---|
| 944 | struct gnssdata *gnss;
|
---|
[1270] | 945 | int i, numsats;
|
---|
[270] | 946 | int wasamb=0;
|
---|
| 947 |
|
---|
| 948 | for(i = 0; i < 64; ++i)
|
---|
| 949 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
| 950 |
|
---|
| 951 | gnss = &handle->DataNew;
|
---|
| 952 |
|
---|
| 953 | SKIPBITS(12) /* id */;
|
---|
| 954 | GETBITS(i,27) /* tk */
|
---|
| 955 |
|
---|
[2346] | 956 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
[270] | 957 | i = handle->GPSTOW*1000;
|
---|
| 958 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 959 | != handle->GPSWeek))
|
---|
| 960 | {
|
---|
| 961 | handle->Data = *gnss;
|
---|
| 962 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 963 | old = 1;
|
---|
| 964 | }
|
---|
| 965 |
|
---|
| 966 | gnss->timeofweek = i;
|
---|
| 967 | gnss->week = handle->GPSWeek;
|
---|
| 968 |
|
---|
| 969 | GETBITS(syncf,1) /* sync */
|
---|
[1270] | 970 | GETBITS(numsats,5)
|
---|
[270] | 971 |
|
---|
| 972 | SKIPBITS(4) /* smind, smint */
|
---|
| 973 |
|
---|
[2352] | 974 | while(numsats-- && gnss->numsats < GNSS_MAXSATS)
|
---|
[270] | 975 | {
|
---|
| 976 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
[325] | 977 | int freq;
|
---|
[1270] | 978 | int fullsat, num;
|
---|
[270] | 979 |
|
---|
| 980 | GETBITS(sv, 6)
|
---|
[1270] | 981 | fullsat = sv-1 + PRN_GLONASS_START;
|
---|
| 982 | for(num = 0; num < gnss->numsats
|
---|
| 983 | && fullsat != gnss->satellites[num]; ++num)
|
---|
| 984 | ;
|
---|
| 985 |
|
---|
| 986 | if(num == gnss->numsats)
|
---|
| 987 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
| 988 |
|
---|
[325] | 989 | /* L1 */
|
---|
| 990 | GETBITS(code, 1)
|
---|
| 991 | GETBITS(freq, 5)
|
---|
[2346] | 992 |
|
---|
[2660] | 993 | if(sv >= 1 && sv <= PRN_GLONASS_NUM)
|
---|
| 994 | handle->GLOFreq[sv-1] = 100+freq-7;
|
---|
[2346] | 995 |
|
---|
[325] | 996 | if(code)
|
---|
[270] | 997 | {
|
---|
[325] | 998 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
| 999 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
| 1000 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
[4796] | 1001 | gnss->codetype[num][se] =
|
---|
[4430] | 1002 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "1P";
|
---|
[270] | 1003 | }
|
---|
| 1004 | else
|
---|
| 1005 | {
|
---|
[325] | 1006 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
| 1007 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
| 1008 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
[4796] | 1009 | gnss->codetype[num][se] =
|
---|
[4430] | 1010 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "1C";
|
---|
[325] | 1011 | }
|
---|
[4959] | 1012 | if(!handle->info[RTCM3_MSM_GLONASS].type[ce])
|
---|
| 1013 | {
|
---|
| 1014 | handle->info[RTCM3_MSM_GLONASS].type[ce] =
|
---|
| 1015 | handle->info[RTCM3_MSM_GLONASS].type[le] =
|
---|
| 1016 | handle->info[RTCM3_MSM_GLONASS].type[se] = gnss->codetype[num][ce][1];
|
---|
| 1017 | }
|
---|
[325] | 1018 | GETBITS(l1range, 25)
|
---|
| 1019 | GETBITSSIGN(i, 20)
|
---|
| 1020 | if((i&((1<<20)-1)) != 0x80000)
|
---|
| 1021 | {
|
---|
[744] | 1022 | /* Handle this like GPS. Actually for GLONASS L1 range is always
|
---|
| 1023 | valid. To be on the save side, we handle it as invalid like we
|
---|
| 1024 | do for GPS and also remove range in case of 0x80000. */
|
---|
| 1025 | gnss->dataflags[num] |= (c|l);
|
---|
| 1026 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
[325] | 1027 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
| 1028 | }
|
---|
| 1029 | GETBITS(i, 7)
|
---|
| 1030 | lastlockl1[sv] = i;
|
---|
[2500] | 1031 | if(handle->lastlockGLOl1[sv] > i || i == 0)
|
---|
[2659] | 1032 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
|
---|
[325] | 1033 | if(type == 1010 || type == 1012)
|
---|
| 1034 | {
|
---|
| 1035 | GETBITS(amb,7)
|
---|
| 1036 | if(amb && (gnss->dataflags[num] & c))
|
---|
| 1037 | {
|
---|
| 1038 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
| 1039 | gnss->measdata[num][le] += amb*599584.916;
|
---|
| 1040 | ++wasamb;
|
---|
| 1041 | }
|
---|
| 1042 | GETBITS(i, 8)
|
---|
| 1043 | if(i)
|
---|
| 1044 | {
|
---|
| 1045 | gnss->dataflags[num] |= s;
|
---|
| 1046 | gnss->measdata[num][se] = i*0.25;
|
---|
| 1047 | i /= 4*4;
|
---|
| 1048 | if(i > 9) i = 9;
|
---|
| 1049 | else if(i < 1) i = 1;
|
---|
| 1050 | gnss->snrL1[num] = i;
|
---|
| 1051 | }
|
---|
| 1052 | }
|
---|
| 1053 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
| 1054 | if(type == 1011 || type == 1012)
|
---|
| 1055 | {
|
---|
| 1056 | /* L2 */
|
---|
| 1057 | GETBITS(code,2)
|
---|
[270] | 1058 | if(code)
|
---|
| 1059 | {
|
---|
[325] | 1060 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
| 1061 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
| 1062 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
[4796] | 1063 | gnss->codetype[num][se] =
|
---|
[4430] | 1064 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "2P";
|
---|
[270] | 1065 | }
|
---|
| 1066 | else
|
---|
| 1067 | {
|
---|
[325] | 1068 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
| 1069 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
| 1070 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
[4796] | 1071 | gnss->codetype[num][se] =
|
---|
[4430] | 1072 | gnss->codetype[num][ce] = gnss->codetype[num][le] = "2C";
|
---|
[270] | 1073 | }
|
---|
[4959] | 1074 | if(!handle->info[RTCM3_MSM_GLONASS].type[ce])
|
---|
| 1075 | {
|
---|
| 1076 | handle->info[RTCM3_MSM_GLONASS].type[ce] =
|
---|
| 1077 | handle->info[RTCM3_MSM_GLONASS].type[le] =
|
---|
| 1078 | handle->info[RTCM3_MSM_GLONASS].type[se] = gnss->codetype[num][ce][1];
|
---|
| 1079 | }
|
---|
[325] | 1080 | GETBITSSIGN(i,14)
|
---|
| 1081 | if((i&((1<<14)-1)) != 0x2000)
|
---|
[270] | 1082 | {
|
---|
| 1083 | gnss->dataflags[num] |= c;
|
---|
[325] | 1084 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
| 1085 | +amb*599584.916;
|
---|
[270] | 1086 | }
|
---|
[325] | 1087 | GETBITSSIGN(i,20)
|
---|
| 1088 | if((i&((1<<20)-1)) != 0x80000)
|
---|
[270] | 1089 | {
|
---|
| 1090 | gnss->dataflags[num] |= l;
|
---|
[325] | 1091 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
[949] | 1092 | +amb*599584.916;
|
---|
[270] | 1093 | }
|
---|
[325] | 1094 | GETBITS(i,7)
|
---|
| 1095 | lastlockl2[sv] = i;
|
---|
[2500] | 1096 | if(handle->lastlockGLOl2[sv] > i || i == 0)
|
---|
[2659] | 1097 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
|
---|
[325] | 1098 | if(type == 1012)
|
---|
[270] | 1099 | {
|
---|
| 1100 | GETBITS(i, 8)
|
---|
| 1101 | if(i)
|
---|
| 1102 | {
|
---|
| 1103 | gnss->dataflags[num] |= s;
|
---|
| 1104 | gnss->measdata[num][se] = i*0.25;
|
---|
| 1105 | i /= 4*4;
|
---|
| 1106 | if(i > 9) i = 9;
|
---|
| 1107 | else if(i < 1) i = 1;
|
---|
[325] | 1108 | gnss->snrL2[num] = i;
|
---|
[270] | 1109 | }
|
---|
| 1110 | }
|
---|
[325] | 1111 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
[270] | 1112 | }
|
---|
[1270] | 1113 | if(!sv || sv > 24) /* illegal, remove it again */
|
---|
| 1114 | --gnss->numsats;
|
---|
[270] | 1115 | }
|
---|
| 1116 | for(i = 0; i < 64; ++i)
|
---|
| 1117 | {
|
---|
[2490] | 1118 | handle->lastlockGLOl1[i] = lastlockl1[i];
|
---|
| 1119 | handle->lastlockGLOl2[i] = lastlockl2[i];
|
---|
[270] | 1120 | }
|
---|
| 1121 | if(!syncf && !old)
|
---|
| 1122 | {
|
---|
| 1123 | handle->Data = *gnss;
|
---|
| 1124 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 1125 | }
|
---|
| 1126 | if(!syncf || old)
|
---|
| 1127 | {
|
---|
| 1128 | if(wasamb) /* not RINEX compatible without */
|
---|
| 1129 | ret = 1;
|
---|
| 1130 | else
|
---|
| 1131 | ret = 2;
|
---|
| 1132 | }
|
---|
[1265] | 1133 | #ifdef NO_RTCM3_MAIN
|
---|
| 1134 | else
|
---|
| 1135 | ret = type;
|
---|
| 1136 | #endif /* NO_RTCM3_MAIN */
|
---|
[270] | 1137 | }
|
---|
| 1138 | break;
|
---|
[4367] | 1139 | case 1071: case 1081: case 1091: case 1101: case 1111: case 1121:
|
---|
| 1140 | case 1072: case 1082: case 1092: case 1102: case 1112: case 1122:
|
---|
| 1141 | case 1073: case 1083: case 1093: case 1103: case 1113: case 1123:
|
---|
| 1142 | case 1074: case 1084: case 1094: case 1104: case 1114: case 1124:
|
---|
| 1143 | case 1075: case 1085: case 1095: case 1105: case 1115: case 1125:
|
---|
| 1144 | case 1076: case 1086: case 1096: case 1106: case 1116: case 1126:
|
---|
| 1145 | case 1077: case 1087: case 1097: case 1107: case 1117: case 1127:
|
---|
[2659] | 1146 | if(handle->GPSWeek)
|
---|
| 1147 | {
|
---|
| 1148 | struct CodeData {
|
---|
| 1149 | int typeR;
|
---|
| 1150 | int typeP;
|
---|
| 1151 | int typeD;
|
---|
| 1152 | int typeS;
|
---|
| 1153 | int lock;
|
---|
| 1154 | double wl;
|
---|
| 1155 | const char *code; /* currently unused */
|
---|
| 1156 | };
|
---|
| 1157 | struct CodeData gps[RTCM3_MSM_NUMSIG] =
|
---|
| 1158 | {
|
---|
| 1159 | {0,0,0,0,0,0,0},
|
---|
| 1160 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 1161 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"},
|
---|
| 1162 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 1163 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"},
|
---|
| 1164 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 1165 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1W"},
|
---|
[3581] | 1166 | {0,0,0,0,0,0,0}/*{GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 1167 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1Y"}*/,
|
---|
[2659] | 1168 | {0,0,0,0,0,0,0},
|
---|
| 1169 | {0,0,0,0,0,0,0},
|
---|
| 1170 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1171 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2C"},
|
---|
| 1172 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 1173 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2P"},
|
---|
| 1174 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 1175 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2W"},
|
---|
[3581] | 1176 | {0,0,0,0,0,0,0}/*{GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 1177 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2Y"}*/,
|
---|
[2659] | 1178 | {0,0,0,0,0,0,0},
|
---|
| 1179 | {0,0,0,0,0,0,0},
|
---|
| 1180 | {0,0,0,0,0,0,0},
|
---|
| 1181 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1182 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"},
|
---|
| 1183 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1184 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"},
|
---|
| 1185 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1186 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"},
|
---|
| 1187 | {0,0,0,0,0,0,0},
|
---|
| 1188 | {0,0,0,0,0,0,0},
|
---|
| 1189 | {0,0,0,0,0,0,0},
|
---|
| 1190 | {0,0,0,0,0,0,0},
|
---|
| 1191 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1192 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"},
|
---|
| 1193 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1194 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"},
|
---|
| 1195 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
[3581] | 1196 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"},
|
---|
| 1197 | {0,0,0,0,0,0,0},
|
---|
| 1198 | {0,0,0,0,0,0,0},
|
---|
| 1199 | {0,0,0,0,0,0,0},
|
---|
| 1200 | {0,0,0,0,0,0,0},
|
---|
| 1201 | {0,0,0,0,0,0,0},
|
---|
[4367] | 1202 | {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
|
---|
| 1203 | GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1S"},
|
---|
| 1204 | {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
|
---|
| 1205 | GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1L"},
|
---|
| 1206 | {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
|
---|
| 1207 | GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"}
|
---|
[2659] | 1208 | };
|
---|
| 1209 | /* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! */
|
---|
| 1210 | struct CodeData glo[RTCM3_MSM_NUMSIG] =
|
---|
| 1211 | {
|
---|
| 1212 | {0,0,0,0,0,0,0},
|
---|
| 1213 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 1214 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,0.0,"1C"},
|
---|
| 1215 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
| 1216 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,0.0,"1P"},
|
---|
| 1217 | {0,0,0,0,0,0,0},
|
---|
| 1218 | {0,0,0,0,0,0,0},
|
---|
| 1219 | {0,0,0,0,0,0,0},
|
---|
| 1220 | {0,0,0,0,0,0,0},
|
---|
| 1221 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1222 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,1.0,"2C"},
|
---|
| 1223 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
| 1224 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,1.0,"2P"},
|
---|
| 1225 | {0,0,0,0,0,0,0},
|
---|
| 1226 | {0,0,0,0,0,0,0},
|
---|
| 1227 | {0,0,0,0,0,0,0},
|
---|
| 1228 | {0,0,0,0,0,0,0},
|
---|
| 1229 | {0,0,0,0,0,0,0},
|
---|
| 1230 | {0,0,0,0,0,0,0},
|
---|
| 1231 | {0,0,0,0,0,0,0},
|
---|
| 1232 | {0,0,0,0,0,0,0},
|
---|
| 1233 | {0,0,0,0,0,0,0},
|
---|
| 1234 | {0,0,0,0,0,0,0},
|
---|
| 1235 | {0,0,0,0,0,0,0},
|
---|
| 1236 | {0,0,0,0,0,0,0},
|
---|
| 1237 | {0,0,0,0,0,0,0},
|
---|
| 1238 | {0,0,0,0,0,0,0},
|
---|
[3581] | 1239 | {0,0,0,0,0,0,0},
|
---|
| 1240 | {0,0,0,0,0,0,0},
|
---|
| 1241 | {0,0,0,0,0,0,0},
|
---|
| 1242 | {0,0,0,0,0,0,0},
|
---|
| 1243 | {0,0,0,0,0,0,0},
|
---|
| 1244 | {0,0,0,0,0,0,0},
|
---|
| 1245 | {0,0,0,0,0,0,0},
|
---|
| 1246 | {0,0,0,0,0,0,0},
|
---|
[2659] | 1247 | {0,0,0,0,0,0,0}
|
---|
| 1248 | };
|
---|
| 1249 | struct CodeData gal[RTCM3_MSM_NUMSIG] =
|
---|
| 1250 | {
|
---|
| 1251 | {0,0,0,0,0,0,0},
|
---|
| 1252 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 1253 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1C"},
|
---|
[4958] | 1254 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
[4955] | 1255 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1A"},
|
---|
[2659] | 1256 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 1257 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1B"},
|
---|
[4228] | 1258 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
[4955] | 1259 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1X"},
|
---|
[4958] | 1260 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
[4955] | 1261 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1Z"},
|
---|
[2659] | 1262 | {0,0,0,0,0,0,0},
|
---|
| 1263 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
[3581] | 1264 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6C"},
|
---|
[4958] | 1265 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
[4955] | 1266 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6A"},
|
---|
[2659] | 1267 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
[3581] | 1268 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6B"},
|
---|
[4958] | 1269 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
[4955] | 1270 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6X"},
|
---|
[4958] | 1271 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
[4955] | 1272 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Z"},
|
---|
[2659] | 1273 | {0,0,0,0,0,0,0},
|
---|
| 1274 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
| 1275 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7I"},
|
---|
| 1276 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
| 1277 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7Q"},
|
---|
[4228] | 1278 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
[4955] | 1279 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7X"},
|
---|
[2659] | 1280 | {0,0,0,0,0,0,0},
|
---|
| 1281 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
| 1282 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8I"},
|
---|
| 1283 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
| 1284 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8Q"},
|
---|
[4228] | 1285 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
[4955] | 1286 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8X"},
|
---|
[2659] | 1287 | {0,0,0,0,0,0,0},
|
---|
| 1288 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1289 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5I"},
|
---|
| 1290 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1291 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5Q"},
|
---|
[4228] | 1292 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
[4955] | 1293 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5X"},
|
---|
[3581] | 1294 | {0,0,0,0,0,0,0},
|
---|
| 1295 | {0,0,0,0,0,0,0},
|
---|
| 1296 | {0,0,0,0,0,0,0},
|
---|
| 1297 | {0,0,0,0,0,0,0},
|
---|
| 1298 | {0,0,0,0,0,0,0},
|
---|
| 1299 | {0,0,0,0,0,0,0},
|
---|
| 1300 | {0,0,0,0,0,0,0},
|
---|
| 1301 | {0,0,0,0,0,0,0},
|
---|
[2659] | 1302 | };
|
---|
[4367] | 1303 | struct CodeData qzss[RTCM3_MSM_NUMSIG] =
|
---|
| 1304 | {
|
---|
| 1305 | {0,0,0,0,0,0,0},
|
---|
| 1306 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
| 1307 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"},
|
---|
| 1308 | {0,0,0,0,0,0,0},
|
---|
| 1309 | {0,0,0,0,0,0,0},
|
---|
| 1310 | {0,0,0,0,0,0,0},
|
---|
| 1311 | {GNSSENTRY_CSAIFDATA,GNSSENTRY_LSAIFDATA,GNSSENTRY_DSAIFDATA,
|
---|
| 1312 | GNSSENTRY_SSAIFDATA,GNSSDF2_LOCKLOSSSAIF,GPS_WAVELENGTH_L1,"1Z"},
|
---|
| 1313 | {0,0,0,0,0,0,0},
|
---|
| 1314 | {0,0,0,0,0,0,0},
|
---|
| 1315 | {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA,
|
---|
| 1316 | GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6S"},
|
---|
| 1317 | {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA,
|
---|
| 1318 | GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6L"},
|
---|
| 1319 | {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA,
|
---|
| 1320 | GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6X"},
|
---|
[4498] | 1321 | {0,0,0,0,0,0,0},
|
---|
| 1322 | {0,0,0,0,0,0,0},
|
---|
| 1323 | {0,0,0,0,0,0,0},
|
---|
[4367] | 1324 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1325 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"},
|
---|
| 1326 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1327 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"},
|
---|
| 1328 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
| 1329 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"},
|
---|
| 1330 | {0,0,0,0,0,0,0},
|
---|
| 1331 | {0,0,0,0,0,0,0},
|
---|
| 1332 | {0,0,0,0,0,0,0},
|
---|
