1 | /*
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2 | Converter for RTCM3 data to RINEX.
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3 | $Id: rtcm3torinex.c 2756 2010-12-01 14:26:47Z stoecker $
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4 | Copyright (C) 2005-2008 by Dirk Stöcker <stoecker@alberding.eu>
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5 |
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6 | This software is a complete NTRIP-RTCM3 to RINEX converter as well as
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7 | a module of the BNC tool for multiformat conversion. Contact Dirk
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8 | Stöcker for suggestions and bug reports related to the RTCM3 to RINEX
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9 | conversion problems and the author of BNC for all the other problems.
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10 |
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11 | This program is free software; you can redistribute it and/or modify
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12 | it under the terms of the GNU General Public License as published by
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13 | the Free Software Foundation; either version 2 of the License, or
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14 | (at your option) any later version.
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15 |
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16 | This program is distributed in the hope that it will be useful,
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17 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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18 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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19 | GNU General Public License for more details.
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20 |
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21 | You should have received a copy of the GNU General Public License
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22 | along with this program; if not, write to the Free Software
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23 | Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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24 | or read http://www.gnu.org/licenses/gpl.txt
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25 | */
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26 |
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27 | #include <ctype.h>
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28 | #include <errno.h>
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29 | #include <math.h>
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30 | #include <signal.h>
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31 | #include <stdarg.h>
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32 | #include <stdio.h>
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33 | #include <stdlib.h>
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34 | #include <string.h>
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35 | #include <sys/types.h>
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36 | #include <time.h>
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37 | #include <unistd.h>
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38 |
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39 | #ifndef NO_RTCM3_MAIN
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40 | #include <getopt.h>
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41 | #include <netdb.h>
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42 | #include <netinet/in.h>
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43 | #include <sys/socket.h>
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44 | #endif
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45 |
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46 | #ifndef sparc
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47 | #include <stdint.h>
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48 | #endif
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49 |
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50 | #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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54 | #include "rtcm3torinex.h"
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55 |
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56 | /* CVS revision and version */
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57 | static char revisionstr[] = "$Revision: 2756 $";
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58 |
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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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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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116 |
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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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120 | memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
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121 | handle->MessageSize -= i;
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122 |
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123 | return !handle->NeedBytes;
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124 | }
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125 |
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126 | #define LOADBITS(a) \
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127 | { \
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128 | while((a) > numbits) \
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129 | { \
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130 | if(!size--) break; \
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131 | bitfield = (bitfield<<8)|*(data++); \
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132 | numbits += 8; \
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133 | } \
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134 | }
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135 |
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136 | /* extract bits from data stream
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137 | b = variable to store result, a = number of bits */
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138 | #define GETBITS(b, a) \
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139 | { \
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140 | LOADBITS(a) \
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141 | b = (bitfield<<(64-numbits))>>(64-(a)); \
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142 | numbits -= (a); \
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143 | }
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144 |
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145 | /* extract bits from data stream
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146 | b = variable to store result, a = number of bits */
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147 | #define GETBITSFACTOR(b, a, c) \
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148 | { \
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149 | LOADBITS(a) \
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150 | b = ((bitfield<<(sizeof(bitfield)*8-numbits))>>(sizeof(bitfield)*8-(a)))*(c); \
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151 | numbits -= (a); \
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152 | }
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153 |
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154 | /* extract floating value from data stream
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155 | b = variable to store result, a = number of bits */
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156 | #define GETFLOAT(b, a, c) \
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157 | { \
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158 | LOADBITS(a) \
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159 | b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
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160 | numbits -= (a); \
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161 | }
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162 |
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163 | /* extract signed floating value from data stream
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164 | b = variable to store result, a = number of bits */
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165 | #define GETFLOATSIGN(b, a, c) \
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166 | { \
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167 | LOADBITS(a) \
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168 | b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
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169 | numbits -= (a); \
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170 | }
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171 |
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172 | /* extract bits from data stream
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173 | b = variable to store result, a = number of bits */
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174 | #define GETBITSSIGN(b, a) \
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175 | { \
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176 | LOADBITS(a) \
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177 | b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
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178 | numbits -= (a); \
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179 | }
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180 |
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181 | #define GETFLOATSIGNM(b, a, c) \
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182 | { int l; \
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183 | LOADBITS(a) \
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184 | l = (bitfield<<(64-numbits))>>(64-1); \
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185 | b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
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186 | numbits -= (a); \
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187 | if(l) b *= -1.0; \
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188 | }
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189 |
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190 | #define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
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191 |
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192 | /* extract byte-aligned byte from data stream,
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193 | b = variable to store size, s = variable to store string pointer */
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194 | #define GETSTRING(b, s) \
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195 | { \
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196 | b = *(data++); \
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197 | s = (char *) data; \
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198 | data += b; \
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199 | size -= b+1; \
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200 | }
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201 |
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202 | struct leapseconds { /* specify the day of leap second */
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203 | int day; /* this is the day, where 23:59:59 exists 2 times */
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204 | int month; /* not the next day! */
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205 | int year;
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206 | int taicount;
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207 | };
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208 | static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
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209 | static const struct leapseconds leap[] = {
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210 | /*{31, 12, 1971, 11},*/
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211 | /*{31, 12, 1972, 12},*/
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212 | /*{31, 12, 1973, 13},*/
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213 | /*{31, 12, 1974, 14},*/
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214 | /*{31, 12, 1975, 15},*/
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215 | /*{31, 12, 1976, 16},*/
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216 | /*{31, 12, 1977, 17},*/
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217 | /*{31, 12, 1978, 18},*/
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218 | /*{31, 12, 1979, 19},*/
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219 | {30, 06, 1981,20},
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220 | {30, 06, 1982,21},
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221 | {30, 06, 1983,22},
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222 | {30, 06, 1985,23},
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223 | {31, 12, 1987,24},
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224 | {31, 12, 1989,25},
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225 | {31, 12, 1990,26},
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226 | {30, 06, 1992,27},
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227 | {30, 06, 1993,28},
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228 | {30, 06, 1994,29},
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229 | {31, 12, 1995,30},
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230 | {30, 06, 1997,31},