| 1333 | {0,0,0,0,0,0,0},
|
---|
| 1334 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1335 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"},
|
---|
| 1336 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1337 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"},
|
---|
| 1338 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
| 1339 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"},
|
---|
| 1340 | {0,0,0,0,0,0,0},
|
---|
| 1341 | {0,0,0,0,0,0,0},
|
---|
| 1342 | {0,0,0,0,0,0,0},
|
---|
| 1343 | {0,0,0,0,0,0,0},
|
---|
[4535] | 1344 | {0,0,0,0,0,0,0},
|
---|
[4498] | 1345 | {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
|
---|
| 1346 | GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1D"},
|
---|
| 1347 | {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
|
---|
| 1348 | GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"},
|
---|
| 1349 | {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
|
---|
| 1350 | GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"}
|
---|
[4367] | 1351 | };
|
---|
[6599] | 1352 | struct CodeData bds[RTCM3_MSM_NUMSIG] =
|
---|
[4367] | 1353 | {
|
---|
| 1354 | {0,0,0,0,0,0,0},
|
---|
| 1355 | {GNSSENTRY_CB1DATA,GNSSENTRY_LB1DATA,GNSSENTRY_DB1DATA,
|
---|
[6599] | 1356 | GNSSENTRY_SB1DATA,GNSSDF2_LOCKLOSSB1,BDS_WAVELENGTH_B1,"1I"},
|
---|
[4367] | 1357 | {0,0,0,0,0,0,0},
|
---|
| 1358 | {0,0,0,0,0,0,0},
|
---|
| 1359 | {0,0,0,0,0,0,0},
|
---|
| 1360 | {0,0,0,0,0,0,0},
|
---|
| 1361 | {0,0,0,0,0,0,0},
|
---|
| 1362 | {GNSSENTRY_CB3DATA,GNSSENTRY_LB3DATA,GNSSENTRY_DB3DATA,
|
---|
[6599] | 1363 | GNSSENTRY_SB3DATA,GNSSDF2_LOCKLOSSB3,BDS_WAVELENGTH_B3,"6I"},
|
---|
[4367] | 1364 | {0,0,0,0,0,0,0},
|
---|
| 1365 | {0,0,0,0,0,0,0},
|
---|
| 1366 | {0,0,0,0,0,0,0},
|
---|
| 1367 | {0,0,0,0,0,0,0},
|
---|
| 1368 | {0,0,0,0,0,0,0},
|
---|
| 1369 | {GNSSENTRY_CB2DATA,GNSSENTRY_LB2DATA,GNSSENTRY_DB2DATA,
|
---|
[6599] | 1370 | GNSSENTRY_SB2DATA,GNSSDF2_LOCKLOSSB2,BDS_WAVELENGTH_B2,"7I"},
|
---|
[4367] | 1371 | {0,0,0,0,0,0,0},
|
---|
| 1372 | {0,0,0,0,0,0,0},
|
---|
| 1373 | {0,0,0,0,0,0,0},
|
---|
| 1374 | {0,0,0,0,0,0,0},
|
---|
| 1375 | {0,0,0,0,0,0,0},
|
---|
| 1376 | {0,0,0,0,0,0,0},
|
---|
| 1377 | {0,0,0,0,0,0,0},
|
---|
| 1378 | {0,0,0,0,0,0,0},
|
---|
| 1379 | {0,0,0,0,0,0,0},
|
---|
| 1380 | {0,0,0,0,0,0,0},
|
---|
| 1381 | {0,0,0,0,0,0,0},
|
---|
| 1382 | {0,0,0,0,0,0,0},
|
---|
| 1383 | {0,0,0,0,0,0,0},
|
---|
| 1384 | {0,0,0,0,0,0,0},
|
---|
| 1385 | {0,0,0,0,0,0,0},
|
---|
| 1386 | {0,0,0,0,0,0,0},
|
---|
| 1387 | {0,0,0,0,0,0,0},
|
---|
| 1388 | {0,0,0,0,0,0,0},
|
---|
| 1389 | };
|
---|
[2659] | 1390 |
|
---|
[4371] | 1391 | int sys = RTCM3_MSM_GPS, i=0, count, j, old = 0, wasnoamb = 0,
|
---|
| 1392 | start=PRN_GPS_START;
|
---|
[2659] | 1393 | int syncf, sigmask, numsat = 0, numsig = 0, numcells;
|
---|
| 1394 | uint64_t satmask, cellmask, ui;
|
---|
| 1395 | double rrmod[RTCM3_MSM_NUMSAT];
|
---|
[3581] | 1396 | int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
|
---|
| 1397 | extsat[RTCM3_MSM_NUMSAT];
|
---|
[5358] | 1398 | int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/;
|
---|
[2659] | 1399 | double cnr[RTCM3_MSM_NUMCELLS];
|
---|
| 1400 | double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
|
---|
| 1401 | dop[RTCM3_MSM_NUMCELLS];
|
---|
| 1402 | struct gnssdata *gnss = &handle->DataNew;
|
---|
| 1403 |
|
---|
| 1404 | SKIPBITS(12)
|
---|
[4367] | 1405 | if(type >= 1121)
|
---|
[4371] | 1406 | {
|
---|
[6599] | 1407 | sys = RTCM3_MSM_BDS;
|
---|
| 1408 | start = PRN_BDS_START;
|
---|
[4371] | 1409 | }
|
---|
[4367] | 1410 | else if(type >= 1111)
|
---|
[4371] | 1411 | {
|
---|
[4367] | 1412 | sys = RTCM3_MSM_QZSS;
|
---|
[4371] | 1413 | start = PRN_QZSS_START;
|
---|
| 1414 | }
|
---|
[4367] | 1415 | else if(type >= 1101)
|
---|
[4371] | 1416 | {
|
---|
[4367] | 1417 | sys = RTCM3_MSM_SBAS;
|
---|
[4371] | 1418 | start = PRN_SBAS_START;
|
---|
| 1419 | }
|
---|
[4367] | 1420 | else if(type >= 1091)
|
---|
[4371] | 1421 | {
|
---|
[2659] | 1422 | sys = RTCM3_MSM_GALILEO;
|
---|
[4371] | 1423 | start = PRN_GALILEO_START;
|
---|
| 1424 | }
|
---|
[2659] | 1425 | else if(type >= 1081)
|
---|
[4371] | 1426 | {
|
---|
[2659] | 1427 | sys = RTCM3_MSM_GLONASS;
|
---|
[4371] | 1428 | start = PRN_GLONASS_START;
|
---|
| 1429 | }
|
---|
[2659] | 1430 |
|
---|
[4383] | 1431 | for(i = 0; i < RTCM3_MSM_NUMSAT; ++i)
|
---|
| 1432 | extsat[i] = 15;
|
---|
| 1433 |
|
---|
[2659] | 1434 | switch(sys)
|
---|
| 1435 | {
|
---|
[6599] | 1436 | case RTCM3_MSM_BDS:
|
---|
[5152] | 1437 | GETBITS(i,30)
|
---|
| 1438 | i += 14000;
|
---|
| 1439 | if(i >= 7*24*60*60*1000)
|
---|
| 1440 | i -= 7*24*60*60*1000;
|
---|
| 1441 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
| 1442 | ++handle->GPSWeek;
|
---|
| 1443 | handle->GPSTOW = i/1000;
|
---|
| 1444 | break;
|
---|
[2659] | 1445 | case RTCM3_MSM_GALILEO: /* use DF004 instead of DF248 */
|
---|
[4367] | 1446 | case RTCM3_MSM_QZSS:
|
---|
| 1447 | case RTCM3_MSM_SBAS:
|
---|
[2659] | 1448 | case RTCM3_MSM_GPS:
|
---|
| 1449 | GETBITS(i,30)
|
---|
| 1450 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
| 1451 | ++handle->GPSWeek;
|
---|
| 1452 | handle->GPSTOW = i/1000;
|
---|
| 1453 | break;
|
---|
| 1454 | case RTCM3_MSM_GLONASS:
|
---|
| 1455 | SKIPBITS(3)
|
---|
| 1456 | GETBITS(i,27) /* tk */
|
---|
| 1457 |
|
---|
| 1458 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
| 1459 | i = handle->GPSTOW*1000;
|
---|
| 1460 | break;
|
---|
| 1461 | }
|
---|
| 1462 |
|
---|
| 1463 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
| 1464 | != handle->GPSWeek))
|
---|
| 1465 | {
|
---|
| 1466 | handle->Data = *gnss;
|
---|
| 1467 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 1468 | old = 1;
|
---|
| 1469 | }
|
---|
| 1470 | gnss->timeofweek = i;
|
---|
| 1471 | gnss->week = handle->GPSWeek;
|
---|
| 1472 |
|
---|
| 1473 | GETBITS(syncf, 1)
|
---|
[3581] | 1474 | SKIPBITS(3+7+2+2+1+3)
|
---|
[2860] | 1475 | GETBITS64(satmask, RTCM3_MSM_NUMSAT)
|
---|
[2659] | 1476 |
|
---|
| 1477 | /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
|
---|
| 1478 | for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
|
---|
| 1479 | ++numsat;
|
---|
| 1480 | GETBITS(sigmask, RTCM3_MSM_NUMSIG)
|
---|
| 1481 | for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
|
---|
| 1482 | ++numsig;
|
---|
| 1483 | i = numsat*numsig;
|
---|
[2860] | 1484 | GETBITS64(cellmask, (unsigned)i)
|
---|
[2659] | 1485 |
|
---|
| 1486 | switch(type % 10)
|
---|
| 1487 | {
|
---|
| 1488 | case 1: case 2: case 3:
|
---|
[2668] | 1489 | ++wasnoamb;
|
---|
[2659] | 1490 | for(j = numsat; j--;)
|
---|
[3581] | 1491 | GETFLOAT(rrmod[j], 10, 1.0/1024.0)
|
---|
[2659] | 1492 | break;
|
---|
| 1493 | case 4: case 6:
|
---|
| 1494 | for(j = numsat; j--;)
|
---|
| 1495 | GETBITS(rrint[j], 8)
|
---|
| 1496 | for(j = numsat; j--;)
|
---|
[3581] | 1497 | GETFLOAT(rrmod[j], 10, 1.0/1024.0)
|
---|
[2659] | 1498 | break;
|
---|
| 1499 | case 5: case 7:
|
---|
| 1500 | for(j = numsat; j--;)
|
---|
| 1501 | GETBITS(rrint[j], 8)
|
---|
| 1502 | for(j = numsat; j--;)
|
---|
[3581] | 1503 | GETBITS(extsat[j], 4)
|
---|
[2659] | 1504 | for(j = numsat; j--;)
|
---|
[3581] | 1505 | GETFLOAT(rrmod[j], 10, 1.0/1024.0)
|
---|
| 1506 | for(j = numsat; j--;)
|
---|
[2659] | 1507 | GETBITSSIGN(rdop[j], 14)
|
---|
| 1508 | break;
|
---|
| 1509 | }
|
---|
| 1510 |
|
---|
| 1511 | numcells = numsat*numsig;
|
---|
| 1512 | if(numcells <= RTCM3_MSM_NUMCELLS)
|
---|
| 1513 | {
|
---|
| 1514 | switch(type % 10)
|
---|
| 1515 | {
|
---|
| 1516 | case 1:
|
---|
| 1517 | for(count = numcells; count--;)
|
---|
| 1518 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1519 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
[2659] | 1520 | break;
|
---|
| 1521 | case 2:
|
---|
| 1522 | for(count = numcells; count--;)
|
---|
| 1523 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1524 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
[2659] | 1525 | for(count = numcells; count--;)
|
---|
| 1526 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1527 | GETBITS(ll[count], 4)
|
---|
[3712] | 1528 | for(count = numcells; count--;)
|
---|
| 1529 | if(cellmask & (UINT64(1)<<count))
|
---|
[5358] | 1530 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
[2659] | 1531 | break;
|
---|
| 1532 | case 3:
|
---|
| 1533 | for(count = numcells; count--;)
|
---|
| 1534 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1535 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
[2659] | 1536 | for(count = numcells; count--;)
|
---|
| 1537 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1538 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
[2659] | 1539 | for(count = numcells; count--;)
|
---|
| 1540 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1541 | GETBITS(ll[count], 4)
|
---|
[3712] | 1542 | for(count = numcells; count--;)
|
---|
| 1543 | if(cellmask & (UINT64(1)<<count))
|
---|
[5358] | 1544 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
[2659] | 1545 | break;
|
---|
| 1546 | case 4:
|
---|
| 1547 | for(count = numcells; count--;)
|
---|
| 1548 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1549 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
[2659] | 1550 | for(count = numcells; count--;)
|
---|
| 1551 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1552 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
[2659] | 1553 | for(count = numcells; count--;)
|
---|
| 1554 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1555 | GETBITS(ll[count], 4)
|
---|
| 1556 | for(count = numcells; count--;)
|
---|
| 1557 | if(cellmask & (UINT64(1)<<count))
|
---|
[5358] | 1558 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
[3712] | 1559 | for(count = numcells; count--;)
|
---|
| 1560 | if(cellmask & (UINT64(1)<<count))
|
---|
[2659] | 1561 | GETBITS(cnr[count], 6)
|
---|
| 1562 | break;
|
---|
| 1563 | case 5:
|
---|
| 1564 | for(count = numcells; count--;)
|
---|
| 1565 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1566 | GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
|
---|
[2659] | 1567 | for(count = numcells; count--;)
|
---|
| 1568 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1569 | GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
|
---|
[2659] | 1570 | for(count = numcells; count--;)
|
---|
| 1571 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1572 | GETBITS(ll[count], 4)
|
---|
| 1573 | for(count = numcells; count--;)
|
---|
| 1574 | if(cellmask & (UINT64(1)<<count))
|
---|
[5358] | 1575 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
[3712] | 1576 | for(count = numcells; count--;)
|
---|
| 1577 | if(cellmask & (UINT64(1)<<count))
|
---|
[2659] | 1578 | GETFLOAT(cnr[count], 6, 1.0)
|
---|
| 1579 | for(count = numcells; count--;)
|
---|
| 1580 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1581 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
| 1582 | break;
|
---|
| 1583 | case 6:
|
---|
| 1584 | for(count = numcells; count--;)
|
---|
| 1585 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1586 | GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
|
---|
[2659] | 1587 | for(count = numcells; count--;)
|
---|
| 1588 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1589 | GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
|
---|
[2659] | 1590 | for(count = numcells; count--;)
|
---|
| 1591 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1592 | GETBITS(ll[count], 10)
|
---|
| 1593 | for(count = numcells; count--;)
|
---|
| 1594 | if(cellmask & (UINT64(1)<<count))
|
---|
[5358] | 1595 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
[3712] | 1596 | for(count = numcells; count--;)
|
---|
| 1597 | if(cellmask & (UINT64(1)<<count))
|
---|
[3724] | 1598 | GETFLOAT(cnr[count], 10, 1.0/(1<<4))
|
---|
[3581] | 1599 | break;
|
---|
[2659] | 1600 | case 7:
|
---|
| 1601 | for(count = numcells; count--;)
|
---|
| 1602 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1603 | GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
|
---|
[2659] | 1604 | for(count = numcells; count--;)
|
---|
| 1605 | if(cellmask & (UINT64(1)<<count))
|
---|
[3581] | 1606 | GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
|
---|
[2659] | 1607 | for(count = numcells; count--;)
|
---|
| 1608 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1609 | GETBITS(ll[count], 10)
|
---|
| 1610 | for(count = numcells; count--;)
|
---|
| 1611 | if(cellmask & (UINT64(1)<<count))
|
---|
[5358] | 1612 | SKIPBITS(1)/*GETBITS(hc[count], 1)*/
|
---|
[3712] | 1613 | for(count = numcells; count--;)
|
---|
| 1614 | if(cellmask & (UINT64(1)<<count))
|
---|
[3724] | 1615 | GETFLOAT(cnr[count], 10, 1.0/(1<<4))
|
---|
[2659] | 1616 | for(count = numcells; count--;)
|
---|
| 1617 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1618 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
| 1619 | break;
|
---|
| 1620 | }
|
---|
| 1621 | i = RTCM3_MSM_NUMSAT;
|
---|
| 1622 | j = -1;
|
---|
| 1623 | for(count = numcells; count--;)
|
---|
| 1624 | {
|
---|
| 1625 | while(j >= 0 && !(sigmask&(1<<--j)))
|
---|
| 1626 | ;
|
---|
| 1627 | if(j < 0)
|
---|
| 1628 | {
|
---|
| 1629 | while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */
|
---|
| 1630 | ;
|
---|
| 1631 | j = RTCM3_MSM_NUMSIG;
|
---|
| 1632 | while(!(sigmask&(1<<--j)))
|
---|
| 1633 | ;
|
---|
| 1634 | --numsat;
|
---|
| 1635 | }
|
---|
| 1636 | if(cellmask & (UINT64(1)<<count))
|
---|
| 1637 | {
|
---|
| 1638 | struct CodeData cd = {0,0,0,0,0,0,0};
|
---|
| 1639 | double wl = 0.0;
|
---|
| 1640 | switch(sys)
|
---|
| 1641 | {
|
---|
[4367] | 1642 | case RTCM3_MSM_QZSS:
|
---|
| 1643 | cd = qzss[RTCM3_MSM_NUMSIG-j-1];
|
---|
[2659] | 1644 | wl = cd.wl;
|
---|
| 1645 | break;
|
---|
[6599] | 1646 | case RTCM3_MSM_BDS:
|
---|
| 1647 | cd = bds[RTCM3_MSM_NUMSIG-j-1];
|
---|
[4367] | 1648 | wl = cd.wl;
|
---|
| 1649 | break;
|
---|
| 1650 | case RTCM3_MSM_GPS: case RTCM3_MSM_SBAS:
|
---|
| 1651 | cd = gps[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 1652 | wl = cd.wl;
|
---|
| 1653 | break;
|
---|
[2659] | 1654 | case RTCM3_MSM_GLONASS: cd = glo[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 1655 | {
|
---|
| 1656 | int k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1];
|
---|
[5535] | 1657 | if(!k && extsat[numsat] < 14)
|
---|
[3653] | 1658 | {
|
---|
[3654] | 1659 | k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1]
|
---|
[5535] | 1660 | = 100+extsat[numsat]-7;
|
---|
[3653] | 1661 | }
|
---|
[2659] | 1662 | if(k)
|
---|
| 1663 | {
|
---|
| 1664 | if(cd.wl == 0.0)
|
---|
| 1665 | wl = GLO_WAVELENGTH_L1(k-100);
|
---|
| 1666 | else if(cd.wl == 1.0)
|
---|
| 1667 | wl = GLO_WAVELENGTH_L2(k-100);
|
---|
| 1668 | }
|
---|
| 1669 | }
|
---|
| 1670 | break;
|
---|
| 1671 | case RTCM3_MSM_GALILEO: cd = gal[RTCM3_MSM_NUMSIG-j-1];
|
---|
| 1672 | wl = cd.wl;
|
---|
| 1673 | break;
|
---|
| 1674 | }
|
---|
| 1675 | if(cd.lock && wl) /* lock cannot have a valid zero value */
|
---|
| 1676 | {
|
---|
[2996] | 1677 | int fullsat = RTCM3_MSM_NUMSAT-i-1, num;
|
---|
| 1678 |
|
---|
| 1679 | if(sys == RTCM3_MSM_GALILEO && fullsat >= 50 && fullsat <= 51)
|
---|
| 1680 | fullsat += PRN_GIOVE_START-50;
|
---|
| 1681 | else
|
---|
[4371] | 1682 | fullsat += start;
|
---|
[2996] | 1683 |
|
---|
[2659] | 1684 | for(num = 0; num < gnss->numsats
|
---|
| 1685 | && fullsat != gnss->satellites[num]; ++num)
|
---|
| 1686 | ;
|
---|
| 1687 |
|
---|
| 1688 | if(num == gnss->numsats)
|
---|
| 1689 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
| 1690 |
|
---|
[4374] | 1691 | gnss->codetype[num][cd.typeR] =
|
---|
| 1692 | gnss->codetype[num][cd.typeP] =
|
---|
| 1693 | gnss->codetype[num][cd.typeD] =
|
---|
| 1694 | gnss->codetype[num][cd.typeS] = cd.code;
|
---|
[4371] | 1695 | if(!handle->info[sys].type[cd.typeR])
|
---|
| 1696 | {
|
---|
| 1697 | handle->info[sys].type[cd.typeR] =
|
---|
| 1698 | handle->info[sys].type[cd.typeP] =
|
---|
| 1699 | handle->info[sys].type[cd.typeD] =
|
---|
| 1700 | handle->info[sys].type[cd.typeS] = cd.code[1];
|
---|
| 1701 | }
|
---|
[4367] | 1702 |
|
---|
[2659] | 1703 | switch(type % 10)
|
---|
| 1704 | {
|
---|
| 1705 | case 1:
|
---|
[3581] | 1706 | if(psr[count] > -1.0/(1<<10))
|
---|
[2659] | 1707 | {
|
---|
[3581] | 1708 | gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
|
---|
[2668] | 1709 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
[4383] | 1710 | gnss->dataflags[num] |= (1LL<<cd.typeR);
|
---|
[2659] | 1711 | }
|
---|
| 1712 | break;
|
---|
| 1713 | case 2:
|
---|
[3581] | 1714 | if(wl && cp[count] > -1.0/(1<<8))
|
---|
[2659] | 1715 | {
|
---|
[3725] | 1716 | gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
|
---|
[2668] | 1717 | +(rrmod[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[5660] | 1718 | if(handle->lastlockmsm[j][i] > ll[count])
|
---|
[2659] | 1719 | gnss->dataflags2[num] |= cd.lock;
|
---|
[5660] | 1720 | handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count];
|
---|
[4383] | 1721 | gnss->dataflags[num] |= (1LL<<cd.typeP);
|
---|
[2659] | 1722 | }
|
---|
| 1723 | break;
|
---|
| 1724 | case 3:
|
---|
[3581] | 1725 | if(psr[count] > -1.0/(1<<10))
|
---|
[2659] | 1726 | {
|
---|
[3581] | 1727 | gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
|
---|
[2668] | 1728 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
[4383] | 1729 | gnss->dataflags[num] |= (1LL<<cd.typeR);
|
---|
[2659] | 1730 | }
|
---|
| 1731 |
|
---|
[3581] | 1732 | if(wl && cp[count] > -1.0/(1<<8))
|
---|
[2659] | 1733 | {
|
---|
[3725] | 1734 | gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
|
---|
[2659] | 1735 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[5660] | 1736 | if(handle->lastlockmsm[j][i] > ll[count])
|
---|
[2659] | 1737 | gnss->dataflags2[num] |= cd.lock;
|
---|
[5660] | 1738 | handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count];
|
---|
[4383] | 1739 | gnss->dataflags[num] |= (1LL<<cd.typeP);
|
---|
[2659] | 1740 | }
|
---|
| 1741 | break;
|
---|
| 1742 | case 4:
|
---|
[3581] | 1743 | if(psr[count] > -1.0/(1<<10))
|
---|
[2659] | 1744 | {
|
---|
[3581] | 1745 | gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
|
---|