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231 | {31, 12, 1998,32},
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232 | {31, 12, 2005,33},
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233 | {31, 12, 2008,34},
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234 | {0,0,0,0} /* end marker */
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235 | };
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236 | #define LEAPSECONDS 15 /* only needed for approx. time */
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237 | #define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
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238 |
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239 | static int longyear(int year, int month)
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240 | {
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241 | if(!(year % 4) && (!(year % 400) || (year % 100)))
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242 | {
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243 | if(!month || month == 2)
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244 | return 1;
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245 | }
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246 | return 0;
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247 | }
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248 |
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249 | int gnumleap(int year, int month, int day)
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250 | {
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251 | int ls = 0;
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252 | const struct leapseconds *l;
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253 |
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254 | for(l = leap; l->taicount && year >= l->year; ++l)
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255 | {
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256 | if(year > l->year || month > l->month || (month == l->month && day > l->day))
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257 | ls = l->taicount - GPSLEAPSTART;
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258 | }
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259 | return ls;
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260 | }
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261 |
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262 | /* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */
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263 | void updatetime(int *week, int *secOfWeek, int mSecOfWeek, int fixnumleap)
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264 | {
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265 | int y,m,d,k,l, nul;
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266 | unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60;
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267 | int glo_daynumber = 0, glo_timeofday;
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268 | for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
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269 | + gnumleap(y+1,1,1); ++y)
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270 | {
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271 | j -= k; glo_daynumber += l;
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272 | }
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273 | for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
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274 | + gnumleap(y, m+1, 1); ++m)
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275 | {
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276 | j -= k; glo_daynumber += l;
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277 | }
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278 | for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
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279 | j -= 24*60*60;
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280 | glo_daynumber -= 16*365+4-d;
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281 | nul = gnumleap(y, m, d);
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282 | glo_timeofday = j-nul;
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283 |
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284 | if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60)
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285 | *secOfWeek += 24*60*60;
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286 | else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000)
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287 | *secOfWeek -= 24*60*60;
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288 | *secOfWeek += mSecOfWeek/1000-glo_timeofday;
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289 | if(fixnumleap)
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290 | *secOfWeek -= nul;
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291 | if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; }
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292 | if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; }
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293 | }
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294 |
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295 | int RTCM3Parser(struct RTCM3ParserData *handle)
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296 | {
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297 | int ret=0;
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298 |
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299 | #ifdef NO_RTCM3_MAIN
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300 | if(GetMessage(handle)) /* don't repeat */
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301 | #else
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302 | while(!ret && GetMessage(handle))
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303 | #endif /* NO_RTCM3_MAIN */
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304 | {
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305 | /* using 64 bit integer types, as it is much easier than handling
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306 | the long datatypes in 32 bit */
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307 | uint64_t numbits = 0, bitfield = 0;
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308 | int size = handle->size, type;
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309 | int syncf, old = 0;
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310 | unsigned char *data = handle->Message+3;
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311 |
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312 | GETBITS(type,12)
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313 | #ifdef NO_RTCM3_MAIN
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314 | handle->blocktype = type;
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315 | #endif /* NO_RTCM3_MAIN */
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316 | switch(type)
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317 | {
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318 | #ifdef NO_RTCM3_MAIN
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319 | default:
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320 | ret = type;
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321 | break;
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322 | case 1005: case 1006:
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323 | {
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324 | SKIPBITS(22)
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325 | GETBITSSIGN(handle->antX, 38)
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326 | SKIPBITS(2)
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327 | GETBITSSIGN(handle->antY, 38)
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328 | SKIPBITS(2)
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329 | GETBITSSIGN(handle->antZ, 38)
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330 | if(type == 1006)
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331 | GETBITS(handle->antH, 16)
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332 | ret = type;
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333 | }
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334 | break;
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335 | case 1007: case 1008: case 1033:
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336 | {
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337 | char *antenna;
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338 | int antnum;
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339 |
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340 | SKIPBITS(12)
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341 | GETSTRING(antnum,antenna)
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342 | memcpy(handle->antenna, antenna, antnum);
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343 | handle->antenna[antnum] = 0;
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344 | ret = type;
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345 | }
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346 | break;
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347 | case 1013:
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348 | {
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349 | SKIPBITS(12);
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350 | GETBITS(handle->modjulday, 16);
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351 | GETBITS(handle->secofday, 17);
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352 | SKIPBITS(5);
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353 | GETBITS(handle->leapsec, 8);
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354 | ret = 1013;
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355 | }
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356 | break;
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357 | #endif /* NO_RTCM3_MAIN */
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358 | case 1019:
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359 | {
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360 | struct gpsephemeris *ge;
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361 | int sv;
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362 |
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363 | ge = &handle->ephemerisGPS;
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364 | memset(ge, 0, sizeof(*ge));
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365 |
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366 | GETBITS(sv, 6)
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367 | ge->satellite = (sv < 40 ? sv : sv+80);
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368 | GETBITS(ge->GPSweek, 10)
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369 | ge->GPSweek += 1024;
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370 | GETBITS(ge->URAindex, 4)
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371 | GETBITS(sv, 2)
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372 | if(sv & 1)
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373 | ge->flags |= GPSEPHF_L2PCODE;
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374 | if(sv & 2)
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375 | ge->flags |= GPSEPHF_L2CACODE;
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376 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
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377 | GETBITS(ge->IODE, 8)
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378 | GETBITS(ge->TOC, 16)
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379 | ge->TOC <<= 4;
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380 | GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
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381 | GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
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382 | GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
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383 | GETBITS(ge->IODC, 10)
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384 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
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385 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
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386 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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387 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
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388 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
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389 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
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390 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
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391 | GETBITS(ge->TOE, 16)
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392 | ge->TOE <<= 4;
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393 |
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394 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
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395 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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396 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
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397 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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398 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
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399 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
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400 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