[2659] | 1746 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
[4383] | 1747 | gnss->dataflags[num] |= (1LL<<cd.typeR);
|
---|
[2659] | 1748 | }
|
---|
| 1749 |
|
---|
[3581] | 1750 | if(wl && cp[count] > -1.0/(1<<8))
|
---|
[2659] | 1751 | {
|
---|
[3725] | 1752 | gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
|
---|
[2659] | 1753 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[5660] | 1754 | if(handle->lastlockmsm[j][i] > ll[count])
|
---|
[2659] | 1755 | gnss->dataflags2[num] |= cd.lock;
|
---|
[5660] | 1756 | handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count];
|
---|
[4383] | 1757 | gnss->dataflags[num] |= (1LL<<cd.typeP);
|
---|
[2659] | 1758 | }
|
---|
| 1759 |
|
---|
| 1760 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
[4383] | 1761 | gnss->dataflags[num] |= (1LL<<cd.typeS);
|
---|
[2659] | 1762 | break;
|
---|
| 1763 | case 5:
|
---|
[3581] | 1764 | if(psr[count] > -1.0/(1<<10))
|
---|
[2659] | 1765 | {
|
---|
[3581] | 1766 | gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
|
---|
[2659] | 1767 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
[4383] | 1768 | gnss->dataflags[num] |= (1LL<<cd.typeR);
|
---|
[2659] | 1769 | }
|
---|
| 1770 |
|
---|
[3581] | 1771 | if(wl && cp[count] > -1.0/(1<<8))
|
---|
[2659] | 1772 | {
|
---|
[3725] | 1773 | gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
|
---|
[2659] | 1774 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[5660] | 1775 | if(handle->lastlockmsm[j][i] > ll[count])
|
---|
[2659] | 1776 | gnss->dataflags2[num] |= cd.lock;
|
---|
[5660] | 1777 | handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count];
|
---|
[4383] | 1778 | gnss->dataflags[num] |= (1LL<<cd.typeP);
|
---|
[2659] | 1779 | }
|
---|
| 1780 |
|
---|
| 1781 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
| 1782 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
| 1783 |
|
---|
| 1784 | if(dop[count] > -1.6384)
|
---|
| 1785 | {
|
---|
[2873] | 1786 | gnss->measdata[num][cd.typeD] = -(dop[count]
|
---|
[2849] | 1787 | +rdop[numsat])/wl;
|
---|
[4383] | 1788 | gnss->dataflags[num] |= (1LL<<cd.typeD);
|
---|
[2659] | 1789 | }
|
---|
| 1790 | break;
|
---|
| 1791 | case 6:
|
---|
[3581] | 1792 | if(psr[count] > -1.0/(1<<10))
|
---|
[2659] | 1793 | {
|
---|
[3581] | 1794 | gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
|
---|
[2659] | 1795 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
[4383] | 1796 | gnss->dataflags[num] |= (1LL<<cd.typeR);
|
---|
[2659] | 1797 | }
|
---|
| 1798 |
|
---|
[3581] | 1799 | if(wl && cp[count] > -1.0/(1<<8))
|
---|
[2659] | 1800 | {
|
---|
[3725] | 1801 | gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
|
---|
[2659] | 1802 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[5660] | 1803 | if(handle->lastlockmsm[j][i] > ll[count])
|
---|
[2659] | 1804 | gnss->dataflags2[num] |= cd.lock;
|
---|
[5660] | 1805 | handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count];
|
---|
[4383] | 1806 | gnss->dataflags[num] |= (1LL<<cd.typeP);
|
---|
[2659] | 1807 | }
|
---|
| 1808 |
|
---|
| 1809 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
[4383] | 1810 | gnss->dataflags[num] |= (1LL<<cd.typeS);
|
---|
[2659] | 1811 | break;
|
---|
| 1812 | case 7:
|
---|
[3581] | 1813 | if(psr[count] > -1.0/(1<<10))
|
---|
[2659] | 1814 | {
|
---|
[3581] | 1815 | gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
|
---|
[2659] | 1816 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
[4383] | 1817 | gnss->dataflags[num] |= (1LL<<cd.typeR);
|
---|
[2659] | 1818 | }
|
---|
| 1819 |
|
---|
[3581] | 1820 | if(wl && cp[count] > -1.0/(1<<8))
|
---|
[2659] | 1821 | {
|
---|
[3725] | 1822 | gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
|
---|
[2659] | 1823 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
[5660] | 1824 | if(handle->lastlockmsm[j][i] > ll[count])
|
---|
[2659] | 1825 | gnss->dataflags2[num] |= cd.lock;
|
---|
[5660] | 1826 | handle->lastlockmsm[j][i] = ll[count] > 255 ? 255 : ll[count];
|
---|
[4383] | 1827 | gnss->dataflags[num] |= (1LL<<cd.typeP);
|
---|
[2659] | 1828 | }
|
---|
| 1829 |
|
---|
| 1830 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
[4383] | 1831 | gnss->dataflags[num] |= (1LL<<cd.typeS);
|
---|
[2659] | 1832 |
|
---|
| 1833 | if(dop[count] > -1.6384)
|
---|
| 1834 | {
|
---|
[2873] | 1835 | gnss->measdata[num][cd.typeD] = -(dop[count]
|
---|
[2849] | 1836 | +rdop[numsat])/wl;
|
---|
[4383] | 1837 | gnss->dataflags[num] |= (1LL<<cd.typeD);
|
---|
[2659] | 1838 | }
|
---|
| 1839 | break;
|
---|
| 1840 | }
|
---|
| 1841 | }
|
---|
| 1842 | }
|
---|
| 1843 | }
|
---|
| 1844 | }
|
---|
| 1845 | if(!syncf && !old)
|
---|
| 1846 | {
|
---|
| 1847 | handle->Data = *gnss;
|
---|
| 1848 | memset(gnss, 0, sizeof(*gnss));
|
---|
| 1849 | }
|
---|
| 1850 | if(!syncf || old)
|
---|
| 1851 | {
|
---|
[2668] | 1852 | if(!wasnoamb) /* not RINEX compatible without */
|
---|
[2659] | 1853 | ret = 1;
|
---|
| 1854 | else
|
---|
| 1855 | ret = 2;
|
---|
| 1856 | }
|
---|
| 1857 | #ifdef NO_RTCM3_MAIN
|
---|
| 1858 | else
|
---|
| 1859 | ret = type;
|
---|
| 1860 | #endif /* NO_RTCM3_MAIN */
|
---|
| 1861 | }
|
---|
| 1862 | break;
|
---|
[27] | 1863 | }
|
---|
| 1864 | }
|
---|
| 1865 | return ret;
|
---|
| 1866 | }
|
---|
| 1867 |
|
---|
| 1868 | struct Header
|
---|
| 1869 | {
|
---|
| 1870 | const char *version;
|
---|
| 1871 | const char *pgm;
|
---|
| 1872 | const char *marker;
|
---|
[503] | 1873 | const char *markertype;
|
---|
[27] | 1874 | const char *observer;
|
---|
| 1875 | const char *receiver;
|
---|
| 1876 | const char *antenna;
|
---|
| 1877 | const char *position;
|
---|
| 1878 | const char *antennaposition;
|
---|
| 1879 | const char *wavelength;
|
---|
| 1880 | const char *typesofobs; /* should not be modified outside */
|
---|
[502] | 1881 | const char *typesofobsG; /* should not be modified outside */
|
---|
| 1882 | const char *typesofobsR; /* should not be modified outside */
|
---|
| 1883 | const char *typesofobsS; /* should not be modified outside */
|
---|
[2699] | 1884 | const char *typesofobsE; /* should not be modified outside */
|
---|
[4367] | 1885 | const char *typesofobsC; /* should not be modified outside */
|
---|
| 1886 | const char *typesofobsJ; /* should not be modified outside */
|
---|
[27] | 1887 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
| 1888 | };
|
---|
| 1889 |
|
---|
| 1890 | #define MAXHEADERLINES 50
|
---|
| 1891 | #define MAXHEADERBUFFERSIZE 4096
|
---|
| 1892 | struct HeaderData
|
---|
| 1893 | {
|
---|
| 1894 | union
|
---|
| 1895 | {
|
---|
| 1896 | struct Header named;
|
---|
| 1897 | const char *unnamed[MAXHEADERLINES];
|
---|
| 1898 | } data;
|
---|
| 1899 | int numheaders;
|
---|
| 1900 | };
|
---|
| 1901 |
|
---|
[1092] | 1902 | void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
[270] | 1903 | {
|
---|
| 1904 | int i, k, doy, j; /* temporary variables */
|
---|
| 1905 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
| 1906 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
| 1907 | j -= k;
|
---|
| 1908 | c->year = i;
|
---|
| 1909 | doy = 1+ (j / (24*60*60));
|
---|
| 1910 | j %= (24*60*60);
|
---|
| 1911 | c->hour = j / (60*60);
|
---|
| 1912 | j %= (60*60);
|
---|
| 1913 | c->minute = j / 60;
|
---|
| 1914 | c->second = j % 60;
|
---|
| 1915 | j = 0;
|
---|
| 1916 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
| 1917 | j += k;
|
---|
| 1918 | c->month = i;
|
---|
| 1919 | c->day = doy - j;
|
---|
| 1920 | }
|
---|
| 1921 |
|
---|
[6599] | 1922 | void converttimebds(struct converttimeinfo *c, int week, int tow)
|
---|
| 1923 | {
|
---|
| 1924 | int i, k, doy, j; /* temporary variables */
|
---|
| 1925 | j = week*(7*24*60*60) + tow;
|
---|
| 1926 | for(i = 2006; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
| 1927 | j -= k;
|
---|
| 1928 | c->year = i;
|
---|
| 1929 | doy = 1+ (j / (24*60*60));
|
---|
| 1930 | j %= (24*60*60);
|
---|
| 1931 | c->hour = j / (60*60);
|
---|
| 1932 | j %= (60*60);
|
---|
| 1933 | c->minute = j / 60;
|
---|
| 1934 | c->second = j % 60;
|
---|
| 1935 | j = 0;
|
---|
| 1936 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
| 1937 | j += k;
|
---|
| 1938 | c->month = i;
|
---|
| 1939 | c->day = doy - j;
|
---|
| 1940 | }
|
---|
| 1941 |
|
---|
[318] | 1942 | #ifndef NO_RTCM3_MAIN
|
---|
| 1943 | void RTCM3Error(const char *fmt, ...)
|
---|
| 1944 | {
|
---|
| 1945 | va_list v;
|
---|
| 1946 | va_start(v, fmt);
|
---|
| 1947 | vfprintf(stderr, fmt, v);
|
---|
| 1948 | va_end(v);
|
---|
| 1949 | }
|
---|
| 1950 | #endif
|
---|
| 1951 |
|
---|
| 1952 | void RTCM3Text(const char *fmt, ...)
|
---|
| 1953 | {
|
---|
| 1954 | va_list v;
|
---|
| 1955 | va_start(v, fmt);
|
---|
| 1956 | vprintf(fmt, v);
|
---|
| 1957 | va_end(v);
|
---|
| 1958 | }
|
---|
| 1959 |
|
---|
[2487] | 1960 | static void fixrevision(void)
|
---|
| 1961 | {
|
---|
| 1962 | if(revisionstr[0] == '$')
|
---|
| 1963 | {
|
---|
| 1964 | char *a;
|
---|
| 1965 | int i=sizeof(RTCM3TORINEX_VERSION); /* set version to 1.<revision> */
|
---|
| 1966 | strcpy(revisionstr, RTCM3TORINEX_VERSION ".");
|
---|
| 1967 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
| 1968 | revisionstr[i++] = *a;
|
---|
| 1969 | revisionstr[i] = 0;
|
---|
| 1970 | }
|
---|
| 1971 | }
|
---|
| 1972 |
|
---|
[503] | 1973 | static int HandleRunBy(char *buffer, int buffersize, const char **u,
|
---|
| 1974 | int rinex3)
|
---|
[502] | 1975 | {
|
---|
| 1976 | const char *user;
|
---|
| 1977 | time_t t;
|
---|
| 1978 | struct tm * t2;
|
---|
| 1979 |
|
---|
| 1980 | #ifdef NO_RTCM3_MAIN
|
---|
[2487] | 1981 | fixrevision();
|
---|
[502] | 1982 | #endif
|
---|
| 1983 |
|
---|
| 1984 | user= getenv("USER");
|
---|
| 1985 | if(!user) user = "";
|
---|
| 1986 | t = time(&t);
|
---|
| 1987 | t2 = gmtime(&t);
|
---|
| 1988 | if(u) *u = user;
|
---|
[6552] | 1989 | if(rinex3)
|
---|
| 1990 | {
|
---|
| 1991 | return 1+snprintf(buffer, buffersize,
|
---|
| 1992 | "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
|
---|
| 1993 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
| 1994 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
|
---|
| 1995 | }
|
---|
| 1996 | else
|
---|
| 1997 | {
|
---|
| 1998 | return 1+snprintf(buffer, buffersize,
|
---|
| 1999 | "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
|
---|
| 2000 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
| 2001 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min);
|
---|
| 2002 | }
|
---|
[502] | 2003 | }
|
---|
| 2004 |
|
---|
[1092] | 2005 | #ifdef NO_RTCM3_MAIN
|
---|
| 2006 | #define NUMSTARTSKIP 1
|
---|
| 2007 | #else
|
---|
[318] | 2008 | #define NUMSTARTSKIP 3
|
---|
[1092] | 2009 | #endif
|
---|
| 2010 |
|
---|
[5358] | 2011 | int HandleObsHeader(struct RTCM3ParserData *Parser, char *buffer,
|
---|
| 2012 | size_t buffersize, struct HeaderData *hdata)
|
---|
[27] | 2013 | {
|
---|
[5358] | 2014 | int buffersizeold = buffersize;
|
---|
| 2015 | int i, modified = 0;
|
---|
| 2016 |
|
---|
[1092] | 2017 | if(Parser->rinex3)
|
---|
| 2018 | {
|
---|
[5358] | 2019 | int flags;
|
---|
[1092] | 2020 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
[5358] | 2021 | if(flags & GNSSDF_##b##DATA) \
|
---|
[1092] | 2022 | { \
|
---|
[5358] | 2023 | int new = hdata ? 1 : 0; \
|
---|
| 2024 | if(!hdata) /* check if already known */ \
|
---|
[1092] | 2025 | { \
|
---|
[5358] | 2026 | int ic; \
|
---|
| 2027 | for(ic = 0; ic < Parser->info[RTCM3_MSM_##a].numtypes \
|
---|
| 2028 | && Parser->info[RTCM3_MSM_##a].flags[ic] != GNSSDF_##b##DATA; ++ic) \
|
---|
| 2029 | ; \
|
---|
| 2030 | if(ic == Parser->info[RTCM3_MSM_##a].numtypes) \
|
---|
| 2031 | new = 1; \
|
---|
[1092] | 2032 | } \
|
---|
[5358] | 2033 | if(new) \
|
---|
[1092] | 2034 | { \
|
---|
[5358] | 2035 | Parser->info[RTCM3_MSM_##a].flags[Parser->info[RTCM3_MSM_##a].numtypes] \
|
---|
| 2036 | = GNSSDF_##b##DATA; \
|
---|
| 2037 | Parser->info[RTCM3_MSM_##a].pos[Parser->info[RTCM3_MSM_##a].numtypes] \
|
---|
| 2038 | = GNSSENTRY_##b##DATA; \
|
---|
| 2039 | if(Parser->info[RTCM3_MSM_##a].type[GNSSENTRY_##b##DATA]) \
|
---|
| 2040 | { \
|
---|
| 2041 | snprintf(Parser->fieldbuffer##a+4*Parser->info[RTCM3_MSM_##a].numtypes, \
|
---|
| 2042 | sizeof(Parser->fieldbuffer##a)-4*Parser->info[RTCM3_MSM_##a].numtypes, \
|
---|
| 2043 | " %-2.2s%c", #c, Parser->info[RTCM3_MSM_##a].type[GNSSENTRY_##b##DATA]); \
|
---|
| 2044 | } \
|
---|
| 2045 | else \
|
---|
| 2046 | { \
|
---|
| 2047 | snprintf(Parser->fieldbuffer##a+4*Parser->info[RTCM3_MSM_##a].numtypes, \
|
---|
| 2048 | sizeof(Parser->fieldbuffer##a)-4*Parser->info[RTCM3_MSM_##a].numtypes, \
|
---|
| 2049 | " %-3s", #c); \
|
---|
| 2050 | } \
|
---|
| 2051 | ++Parser->info[RTCM3_MSM_##a].numtypes; \
|
---|
| 2052 | ++modified; \
|
---|
[1092] | 2053 | } \
|
---|
| 2054 | }
|
---|
| 2055 |
|
---|
[5358] | 2056 | #define INITFLAGS(a) \
|
---|
| 2057 | flags = Parser->startflags; \
|
---|
| 2058 | modified = 0; \
|
---|
| 2059 | for(i = 0; i < Parser->Data.numsats; ++i) \
|
---|
[502] | 2060 | { \
|
---|
[5358] | 2061 | if(Parser->Data.satellites[i] >= PRN_##a##_START \
|
---|
| 2062 | && Parser->Data.satellites[i] <= PRN_##a##_END) \
|
---|
| 2063 | flags |= Parser->Data.dataflags[i]; \
|
---|
[502] | 2064 | }
|
---|
| 2065 |
|
---|
[5358] | 2066 | INITFLAGS(SBAS)
|
---|
[4371] | 2067 | CHECKFLAGSNEW(SBAS, C1, C1C)
|
---|
| 2068 | CHECKFLAGSNEW(SBAS, L1C, L1C)
|
---|
| 2069 | CHECKFLAGSNEW(SBAS, D1C, D1C)
|
---|
| 2070 | CHECKFLAGSNEW(SBAS, S1C, S1C)
|
---|
| 2071 | CHECKFLAGSNEW(SBAS, C5, C5)
|
---|
| 2072 | CHECKFLAGSNEW(SBAS, L5, L5)
|
---|
| 2073 | CHECKFLAGSNEW(SBAS, D5, D5)
|
---|
| 2074 | CHECKFLAGSNEW(SBAS, S5, S5)
|
---|
| 2075 |
|
---|
[5358] | 2076 | if(modified)
|
---|
| 2077 | {
|
---|
| 2078 | if(hdata)
|
---|
| 2079 | hdata->data.named.typesofobsS = buffer;
|
---|
| 2080 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2081 | "S %3d%-52.52s SYS / # / OBS TYPES",
|
---|
| 2082 | Parser->info[RTCM3_MSM_SBAS].numtypes, Parser->fieldbufferSBAS);
|
---|
| 2083 | buffer += i; buffersize -= i;
|
---|
| 2084 | }
|
---|
[4371] | 2085 |
|
---|
[5358] | 2086 | INITFLAGS(GPS)
|
---|
[502] | 2087 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
| 2088 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
| 2089 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
| 2090 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
[2699] | 2091 | CHECKFLAGSNEW(GPS, P1, C1W)
|
---|
| 2092 | CHECKFLAGSNEW(GPS, L1P, L1W)
|
---|
| 2093 | CHECKFLAGSNEW(GPS, D1P, D1W)
|
---|
| 2094 | CHECKFLAGSNEW(GPS, S1P, S1W)
|
---|
[4367] | 2095 | CHECKFLAGSNEW(GPS, C5, C5)
|
---|
| 2096 | CHECKFLAGSNEW(GPS, L5, L5)
|
---|
| 2097 | CHECKFLAGSNEW(GPS, D5, D5)
|
---|
| 2098 | CHECKFLAGSNEW(GPS, S5, S5)
|
---|
[4383] | 2099 | CHECKFLAGSNEW(GPS, P2, C2W)
|
---|
| 2100 | CHECKFLAGSNEW(GPS, L2P, L2W)
|
---|
| 2101 | CHECKFLAGSNEW(GPS, D2P, D2W)
|
---|
| 2102 | CHECKFLAGSNEW(GPS, S2P, S2W)
|
---|
| 2103 | CHECKFLAGSNEW(GPS, C2, C2)
|
---|
| 2104 | CHECKFLAGSNEW(GPS, L2C, L2)
|
---|
| 2105 | CHECKFLAGSNEW(GPS, D2C, D2)
|
---|
| 2106 | CHECKFLAGSNEW(GPS, S2C, S2)
|
---|
[4371] | 2107 | CHECKFLAGSNEW(GPS, C1N, C1)
|
---|
| 2108 | CHECKFLAGSNEW(GPS, L1N, L1)
|
---|
| 2109 | CHECKFLAGSNEW(GPS, D1N, D1)
|
---|
| 2110 | CHECKFLAGSNEW(GPS, S1N, S1)
|
---|
[502] | 2111 |
|
---|
[5358] | 2112 | if(modified)
|
---|
[502] | 2113 | {
|
---|
[5358] | 2114 | if(hdata)
|
---|
| 2115 | hdata->data.named.typesofobsG = buffer;
|
---|
| 2116 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2117 | "G %3d%-52.52s SYS / # / OBS TYPES",
|
---|
| 2118 | Parser->info[RTCM3_MSM_GPS].numtypes, Parser->fieldbufferGPS);
|
---|
| 2119 | if(Parser->info[RTCM3_MSM_GPS].numtypes>13)
|
---|
| 2120 | {
|
---|
| 2121 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 2122 | "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGPS+13*4);
|
---|
| 2123 | }
|
---|
| 2124 | buffer += i; buffersize -= i;
|
---|
[502] | 2125 | }
|
---|
| 2126 |
|
---|
[5358] | 2127 | INITFLAGS(GLONASS)
|
---|
[4371] | 2128 | CHECKFLAGSNEW(GLONASS, C1, C1C)
|
---|
| 2129 | CHECKFLAGSNEW(GLONASS, L1C, L1C)
|
---|
| 2130 | CHECKFLAGSNEW(GLONASS, D1C, D1C)
|
---|
| 2131 | CHECKFLAGSNEW(GLONASS, S1C, S1C)
|
---|
| 2132 | CHECKFLAGSNEW(GLONASS, P1, C1P)
|
---|
| 2133 | CHECKFLAGSNEW(GLONASS, L1P, L1P)
|
---|
| 2134 | CHECKFLAGSNEW(GLONASS, D1P, D1P)
|
---|
| 2135 | CHECKFLAGSNEW(GLONASS, S1P, S1P)
|
---|
| 2136 | CHECKFLAGSNEW(GLONASS, P2, C2P)
|
---|
| 2137 | CHECKFLAGSNEW(GLONASS, L2P, L2P)
|
---|
| 2138 | CHECKFLAGSNEW(GLONASS, D2P, D2P)
|
---|
| 2139 | CHECKFLAGSNEW(GLONASS, S2P, S2P)
|
---|
| 2140 | CHECKFLAGSNEW(GLONASS, C2, C2C)
|
---|
| 2141 | CHECKFLAGSNEW(GLONASS, L2C, L2C)
|
---|
| 2142 | CHECKFLAGSNEW(GLONASS, D2C, D2C)
|
---|
| 2143 | CHECKFLAGSNEW(GLONASS, S2C, S2C)
|
---|
[502] | 2144 |
|
---|
[5358] | 2145 | if(modified)
|
---|
[502] | 2146 | {
|
---|
[5358] | 2147 | if(hdata)
|
---|
| 2148 | hdata->data.named.typesofobsR = buffer;
|
---|
| 2149 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2150 | "R %3d%-52.52s SYS / # / OBS TYPES",
|
---|
| 2151 | Parser->info[RTCM3_MSM_GLONASS].numtypes, Parser->fieldbufferGLONASS);
|
---|
| 2152 | if(Parser->info[RTCM3_MSM_GLONASS].numtypes>13)
|
---|
| 2153 | {
|
---|
| 2154 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 2155 | "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGLONASS+13*4);
|
---|
| 2156 | }
|
---|
| 2157 | buffer += i; buffersize -= i;
|
---|
[502] | 2158 | }
|
---|
[2699] | 2159 |
|
---|
[5358] | 2160 | INITFLAGS(GALGIO)
|
---|
[4371] | 2161 | CHECKFLAGSNEW(GALILEO, C1, C1)
|
---|
| 2162 | CHECKFLAGSNEW(GALILEO, L1C, L1)
|
---|
| 2163 | CHECKFLAGSNEW(GALILEO, D1C, D1)
|
---|
| 2164 | CHECKFLAGSNEW(GALILEO, S1C, S1)
|
---|
| 2165 | CHECKFLAGSNEW(GALILEO, C6, C6)
|
---|
| 2166 | CHECKFLAGSNEW(GALILEO, L6, L6)
|
---|
| 2167 | CHECKFLAGSNEW(GALILEO, D6, D6)
|
---|
| 2168 | CHECKFLAGSNEW(GALILEO, S6, S6)
|
---|
| 2169 | CHECKFLAGSNEW(GALILEO, C5, C5)
|
---|
| 2170 | CHECKFLAGSNEW(GALILEO, L5, L5)
|
---|
| 2171 | CHECKFLAGSNEW(GALILEO, D5, D5)
|
---|
| 2172 | CHECKFLAGSNEW(GALILEO, S5, S5)
|
---|
| 2173 | CHECKFLAGSNEW(GALILEO, C5B, C7)
|
---|
| 2174 | CHECKFLAGSNEW(GALILEO, L5B, L7)
|
---|
| 2175 | CHECKFLAGSNEW(GALILEO, D5B, D7)
|
---|
| 2176 | CHECKFLAGSNEW(GALILEO, S5B, S7)
|
---|
| 2177 | CHECKFLAGSNEW(GALILEO, C5AB, C8)
|
---|
| 2178 | CHECKFLAGSNEW(GALILEO, L5AB, L8)
|
---|
| 2179 | CHECKFLAGSNEW(GALILEO, D5AB, D8)
|
---|
| 2180 | CHECKFLAGSNEW(GALILEO, S5AB, S8)
|
---|
[2699] | 2181 |
|
---|
[5358] | 2182 | if(modified)
|
---|
[2699] | 2183 | {
|
---|
[5358] | 2184 | if(hdata)
|
---|
| 2185 | hdata->data.named.typesofobsE = buffer;
|
---|
| 2186 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2187 | "E %3d%-52.52s SYS / # / OBS TYPES",
|
---|
| 2188 | Parser->info[RTCM3_MSM_GALILEO].numtypes, Parser->fieldbufferGALILEO);
|
---|
| 2189 | if(Parser->info[RTCM3_MSM_GALILEO].numtypes>13)
|
---|
| 2190 | {
|
---|
| 2191 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 2192 | "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGALILEO+13*4);
|
---|
| 2193 | }
|
---|
| 2194 | buffer += i; buffersize -= i;
|
---|
[2699] | 2195 | }
|
---|
[4367] | 2196 |
|
---|
[6599] | 2197 | INITFLAGS(BDS)
|
---|
| 2198 | CHECKFLAGSNEW(BDS, CB1, C2I)
|
---|
| 2199 | CHECKFLAGSNEW(BDS, LB1, L2I)
|
---|
| 2200 | CHECKFLAGSNEW(BDS, DB1, D2I)
|
---|
| 2201 | CHECKFLAGSNEW(BDS, SB1, S2I)
|
---|
| 2202 | CHECKFLAGSNEW(BDS, CB2, C7I)
|
---|
| 2203 | CHECKFLAGSNEW(BDS, LB2, L7I)
|
---|
| 2204 | CHECKFLAGSNEW(BDS, DB2, D7I)
|
---|
| 2205 | CHECKFLAGSNEW(BDS, SB2, S7I)
|
---|
| 2206 | CHECKFLAGSNEW(BDS, CB3, C6I)
|
---|
| 2207 | CHECKFLAGSNEW(BDS, LB3, L6I)
|
---|
| 2208 | CHECKFLAGSNEW(BDS, DB3, D6I)
|
---|
| 2209 | CHECKFLAGSNEW(BDS, SB3, S6I)
|
---|
[4367] | 2210 |
|
---|
[5358] | 2211 | if(modified)
|
---|
[4367] | 2212 | {
|
---|
[5358] | 2213 | if(hdata)
|
---|
| 2214 | hdata->data.named.typesofobsC = buffer;
|
---|
| 2215 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2216 | "C %3d%-52.52s SYS / # / OBS TYPES",
|
---|
[6599] | 2217 | Parser->info[RTCM3_MSM_BDS].numtypes, Parser->fieldbufferBDS);
|
---|
| 2218 | if(Parser->info[RTCM3_MSM_BDS].numtypes>13)
|
---|
[5358] | 2219 | {
|
---|
| 2220 | i += snprintf(buffer+i-1, buffersize,
|
---|
[6599] | 2221 | "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferBDS+13*4);
|
---|
[5358] | 2222 | }
|
---|
| 2223 | buffer += i; buffersize -= i;
|
---|
[4367] | 2224 | }
|
---|
| 2225 |
|
---|
[5358] | 2226 | INITFLAGS(QZSS)
|
---|
[4367] | 2227 |
|
---|
[4371] | 2228 | CHECKFLAGSNEW(QZSS, C1, C1C)
|
---|
| 2229 | CHECKFLAGSNEW(QZSS, L1C, L1C)
|
---|
| 2230 | CHECKFLAGSNEW(QZSS, D1C, D1C)
|
---|
| 2231 | CHECKFLAGSNEW(QZSS, S1C, S1C)
|
---|
[4367] | 2232 |
|
---|
[4371] | 2233 | CHECKFLAGSNEW(QZSS, CSAIF, C1Z)
|
---|
| 2234 | CHECKFLAGSNEW(QZSS, LSAIF, L1Z)
|
---|
| 2235 | CHECKFLAGSNEW(QZSS, DSAIF, D1Z)
|
---|
| 2236 | CHECKFLAGSNEW(QZSS, SSAIF, S1Z)
|
---|
[4367] | 2237 |
|
---|
[4371] | 2238 | CHECKFLAGSNEW(QZSS, C1N, C1)
|
---|
| 2239 | CHECKFLAGSNEW(QZSS, L1N, L1)
|
---|
| 2240 | CHECKFLAGSNEW(QZSS, D1N, D1)
|
---|
| 2241 | CHECKFLAGSNEW(QZSS, S1N, S1)
|
---|
[4367] | 2242 |
|
---|
[4371] | 2243 | CHECKFLAGSNEW(QZSS, C6, C6)
|
---|
| 2244 | CHECKFLAGSNEW(QZSS, L6, L6)
|
---|
| 2245 | CHECKFLAGSNEW(QZSS, D6, D6)
|
---|
| 2246 | CHECKFLAGSNEW(QZSS, S6, S6)
|
---|
[4367] | 2247 |
|
---|
[4371] | 2248 | CHECKFLAGSNEW(QZSS, C2, C2)
|
---|
| 2249 | CHECKFLAGSNEW(QZSS, L2C, L2)
|
---|
| 2250 | CHECKFLAGSNEW(QZSS, D2C, D2)
|
---|
| 2251 | CHECKFLAGSNEW(QZSS, S2C, S2)
|
---|
[4367] | 2252 |
|
---|
[4371] | 2253 | CHECKFLAGSNEW(QZSS, C5, C5)
|
---|
| 2254 | CHECKFLAGSNEW(QZSS, L5, L5)
|
---|
| 2255 | CHECKFLAGSNEW(QZSS, D5, D5)
|
---|
| 2256 | CHECKFLAGSNEW(QZSS, S5, S5)
|
---|
[4367] | 2257 |
|
---|
[5358] | 2258 | if(modified)
|
---|
[4367] | 2259 | {
|
---|
[5358] | 2260 | if(hdata)
|
---|
| 2261 | hdata->data.named.typesofobsJ = buffer;
|
---|
| 2262 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2263 | "J %3d%-52.52s SYS / # / OBS TYPES",
|
---|
| 2264 | Parser->info[RTCM3_MSM_QZSS].numtypes, Parser->fieldbufferQZSS);
|
---|
| 2265 | if(Parser->info[RTCM3_MSM_QZSS].numtypes>13)
|
---|
| 2266 | {
|
---|
| 2267 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 2268 | "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferQZSS+13*4);
|
---|
| 2269 | }
|
---|
| 2270 | buffer += i; buffersize -= i;
|
---|
[4367] | 2271 | }
|
---|
[502] | 2272 | }
|
---|
| 2273 | else
|
---|
| 2274 | {
|
---|
[27] | 2275 | #define CHECKFLAGS(a, b) \
|
---|
[363] | 2276 | if(flags & GNSSDF_##a##DATA) \
|
---|
[27] | 2277 | { \
|
---|
[5358] | 2278 | if(Parser->datafields[RINEXENTRY_##b##DATA]) \
|
---|
[363] | 2279 | { \
|
---|
[5358] | 2280 | Parser->info[RTCM3_MSM_GPS].flags[Parser->datafields[\
|
---|
| 2281 | RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
| 2282 | Parser->info[RTCM3_MSM_GPS].pos[Parser->datafields[\
|
---|
| 2283 | RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
[363] | 2284 | } \
|
---|
| 2285 | else \
|
---|
| 2286 | { \
|
---|
[4371] | 2287 | Parser->flags[Parser->info[RTCM3_MSM_GPS].numtypes] = GNSSDF_##a##DATA; \
|
---|
| 2288 | Parser->pos[Parser->info[RTCM3_MSM_GPS].numtypes] = GNSSENTRY_##a##DATA; \
|
---|
[5358] | 2289 | Parser->datafields[RINEXENTRY_##b##DATA] = \
|
---|
| 2290 | ++Parser->info[RTCM3_MSM_GPS].numtypes; \
|
---|
| 2291 | snprintf(Parser->fieldbuffer+6*Parser->numdatafields, \
|
---|
| 2292 | sizeof(Parser->fieldbuffer)-6*Parser->numdatafields, " "#b); \
|
---|
| 2293 | ++Parser->numdatafields; \
|
---|
| 2294 | ++modified; \
|
---|
[363] | 2295 | } \
|
---|
[27] | 2296 | }
|
---|
| 2297 |
|
---|
[318] | 2298 | int flags = Parser->startflags;
|
---|
[27] | 2299 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 2300 | flags |= Parser->Data.dataflags[i];
|
---|
| 2301 |
|
---|
| 2302 | CHECKFLAGS(C1,C1)
|
---|
| 2303 | CHECKFLAGS(C2,C2)
|
---|
| 2304 | CHECKFLAGS(P1,P1)
|
---|
| 2305 | CHECKFLAGS(P2,P2)
|
---|
| 2306 | CHECKFLAGS(L1C,L1)
|
---|
| 2307 | CHECKFLAGS(L1P,L1)
|
---|
| 2308 | CHECKFLAGS(L2C,L2)
|
---|
| 2309 | CHECKFLAGS(L2P,L2)
|
---|
| 2310 | CHECKFLAGS(D1C,D1)
|
---|
| 2311 | CHECKFLAGS(D1P,D1)
|
---|
| 2312 | CHECKFLAGS(D2C,D2)
|
---|
| 2313 | CHECKFLAGS(D2P,D2)
|
---|
| 2314 | CHECKFLAGS(S1C,S1)
|
---|
| 2315 | CHECKFLAGS(S1P,S1)
|
---|
| 2316 | CHECKFLAGS(S2C,S2)
|
---|
| 2317 | CHECKFLAGS(S2P,S2)
|
---|
[2659] | 2318 | CHECKFLAGS(C5,C5)
|
---|
| 2319 | CHECKFLAGS(L5,L5)
|
---|
| 2320 | CHECKFLAGS(D5,D5)
|
---|
| 2321 | CHECKFLAGS(S5,S5)
|
---|
[4367] | 2322 | CHECKFLAGS(C5AB,C8)
|
---|
| 2323 | CHECKFLAGS(L5AB,L8)
|
---|
| 2324 | CHECKFLAGS(D5AB,D8)
|
---|
| 2325 | CHECKFLAGS(S5AB,S8)
|
---|
| 2326 | CHECKFLAGS(C5B,C7)
|
---|
| 2327 | CHECKFLAGS(L5B,L7)
|
---|
| 2328 | CHECKFLAGS(D5B,D7)
|
---|
| 2329 | CHECKFLAGS(S5B,S7)
|
---|
[2659] | 2330 | CHECKFLAGS(C6,C6)
|
---|
| 2331 | CHECKFLAGS(L6,L6)
|
---|
| 2332 | CHECKFLAGS(D6,D6)
|
---|
| 2333 | CHECKFLAGS(S6,S6)
|
---|
[4369] | 2334 | /* Skip C1N and SAIF for RINEX2! */
|
---|
[27] | 2335 |
|
---|
[5358] | 2336 | if(hdata)
|
---|
| 2337 | hdata->data.named.typesofobs = buffer;
|
---|
| 2338 | if(modified)
|
---|
[27] | 2339 | {
|
---|
[5358] | 2340 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2341 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->info[RTCM3_MSM_GPS].numtypes,
|
---|
| 2342 | Parser->fieldbuffer);
|
---|
| 2343 | if(Parser->info[RTCM3_MSM_GPS].numtypes>9)
|
---|
| 2344 | {
|
---|
| 2345 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 2346 | "\n %-54.54s# / TYPES OF OBSERV", Parser->fieldbuffer+9*6);
|
---|
| 2347 | }
|
---|
| 2348 | if(Parser->info[RTCM3_MSM_GPS].numtypes>18)
|
---|
| 2349 | {
|
---|
| 2350 | i += snprintf(buffer+i-1, buffersize,
|
---|
| 2351 | "\n %-54.54s# / TYPES OF OBSERV", Parser->fieldbuffer+18*6);
|
---|
| 2352 | }
|
---|
| 2353 | buffer += i; buffersize -= i;
|
---|
[27] | 2354 | }
|
---|
[5358] | 2355 | }
|
---|
| 2356 | return buffersizeold - buffersize;
|
---|
| 2357 | }
|
---|
| 2358 |
|
---|
| 2359 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
| 2360 | {
|
---|
| 2361 | #ifdef NO_RTCM3_MAIN
|
---|
[5363] | 2362 | int flags, modified = 0;
|
---|
[5358] | 2363 | if(Parser->allflags == 0)
|
---|
| 2364 | Parser->allflags = ~0;
|
---|
[5363] | 2365 | flags = Parser->allflags;
|
---|
[5358] | 2366 | if(Parser->rinex3)
|
---|
| 2367 | {
|
---|
[5360] | 2368 | struct HeaderData *hdata = 0;
|
---|
[5358] | 2369 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
| 2370 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
| 2371 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
| 2372 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
| 2373 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
| 2374 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
| 2375 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
| 2376 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
| 2377 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
| 2378 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
| 2379 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
| 2380 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
| 2381 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
| 2382 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
| 2383 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
| 2384 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
| 2385 | CHECKFLAGSNEW(GLONASS, C1, C1C)
|
---|
| 2386 | CHECKFLAGSNEW(GLONASS, L1C, L1C)
|
---|
| 2387 | CHECKFLAGSNEW(GLONASS, D1C, D1C)
|
---|
| 2388 | CHECKFLAGSNEW(GLONASS, S1C, S1C)
|
---|
| 2389 | CHECKFLAGSNEW(GLONASS, P1, C1P)
|
---|
| 2390 | CHECKFLAGSNEW(GLONASS, L1P, L1P)
|
---|
| 2391 | CHECKFLAGSNEW(GLONASS, D1P, D1P)
|
---|
| 2392 | CHECKFLAGSNEW(GLONASS, S1P, S1P)
|
---|
| 2393 | CHECKFLAGSNEW(GLONASS, P2, C2P)
|
---|
| 2394 | CHECKFLAGSNEW(GLONASS, L2P, L2P)
|
---|
| 2395 | CHECKFLAGSNEW(GLONASS, D2P, D2P)
|
---|
| 2396 | CHECKFLAGSNEW(GLONASS, S2P, S2P)
|
---|
| 2397 | CHECKFLAGSNEW(GLONASS, C2, C2C)
|
---|
| 2398 | CHECKFLAGSNEW(GLONASS, L2C, L2C)
|
---|
| 2399 | CHECKFLAGSNEW(GLONASS, D2C, D2C)
|
---|
| 2400 | CHECKFLAGSNEW(GLONASS, S2C, S2C)
|
---|
| 2401 | }
|
---|
| 2402 | else
|
---|
| 2403 | {
|
---|
| 2404 | CHECKFLAGS(C1,C1)
|
---|
| 2405 | CHECKFLAGS(C2,C2)
|
---|
| 2406 | CHECKFLAGS(P1,P1)
|
---|
| 2407 | CHECKFLAGS(P2,P2)
|
---|
| 2408 | CHECKFLAGS(L1C,L1)
|
---|
| 2409 | CHECKFLAGS(L1P,L1)
|
---|
| 2410 | CHECKFLAGS(L2C,L2)
|
---|
| 2411 | CHECKFLAGS(L2P,L2)
|
---|
| 2412 | CHECKFLAGS(D1C,D1)
|
---|
| 2413 | CHECKFLAGS(D1P,D1)
|
---|
| 2414 | CHECKFLAGS(D2C,D2)
|
---|
| 2415 | CHECKFLAGS(D2P,D2)
|
---|
| 2416 | CHECKFLAGS(S1C,S1)
|
---|
| 2417 | CHECKFLAGS(S1P,S1)
|
---|
| 2418 | CHECKFLAGS(S2C,S2)
|
---|
| 2419 | CHECKFLAGS(S2P,S2)
|
---|
| 2420 | CHECKFLAGS(C5,C5)
|
---|
| 2421 | CHECKFLAGS(L5,L5)
|
---|
| 2422 | CHECKFLAGS(D5,D5)
|
---|
| 2423 | CHECKFLAGS(S5,S5)
|
---|
| 2424 | CHECKFLAGS(C5AB,C8)
|
---|
| 2425 | CHECKFLAGS(L5AB,L8)
|
---|
| 2426 | CHECKFLAGS(D5AB,D8)
|
---|
| 2427 | CHECKFLAGS(S5AB,S8)
|
---|
| 2428 | CHECKFLAGS(C5B,C7)
|
---|
| 2429 | CHECKFLAGS(L5B,L7)
|
---|
| 2430 | CHECKFLAGS(D5B,D7)
|
---|
| 2431 | CHECKFLAGS(S5B,S7)
|
---|
| 2432 | CHECKFLAGS(C6,C6)
|
---|
| 2433 | CHECKFLAGS(L6,L6)
|
---|
| 2434 | CHECKFLAGS(D6,D6)
|
---|
| 2435 | CHECKFLAGS(S6,S6)
|
---|
| 2436 | }
|
---|
| 2437 | #else /* NO_RTCM3_MAIN */
|
---|
| 2438 | struct HeaderData hdata;
|
---|
| 2439 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
| 2440 | char *buffer = thebuffer;
|
---|
| 2441 | size_t buffersize = sizeof(thebuffer);
|
---|
| 2442 | int i;
|
---|
| 2443 |
|
---|
| 2444 | memset(&hdata, 0, sizeof(hdata));
|
---|
| 2445 |
|
---|
| 2446 | hdata.data.named.version = buffer;
|
---|
| 2447 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2448 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
| 2449 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
| 2450 | buffer += i; buffersize -= i;
|
---|
| 2451 |
|
---|
| 2452 | {
|
---|
| 2453 | const char *str;
|
---|
| 2454 | hdata.data.named.pgm = buffer;
|
---|
| 2455 | i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
|
---|
[27] | 2456 | buffer += i; buffersize -= i;
|
---|
[5358] | 2457 | hdata.data.named.observer = buffer;
|
---|
| 2458 | i = 1+snprintf(buffer, buffersize,
|
---|
| 2459 | "%-20.20s "
|
---|
| 2460 | "OBSERVER / AGENCY", str);
|
---|
| 2461 | buffer += i; buffersize -= i;
|
---|
[27] | 2462 | }
|
---|
| 2463 |
|
---|
[5358] | 2464 | hdata.data.named.marker =
|
---|
| 2465 | "RTCM3TORINEX "
|
---|
| 2466 | "MARKER NAME";
|
---|
| 2467 |
|
---|
| 2468 | hdata.data.named.markertype = !Parser->rinex3 ? 0 :
|
---|
| 2469 | "GEODETIC "
|
---|
| 2470 | "MARKER TYPE";
|
---|
| 2471 |
|
---|
| 2472 | hdata.data.named.receiver =
|
---|
| 2473 | " "
|
---|
| 2474 | "REC # / TYPE / VERS";
|
---|
| 2475 |
|
---|
| 2476 | hdata.data.named.antenna =
|
---|
| 2477 | " "
|
---|
| 2478 | "ANT # / TYPE";
|
---|
| 2479 |
|
---|
| 2480 | hdata.data.named.position =
|
---|
| 2481 | " .0000 .0000 .0000 "
|
---|
| 2482 | "APPROX POSITION XYZ";
|
---|
| 2483 |
|
---|
| 2484 | hdata.data.named.antennaposition =
|
---|
| 2485 | " .0000 .0000 .0000 "
|
---|
| 2486 | "ANTENNA: DELTA H/E/N";
|
---|
| 2487 |
|
---|
| 2488 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
| 2489 | " 1 1 "
|
---|
| 2490 | "WAVELENGTH FACT L1/2";
|
---|
| 2491 |
|
---|
| 2492 | hdata.numheaders = 18;
|
---|
| 2493 |
|
---|
| 2494 | i = HandleObsHeader(Parser, buffer, buffersize, &hdata);
|
---|
| 2495 | buffer += i; buffersize -= i;
|
---|
| 2496 |
|
---|
[27] | 2497 | {
|
---|
| 2498 | struct converttimeinfo cti;
|
---|
| 2499 | converttime(&cti, Parser->Data.week,
|
---|
[268] | 2500 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
[27] | 2501 | hdata.data.named.timeoffirstobs = buffer;
|
---|
[502] | 2502 | i = 1+snprintf(buffer, buffersize,
|
---|
[27] | 2503 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
[378] | 2504 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
[27] | 2505 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
| 2506 |
|
---|
| 2507 | buffer += i; buffersize -= i;
|
---|
| 2508 | }
|
---|
| 2509 |
|
---|
| 2510 | if(Parser->headerfile)
|
---|
| 2511 | {
|
---|
| 2512 | FILE *fh;
|
---|
| 2513 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
| 2514 | {
|
---|
[318] | 2515 | size_t siz;
|
---|
[27] | 2516 | char *lastblockstart;
|
---|
| 2517 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
| 2518 | {
|
---|
| 2519 | buffer[siz] = '\n';
|
---|
| 2520 | if(siz == buffersize)
|
---|
| 2521 | {
|
---|
[318] | 2522 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
[364] | 2523 | (int)siz);
|
---|
[27] | 2524 | }
|
---|
| 2525 | /* scan the file line by line and enter the entries in the list */
|
---|
| 2526 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
| 2527 | /* overwrites entries, except for comments */
|
---|
| 2528 | lastblockstart = buffer;
|
---|
[318] | 2529 | for(i = 0; i < (int)siz; ++i)
|
---|
[27] | 2530 | {
|
---|
| 2531 | if(buffer[i] == '\n')
|
---|
| 2532 | { /* we found a line */
|
---|
| 2533 | char *end;
|
---|
| 2534 | while(buffer[i+1] == '\r')
|
---|
| 2535 | ++i; /* skip \r in case there are any */
|
---|
| 2536 | end = buffer+i;
|
---|
| 2537 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
| 2538 | *(end--) = 0;
|
---|
| 2539 | if(end-lastblockstart < 60+5) /* short line */
|
---|
[318] | 2540 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
[27] | 2541 | else
|
---|
| 2542 | {
|
---|
| 2543 | int pos;
|
---|
| 2544 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
| 2545 | pos = hdata.numheaders;
|
---|
| 2546 | else
|
---|
| 2547 | {
|
---|
| 2548 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
| 2549 | {
|
---|
[5658] | 2550 | if(hdata.data.unnamed[pos] &&
|
---|
| 2551 | !strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
[27] | 2552 | break;
|
---|
| 2553 | }
|
---|
| 2554 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
[5658] | 2555 | || !strcmp("SYS / # / OBS TYPES", lastblockstart+60)
|
---|
[27] | 2556 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
| 2557 | {
|
---|
[318] | 2558 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
[27] | 2559 | lastblockstart+60);
|
---|
| 2560 | }
|
---|
| 2561 | }
|
---|
| 2562 | if(pos >= MAXHEADERLINES)
|
---|
| 2563 | {
|
---|
[318] | 2564 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
[27] | 2565 | MAXHEADERLINES);
|
---|
| 2566 | }
|
---|
| 2567 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
| 2568 | {
|
---|
[318] | 2569 | RTCM3Error("End of header ignored.\n");
|
---|
[27] | 2570 | }
|
---|
| 2571 | else
|
---|
| 2572 | {
|
---|
| 2573 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
| 2574 | if(pos == hdata.numheaders)
|
---|
| 2575 | ++hdata.numheaders;
|
---|
| 2576 | }
|
---|
| 2577 | }
|
---|
| 2578 | lastblockstart = buffer+i+1;
|
---|
| 2579 | }
|
---|
| 2580 | }
|
---|
| 2581 | }
|
---|
| 2582 | else
|
---|
| 2583 | {
|
---|
[318] | 2584 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
[27] | 2585 | Parser->headerfile);
|
---|
| 2586 | }
|
---|
| 2587 | fclose(fh);
|
---|
| 2588 | }
|
---|
| 2589 | else
|
---|
| 2590 | {
|
---|
[318] | 2591 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
[27] | 2592 | Parser->headerfile);
|
---|
| 2593 | }
|
---|
| 2594 | }
|
---|
| 2595 |
|
---|
| 2596 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
[502] | 2597 | {
|
---|
| 2598 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
| 2599 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
| 2600 | }
|
---|
[318] | 2601 | RTCM3Text(" "
|
---|
[27] | 2602 | "END OF HEADER\n");
|
---|
[287] | 2603 | #endif
|
---|
[27] | 2604 | }
|
---|
| 2605 |
|
---|
[502] | 2606 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
| 2607 | {
|
---|
| 2608 | char buffer[100], *b;
|
---|
| 2609 | va_list v;
|
---|
| 2610 | va_start(v, fmt);
|
---|
| 2611 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
| 2612 | for(b = buffer; *b; ++b)
|
---|
| 2613 | {
|
---|
| 2614 | if(*b == 'e') *b = 'D';
|
---|
| 2615 | }
|
---|
| 2616 | fprintf(file, "%s", buffer);
|
---|
| 2617 | va_end(v);
|
---|
| 2618 | }
|
---|
| 2619 |
|
---|
[268] | 2620 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
[27] | 2621 | {
|
---|