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401 | GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
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402 | GETBITS(ge->SVhealth, 6)
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403 | GETBITS(sv, 1)
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404 | if(sv)
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405 | ge->flags |= GPSEPHF_L2PCODEDATA;
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406 |
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407 | ret = 1019;
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408 | }
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409 | break;
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410 | case 1045:
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411 | {
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412 | struct galileoephemeris *ge;
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413 | int sv;
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414 |
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415 | ge = &handle->ephemerisGALILEO;
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416 | memset(ge, 0, sizeof(*ge));
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417 |
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418 | GETBITS(sv, 6)
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419 | ge->satellite = sv;
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420 | GETBITS(ge->Week, 12)
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421 | GETBITS(ge->IODnav, 10)
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422 | GETBITS(ge->SISA, 8)
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423 | GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
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424 | GETBITSFACTOR(ge->TOC, 14, 60)
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425 | GETFLOATSIGN(ge->clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29))
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426 | GETFLOATSIGN(ge->clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16))
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427 | GETFLOATSIGN(ge->clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4))
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428 | GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
|
---|
429 | GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
430 | GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
431 | GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
|
---|
432 | GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
|
---|
433 | GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
|
---|
434 | GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
|
---|
435 | GETBITSFACTOR(ge->TOE, 14, 60)
|
---|
436 | GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
|
---|
437 | GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
438 | GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
|
---|
439 | GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
440 | GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
|
---|
441 | GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
|
---|
442 | GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
|
---|
443 | GETFLOATSIGN(ge->BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2))
|
---|
444 | GETBITS(ge->E5aHS, 2)
|
---|
445 | GETBITS(sv, 1)
|
---|
446 | if(sv)
|
---|
447 | ge->flags |= GALEPHF_E5ADINVALID;
|
---|
448 | ret = 1045;
|
---|
449 | }
|
---|
450 | break;
|
---|
451 | case 1020:
|
---|
452 | {
|
---|
453 | struct glonassephemeris *ge;
|
---|
454 | int i;
|
---|
455 |
|
---|
456 | ge = &handle->ephemerisGLONASS;
|
---|
457 | memset(ge, 0, sizeof(*ge));
|
---|
458 |
|
---|
459 | ge->flags |= GLOEPHF_PAVAILABLE;
|
---|
460 | GETBITS(ge->almanac_number, 6)
|
---|
461 | GETBITS(i, 5)
|
---|
462 | ge->frequency_number = i-7;
|
---|
463 | if(ge->almanac_number >= 1 && ge->almanac_number <= PRN_GLONASS_NUM)
|
---|
464 | handle->GLOFreq[ge->almanac_number-1] = 100+ge->frequency_number;
|
---|
465 | GETBITS(i, 1)
|
---|
466 | if(i)
|
---|
467 | ge->flags |= GLOEPHF_ALMANACHEALTHY;
|
---|
468 | GETBITS(i, 1)
|
---|
469 | if(i)
|
---|
470 | ge->flags |= GLOEPHF_ALMANACHEALTHOK;
|
---|
471 | GETBITS(i, 2)
|
---|
472 | if(i & 1)
|
---|
473 | ge->flags |= GLOEPHF_P10TRUE;
|
---|
474 | if(i & 2)
|
---|
475 | ge->flags |= GLOEPHF_P11TRUE;
|
---|
476 | GETBITS(i, 5)
|
---|
477 | ge->tk = i*60*60;
|
---|
478 | GETBITS(i, 6)
|
---|
479 | ge->tk += i*60;
|
---|
480 | GETBITS(i, 1)
|
---|
481 | ge->tk += i*30;
|
---|
482 | GETBITS(i, 1)
|
---|
483 | if(i)
|
---|
484 | ge->flags |= GLOEPHF_UNHEALTHY;
|
---|
485 | GETBITS(i, 1)
|
---|
486 | if(i)
|
---|
487 | ge->flags |= GLOEPHF_P2TRUE;
|
---|
488 | GETBITS(i, 7)
|
---|
489 | ge->tb = i*15*60;
|
---|
490 | GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
|
---|
491 | GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
|
---|
492 | GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
|
---|
493 | GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
|
---|
494 | GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
|
---|
495 | GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
|
---|
496 | GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
|
---|
497 | GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
|
---|
498 | GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
|
---|
499 | GETBITS(i, 1)
|
---|
500 | if(i)
|
---|
501 | ge->flags |= GLOEPHF_P3TRUE;
|
---|
502 | GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
|
---|
503 | SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
|
---|
504 | GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
|
---|
505 | SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
|
---|
506 | GETBITS(ge->E, 5)
|
---|
507 | /* GETBITS(b, 1) / * GLONASS-M P4 */
|
---|
508 | /* GETBITS(b, 4) / * GLONASS-M Ft */
|
---|
509 | /* GETBITS(b, 11) / * GLONASS-M Nt */
|
---|
510 | /* GETBITS(b, 2) / * GLONASS-M M */
|
---|
511 | /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
|
---|
512 | /* GETBITS(b, 11) / * GLONASS-M Na */
|
---|
513 | /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
|
---|
514 | /* GETBITS(b, 5) / * GLONASS-M N4 */
|
---|
515 | /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
|
---|
516 | /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
|
---|
517 | ge->GPSWeek = handle->GPSWeek;
|
---|
518 | ge->GPSTOW = handle->GPSTOW;
|
---|
519 | ret = 1020;
|
---|
520 | }
|
---|
521 | break;
|
---|
522 | case 1001: case 1002: case 1003: case 1004:
|
---|
523 | if(handle->GPSWeek)
|
---|
524 | {
|
---|
525 | int lastlockl1[64];
|
---|
526 | int lastlockl2[64];
|
---|
527 | struct gnssdata *gnss;
|
---|
528 | int i, numsats, wasamb=0;
|
---|
529 |
|
---|
530 | for(i = 0; i < 64; ++i)
|
---|
531 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
532 |
|
---|
533 | gnss = &handle->DataNew;
|
---|
534 |
|
---|
535 | SKIPBITS(12) /* id */
|
---|
536 | GETBITS(i,30)
|
---|
537 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