| 2622 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
| 2623 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
| 2624 | {
|
---|
| 2625 | int r;
|
---|
| 2626 | while((r = RTCM3Parser(Parser)))
|
---|
| 2627 | {
|
---|
[6599] | 2628 | if(r == 1020 || r == RTCM3ID_BDS || r == 1019 || r == 1044 || r == 1043)
|
---|
[27] | 2629 | {
|
---|
[502] | 2630 | FILE *file = 0;
|
---|
[318] | 2631 |
|
---|
[502] | 2632 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
| 2633 | {
|
---|
[5595] | 2634 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris
|
---|
| 2635 | : Parser->qzssephemeris ? Parser->qzssephemeris : Parser->glonassephemeris;
|
---|
[502] | 2636 | if(n)
|
---|
| 2637 | {
|
---|
| 2638 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
| 2639 | {
|
---|
| 2640 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
| 2641 | }
|
---|
| 2642 | else
|
---|
| 2643 | {
|
---|
| 2644 | char buffer[100];
|
---|
| 2645 | fprintf(Parser->gpsfile,
|
---|
| 2646 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
[503] | 2647 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 2648 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2649 | }
|
---|
[5595] | 2650 | Parser->qzssephemeris = 0;
|
---|
[502] | 2651 | Parser->gpsephemeris = 0;
|
---|
| 2652 | Parser->glonassephemeris = 0;
|
---|
[6329] | 2653 | Parser->sbasephemeris = 0;
|
---|
[502] | 2654 | file = Parser->gpsfile;
|
---|
| 2655 | }
|
---|
| 2656 | }
|
---|
[318] | 2657 | else
|
---|
| 2658 | {
|
---|
[502] | 2659 | if(r == 1020)
|
---|
| 2660 | {
|
---|
| 2661 | if(Parser->glonassephemeris)
|
---|
| 2662 | {
|
---|
| 2663 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
| 2664 | {
|
---|
| 2665 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
| 2666 | }
|
---|
| 2667 | else
|
---|
| 2668 | {
|
---|
| 2669 | char buffer[100];
|
---|
| 2670 | fprintf(Parser->glonassfile,
|
---|
| 2671 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
[503] | 2672 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 2673 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2674 | }
|
---|
| 2675 | Parser->glonassephemeris = 0;
|
---|
| 2676 | }
|
---|
| 2677 | file = Parser->glonassfile;
|
---|
| 2678 | }
|
---|
| 2679 | else if(r == 1019)
|
---|
| 2680 | {
|
---|
| 2681 | if(Parser->gpsephemeris)
|
---|
| 2682 | {
|
---|
| 2683 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
| 2684 | {
|
---|
| 2685 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
| 2686 | }
|
---|
| 2687 | else
|
---|
| 2688 | {
|
---|
| 2689 | char buffer[100];
|
---|
| 2690 | fprintf(Parser->gpsfile,
|
---|
| 2691 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
[503] | 2692 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
[502] | 2693 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2694 | }
|
---|
| 2695 | Parser->gpsephemeris = 0;
|
---|
| 2696 | }
|
---|
| 2697 | file = Parser->gpsfile;
|
---|
| 2698 | }
|
---|
[6329] | 2699 | else if(r == 1043)
|
---|
| 2700 | {
|
---|
| 2701 | if(Parser->sbasephemeris)
|
---|
| 2702 | {
|
---|
| 2703 | if(!(Parser->sbasfile = fopen(Parser->sbasephemeris, "w")))
|
---|
| 2704 | {
|
---|
| 2705 | RTCM3Error("Could not open SBAS ephemeris output file.\n");
|
---|
| 2706 | }
|
---|
| 2707 | else
|
---|
| 2708 | {
|
---|
| 2709 | char buffer[100];
|
---|
| 2710 | fprintf(Parser->sbasfile,
|
---|
| 2711 | "%9.2f%11sN: SBAS NAV DATA%24sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
| 2712 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
| 2713 | fprintf(Parser->sbasfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2714 | }
|
---|
| 2715 | Parser->sbasephemeris = 0;
|
---|
| 2716 | }
|
---|
| 2717 | file = Parser->sbasfile;
|
---|
| 2718 | }
|
---|
[5595] | 2719 | else if(r == 1044)
|
---|
| 2720 | {
|
---|
| 2721 | if(Parser->qzssephemeris)
|
---|
| 2722 | {
|
---|
| 2723 | if(!(Parser->qzssfile = fopen(Parser->qzssephemeris, "w")))
|
---|
| 2724 | {
|
---|
| 2725 | RTCM3Error("Could not open QZSS ephemeris output file.\n");
|
---|
| 2726 | }
|
---|
| 2727 | else
|
---|
| 2728 | {
|
---|
| 2729 | char buffer[100];
|
---|
| 2730 | fprintf(Parser->qzssfile,
|
---|
| 2731 | "%9.2f%11sN: QZSS NAV DATA%24sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
| 2732 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
| 2733 | fprintf(Parser->qzssfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2734 | }
|
---|
| 2735 | Parser->qzssephemeris = 0;
|
---|
| 2736 | }
|
---|
| 2737 | file = Parser->qzssfile;
|
---|
| 2738 | }
|
---|
[6599] | 2739 | else if(r == RTCM3ID_BDS)
|
---|
| 2740 | {
|
---|
| 2741 | if(Parser->bdsephemeris)
|
---|
| 2742 | {
|
---|
| 2743 | if(!(Parser->bdsfile = fopen(Parser->bdsephemeris, "w")))
|
---|
| 2744 | {
|
---|
| 2745 | RTCM3Error("Could not open BDS ephemeris output file.\n");
|
---|
| 2746 | }
|
---|
| 2747 | else
|
---|
| 2748 | {
|
---|
| 2749 | char buffer[100];
|
---|
| 2750 | fprintf(Parser->bdsfile,
|
---|
| 2751 | "%9.2f%11sN: BDS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
| 2752 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
| 2753 | fprintf(Parser->bdsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
| 2754 | }
|
---|
| 2755 | Parser->bdsephemeris = 0;
|
---|
| 2756 | }
|
---|
| 2757 | file = Parser->bdsfile;
|
---|
| 2758 | }
|
---|
[318] | 2759 | }
|
---|
[502] | 2760 | if(file)
|
---|
| 2761 | {
|
---|
[6329] | 2762 | const char *sep = " ";
|
---|
[502] | 2763 | if(r == 1020)
|
---|
| 2764 | {
|
---|
| 2765 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
| 2766 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
| 2767 | struct converttimeinfo cti;
|
---|
| 2768 |
|
---|
[2346] | 2769 | updatetime(&w, &tow, e->tb*1000, 1); /* Moscow - > UTC */
|
---|
[502] | 2770 | converttime(&cti, w, tow);
|
---|
| 2771 |
|
---|
| 2772 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
| 2773 |
|
---|
| 2774 | if(Parser->rinex3)
|
---|
[6329] | 2775 | {
|
---|
[502] | 2776 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 2777 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 2778 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
[6329] | 2779 | sep = " ";
|
---|
| 2780 | }
|
---|
[502] | 2781 | else
|
---|
[6329] | 2782 | {
|
---|
[502] | 2783 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 2784 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 2785 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
[6329] | 2786 | }
|
---|
| 2787 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->x_pos,
|
---|
[502] | 2788 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
[6329] | 2789 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->y_pos,
|
---|
[502] | 2790 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
[6329] | 2791 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->z_pos,
|
---|
[502] | 2792 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
| 2793 | }
|
---|
[6329] | 2794 | else if(r == 1043)
|
---|
| 2795 | {
|
---|
| 2796 | struct sbasephemeris *e = &Parser->ephemerisSBAS;
|
---|
| 2797 | struct converttimeinfo cti;
|
---|
| 2798 | converttime(&cti, e->GPSweek_TOE, e->TOE);
|
---|
| 2799 | if(Parser->rinex3)
|
---|
| 2800 | {
|
---|
| 2801 | ConvLine(file, "S%02d %04d %2d %2d %2d %2d %2d%19.12e%19.12e%19.12e\n",
|
---|
| 2802 | e->satellite-100, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 2803 | cti.second, e->agf0, e->agf1, (double)e->TOW);
|
---|
| 2804 | sep = " ";
|
---|
| 2805 | }
|
---|
| 2806 | else
|
---|
| 2807 | {
|
---|
| 2808 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
| 2809 | e->satellite-100, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
| 2810 | (double)cti.second, e->agf0, e->agf1, (double)e->TOW);
|
---|
| 2811 | }
|
---|
| 2812 | /* X, health */
|
---|
| 2813 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->x_pos,
|
---|
| 2814 | e->x_velocity, e->x_acceleration, e->URA == 15 ? 1.0 : 0.0);
|
---|
| 2815 | /* Y, accuracy */
|
---|
| 2816 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->y_pos,
|
---|
| 2817 | e->y_velocity, e->y_acceleration, (double)e->URA);
|
---|
| 2818 | /* Z */
|
---|
| 2819 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->z_pos,
|
---|
| 2820 | e->z_velocity, e->z_acceleration, (double)e->IODN);
|
---|
| 2821 | }
|
---|
[6599] | 2822 | else if(r == RTCM3ID_BDS)
|
---|
| 2823 | {
|
---|
| 2824 | struct bdsephemeris *e = &Parser->ephemerisBDS;
|
---|
| 2825 | double d; /* temporary variable */
|
---|
| 2826 | struct converttimeinfo cti;
|
---|
| 2827 | converttimebds(&cti, e->BDSweek, e->TOC);
|
---|
| 2828 | int num = e->satellite-PRN_BDS_START+1;
|
---|
| 2829 |
|
---|
| 2830 | if(Parser->rinex3)
|
---|
| 2831 | {
|
---|
| 2832 | ConvLine(file,
|
---|
| 2833 | "C%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 2834 | num, cti.year, cti.month, cti.day, cti.hour,
|
---|
| 2835 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
| 2836 | e->clock_driftrate);
|
---|
| 2837 | sep = " ";
|
---|
| 2838 | }
|
---|
| 2839 | else
|
---|
| 2840 | {
|
---|
| 2841 | ConvLine(file,
|
---|
| 2842 | "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
| 2843 | num, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
| 2844 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
| 2845 | e->clock_driftrate);
|
---|
| 2846 | }
|
---|
| 2847 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep,
|
---|
| 2848 | (double)e->AODE, e->Crs, e->Delta_n, e->M0);
|
---|
| 2849 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->Cuc,
|
---|
| 2850 | e->e, e->Cus, e->sqrt_A);
|
---|
| 2851 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep,
|
---|
| 2852 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
| 2853 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->i0,
|
---|
| 2854 | e->Crc, e->omega, e->OMEGADOT);
|
---|
| 2855 | ConvLine(file, "%s%19.12e %19.12e\n", sep, e->IDOT,
|
---|
| 2856 | (double) e->BDSweek);
|
---|
| 2857 | if(e->URAI <= 6) /* URA index */
|
---|
| 2858 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAI)/2.0))/10.0;
|
---|
| 2859 | else
|
---|
| 2860 | d = ceil(10.0*pow(2.0, ((double)e->URAI)/2.0))/10.0;
|
---|
| 2861 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
| 2862 | case, so we create a high "non"-accuracy value. */
|
---|
| 2863 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, d,
|
---|
| 2864 | ((double) (e->flags & BDSEPHF_SATH1)), e->TGD_B1_B3,
|
---|
| 2865 | e->TGD_B2_B3);
|
---|
| 2866 |
|
---|
| 2867 | ConvLine(file, "%s%19.12e%19.12e\n", sep, ((double)e->TOW),
|
---|
| 2868 | (double) e->AODC);
|
---|
| 2869 | /* TOW, AODC */
|
---|
| 2870 | }
|
---|
[5595] | 2871 | else /* if(r == 1019 || r == 1044) */
|
---|
[502] | 2872 | {
|
---|
| 2873 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
| 2874 | double d; /* temporary variable */
|
---|
| 2875 | unsigned long int i; /* temporary variable */
|
---|
| 2876 | struct converttimeinfo cti;
|
---|
| 2877 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
[5595] | 2878 | int qzss = 0;
|
---|
| 2879 | int num = e->satellite;
|
---|
[502] | 2880 |
|
---|
[5595] | 2881 | if(num >= PRN_QZSS_START)
|
---|
| 2882 | {
|
---|
| 2883 | qzss = 1;
|
---|
| 2884 | num -= PRN_QZSS_START-1;
|
---|
| 2885 | }
|
---|
[502] | 2886 | if(Parser->rinex3)
|
---|
[5595] | 2887 | {
|
---|
| 2888 | ConvLine(file,
|
---|
| 2889 | "%s%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
| 2890 | qzss ? "J" : "G", num, cti.year, cti.month, cti.day, cti.hour,
|
---|
[502] | 2891 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
| 2892 | e->clock_driftrate);
|
---|
[5595] | 2893 | sep = " ";
|
---|
| 2894 | }
|
---|
[502] | 2895 | else
|
---|
[5595] | 2896 | {
|
---|
| 2897 | ConvLine(file,
|
---|
| 2898 | "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
| 2899 | num, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
[502] | 2900 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
| 2901 | e->clock_driftrate);
|
---|
[5595] | 2902 | }
|
---|
| 2903 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep,
|
---|
| 2904 | (double)e->IODE, e->Crs, e->Delta_n, e->M0);
|
---|
| 2905 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->Cuc,
|
---|
[502] | 2906 | e->e, e->Cus, e->sqrt_A);
|
---|
[5595] | 2907 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep,
|
---|
[502] | 2908 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
[5595] | 2909 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->i0,
|
---|
[502] | 2910 | e->Crc, e->omega, e->OMEGADOT);
|
---|
| 2911 | d = 0;
|
---|
| 2912 | i = e->flags;
|
---|
| 2913 | if(i & GPSEPHF_L2CACODE)
|
---|
| 2914 | d += 2.0;
|
---|
| 2915 | if(i & GPSEPHF_L2PCODE)
|
---|
| 2916 | d += 1.0;
|
---|
[5595] | 2917 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, e->IDOT, d,
|
---|
[502] | 2918 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
| 2919 | if(e->URAindex <= 6) /* URA index */
|
---|
| 2920 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
| 2921 | else
|
---|
| 2922 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
| 2923 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
| 2924 | case, so we create a high "non"-accuracy value. */
|
---|
[5595] | 2925 | ConvLine(file, "%s%19.12e%19.12e%19.12e%19.12e\n", sep, d,
|
---|
[502] | 2926 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
| 2927 |
|
---|
[5595] | 2928 | ConvLine(file, "%s%19.12e%19.12e\n", sep, ((double)e->TOW),
|
---|
| 2929 | (i & GPSEPHF_6HOURSFIT) ? (Parser->rinex3 ? 1 : qzss ? 4.0 : 6.0)
|
---|
| 2930 | : (Parser->rinex3 ? 0 : qzss ? 2.0 : 4.0));
|
---|
[6599] | 2931 | /* TOW,Fit */
|
---|
[502] | 2932 | }
|
---|
| 2933 | }
|
---|
[27] | 2934 | }
|
---|
[2507] | 2935 | else if (r == 1 || r == 2)
|
---|
[27] | 2936 | {
|
---|
[5553] | 2937 | int i, j, o, nh=0, hl=2;
|
---|
[5358] | 2938 | char newheader[512];
|
---|
[502] | 2939 | struct converttimeinfo cti;
|
---|
[27] | 2940 |
|
---|
[5358] | 2941 | /* skip first epochs to detect correct data types */
|
---|
| 2942 | if(Parser->init < (Parser->changeobs ? 1 : NUMSTARTSKIP))
|
---|
[27] | 2943 | {
|
---|
[502] | 2944 | ++Parser->init;
|
---|
| 2945 |
|
---|
[5358] | 2946 | if(Parser->init == (Parser->changeobs ? 1 : NUMSTARTSKIP))
|
---|
[502] | 2947 | HandleHeader(Parser);
|
---|
[27] | 2948 | else
|
---|
[502] | 2949 | {
|
---|
| 2950 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 2951 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
| 2952 | continue;
|
---|
| 2953 | }
|
---|
[27] | 2954 | }
|
---|
[502] | 2955 | if(r == 2 && !Parser->validwarning)
|
---|
[27] | 2956 | {
|
---|
[502] | 2957 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
| 2958 | " COMMENT\n");
|
---|
| 2959 | Parser->validwarning = 1;
|
---|
| 2960 | }
|
---|
| 2961 |
|
---|
| 2962 | converttime(&cti, Parser->Data.week,
|
---|
| 2963 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
[5358] | 2964 | newheader[0] = 0;
|
---|
| 2965 | if(Parser->changeobs)
|
---|
| 2966 | {
|
---|
| 2967 | nh = HandleObsHeader(Parser, newheader, sizeof(newheader), 0);
|
---|
[5553] | 2968 | for(i = 0; i < nh; ++i)
|
---|
| 2969 | {
|
---|
| 2970 | if(newheader[i] == '\n')
|
---|
| 2971 | ++hl;
|
---|
| 2972 | }
|
---|
[5358] | 2973 | }
|
---|
[502] | 2974 | if(Parser->rinex3)
|
---|
| 2975 | {
|
---|
[5358] | 2976 | if(nh)
|
---|
| 2977 | {
|
---|
[5553] | 2978 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 4%3d\n",
|
---|
| 2979 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 2980 | + fmod(Parser->Data.timeofweek/1000.0,1.0), hl);
|
---|
[5358] | 2981 | RTCM3Text("%s\n "
|
---|
| 2982 | " END OF HEADER\n", newheader);
|
---|
| 2983 | }
|
---|
[5553] | 2984 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f %d%3d\n",
|
---|
| 2985 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
| 2986 | + fmod(Parser->Data.timeofweek/1000.0,1.0), 0,
|
---|
| 2987 | Parser->Data.numsats);
|
---|
[502] | 2988 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
[363] | 2989 | {
|
---|
[4371] | 2990 | int sys[RTCM3_MSM_NUMSYS] = {0,0,0,0,0,0};
|
---|
[502] | 2991 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
[4371] | 2992 | {
|
---|
[502] | 2993 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
[4371] | 2994 | sys[RTCM3_MSM_GPS] = 1;
|
---|
| 2995 | }
|
---|
[502] | 2996 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 2997 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
| 2998 | {
|
---|
| 2999 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
[4371] | 3000 | sys[RTCM3_MSM_GLONASS] = 1;
|
---|
[502] | 3001 | }
|
---|
[2699] | 3002 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
| 3003 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
| 3004 | {
|
---|
| 3005 | RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GALILEO_START-1));
|
---|
[4371] | 3006 | sys[RTCM3_MSM_GALILEO] = 1;
|
---|
[2699] | 3007 | }
|
---|
| 3008 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
| 3009 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
| 3010 | {
|
---|
| 3011 | RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
[4371] | 3012 | sys[RTCM3_MSM_GALILEO] = 1;
|
---|
[2699] | 3013 | }
|
---|
[4367] | 3014 | else if(Parser->Data.satellites[i] >= PRN_QZSS_START
|
---|
| 3015 | && Parser->Data.satellites[i] <= PRN_QZSS_END)
|
---|
| 3016 | {
|
---|
| 3017 | RTCM3Text("J%02d", Parser->Data.satellites[i] - (PRN_QZSS_START-1));
|
---|
[4371] | 3018 | sys[RTCM3_MSM_QZSS] = 1;
|
---|
[4367] | 3019 | }
|
---|
[6599] | 3020 | else if(Parser->Data.satellites[i] >= PRN_BDS_START
|
---|
| 3021 | && Parser->Data.satellites[i] <= PRN_BDS_END)
|
---|
[4367] | 3022 | {
|
---|
[6599] | 3023 | RTCM3Text("C%02d", Parser->Data.satellites[i] - (PRN_BDS_START-1));
|
---|
| 3024 | sys[RTCM3_MSM_BDS] = 1;
|
---|
[4367] | 3025 | }
|
---|
| 3026 | else if(Parser->Data.satellites[i] >= PRN_SBAS_START
|
---|
| 3027 | && Parser->Data.satellites[i] <= PRN_SBAS_END)
|
---|
[4371] | 3028 | {
|
---|
[4367] | 3029 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_SBAS_START+20);
|
---|
[4371] | 3030 | sys[RTCM3_MSM_SBAS] = 1;
|
---|
| 3031 | }
|
---|
[502] | 3032 | else
|
---|
[4371] | 3033 | {
|
---|
[502] | 3034 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[4371] | 3035 | }
|
---|
[363] | 3036 |
|
---|
[4371] | 3037 | if(sys[RTCM3_MSM_GLONASS])
|
---|
[363] | 3038 | {
|
---|
[4371] | 3039 | for(j = 0; j < Parser->info[RTCM3_MSM_GLONASS].numtypes; ++j)
|
---|
[502] | 3040 | {
|
---|
[4383] | 3041 | long long df = Parser->info[RTCM3_MSM_GLONASS].flags[j];
|
---|
[4371] | 3042 | int pos = Parser->info[RTCM3_MSM_GLONASS].pos[j];
|
---|
[502] | 3043 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3044 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
[4374] | 3045 | && !isinf(Parser->Data.measdata[i][pos])
|
---|
| 3046 | && (Parser->Data.codetype[i][pos]
|
---|
| 3047 | && Parser->info[RTCM3_MSM_GLONASS].type[pos]
|
---|
| 3048 | && Parser->info[RTCM3_MSM_GLONASS].type[pos]
|
---|
| 3049 | == Parser->Data.codetype[i][pos][1]))
|
---|
[502] | 3050 | {
|
---|
| 3051 | char lli = ' ';
|
---|
| 3052 | char snr = ' ';
|
---|
| 3053 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 3054 | {
|
---|
[2659] | 3055 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
[502] | 3056 | lli = '1';
|
---|
| 3057 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 3058 | }
|
---|
| 3059 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 3060 | {
|
---|
[2659] | 3061 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
[502] | 3062 | lli = '1';
|
---|
| 3063 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 3064 | }
|
---|
| 3065 | RTCM3Text("%14.3f%c%c",
|
---|
| 3066 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3067 | }
|
---|
| 3068 | else
|
---|
| 3069 | { /* no or illegal data */
|
---|
| 3070 | RTCM3Text(" ");
|
---|
| 3071 | }
|
---|
| 3072 | }
|
---|
[363] | 3073 | }
|
---|
[4371] | 3074 | else if(sys[RTCM3_MSM_GALILEO])
|
---|
[2699] | 3075 | {
|
---|
[4371] | 3076 | for(j = 0; j < Parser->info[RTCM3_MSM_GALILEO].numtypes; ++j)
|
---|
[2699] | 3077 | {
|
---|
[4383] | 3078 | long long df = Parser->info[RTCM3_MSM_GALILEO].flags[j];
|
---|
[4371] | 3079 | int pos = Parser->info[RTCM3_MSM_GALILEO].pos[j];
|
---|
[2699] | 3080 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3081 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
[4374] | 3082 | && !isinf(Parser->Data.measdata[i][pos])
|
---|
| 3083 | && (Parser->Data.codetype[i][pos]
|
---|
| 3084 | && Parser->info[RTCM3_MSM_GALILEO].type[pos]
|
---|
| 3085 | && Parser->info[RTCM3_MSM_GALILEO].type[pos]
|
---|
| 3086 | == Parser->Data.codetype[i][pos][1]))
|
---|
[2699] | 3087 | {
|
---|
| 3088 | char lli = ' ';
|
---|
| 3089 | char snr = ' ';
|
---|
| 3090 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 3091 | {
|
---|
| 3092 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
| 3093 | lli = '1';
|
---|
| 3094 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 3095 | }
|
---|
| 3096 | if(df & GNSSDF_L6DATA)
|
---|
| 3097 | {
|
---|
| 3098 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE6)
|
---|
| 3099 | lli = '1';
|
---|
| 3100 | snr = ' ';
|
---|
| 3101 | }
|
---|
| 3102 | if(df & GNSSDF_L5DATA)
|
---|
| 3103 | {
|
---|
| 3104 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
| 3105 | lli = '1';
|
---|
| 3106 | snr = ' ';
|
---|
| 3107 | }
|
---|
| 3108 | if(df & GNSSDF_L5BDATA)
|
---|
| 3109 | {
|
---|
| 3110 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5B)
|
---|
| 3111 | lli = '1';
|
---|
| 3112 | snr = ' ';
|
---|
| 3113 | }
|
---|
| 3114 | if(df & GNSSDF_L5ABDATA)
|
---|
| 3115 | {
|
---|
| 3116 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5AB)
|
---|
| 3117 | lli = '1';
|
---|
| 3118 | snr = ' ';
|
---|
| 3119 | }
|
---|
| 3120 | RTCM3Text("%14.3f%c%c",
|
---|
| 3121 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3122 | }
|
---|
| 3123 | else
|
---|
| 3124 | { /* no or illegal data */
|
---|
| 3125 | RTCM3Text(" ");
|
---|
| 3126 | }
|
---|
| 3127 | }
|
---|
| 3128 | }
|
---|
[6599] | 3129 | else if(sys[RTCM3_MSM_BDS])
|
---|
[4367] | 3130 | {
|
---|
[6599] | 3131 | for(j = 0; j < Parser->info[RTCM3_MSM_BDS].numtypes; ++j)
|
---|
[4367] | 3132 | {
|
---|
[6599] | 3133 | long long df = Parser->info[RTCM3_MSM_BDS].flags[j];
|
---|
| 3134 | int pos = Parser->info[RTCM3_MSM_BDS].pos[j];
|
---|
[4367] | 3135 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3136 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
[4374] | 3137 | && !isinf(Parser->Data.measdata[i][pos])
|
---|
| 3138 | && (Parser->Data.codetype[i][pos]
|
---|
[6599] | 3139 | && Parser->info[RTCM3_MSM_BDS].type[pos]
|
---|
| 3140 | && Parser->info[RTCM3_MSM_BDS].type[pos]
|
---|
[4374] | 3141 | == Parser->Data.codetype[i][pos][1]))
|
---|
[4367] | 3142 | {
|
---|
| 3143 | char lli = ' ';
|
---|
| 3144 | char snr = ' ';
|
---|
| 3145 | if(df & GNSSDF_LB1DATA)
|
---|
| 3146 | {
|
---|
| 3147 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB1)
|
---|
| 3148 | lli = '1';
|
---|
| 3149 | }
|
---|
| 3150 | if(df & GNSSDF_LB2DATA)
|
---|
| 3151 | {
|
---|
| 3152 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB2)
|
---|
| 3153 | lli = '1';
|
---|
| 3154 | }
|
---|
| 3155 | if(df & GNSSDF_LB3DATA)
|
---|
| 3156 | {
|
---|
| 3157 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB3)
|
---|
| 3158 | lli = '1';
|
---|
| 3159 | }
|
---|
| 3160 | RTCM3Text("%14.3f%c%c",
|
---|
| 3161 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3162 | }
|
---|
| 3163 | else
|
---|
| 3164 | { /* no or illegal data */
|
---|
| 3165 | RTCM3Text(" ");
|
---|
| 3166 | }
|
---|
| 3167 | }
|
---|
| 3168 | }
|
---|
[4371] | 3169 | else if(sys[RTCM3_MSM_QZSS])
|
---|
[4367] | 3170 | {
|
---|
[4371] | 3171 | for(j = 0; j < Parser->info[RTCM3_MSM_QZSS].numtypes; ++j)
|
---|
[4367] | 3172 | {
|
---|
[4383] | 3173 | long long df = Parser->info[RTCM3_MSM_QZSS].flags[j];
|
---|
[4371] | 3174 | int pos = Parser->info[RTCM3_MSM_QZSS].pos[j];
|
---|
[4367] | 3175 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3176 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
[4371] | 3177 | && !isinf(Parser->Data.measdata[i][pos])
|
---|
[4374] | 3178 | && (Parser->Data.codetype[i][pos]
|
---|
[4371] | 3179 | && Parser->info[RTCM3_MSM_QZSS].type[pos]
|
---|
| 3180 | && Parser->info[RTCM3_MSM_QZSS].type[pos]
|
---|
[4374] | 3181 | == Parser->Data.codetype[i][pos][1]))
|
---|
[4367] | 3182 | {
|
---|
| 3183 | char lli = ' ';
|
---|
| 3184 | char snr = ' ';
|
---|
| 3185 | if(df & GNSSDF_L1CDATA)
|
---|
| 3186 | {
|
---|
| 3187 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
| 3188 | lli = '1';
|
---|
| 3189 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 3190 | }
|
---|
| 3191 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 3192 | {
|
---|
| 3193 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
| 3194 | lli = '1';
|
---|
| 3195 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 3196 | }
|
---|
| 3197 | if(df & GNSSDF_L5DATA)
|
---|
| 3198 | {
|
---|
| 3199 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
| 3200 | lli = '1';
|
---|
| 3201 | snr = ' ';
|
---|
| 3202 | }
|
---|
| 3203 | RTCM3Text("%14.3f%c%c",
|
---|
| 3204 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3205 | }
|
---|
| 3206 | else
|
---|
| 3207 | { /* no or illegal data */
|
---|
| 3208 | RTCM3Text(" ");
|
---|
| 3209 | }
|
---|
| 3210 | }
|
---|
| 3211 | }
|
---|
[4371] | 3212 | else if(sys[RTCM3_MSM_SBAS])
|
---|
| 3213 | {
|
---|
| 3214 | for(j = 0; j < Parser->info[RTCM3_MSM_SBAS].numtypes; ++j)
|
---|
| 3215 | {
|
---|
[4383] | 3216 | long long df = Parser->info[RTCM3_MSM_SBAS].flags[j];
|
---|
[4371] | 3217 | int pos = Parser->info[RTCM3_MSM_SBAS].pos[j];
|
---|
| 3218 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3219 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
[4374] | 3220 | && !isinf(Parser->Data.measdata[i][pos])
|
---|
| 3221 | && (Parser->Data.codetype[i][pos]
|
---|
| 3222 | && Parser->info[RTCM3_MSM_SBAS].type[pos]
|
---|
| 3223 | && Parser->info[RTCM3_MSM_SBAS].type[pos]
|
---|
| 3224 | == Parser->Data.codetype[i][pos][1]))
|
---|
[4371] | 3225 | {
|
---|
| 3226 | char lli = ' ';
|
---|
| 3227 | char snr = ' ';
|
---|
| 3228 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 3229 | {
|
---|
| 3230 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
| 3231 | lli = '1';
|
---|
| 3232 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 3233 | }
|
---|
| 3234 | if(df & GNSSDF_L5DATA)
|
---|
| 3235 | {
|
---|
| 3236 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
| 3237 | lli = '1';
|
---|
| 3238 | snr = ' ';
|
---|
| 3239 | }
|
---|
| 3240 | RTCM3Text("%14.3f%c%c",
|
---|
| 3241 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3242 | }
|
---|
| 3243 | else
|
---|
| 3244 | { /* no or illegal data */
|
---|
| 3245 | RTCM3Text(" ");
|
---|
| 3246 | }
|
---|
| 3247 | }
|
---|
| 3248 | }
|
---|
[502] | 3249 | else
|
---|
| 3250 | {
|
---|
[4371] | 3251 | for(j = 0; j < Parser->info[RTCM3_MSM_GPS].numtypes; ++j)
|
---|
[502] | 3252 | {
|
---|
[4383] | 3253 | long long df = Parser->info[RTCM3_MSM_GPS].flags[j];
|
---|
[4371] | 3254 | int pos = Parser->info[RTCM3_MSM_GPS].pos[j];
|
---|
[4383] | 3255 | if((Parser->Data.dataflags[i] & df)
|
---|
[502] | 3256 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
[4374] | 3257 | && !isinf(Parser->Data.measdata[i][pos])
|
---|
| 3258 | && (Parser->Data.codetype[i][pos]
|
---|
| 3259 | && Parser->info[RTCM3_MSM_GPS].type[pos]
|
---|
| 3260 | && Parser->info[RTCM3_MSM_GPS].type[pos]
|
---|
| 3261 | == Parser->Data.codetype[i][pos][1]))
|
---|
[502] | 3262 | {
|
---|
| 3263 | char lli = ' ';
|
---|
| 3264 | char snr = ' ';
|
---|
| 3265 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 3266 | {
|
---|
[2659] | 3267 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
[502] | 3268 | lli = '1';
|
---|
| 3269 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 3270 | }
|
---|
| 3271 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 3272 | {
|
---|
[2659] | 3273 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
[502] | 3274 | lli = '1';
|
---|
| 3275 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 3276 | }
|
---|
[2699] | 3277 | if(df & GNSSDF_L5DATA)
|
---|
| 3278 | {
|
---|
| 3279 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
| 3280 | lli = '1';
|
---|
| 3281 | snr = ' ';
|
---|
| 3282 | }
|
---|
[502] | 3283 | RTCM3Text("%14.3f%c%c",
|
---|
| 3284 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3285 | }
|
---|
| 3286 | else
|
---|
| 3287 | { /* no or illegal data */
|
---|
| 3288 | RTCM3Text(" ");
|
---|
| 3289 | }
|
---|
| 3290 | }
|
---|
| 3291 | }
|
---|
| 3292 | RTCM3Text("\n");
|
---|
[363] | 3293 | }
|
---|
[502] | 3294 | }
|
---|
| 3295 | else
|
---|
| 3296 | {
|
---|
[5358] | 3297 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f %d%3d",
|
---|
[502] | 3298 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
[5358] | 3299 | + fmod(Parser->Data.timeofweek/1000.0,1.0), nh ? 4 : 0,
|
---|
| 3300 | Parser->Data.numsats);
|
---|
[502] | 3301 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
| 3302 | {
|
---|
| 3303 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 3304 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 3305 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 3306 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
[2659] | 3307 | RTCM3Text("R%02d", Parser->Data.satellites[i]
|
---|
| 3308 | - (PRN_GLONASS_START-1));
|
---|
[4367] | 3309 | else if(Parser->Data.satellites[i] >= PRN_SBAS_START
|
---|
| 3310 | && Parser->Data.satellites[i] <= PRN_SBAS_END)
|
---|
[2659] | 3311 | RTCM3Text("S%02d", Parser->Data.satellites[i]
|
---|
[4367] | 3312 | - PRN_SBAS_START+20);
|
---|
[2659] | 3313 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
| 3314 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
| 3315 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 3316 | - (PRN_GALILEO_START-1));
|
---|
| 3317 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
| 3318 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
| 3319 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 3320 | - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
[4367] | 3321 | else if(Parser->Data.satellites[i] >= PRN_QZSS_START
|
---|
| 3322 | && Parser->Data.satellites[i] <= PRN_QZSS_END)
|
---|
| 3323 | RTCM3Text("J%02d", Parser->Data.satellites[i]
|
---|
| 3324 | - (PRN_QZSS_START-1));
|
---|
[6599] | 3325 | else if(Parser->Data.satellites[i] >= PRN_BDS_START
|
---|
| 3326 | && Parser->Data.satellites[i] <= PRN_BDS_END)
|
---|
[4367] | 3327 | RTCM3Text("C%02d", Parser->Data.satellites[i]
|
---|
[6599] | 3328 | - (PRN_BDS_START-1));
|
---|
[502] | 3329 | else
|
---|
| 3330 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 3331 | }
|
---|
[502] | 3332 | RTCM3Text("\n");
|
---|
| 3333 | o = 12;
|
---|
| 3334 | j = Parser->Data.numsats - 12;
|
---|
| 3335 | while(j > 0)
|
---|
[27] | 3336 | {
|
---|
[502] | 3337 | RTCM3Text(" ");
|
---|
| 3338 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
[27] | 3339 | {
|
---|
[502] | 3340 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
| 3341 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
| 3342 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
| 3343 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
[2659] | 3344 | RTCM3Text("R%02d", Parser->Data.satellites[i]
|
---|
| 3345 | - (PRN_GLONASS_START-1));
|
---|
[4367] | 3346 | else if(Parser->Data.satellites[i] >= PRN_SBAS_START
|
---|
| 3347 | && Parser->Data.satellites[i] <= PRN_SBAS_END)
|
---|
[2659] | 3348 | RTCM3Text("S%02d", Parser->Data.satellites[i]
|
---|
[4367] | 3349 | - PRN_SBAS_START+20);
|
---|
[2659] | 3350 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
| 3351 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
| 3352 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 3353 | - (PRN_GALILEO_START-1));
|
---|
| 3354 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
| 3355 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
| 3356 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
| 3357 | - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
[4367] | 3358 | else if(Parser->Data.satellites[i] >= PRN_QZSS_START
|
---|
| 3359 | && Parser->Data.satellites[i] <= PRN_QZSS_END)
|
---|
| 3360 | RTCM3Text("J%02d", Parser->Data.satellites[i]
|
---|
| 3361 | - (PRN_QZSS_START-1));
|
---|
[6599] | 3362 | else if(Parser->Data.satellites[i] >= PRN_BDS_START
|
---|
| 3363 | && Parser->Data.satellites[i] <= PRN_BDS_END)
|
---|
[4367] | 3364 | RTCM3Text("C%02d", Parser->Data.satellites[i]
|
---|
[6599] | 3365 | - (PRN_BDS_START-1));
|
---|
[502] | 3366 | else
|
---|
| 3367 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
[27] | 3368 | }
|
---|
[502] | 3369 | RTCM3Text("\n");
|
---|
| 3370 | j -= 12;
|
---|
| 3371 | o += 12;
|
---|
| 3372 | }
|
---|
[5358] | 3373 | if(nh)
|
---|
| 3374 | {
|
---|
| 3375 | RTCM3Text("%s\n "
|
---|
| 3376 | " END OF HEADER\n", newheader);
|
---|
| 3377 | }
|
---|
[502] | 3378 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
| 3379 | {
|
---|
[4371] | 3380 | for(j = 0; j < Parser->info[RTCM3_MSM_GPS].numtypes; ++j)
|
---|
[27] | 3381 | {
|
---|
[502] | 3382 | int v = 0;
|
---|
[4383] | 3383 | long long df = Parser->flags[j];
|
---|
[4371] | 3384 | int pos = Parser->pos[j];
|
---|
[502] | 3385 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3386 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 3387 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 3388 | {
|
---|
| 3389 | v = 1;
|
---|
| 3390 | }
|
---|
| 3391 | else
|
---|
| 3392 | {
|
---|
[4371] | 3393 | df = Parser->info[RTCM3_MSM_GPS].flags[j];
|
---|
| 3394 | pos = Parser->info[RTCM3_MSM_GPS].pos[j];
|
---|
[502] | 3395 |
|
---|
| 3396 | if((Parser->Data.dataflags[i] & df)
|
---|
| 3397 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
| 3398 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
| 3399 | {
|
---|
| 3400 | v = 1;
|
---|
| 3401 | }
|
---|
| 3402 | }
|
---|
| 3403 |
|
---|
| 3404 | if(!v)
|
---|
| 3405 | { /* no or illegal data */
|
---|
| 3406 | RTCM3Text(" ");
|
---|
| 3407 | }
|
---|
| 3408 | else
|
---|
| 3409 | {
|
---|
| 3410 | char lli = ' ';
|
---|
| 3411 | char snr = ' ';
|
---|
| 3412 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
| 3413 | {
|
---|
[2659] | 3414 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
[502] | 3415 | lli = '1';
|
---|
| 3416 | snr = '0'+Parser->Data.snrL1[i];
|
---|
| 3417 | }
|
---|
| 3418 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
| 3419 | {
|
---|
[2659] | 3420 | if(Parser->Data.dataflags2[i]
|
---|
| 3421 | & (GNSSDF2_LOCKLOSSL2|GNSSDF2_XCORRL2))
|
---|
[2422] | 3422 | {
|
---|
| 3423 | lli = '0';
|
---|
[2659] | 3424 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
[2422] | 3425 | lli += 1;
|
---|
[2659] | 3426 | if(Parser->Data.dataflags2[i] & GNSSDF2_XCORRL2)
|
---|
[2422] | 3427 | lli += 4;
|
---|
| 3428 | }
|
---|
[502] | 3429 | snr = '0'+Parser->Data.snrL2[i];
|
---|
| 3430 | }
|
---|
[2659] | 3431 | if((df & GNSSDF_P2DATA) && (Parser->Data.dataflags2[i]
|
---|
| 3432 | & GNSSDF2_XCORRL2))
|
---|
[2422] | 3433 | lli = '4';
|
---|
[502] | 3434 | RTCM3Text("%14.3f%c%c",
|
---|
| 3435 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
| 3436 | }
|
---|
[4371] | 3437 | if(j%5 == 4 || j == Parser->info[RTCM3_MSM_GPS].numtypes-1)
|
---|
[502] | 3438 | RTCM3Text("\n");
|
---|
[27] | 3439 | }
|
---|
| 3440 | }
|
---|
| 3441 | }
|
---|
| 3442 | }
|
---|
| 3443 | }
|
---|
| 3444 | }
|
---|
| 3445 | }
|
---|
| 3446 |
|
---|
[268] | 3447 | #ifndef NO_RTCM3_MAIN
|
---|
[2487] | 3448 | static char datestr[] = "$Date: 2015-02-19 17:18:47 +0000 (Thu, 19 Feb 2015) $";
|
---|
[269] | 3449 |
|
---|
[268] | 3450 | /* The string, which is send as agent in HTTP request */
|
---|
| 3451 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
| 3452 |
|
---|
| 3453 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
| 3454 |
|
---|
[269] | 3455 | static const char encodingTable [64] = {
|
---|
| 3456 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
| 3457 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
| 3458 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
| 3459 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
| 3460 | };
|
---|
| 3461 |
|
---|
| 3462 | /* does not buffer overrun, but breaks directly after an error */
|
---|
| 3463 | /* returns the number of required bytes */