538 | ++handle->GPSWeek;
|
---|
539 | handle->GPSTOW = i/1000;
|
---|
540 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
541 | != handle->GPSWeek))
|
---|
542 | {
|
---|
543 | handle->Data = *gnss;
|
---|
544 | memset(gnss, 0, sizeof(*gnss));
|
---|
545 | old = 1;
|
---|
546 | }
|
---|
547 | gnss->timeofweek = i;
|
---|
548 | gnss->week = handle->GPSWeek;
|
---|
549 |
|
---|
550 | GETBITS(syncf,1) /* sync */
|
---|
551 | GETBITS(numsats,5)
|
---|
552 | SKIPBITS(4) /* smind, smint */
|
---|
553 |
|
---|
554 | while(numsats-- && gnss->numsats < GNSS_MAXSATS)
|
---|
555 | {
|
---|
556 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
557 | int fullsat, num;
|
---|
558 |
|
---|
559 | GETBITS(sv, 6)
|
---|
560 | fullsat = sv < 40 ? sv : sv+80;
|
---|
561 | for(num = 0; num < gnss->numsats
|
---|
562 | && fullsat != gnss->satellites[num]; ++num)
|
---|
563 | ;
|
---|
564 |
|
---|
565 | if(num == gnss->numsats)
|
---|
566 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
567 |
|
---|
568 | /* L1 */
|
---|
569 | GETBITS(code, 1);
|
---|
570 | if(code)
|
---|
571 | {
|
---|
572 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
573 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
574 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
575 | }
|
---|
576 | else
|
---|
577 | {
|
---|
578 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
579 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
580 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
581 | }
|
---|
582 | GETBITS(l1range, 24);
|
---|
583 | GETBITSSIGN(i, 20);
|
---|
584 | if((i&((1<<20)-1)) != 0x80000)
|
---|
585 | {
|
---|
586 | gnss->dataflags[num] |= (c|l);
|
---|
587 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
588 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
589 | }
|
---|
590 | GETBITS(i, 7);
|
---|
591 | lastlockl1[sv] = i;
|
---|
592 | if(handle->lastlockGPSl1[sv] > i || i == 0)
|
---|
593 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
|
---|
594 | if(type == 1002 || type == 1004)
|
---|
595 | {
|
---|
596 | GETBITS(amb,8);
|
---|
597 | if(amb && (gnss->dataflags[num] & c))
|
---|
598 | {
|
---|
599 | gnss->measdata[num][ce] += amb*299792.458;
|
---|
600 | gnss->measdata[num][le] += amb*299792.458;
|
---|
601 | ++wasamb;
|
---|
602 | }
|
---|
603 | GETBITS(i, 8);
|
---|
604 | if(i)
|
---|
605 | {
|
---|
606 | gnss->dataflags[num] |= s;
|
---|
607 | gnss->measdata[num][se] = i*0.25;
|
---|
608 | i /= 4*4;
|
---|
609 | if(i > 9) i = 9;
|
---|
610 | else if(i < 1) i = 1;
|
---|
611 | gnss->snrL1[num] = i;
|
---|
612 | }
|
---|
613 | }
|
---|
614 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
|
---|
615 | if(type == 1003 || type == 1004)
|
---|
616 | {
|
---|
617 | /* L2 */
|
---|
618 | GETBITS(code,2);
|
---|
619 | if(code)
|
---|
620 | {
|
---|
621 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
622 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
623 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
624 | if(code >= 2)
|
---|
625 | gnss->dataflags2[num] |= GNSSDF2_XCORRL2;
|
---|
626 | }
|
---|
627 | else
|
---|
628 | {
|
---|
629 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
630 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
631 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
632 | }
|
---|
633 | GETBITSSIGN(i,14);
|
---|
634 | if((i&((1<<14)-1)) != 0x2000)
|
---|
635 | {
|
---|
636 | gnss->dataflags[num] |= c;
|
---|
637 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
638 | +amb*299792.458;
|
---|
639 | }
|
---|
640 | GETBITSSIGN(i,20);
|
---|
641 | if((i&((1<<20)-1)) != 0x80000)
|
---|
642 | {
|
---|
643 | gnss->dataflags[num] |= l;
|
---|
644 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
645 | +amb*299792.458;
|
---|
646 | }
|
---|
647 | GETBITS(i,7);
|
---|
648 | lastlockl2[sv] = i;
|
---|
649 | if(handle->lastlockGPSl2[sv] > i || i == 0)
|
---|
650 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
|
---|
651 | if(type == 1004)
|
---|
652 | {
|
---|
653 | GETBITS(i, 8);
|
---|
654 | if(i)
|
---|
655 | {
|
---|
656 | gnss->dataflags[num] |= s;
|
---|
657 | gnss->measdata[num][se] = i*0.25;
|
---|
658 | i /= 4*4;
|
---|
659 | if(i > 9) i = 9;
|
---|
660 | else if(i < 1) i = 1;
|
---|
661 | gnss->snrL2[num] = i;
|
---|
662 | }
|
---|
663 | }
|
---|
664 | gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
|
---|
665 | }
|
---|
666 | }
|
---|
667 | for(i = 0; i < 64; ++i)
|
---|
668 | {
|
---|
669 | handle->lastlockGPSl1[i] = lastlockl1[i];
|
---|
670 | handle->lastlockGPSl2[i] = lastlockl2[i];
|
---|
671 | }
|
---|
672 | if(!syncf && !old)
|
---|
673 | {
|
---|
674 | handle->Data = *gnss;
|
---|
675 | memset(gnss, 0, sizeof(*gnss));
|
---|
676 | }
|
---|
677 | if(!syncf || old)
|
---|
678 | {
|
---|
679 | if(wasamb) /* not RINEX compatible without */
|
---|
680 | ret = 1;
|
---|
681 | else
|
---|
682 | ret = 2;
|
---|
683 | }
|
---|
684 | #ifdef NO_RTCM3_MAIN
|
---|
685 | else
|
---|
686 | ret = type;
|
---|
687 | #endif /* NO_RTCM3_MAIN */
|
---|
688 | }
|
---|
689 | break;
|
---|
690 | case 1009: case 1010: case 1011: case 1012:
|
---|
691 | {
|
---|
692 | int lastlockl1[64];
|
---|
693 | int lastlockl2[64];
|
---|
694 | struct gnssdata *gnss;
|
---|
695 | int i, numsats;
|
---|
696 | int wasamb=0;
|
---|
697 |
|
---|
698 | for(i = 0; i < 64; ++i)
|
---|
699 | lastlockl1[i] = lastlockl2[i] = 0;
|
---|
700 |
|
---|
701 | gnss = &handle->DataNew;
|
---|
702 |
|
---|
703 | SKIPBITS(12) /* id */;
|
---|
704 | GETBITS(i,27) /* tk */
|
---|
705 |
|
---|
706 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
707 | i = handle->GPSTOW*1000;
|
---|
708 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
709 | != handle->GPSWeek))
|
---|
710 | {
|
---|
711 | handle->Data = *gnss;
|
---|
712 | memset(gnss, 0, sizeof(*gnss));
|
---|
713 | old = 1;
|
---|
714 | }
|
---|
715 |
|
---|
716 | gnss->timeofweek = i;
|
---|
717 | gnss->week = handle->GPSWeek;
|
---|
718 |
|
---|
719 | GETBITS(syncf,1) /* sync */
|
---|
720 | GETBITS(numsats,5)
|
---|
721 |
|
---|
722 | SKIPBITS(4) /* smind, smint */
|
---|
723 |
|
---|
724 | while(numsats-- && gnss->numsats < GNSS_MAXSATS)
|
---|
725 | {
|
---|
726 | int sv, code, l1range, c,l,s,ce,le,se,amb=0;
|
---|
727 | int freq;
|
---|
728 | int fullsat, num;
|
---|
729 |
|
---|
730 | GETBITS(sv, 6)
|
---|
731 | fullsat = sv-1 + PRN_GLONASS_START;
|
---|
732 | for(num = 0; num < gnss->numsats
|
---|
733 | && fullsat != gnss->satellites[num]; ++num)
|
---|
734 | ;
|
---|
735 |
|
---|
736 | if(num == gnss->numsats)
|
---|
737 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
738 |
|
---|
739 | /* L1 */
|
---|
740 | GETBITS(code, 1)
|
---|
741 | GETBITS(freq, 5)
|
---|
742 |
|
---|
743 | if(sv >= 1 && sv <= PRN_GLONASS_NUM)
|
---|
744 | handle->GLOFreq[sv-1] = 100+freq-7;
|
---|
745 |
|
---|
746 | if(code)
|
---|
747 | {
|
---|
748 | c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
|
---|
749 | l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
|
---|
750 | s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
|
---|
751 | }
|