|
---|
| 3464 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
| 3465 | {
|
---|
| 3466 | unsigned char inbuf[3];
|
---|
| 3467 | char *out = buf;
|
---|
| 3468 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
| 3469 |
|
---|
| 3470 | while(*user || *pwd)
|
---|
| 3471 | {
|
---|
| 3472 | i = 0;
|
---|
| 3473 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
| 3474 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
| 3475 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
| 3476 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
| 3477 | if(out-buf < size-1)
|
---|
| 3478 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
| 3479 | if(out-buf < size-1)
|
---|
| 3480 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
| 3481 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
| 3482 | if(out-buf < size-1)
|
---|
| 3483 | {
|
---|
| 3484 | if(fill == 2)
|
---|
| 3485 | *(out++) = '=';
|
---|
| 3486 | else
|
---|
| 3487 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
| 3488 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
| 3489 | }
|
---|
| 3490 | if(out-buf < size-1)
|
---|
| 3491 | {
|
---|
| 3492 | if(fill >= 1)
|
---|
| 3493 | *(out++) = '=';
|
---|
| 3494 | else
|
---|
| 3495 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
| 3496 | }
|
---|
| 3497 | bytes += 4;
|
---|
| 3498 | }
|
---|
| 3499 | if(out-buf < size)
|
---|
| 3500 | *out = 0;
|
---|
| 3501 | return bytes;
|
---|
| 3502 | }
|
---|
| 3503 |
|
---|
[268] | 3504 | static int stop = 0;
|
---|
| 3505 |
|
---|
| 3506 | struct Args
|
---|
| 3507 | {
|
---|
| 3508 | const char *server;
|
---|
[502] | 3509 | const char *port;
|
---|
| 3510 | int mode;
|
---|
[477] | 3511 | int timeout;
|
---|
[502] | 3512 | int rinex3;
|
---|
[5358] | 3513 | int changeobs;
|
---|
[268] | 3514 | const char *user;
|
---|
| 3515 | const char *password;
|
---|
[502] | 3516 | const char *proxyhost;
|
---|
| 3517 | const char *proxyport;
|
---|
| 3518 | const char *nmea;
|
---|
[268] | 3519 | const char *data;
|
---|
| 3520 | const char *headerfile;
|
---|
[6329] | 3521 | const char *sbasephemeris;
|
---|
[502] | 3522 | const char *gpsephemeris;
|
---|
[5595] | 3523 | const char *qzssephemeris;
|
---|
[502] | 3524 | const char *glonassephemeris;
|
---|
[6599] | 3525 | const char *bdsephemeris;
|
---|
[268] | 3526 | };
|
---|
| 3527 |
|
---|
| 3528 | /* option parsing */
|
---|
| 3529 | #ifdef NO_LONG_OPTS
|
---|
| 3530 | #define LONG_OPT(a)
|
---|
| 3531 | #else
|
---|
| 3532 | #define LONG_OPT(a) a
|
---|
| 3533 | static struct option opts[] = {
|
---|
[502] | 3534 | { "data", required_argument, 0, 'd'},
|
---|
| 3535 | { "server", required_argument, 0, 's'},
|
---|
| 3536 | { "password", required_argument, 0, 'p'},
|
---|
| 3537 | { "port", required_argument, 0, 'r'},
|
---|
| 3538 | { "timeout", required_argument, 0, 't'},
|
---|
| 3539 | { "header", required_argument, 0, 'f'},
|
---|
| 3540 | { "user", required_argument, 0, 'u'},
|
---|
[6599] | 3541 | { "bdsephemeris", required_argument, 0, 'C'},
|
---|
[502] | 3542 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
[5595] | 3543 | { "qzssephemeris", required_argument, 0, 'Q'},
|
---|
[502] | 3544 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
[6329] | 3545 | { "sbasephemeris", required_argument, 0, 'B'},
|
---|
[502] | 3546 | { "rinex3", no_argument, 0, '3'},
|
---|
[5358] | 3547 | { "changeobs", no_argument, 0, 'O'},
|
---|
[502] | 3548 | { "proxyport", required_argument, 0, 'R'},
|
---|
| 3549 | { "proxyhost", required_argument, 0, 'S'},
|
---|
| 3550 | { "nmea", required_argument, 0, 'n'},
|
---|
| 3551 | { "mode", required_argument, 0, 'M'},
|
---|
| 3552 | { "help", no_argument, 0, 'h'},
|
---|
[268] | 3553 | {0,0,0,0}};
|
---|
| 3554 | #endif
|
---|
[6599] | 3555 | #define ARGOPT "-d:s:p:r:t:f:u:E:C:G:B:Q:M:S:R:n:h3O"
|
---|
[268] | 3556 |
|
---|
[502] | 3557 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
| 3558 |
|
---|
[270] | 3559 | static const char *geturl(const char *url, struct Args *args)
|
---|
| 3560 | {
|
---|
| 3561 | static char buf[1000];
|
---|
| 3562 | static char *Buffer = buf;
|
---|
| 3563 | static char *Bufend = buf+sizeof(buf);
|
---|
| 3564 |
|
---|
| 3565 | if(strncmp("ntrip:", url, 6))
|
---|
| 3566 | return "URL must start with 'ntrip:'.";
|
---|
| 3567 | url += 6; /* skip ntrip: */
|
---|
| 3568 |
|
---|
| 3569 | if(*url != '@' && *url != '/')
|
---|
| 3570 | {
|
---|
| 3571 | /* scan for mountpoint */
|
---|
| 3572 | args->data = Buffer;
|
---|
[502] | 3573 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
[270] | 3574 | *(Buffer++) = *(url++);
|
---|
| 3575 | if(Buffer == args->data)
|
---|
| 3576 | return "Mountpoint required.";
|
---|
| 3577 | else if(Buffer >= Bufend-1)
|
---|
| 3578 | return "Parsing buffer too short.";
|
---|
| 3579 | *(Buffer++) = 0;
|
---|
| 3580 | }
|
---|
| 3581 |
|
---|
| 3582 | if(*url == '/') /* username and password */
|
---|
| 3583 | {
|
---|
| 3584 | ++url;
|
---|
| 3585 | args->user = Buffer;
|
---|
[502] | 3586 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
[270] | 3587 | *(Buffer++) = *(url++);
|
---|
| 3588 | if(Buffer == args->user)
|
---|
| 3589 | return "Username cannot be empty.";
|
---|
| 3590 | else if(Buffer >= Bufend-1)
|
---|
| 3591 | return "Parsing buffer too short.";
|
---|
| 3592 | *(Buffer++) = 0;
|
---|
| 3593 |
|
---|
| 3594 | if(*url == ':') ++url;
|
---|
| 3595 |
|
---|
| 3596 | args->password = Buffer;
|
---|
[502] | 3597 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
[270] | 3598 | *(Buffer++) = *(url++);
|
---|
| 3599 | if(Buffer == args->password)
|
---|
| 3600 | return "Password cannot be empty.";
|
---|
| 3601 | else if(Buffer >= Bufend-1)
|
---|
| 3602 | return "Parsing buffer too short.";
|
---|
| 3603 | *(Buffer++) = 0;
|
---|
| 3604 | }
|
---|
| 3605 |
|
---|
| 3606 | if(*url == '@') /* server */
|
---|
| 3607 | {
|
---|
| 3608 | ++url;
|
---|
[502] | 3609 | if(*url != '@' && *url != ':')
|
---|
| 3610 | {
|
---|
| 3611 | args->server = Buffer;
|
---|
| 3612 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 3613 | *(Buffer++) = *(url++);
|
---|
| 3614 | if(Buffer == args->server)
|
---|
| 3615 | return "Servername cannot be empty.";
|
---|
| 3616 | else if(Buffer >= Bufend-1)
|
---|
| 3617 | return "Parsing buffer too short.";
|
---|
| 3618 | *(Buffer++) = 0;
|
---|
| 3619 | }
|
---|
[270] | 3620 |
|
---|
| 3621 | if(*url == ':')
|
---|
| 3622 | {
|
---|
[502] | 3623 | ++url;
|
---|
| 3624 | args->port = Buffer;
|
---|
| 3625 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
| 3626 | *(Buffer++) = *(url++);
|
---|
| 3627 | if(Buffer == args->port)
|
---|
| 3628 | return "Port cannot be empty.";
|
---|
| 3629 | else if(Buffer >= Bufend-1)
|
---|
| 3630 | return "Parsing buffer too short.";
|
---|
| 3631 | *(Buffer++) = 0;
|
---|
[270] | 3632 | }
|
---|
[502] | 3633 |
|
---|
| 3634 | if(*url == '@') /* proxy */
|
---|
| 3635 | {
|
---|
| 3636 | ++url;
|
---|
| 3637 | args->proxyhost = Buffer;
|
---|
| 3638 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
| 3639 | *(Buffer++) = *(url++);
|
---|
| 3640 | if(Buffer == args->proxyhost)
|
---|
| 3641 | return "Proxy servername cannot be empty.";
|
---|
| 3642 | else if(Buffer >= Bufend-1)
|
---|
| 3643 | return "Parsing buffer too short.";
|
---|
| 3644 | *(Buffer++) = 0;
|
---|
| 3645 |
|
---|
| 3646 | if(*url == ':')
|
---|
| 3647 | {
|
---|
| 3648 | ++url;
|
---|
| 3649 | args->proxyport = Buffer;
|
---|
| 3650 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
| 3651 | *(Buffer++) = *(url++);
|
---|
| 3652 | if(Buffer == args->proxyport)
|
---|
| 3653 | return "Proxy port cannot be empty.";
|
---|
| 3654 | else if(Buffer >= Bufend-1)
|
---|
| 3655 | return "Parsing buffer too short.";
|
---|
| 3656 | *(Buffer++) = 0;
|
---|
| 3657 | }
|
---|
| 3658 | }
|
---|
[270] | 3659 | }
|
---|
[502] | 3660 | if(*url == ';') /* NMEA */
|
---|
| 3661 | {
|
---|
| 3662 | args->nmea = ++url;
|
---|
| 3663 | while(*url)
|
---|
| 3664 | ++url;
|
---|
| 3665 | }
|
---|
[270] | 3666 |
|
---|
| 3667 | return *url ? "Garbage at end of server string." : 0;
|
---|
| 3668 | }
|
---|
| 3669 |
|
---|
[268] | 3670 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
| 3671 | {
|
---|
| 3672 | int res = 1;
|
---|
| 3673 | int getoptr;
|
---|
| 3674 | int help = 0;
|
---|
| 3675 | char *t;
|
---|
| 3676 |
|
---|
| 3677 | args->server = "www.euref-ip.net";
|
---|
[502] | 3678 | args->port = "2101";
|
---|
[477] | 3679 | args->timeout = 60;
|
---|
[268] | 3680 | args->user = "";
|
---|
| 3681 | args->password = "";
|
---|
| 3682 | args->data = 0;
|
---|
| 3683 | args->headerfile = 0;
|
---|
[502] | 3684 | args->gpsephemeris = 0;
|
---|
[5595] | 3685 | args->qzssephemeris = 0;
|
---|
[6329] | 3686 | args->sbasephemeris = 0;
|
---|
[502] | 3687 | args->glonassephemeris = 0;
|
---|
[6599] | 3688 | args->bdsephemeris = 0;
|
---|
[502] | 3689 | args->rinex3 = 0;
|
---|
| 3690 | args->nmea = 0;
|
---|
[5358] | 3691 | args->changeobs = 0;
|
---|
[502] | 3692 | args->proxyhost = 0;
|
---|
| 3693 | args->proxyport = "2101";
|
---|
| 3694 | args->mode = AUTO;
|
---|
[268] | 3695 | help = 0;
|
---|
| 3696 |
|
---|
| 3697 | do
|
---|
| 3698 | {
|
---|
[477] | 3699 |
|
---|
[268] | 3700 | #ifdef NO_LONG_OPTS
|
---|
| 3701 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
| 3702 | #else
|
---|
| 3703 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
| 3704 | #endif
|
---|
| 3705 | {
|
---|
| 3706 | case 's': args->server = optarg; break;
|
---|
| 3707 | case 'u': args->user = optarg; break;
|
---|
| 3708 | case 'p': args->password = optarg; break;
|
---|
| 3709 | case 'd': args->data = optarg; break;
|
---|
| 3710 | case 'f': args->headerfile = optarg; break;
|
---|
[6599] | 3711 | case 'C': args->bdsephemeris = optarg; break;
|
---|
[502] | 3712 | case 'E': args->gpsephemeris = optarg; break;
|
---|
[6329] | 3713 | case 'B': args->sbasephemeris = optarg; break;
|
---|
[502] | 3714 | case 'G': args->glonassephemeris = optarg; break;
|
---|
[5595] | 3715 | case 'Q': args->qzssephemeris = optarg; break;
|
---|
[502] | 3716 | case 'r': args->port = optarg; break;
|
---|
| 3717 | case '3': args->rinex3 = 1; break;
|
---|
| 3718 | case 'S': args->proxyhost = optarg; break;
|
---|
| 3719 | case 'n': args->nmea = optarg; break;
|
---|
| 3720 | case 'R': args->proxyport = optarg; break;
|
---|
[5358] | 3721 | case 'O': args->changeobs = 1; break;
|
---|
[268] | 3722 | case 'h': help=1; break;
|
---|
[502] | 3723 | case 'M':
|
---|
| 3724 | args->mode = 0;
|
---|
| 3725 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
| 3726 | args->mode = NTRIP1;
|
---|
| 3727 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
| 3728 | args->mode = HTTP;
|
---|
| 3729 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
| 3730 | args->mode = RTSP;
|
---|
| 3731 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
| 3732 | args->mode = AUTO;
|
---|
| 3733 | else args->mode = atoi(optarg);
|
---|
| 3734 | if((args->mode == 0) || (args->mode >= END))
|
---|
| 3735 | {
|
---|
| 3736 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
[268] | 3737 | res = 0;
|
---|
[502] | 3738 | }
|
---|
[268] | 3739 | break;
|
---|
[502] | 3740 | case 't':
|
---|
[477] | 3741 | args->timeout = strtoul(optarg, &t, 10);
|
---|
| 3742 | if((t && *t) || args->timeout < 0)
|
---|
| 3743 | res = 0;
|
---|
| 3744 | break;
|
---|
| 3745 |
|
---|
[270] | 3746 | case 1:
|
---|
| 3747 | {
|
---|
| 3748 | const char *err;
|
---|
| 3749 | if((err = geturl(optarg, args)))
|
---|
| 3750 | {
|
---|
[318] | 3751 | RTCM3Error("%s\n\n", err);
|
---|
[270] | 3752 | res = 0;
|
---|
| 3753 | }
|
---|
| 3754 | }
|
---|
| 3755 | break;
|
---|
[268] | 3756 | case -1: break;
|
---|
| 3757 | }
|
---|
| 3758 | } while(getoptr != -1 || !res);
|
---|
| 3759 |
|
---|
| 3760 | datestr[0] = datestr[7];
|
---|
| 3761 | datestr[1] = datestr[8];
|
---|
| 3762 | datestr[2] = datestr[9];
|
---|
| 3763 | datestr[3] = datestr[10];
|
---|
| 3764 | datestr[5] = datestr[12];
|
---|
| 3765 | datestr[6] = datestr[13];
|
---|
| 3766 | datestr[8] = datestr[15];
|
---|
| 3767 | datestr[9] = datestr[16];
|
---|
| 3768 | datestr[4] = datestr[7] = '-';
|
---|
| 3769 | datestr[10] = 0;
|
---|
| 3770 |
|
---|
[502] | 3771 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
[268] | 3772 | {
|
---|
[503] | 3773 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
|
---|
| 3774 | "Please specify only one navigation file.\n");
|
---|
[502] | 3775 | res = 0;
|
---|
| 3776 | }
|
---|
| 3777 | else if(!res || help)
|
---|
| 3778 | {
|
---|
[439] | 3779 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
| 3780 | "\nUsage: %s -s server -u user ...\n"
|
---|
[502] | 3781 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
| 3782 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
| 3783 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
| 3784 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
| 3785 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
| 3786 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
| 3787 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
[6599] | 3788 | " -C " LONG_OPT("--bdsephemeris ") "output file for BDS ephemeris data\n"
|
---|
[502] | 3789 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
| 3790 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
[5595] | 3791 | " -Q " LONG_OPT("--qzssephemeris ") "output file for QZSS ephemeris data\n"
|
---|
[6329] | 3792 | " -B " LONG_OPT("--sbasephemeris ") "output file for SBAS ephemeris data\n"
|
---|
[502] | 3793 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
| 3794 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
| 3795 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
| 3796 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
[5358] | 3797 | " -O " LONG_OPT("--changeobs ") "Add observation type change header lines\n"
|
---|
[502] | 3798 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
| 3799 | " Valid modes are:\n"
|
---|
| 3800 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
| 3801 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
| 3802 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
| 3803 | " 4, a, auto automatic detection (default)\n"
|
---|
| 3804 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
[270] | 3805 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
[268] | 3806 | exit(1);
|
---|
| 3807 | }
|
---|
| 3808 | return res;
|
---|
| 3809 | }
|
---|
| 3810 |
|
---|
| 3811 | /* let the output complete a block if necessary */
|
---|
| 3812 | static void signalhandler(int sig)
|
---|
| 3813 | {
|
---|
| 3814 | if(!stop)
|
---|
| 3815 | {
|
---|
[318] | 3816 | RTCM3Error("Stop signal number %d received. "
|
---|
[268] | 3817 | "Trying to terminate gentle.\n", sig);
|
---|
| 3818 | stop = 1;
|
---|
| 3819 | alarm(1);
|
---|
| 3820 | }
|
---|
| 3821 | }
|
---|
| 3822 |
|
---|
[1091] | 3823 | #ifndef WINDOWSVERSION
|
---|
| 3824 | static void WaitMicro(int mic)
|
---|
| 3825 | {
|
---|
| 3826 | struct timeval tv;
|
---|
| 3827 | tv.tv_sec = mic/1000000;
|
---|
| 3828 | tv.tv_usec = mic%1000000;
|
---|
| 3829 | #ifdef DEBUG
|
---|
| 3830 | fprintf(stderr, "Waiting %d micro seconds\n", mic);
|
---|
| 3831 | #endif
|
---|
| 3832 | select(0, 0, 0, 0, &tv);
|
---|
| 3833 | }
|
---|
| 3834 | #else /* WINDOWSVERSION */
|
---|
| 3835 | void WaitMicro(int mic)
|
---|
| 3836 | {
|
---|
| 3837 | Sleep(mic/1000);
|
---|
| 3838 | }
|
---|
| 3839 | #endif /* WINDOWSVERSION */
|
---|
| 3840 |
|
---|
[502] | 3841 | #define ALARMTIME (2*60)
|
---|
| 3842 |
|
---|
[268] | 3843 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
| 3844 | #ifdef __GNUC__
|
---|
| 3845 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
| 3846 | int sig __attribute__((__unused__)))
|
---|
| 3847 | #else /* __GNUC__ */
|
---|
| 3848 | static void signalhandler_alarm(int sig)
|
---|
| 3849 | #endif /* __GNUC__ */
|
---|
| 3850 | {
|
---|
[318] | 3851 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
[268] | 3852 | exit(1);
|
---|
| 3853 | }
|
---|
| 3854 |
|
---|
[27] | 3855 | int main(int argc, char **argv)
|
---|
| 3856 | {
|
---|
| 3857 | struct Args args;
|
---|
| 3858 | struct RTCM3ParserData Parser;
|
---|
| 3859 |
|
---|
| 3860 | setbuf(stdout, 0);
|
---|
| 3861 | setbuf(stdin, 0);
|
---|
| 3862 | setbuf(stderr, 0);
|
---|
| 3863 |
|
---|
[2487] | 3864 | fixrevision();
|
---|
[27] | 3865 |
|
---|
| 3866 | signal(SIGINT, signalhandler);
|
---|
| 3867 | signal(SIGALRM,signalhandler_alarm);
|
---|
| 3868 | signal(SIGQUIT,signalhandler);
|
---|
| 3869 | signal(SIGTERM,signalhandler);
|
---|
| 3870 | signal(SIGPIPE,signalhandler);
|
---|
| 3871 | memset(&Parser, 0, sizeof(Parser));
|
---|
| 3872 | {
|
---|
| 3873 | time_t tim;
|
---|
| 3874 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
| 3875 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
| 3876 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
| 3877 | }
|
---|
| 3878 |
|
---|
| 3879 | if(getargs(argc, argv, &args))
|
---|
| 3880 | {
|
---|
[1088] | 3881 | int sockfd, numbytes;
|
---|
[27] | 3882 | char buf[MAXDATASIZE];
|
---|
[502] | 3883 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
[27] | 3884 | struct hostent *he;
|
---|
[502] | 3885 | struct servent *se;
|
---|
| 3886 | const char *server, *port, *proxyserver = 0;
|
---|
| 3887 | char proxyport[6];
|
---|
| 3888 | char *b;
|
---|
| 3889 | long i;
|
---|
| 3890 | struct timeval tv;
|
---|
[27] | 3891 |
|
---|
[502] | 3892 | alarm(ALARMTIME);
|
---|
| 3893 |
|
---|
[27] | 3894 | Parser.headerfile = args.headerfile;
|
---|
[502] | 3895 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
| 3896 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
[6599] | 3897 | Parser.bdsephemeris = args.bdsephemeris;
|
---|
[5595] | 3898 | Parser.qzssephemeris = args.qzssephemeris;
|
---|
[6329] | 3899 | Parser.sbasephemeris = args.sbasephemeris;
|
---|
[502] | 3900 | Parser.rinex3 = args.rinex3;
|
---|
[5358] | 3901 | Parser.changeobs = args.changeobs;
|
---|
[27] | 3902 |
|
---|
[502] | 3903 | if(args.proxyhost)
|
---|
[27] | 3904 | {
|
---|
[502] | 3905 | int p;
|
---|
| 3906 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
| 3907 | p = i;
|
---|
| 3908 | else if(!(se = getservbyname(args.port, 0)))
|
---|
| 3909 | {
|
---|
| 3910 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
| 3911 | exit(1);
|
---|
| 3912 | }
|
---|
| 3913 | else
|
---|
| 3914 | {
|
---|
| 3915 | p = ntohs(se->s_port);
|
---|
| 3916 | }
|
---|
| 3917 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
| 3918 | port = args.proxyport;
|
---|
| 3919 | proxyserver = args.server;
|
---|
| 3920 | server = args.proxyhost;
|
---|
| 3921 | }
|
---|
| 3922 | else
|
---|
| 3923 | {
|
---|
| 3924 | server = args.server;
|
---|
| 3925 | port = args.port;
|
---|
| 3926 | }
|
---|
| 3927 |
|
---|
| 3928 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
| 3929 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
| 3930 | their_addr.sin_port = htons(i);
|
---|
| 3931 | else if(!(se = getservbyname(port, 0)))
|
---|
| 3932 | {
|
---|
| 3933 | RTCM3Error("Can't resolve port %s.", port);
|
---|
[27] | 3934 | exit(1);
|
---|
| 3935 | }
|
---|
[502] | 3936 | else
|
---|
| 3937 | {
|
---|
| 3938 | their_addr.sin_port = se->s_port;
|
---|
| 3939 | }
|
---|
| 3940 | if(!(he=gethostbyname(server)))
|
---|
| 3941 | {
|
---|
| 3942 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
| 3943 | exit(1);
|
---|
| 3944 | }
|
---|
[27] | 3945 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
| 3946 | {
|
---|
[502] | 3947 | perror("socket");
|
---|
[27] | 3948 | exit(1);
|
---|
| 3949 | }
|
---|
[477] | 3950 |
|
---|
| 3951 | tv.tv_sec = args.timeout;
|
---|
| 3952 | tv.tv_usec = 0;
|
---|
| 3953 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
| 3954 | {
|
---|
| 3955 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
| 3956 | exit(1);
|
---|
| 3957 | }
|
---|
| 3958 |
|
---|
[502] | 3959 | their_addr.sin_family = AF_INET;
|
---|
[27] | 3960 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
[502] | 3961 |
|
---|
| 3962 | if(args.data && args.mode == RTSP)
|
---|
[27] | 3963 | {
|
---|
[502] | 3964 | struct sockaddr_in local;
|
---|
| 3965 | int sockudp, localport;
|
---|
| 3966 | int cseq = 1;
|
---|
| 3967 | socklen_t len;
|
---|
[27] | 3968 |
|
---|
[502] | 3969 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
| 3970 | {
|
---|
| 3971 | perror("socket");
|
---|
| 3972 | exit(1);
|
---|
| 3973 | }
|
---|
| 3974 | /* fill structure with local address information for UDP */
|
---|
| 3975 | memset(&local, 0, sizeof(local));
|
---|
[1088] | 3976 | local.sin_family = AF_INET;
|
---|
[502] | 3977 | local.sin_port = htons(0);
|
---|
[1088] | 3978 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
[502] | 3979 | len = sizeof(local);
|
---|
[1088] | 3980 | /* bind() in order to get a random RTP client_port */
|
---|
[502] | 3981 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
| 3982 | {
|
---|
| 3983 | perror("bind");
|
---|
| 3984 | exit(1);
|
---|
| 3985 | }
|
---|
[1088] | 3986 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
[502] | 3987 | {
|
---|
[1088] | 3988 | localport = ntohs(local.sin_port);
|
---|
[502] | 3989 | }
|
---|
| 3990 | else
|
---|
| 3991 | {
|
---|
[1088] | 3992 | perror("local access failed");
|
---|
[502] | 3993 | exit(1);
|
---|
| 3994 | }
|
---|
| 3995 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 3996 | sizeof(struct sockaddr)) == -1)
|
---|
| 3997 | {
|
---|
| 3998 | perror("connect");
|
---|
| 3999 | exit(1);
|
---|
| 4000 | }
|
---|
[27] | 4001 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
[1088] | 4002 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
| 4003 | "CSeq: %d\r\n"
|
---|
[502] | 4004 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
| 4005 | "Ntrip-Component: Ntripclient\r\n"
|
---|
[27] | 4006 | "User-Agent: %s/%s\r\n"
|
---|
[502] | 4007 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
| 4008 | "Authorization: Basic ",
|
---|
| 4009 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 4010 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
[479] | 4011 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
[27] | 4012 | {
|
---|
[318] | 4013 | RTCM3Error("Requested data too long\n");
|
---|
[27] | 4014 | exit(1);
|
---|
| 4015 | }
|
---|
[339] | 4016 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 4017 | if(i > MAXDATASIZE-4)
|
---|
[27] | 4018 | {
|
---|
[318] | 4019 | RTCM3Error("Username and/or password too long\n");
|
---|
[27] | 4020 | exit(1);
|
---|
| 4021 | }
|
---|
[339] | 4022 | buf[i++] = '\r';
|
---|
| 4023 | buf[i++] = '\n';
|
---|
| 4024 | buf[i++] = '\r';
|
---|
| 4025 | buf[i++] = '\n';
|
---|
[502] | 4026 | if(args.nmea)
|
---|
[27] | 4027 | {
|
---|
[502] | 4028 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 4029 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 4030 | i += j;
|
---|
| 4031 | else
|
---|
[27] | 4032 | {
|
---|
[502] | 4033 | RTCM3Error("NMEA string too long\n");
|
---|
| 4034 | exit(1);
|
---|
| 4035 | }
|
---|
| 4036 | }
|
---|
| 4037 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 4038 | {
|
---|
| 4039 | perror("send");
|
---|
| 4040 | exit(1);
|
---|
| 4041 | }
|
---|
| 4042 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 4043 | {
|
---|
| 4044 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
[744] | 4045 | {
|
---|
[502] | 4046 | int serverport = 0, session = 0;
|
---|
| 4047 | const char *portcheck = "server_port=";
|
---|
| 4048 | const char *sessioncheck = "session: ";
|
---|
| 4049 | int l = strlen(portcheck)-1;
|
---|
| 4050 | int j=0;
|
---|
| 4051 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
[27] | 4052 | {
|
---|
[502] | 4053 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
| 4054 | ;
|
---|
| 4055 | }
|
---|
| 4056 | if(i == numbytes-l)
|
---|
| 4057 | {
|
---|
| 4058 | RTCM3Error("No server port number found\n");
|
---|
| 4059 | exit(1);
|
---|
| 4060 | }
|
---|
| 4061 | else
|
---|
| 4062 | {
|
---|
| 4063 | i+=l;
|
---|
| 4064 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 4065 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
| 4066 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
[27] | 4067 | {
|
---|
[502] | 4068 | RTCM3Error("Could not extract server port\n");
|
---|
| 4069 | exit(1);
|
---|
[27] | 4070 | }
|
---|
[502] | 4071 | }
|
---|
| 4072 | l = strlen(sessioncheck)-1;
|
---|
| 4073 | j=0;
|
---|
| 4074 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 4075 | {
|
---|
| 4076 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
| 4077 | ;
|
---|
| 4078 | }
|
---|
| 4079 | if(i == numbytes-l)
|
---|
| 4080 | {
|
---|
| 4081 | RTCM3Error("No session number found\n");
|
---|
[27] | 4082 | exit(1);
|
---|
| 4083 | }
|
---|
[502] | 4084 | else
|
---|
| 4085 | {
|
---|
| 4086 | i+=l;
|
---|
| 4087 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
| 4088 | session = session * 10 + buf[i++]-'0';
|
---|
| 4089 | if(buf[i] != '\r')
|
---|
| 4090 | {
|
---|
| 4091 | RTCM3Error("Could not extract session number\n");
|
---|
| 4092 | exit(1);
|
---|
| 4093 | }
|
---|
| 4094 | }
|
---|
| 4095 |
|
---|
| 4096 | i = snprintf(buf, MAXDATASIZE,
|
---|
[1088] | 4097 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
[502] | 4098 | "CSeq: %d\r\n"
|
---|
| 4099 | "Session: %d\r\n"
|
---|
[1088] | 4100 | "\r\n",
|
---|
[502] | 4101 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 4102 | args.data, cseq++, session);
|
---|
| 4103 |
|
---|
| 4104 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 4105 | {
|
---|
| 4106 | RTCM3Error("Requested data too long\n");
|
---|
| 4107 | exit(1);
|
---|
| 4108 | }
|
---|
| 4109 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 4110 | {
|
---|
| 4111 | perror("send");
|
---|
| 4112 | exit(1);
|
---|
| 4113 | }
|
---|
| 4114 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 4115 | {
|
---|
| 4116 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
| 4117 | {
|
---|
| 4118 | struct sockaddr_in addrRTP;
|
---|
| 4119 | /* fill structure with caster address information for UDP */
|
---|
| 4120 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
[1088] | 4121 | addrRTP.sin_family = AF_INET;
|
---|
[502] | 4122 | addrRTP.sin_port = htons(serverport);
|
---|
| 4123 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
| 4124 | len = sizeof(addrRTP);
|
---|
| 4125 | int ts = 0;
|
---|
| 4126 | int sn = 0;
|
---|
| 4127 | int ssrc = 0;
|
---|
| 4128 | int init = 0;
|
---|
| 4129 | int u, v, w;
|
---|
| 4130 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
| 4131 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
| 4132 | {
|
---|
| 4133 | alarm(ALARMTIME);
|
---|
| 4134 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
| 4135 | {
|
---|
| 4136 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
| 4137 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
| 4138 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
| 4139 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
| 4140 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
| 4141 |
|
---|
| 4142 | if(init)
|
---|
| 4143 | {
|
---|
[1091] | 4144 | int z;
|
---|
[502] | 4145 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
| 4146 | if(ssrc != w || ts > v)
|
---|
| 4147 | {
|
---|
| 4148 | RTCM3Error("Illegal UDP data received.\n");
|
---|
| 4149 | exit(1);
|
---|
| 4150 | }
|
---|
| 4151 | if(u > sn) /* don't show out-of-order packets */
|
---|
[1091] | 4152 | for(z = 12; z < i && !stop; ++z)
|
---|
| 4153 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
[502] | 4154 | }
|
---|
| 4155 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
| 4156 | }
|
---|
| 4157 | else
|
---|
| 4158 | {
|
---|
| 4159 | RTCM3Error("Illegal UDP header.\n");
|
---|
| 4160 | exit(1);
|
---|
| 4161 | }
|
---|
| 4162 | }
|
---|
| 4163 | }
|
---|
| 4164 | i = snprintf(buf, MAXDATASIZE,
|
---|
[1088] | 4165 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
[502] | 4166 | "CSeq: %d\r\n"
|
---|
| 4167 | "Session: %d\r\n"
|
---|
[1088] | 4168 | "\r\n",
|
---|
[502] | 4169 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
| 4170 | args.data, cseq++, session);
|
---|
| 4171 |
|
---|
| 4172 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
| 4173 | {
|
---|
| 4174 | RTCM3Error("Requested data too long\n");
|
---|
| 4175 | exit(1);
|
---|
| 4176 | }
|
---|
| 4177 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 4178 | {
|
---|
| 4179 | perror("send");
|
---|
| 4180 | exit(1);
|
---|
| 4181 | }
|
---|
| 4182 | }
|
---|
| 4183 | else
|
---|
| 4184 | {
|
---|
| 4185 | RTCM3Error("Could not start data stream.\n");
|
---|
| 4186 | exit(1);
|
---|
| 4187 | }
|
---|
[27] | 4188 | }
|
---|
| 4189 | else
|
---|
| 4190 | {
|
---|
[502] | 4191 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
| 4192 | exit(1);
|
---|
[27] | 4193 | }
|
---|
| 4194 | }
|
---|
[502] | 4195 | else
|
---|
| 4196 | {
|
---|
| 4197 | perror("recv");
|
---|
| 4198 | exit(1);
|
---|
| 4199 | }
|
---|
[27] | 4200 | }
|
---|
| 4201 | else
|
---|
| 4202 | {
|
---|
[502] | 4203 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
| 4204 | sizeof(struct sockaddr)) == -1)
|
---|
[27] | 4205 | {
|
---|
[502] | 4206 | perror("connect");
|
---|
| 4207 | exit(1);
|
---|
[27] | 4208 | }
|
---|
[502] | 4209 | if(!args.data)
|
---|
| 4210 | {
|
---|
| 4211 | i = snprintf(buf, MAXDATASIZE,
|
---|
| 4212 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
| 4213 | "Host: %s\r\n%s"
|
---|
| 4214 | "User-Agent: %s/%s\r\n"
|
---|
[646] | 4215 | "Connection: close\r\n"
|
---|
[502] | 4216 | "\r\n"
|
---|
| 4217 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 4218 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 4219 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 4220 | AGENTSTRING, revisionstr);
|
---|
| 4221 | }
|
---|
| 4222 | else
|
---|
| 4223 | {
|
---|
| 4224 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
| 4225 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
| 4226 | "Host: %s\r\n%s"
|
---|
| 4227 | "User-Agent: %s/%s\r\n"
|
---|
[646] | 4228 | "Connection: close\r\n"
|
---|
[502] | 4229 | "Authorization: Basic "
|
---|
| 4230 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
| 4231 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
| 4232 | args.data, args.server,
|
---|
| 4233 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
| 4234 | AGENTSTRING, revisionstr);
|
---|
| 4235 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
| 4236 | {
|
---|
| 4237 | RTCM3Error("Requested data too long\n");
|
---|
| 4238 | exit(1);
|
---|
| 4239 | }
|
---|
| 4240 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
| 4241 | if(i > MAXDATASIZE-4)
|
---|
| 4242 | {
|
---|
| 4243 | RTCM3Error("Username and/or password too long\n");
|
---|
| 4244 | exit(1);
|
---|
| 4245 | }
|
---|
| 4246 | buf[i++] = '\r';
|
---|
| 4247 | buf[i++] = '\n';
|
---|
| 4248 | buf[i++] = '\r';
|
---|
| 4249 | buf[i++] = '\n';
|
---|
| 4250 | if(args.nmea)
|
---|
| 4251 | {
|
---|
| 4252 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
| 4253 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
| 4254 | i += j;
|
---|
| 4255 | else
|
---|
| 4256 | {
|
---|
| 4257 | RTCM3Error("NMEA string too long\n");
|
---|
| 4258 | exit(1);
|
---|
| 4259 | }
|
---|
| 4260 | }
|
---|
| 4261 | }
|
---|
| 4262 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
| 4263 | {
|
---|
| 4264 | perror("send");
|
---|
| 4265 | exit(1);
|
---|
| 4266 | }
|
---|
| 4267 | if(args.data)
|
---|
| 4268 | {
|
---|
| 4269 | int k = 0;
|
---|
| 4270 | int chunkymode = 0;
|
---|
| 4271 | int totalbytes = 0;
|
---|
| 4272 | int chunksize = 0;
|
---|
| 4273 |
|
---|
| 4274 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
| 4275 | {
|
---|
[1091] | 4276 | if(numbytes > 0)
|
---|
| 4277 | alarm(ALARMTIME);
|
---|
| 4278 | else
|
---|
| 4279 | {
|
---|
| 4280 | WaitMicro(100);
|
---|
| 4281 | continue;
|
---|
| 4282 | }
|
---|
[502] | 4283 | if(!k)
|
---|
| 4284 | {
|
---|
| 4285 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
| 4286 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
[744] | 4287 | {
|
---|
[502] | 4288 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
| 4289 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
| 4290 | int l = strlen(datacheck)-1;
|
---|
| 4291 | int j=0;
|
---|
| 4292 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 4293 | {
|
---|
| 4294 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
| 4295 | ;
|
---|
| 4296 | }
|
---|
| 4297 | if(i == numbytes-l)
|
---|
| 4298 | {
|
---|
| 4299 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
| 4300 | exit(1);
|
---|
| 4301 | }
|
---|
| 4302 | l = strlen(chunkycheck)-1;
|
---|
| 4303 | j=0;
|
---|
| 4304 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
| 4305 | {
|
---|
| 4306 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
| 4307 | ;
|
---|
| 4308 | }
|
---|
| 4309 | if(i < numbytes-l)
|
---|
| 4310 | chunkymode = 1;
|
---|
[1091] | 4311 | }
|
---|
[502] | 4312 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
| 4313 | {
|
---|
| 4314 | RTCM3Error("Could not get the requested data: ");
|
---|
| 4315 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
| 4316 | {
|
---|
| 4317 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
| 4318 | }
|
---|
| 4319 | RTCM3Error("\n");
|
---|
| 4320 | exit(1);
|
---|
| 4321 | }
|
---|
| 4322 | else if(args.mode != NTRIP1)
|
---|
| 4323 | {
|
---|
| 4324 | if(args.mode != AUTO)
|
---|
| 4325 | {
|
---|
| 4326 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
| 4327 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
| 4328 | }
|
---|
| 4329 | if(args.mode == HTTP)
|
---|
| 4330 | exit(1);
|
---|
| 4331 | }
|
---|
| 4332 | ++k;
|
---|
| 4333 | }
|
---|
| 4334 | else
|
---|
| 4335 | {
|
---|
| 4336 | if(chunkymode)
|
---|
| 4337 | {
|
---|
| 4338 | int stop = 0;
|
---|
| 4339 | int pos = 0;
|
---|
| 4340 | while(!stop && pos < numbytes)
|
---|
| 4341 | {
|
---|
| 4342 | switch(chunkymode)
|
---|
| 4343 | {
|
---|
| 4344 | case 1: /* reading number starts */
|
---|
| 4345 | chunksize = 0;
|
---|
| 4346 | ++chunkymode; /* no break */
|
---|
| 4347 | case 2: /* during reading number */
|
---|
| 4348 | i = buf[pos++];
|
---|
| 4349 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
| 4350 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
| 4351 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
| 4352 | else if(i == '\r') ++chunkymode;
|
---|
[646] | 4353 | else if(i == ';') chunkymode = 5;
|
---|
[502] | 4354 | else stop = 1;
|
---|
| 4355 | break;
|
---|
| 4356 | case 3: /* scanning for return */
|
---|
| 4357 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
| 4358 | else stop = 1;
|
---|
| 4359 | break;
|
---|
| 4360 | case 4: /* output data */
|
---|
| 4361 | i = numbytes-pos;
|
---|
| 4362 | if(i > chunksize) i = chunksize;
|
---|
| 4363 | {
|
---|
| 4364 | int z;
|
---|
| 4365 | for(z = 0; z < i && !stop; ++z)
|
---|
| 4366 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
| 4367 | }
|
---|
| 4368 | totalbytes += i;
|
---|
| 4369 | chunksize -= i;
|
---|
| 4370 | pos += i;
|
---|
| 4371 | if(!chunksize)
|
---|
| 4372 | chunkymode = 1;
|
---|
| 4373 | break;
|
---|
[646] | 4374 | case 5:
|
---|
| 4375 | if(i == '\r') chunkymode = 3;
|
---|
| 4376 | break;
|
---|
[502] | 4377 | }
|
---|
| 4378 | }
|
---|
| 4379 | if(stop)
|
---|
| 4380 | {
|
---|
| 4381 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
| 4382 | break;
|
---|
| 4383 | }
|
---|
| 4384 | }
|
---|
| 4385 | else
|
---|
| 4386 | {
|
---|
| 4387 | totalbytes += numbytes;
|
---|
| 4388 | {
|
---|
| 4389 | int z;
|
---|
| 4390 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
| 4391 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
| 4392 | }
|
---|
| 4393 | }
|
---|
| 4394 | if(totalbytes < 0) /* overflow */
|
---|
| 4395 | {
|
---|
| 4396 | totalbytes = 0;
|
---|
| 4397 | }
|
---|
| 4398 | }
|
---|
| 4399 | }
|
---|
| 4400 | }
|
---|
| 4401 | else
|
---|
| 4402 | {
|
---|
| 4403 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
| 4404 | {
|
---|
| 4405 | alarm(ALARMTIME);
|
---|
| 4406 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
| 4407 | }
|
---|
| 4408 | }
|
---|
| 4409 | close(sockfd);
|
---|
[27] | 4410 | }
|
---|
| 4411 | }
|
---|
| 4412 | return 0;
|
---|
| 4413 | }
|
---|
[268] | 4414 | #endif /* NO_RTCM3_MAIN */
|
---|