---|
752 | else
|
---|
753 | {
|
---|
754 | c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
|
---|
755 | l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
|
---|
756 | s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
|
---|
757 | }
|
---|
758 | GETBITS(l1range, 25)
|
---|
759 | GETBITSSIGN(i, 20)
|
---|
760 | if((i&((1<<20)-1)) != 0x80000)
|
---|
761 | {
|
---|
762 | /* Handle this like GPS. Actually for GLONASS L1 range is always
|
---|
763 | valid. To be on the save side, we handle it as invalid like we
|
---|
764 | do for GPS and also remove range in case of 0x80000. */
|
---|
765 | gnss->dataflags[num] |= (c|l);
|
---|
766 | gnss->measdata[num][ce] = l1range*0.02;
|
---|
767 | gnss->measdata[num][le] = l1range*0.02+i*0.0005;
|
---|
768 | }
|
---|
769 | GETBITS(i, 7)
|
---|
770 | lastlockl1[sv] = i;
|
---|
771 | if(handle->lastlockGLOl1[sv] > i || i == 0)
|
---|
772 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
|
---|
773 | if(type == 1010 || type == 1012)
|
---|
774 | {
|
---|
775 | GETBITS(amb,7)
|
---|
776 | if(amb && (gnss->dataflags[num] & c))
|
---|
777 | {
|
---|
778 | gnss->measdata[num][ce] += amb*599584.916;
|
---|
779 | gnss->measdata[num][le] += amb*599584.916;
|
---|
780 | ++wasamb;
|
---|
781 | }
|
---|
782 | GETBITS(i, 8)
|
---|
783 | if(i)
|
---|
784 | {
|
---|
785 | gnss->dataflags[num] |= s;
|
---|
786 | gnss->measdata[num][se] = i*0.25;
|
---|
787 | i /= 4*4;
|
---|
788 | if(i > 9) i = 9;
|
---|
789 | else if(i < 1) i = 1;
|
---|
790 | gnss->snrL1[num] = i;
|
---|
791 | }
|
---|
792 | }
|
---|
793 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
|
---|
794 | if(type == 1011 || type == 1012)
|
---|
795 | {
|
---|
796 | /* L2 */
|
---|
797 | GETBITS(code,2)
|
---|
798 | if(code)
|
---|
799 | {
|
---|
800 | c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
|
---|
801 | l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
|
---|
802 | s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
|
---|
803 | }
|
---|
804 | else
|
---|
805 | {
|
---|
806 | c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
|
---|
807 | l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
|
---|
808 | s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
|
---|
809 | }
|
---|
810 | GETBITSSIGN(i,14)
|
---|
811 | if((i&((1<<14)-1)) != 0x2000)
|
---|
812 | {
|
---|
813 | gnss->dataflags[num] |= c;
|
---|
814 | gnss->measdata[num][ce] = l1range*0.02+i*0.02
|
---|
815 | +amb*599584.916;
|
---|
816 | }
|
---|
817 | GETBITSSIGN(i,20)
|
---|
818 | if((i&((1<<20)-1)) != 0x80000)
|
---|
819 | {
|
---|
820 | gnss->dataflags[num] |= l;
|
---|
821 | gnss->measdata[num][le] = l1range*0.02+i*0.0005
|
---|
822 | +amb*599584.916;
|
---|
823 | }
|
---|
824 | GETBITS(i,7)
|
---|
825 | lastlockl2[sv] = i;
|
---|
826 | if(handle->lastlockGLOl2[sv] > i || i == 0)
|
---|
827 | gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
|
---|
828 | if(type == 1012)
|
---|
829 | {
|
---|
830 | GETBITS(i, 8)
|
---|
831 | if(i)
|
---|
832 | {
|
---|
833 | gnss->dataflags[num] |= s;
|
---|
834 | gnss->measdata[num][se] = i*0.25;
|
---|
835 | i /= 4*4;
|
---|
836 | if(i > 9) i = 9;
|
---|
837 | else if(i < 1) i = 1;
|
---|
838 | gnss->snrL2[num] = i;
|
---|
839 | }
|
---|
840 | }
|
---|
841 | gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
|
---|
842 | }
|
---|
843 | if(!sv || sv > 24) /* illegal, remove it again */
|
---|
844 | --gnss->numsats;
|
---|
845 | }
|
---|
846 | for(i = 0; i < 64; ++i)
|
---|
847 | {
|
---|
848 | handle->lastlockGLOl1[i] = lastlockl1[i];
|
---|
849 | handle->lastlockGLOl2[i] = lastlockl2[i];
|
---|
850 | }
|
---|
851 | if(!syncf && !old)
|
---|
852 | {
|
---|
853 | handle->Data = *gnss;
|
---|
854 | memset(gnss, 0, sizeof(*gnss));
|
---|
855 | }
|
---|
856 | if(!syncf || old)
|
---|
857 | {
|
---|
858 | if(wasamb) /* not RINEX compatible without */
|
---|
859 | ret = 1;
|
---|
860 | else
|
---|
861 | ret = 2;
|
---|
862 | }
|
---|
863 | #ifdef NO_RTCM3_MAIN
|
---|
864 | else
|
---|
865 | ret = type;
|
---|
866 | #endif /* NO_RTCM3_MAIN */
|
---|
867 | }
|
---|
868 | break;
|
---|
869 | case 1071: case 1081: case 1091:
|
---|
870 | case 1072: case 1082: case 1092:
|
---|
871 | case 1073: case 1083: case 1093:
|
---|
872 | case 1074: case 1084: case 1094:
|
---|
873 | case 1075: case 1085: case 1095:
|
---|
874 | case 1076: case 1086: case 1096:
|
---|
875 | case 1077: case 1087: case 1097:
|
---|
876 | if(handle->GPSWeek)
|
---|
877 | {
|
---|
878 | struct CodeData {
|
---|
879 | int typeR;
|
---|
880 | int typeP;
|
---|
881 | int typeD;
|
---|
882 | int typeS;
|
---|
883 | int lock;
|
---|
884 | double wl;
|
---|
885 | const char *code; /* currently unused */
|
---|
886 | };
|
---|
887 | struct CodeData gps[RTCM3_MSM_NUMSIG] =
|
---|
888 | {
|
---|
889 | {0,0,0,0,0,0,0},
|
---|
890 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
891 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"},
|
---|
892 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
893 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"},
|
---|
894 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
895 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1W"},
|
---|
896 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
897 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1Y"},
|
---|
898 | {0,0,0,0,0,0,0},
|
---|
899 | {0,0,0,0,0,0,0},
|
---|
900 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
901 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2C"},
|
---|
902 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
903 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2P"},
|
---|
904 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
905 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2W"},
|
---|
906 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
907 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2Y"},
|
---|
908 | {0,0,0,0,0,0,0},
|
---|
909 | {0,0,0,0,0,0,0},
|
---|
910 | {0,0,0,0,0,0,0},
|
---|
911 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
912 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"},
|
---|
913 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
914 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"},
|
---|
915 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
916 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"},
|
---|
917 | {0,0,0,0,0,0,0},
|
---|
918 | {0,0,0,0,0,0,0},
|
---|
919 | {0,0,0,0,0,0,0},
|
---|
920 | {0,0,0,0,0,0,0},
|
---|
921 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
922 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"},
|
---|
923 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
924 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"},
|
---|
925 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
926 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"}
|
---|
927 | };
|
---|
928 | /* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! */
|
---|
929 | struct CodeData glo[RTCM3_MSM_NUMSIG] =
|
---|
930 | {
|
---|
931 | {0,0,0,0,0,0,0},
|
---|
932 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
933 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,0.0,"1C"},
|
---|
934 | {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
|
---|
935 | GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,0.0,"1P"},
|
---|
936 | {0,0,0,0,0,0,0},
|
---|
937 | {0,0,0,0,0,0,0},
|
---|
938 | {0,0,0,0,0,0,0},
|
---|
939 | {0,0,0,0,0,0,0},
|
---|
940 | {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
|
---|
941 | GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,1.0,"2C"},
|
---|
942 | {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
|
---|
943 | GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,1.0,"2P"},
|
---|
944 | {0,0,0,0,0,0,0},
|
---|
945 | {0,0,0,0,0,0,0},
|
---|
946 | {0,0,0,0,0,0,0},
|
---|
947 | {0,0,0,0,0,0,0},
|
---|
948 | {0,0,0,0,0,0,0},
|
---|
949 | {0,0,0,0,0,0,0},
|
---|
950 | {0,0,0,0,0,0,0},
|
---|
951 | {0,0,0,0,0,0,0},
|
---|
952 | {0,0,0,0,0,0,0},
|
---|
953 | {0,0,0,0,0,0,0},
|
---|
954 | {0,0,0,0,0,0,0},
|
---|
955 | {0,0,0,0,0,0,0},
|
---|
956 | {0,0,0,0,0,0,0},
|
---|
957 | {0,0,0,0,0,0,0},
|
---|
958 | {0,0,0,0,0,0,0}
|
---|
959 | };
|
---|
960 | struct CodeData gal[RTCM3_MSM_NUMSIG] =
|
---|
961 | {
|
---|
962 | {0,0,0,0,0,0,0},
|
---|
963 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
964 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1C"},
|
---|
965 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
966 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1A"},
|
---|
967 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
968 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1B"},
|
---|
969 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
970 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1X"},
|
---|
971 | {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
|
---|
972 | GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1Z"},
|
---|
973 | {0,0,0,0,0,0,0},
|
---|
974 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
975 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6I"},
|
---|
976 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
977 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Q"},
|
---|
978 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
979 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6I"},
|
---|
980 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
981 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Q"},
|
---|
982 | {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
|
---|
983 | GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6X"},
|
---|
984 | {0,0,0,0,0,0,0},
|
---|
985 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
986 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7I"},
|
---|
987 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
988 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7Q"},
|
---|
989 | {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
|
---|
990 | GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7X"},
|
---|
991 | {0,0,0,0,0,0,0},
|
---|
992 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
993 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8I"},
|
---|
994 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
995 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8Q"},
|
---|
996 | {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
|
---|
997 | GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8X"},
|
---|
998 | {0,0,0,0,0,0,0},
|
---|
999 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
1000 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5I"},
|
---|
1001 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
1002 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5Q"},
|
---|
1003 | {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
|
---|
1004 | GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5X"},
|
---|
1005 | };
|
---|
1006 |
|
---|
1007 | int sys = RTCM3_MSM_GPS, i=0, count, j, old = 0, wasnoamb = 0;
|
---|
1008 | int syncf, sigmask, numsat = 0, numsig = 0, numcells;
|
---|
1009 | uint64_t satmask, cellmask, ui;
|
---|
1010 | double rrmod[RTCM3_MSM_NUMSAT];
|
---|
1011 | int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT];
|
---|
1012 | int ll[RTCM3_MSM_NUMCELLS];
|
---|
1013 | double cnr[RTCM3_MSM_NUMCELLS];
|
---|
1014 | double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
|
---|
1015 | dop[RTCM3_MSM_NUMCELLS];
|
---|
1016 | struct gnssdata *gnss = &handle->DataNew;
|
---|
1017 |
|
---|
1018 | SKIPBITS(12)
|
---|
1019 | if(type >= 1091)
|
---|
1020 | sys = RTCM3_MSM_GALILEO;
|
---|
1021 | else if(type >= 1081)
|
---|
1022 | sys = RTCM3_MSM_GLONASS;
|
---|
1023 |
|
---|
1024 | switch(sys)
|
---|
1025 | {
|
---|
1026 | case RTCM3_MSM_GALILEO: /* use DF004 instead of DF248 */
|
---|
1027 | case RTCM3_MSM_GPS:
|
---|
1028 | GETBITS(i,30)
|
---|
1029 | if(i/1000 < (int)handle->GPSTOW - 86400)
|
---|
1030 | ++handle->GPSWeek;
|
---|
1031 | handle->GPSTOW = i/1000;
|
---|
1032 | break;
|
---|
1033 | case RTCM3_MSM_GLONASS:
|
---|
1034 | SKIPBITS(3)
|
---|
1035 | GETBITS(i,27) /* tk */
|
---|
1036 |
|
---|
1037 | updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
|
---|
1038 | i = handle->GPSTOW*1000;
|
---|
1039 | break;
|
---|
1040 | }
|
---|
1041 |
|
---|
1042 | if(gnss->week && (gnss->timeofweek != i || gnss->week
|
---|
1043 | != handle->GPSWeek))
|
---|
1044 | {
|
---|
1045 | handle->Data = *gnss;
|
---|
1046 | memset(gnss, 0, sizeof(*gnss));
|
---|
1047 | old = 1;
|
---|
1048 | }
|
---|
1049 | gnss->timeofweek = i;
|
---|
1050 | gnss->week = handle->GPSWeek;
|
---|
1051 |
|
---|
1052 | GETBITS(syncf, 1)
|
---|
1053 | if(((type % 10) == 6) || ((type % 10) == 7))
|
---|
1054 | SKIPBITS(3)
|
---|
1055 | GETBITS(satmask, RTCM3_MSM_NUMSAT)
|
---|
1056 |
|
---|
1057 | /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
|
---|
1058 | for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
|
---|
1059 | ++numsat;
|
---|
1060 | GETBITS(sigmask, RTCM3_MSM_NUMSIG)
|
---|
1061 | for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
|
---|
1062 | ++numsig;
|
---|
1063 | i = numsat*numsig;
|
---|
1064 | GETBITS(cellmask, (unsigned)i)
|
---|
1065 |
|
---|
1066 | switch(type % 10)
|
---|
1067 | {
|
---|
1068 | case 1: case 2: case 3:
|
---|
1069 | ++wasnoamb;
|
---|
1070 | for(j = numsat; j--;)
|
---|
1071 | GETFLOAT(rrmod[j], 10, 1/1024.0)
|
---|
1072 | break;
|
---|
1073 | case 4: case 6:
|
---|
1074 | for(j = numsat; j--;)
|
---|
1075 | GETBITS(rrint[j], 8)
|
---|
1076 | for(j = numsat; j--;)
|
---|
1077 | GETFLOAT(rrmod[j], 10, 1/1024.0)
|
---|
1078 | break;
|
---|
1079 | case 5: case 7:
|
---|
1080 | for(j = numsat; j--;)
|
---|
1081 | GETBITS(rrint[j], 8)
|
---|
1082 | for(j = numsat; j--;)
|
---|
1083 | GETFLOAT(rrmod[j], 10, 1/1024.0)
|
---|
1084 | for(j = numsat; j--;)
|
---|
1085 | GETBITSSIGN(rdop[j], 14)
|
---|
1086 | break;
|
---|
1087 | }
|
---|
1088 |
|
---|
1089 | numcells = numsat*numsig;
|
---|
1090 | if(numcells <= RTCM3_MSM_NUMCELLS)
|
---|
1091 | {
|
---|
1092 | switch(type % 10)
|
---|
1093 | {
|
---|
1094 | case 1:
|
---|
1095 | for(count = numcells; count--;)
|
---|
1096 | if(cellmask & (UINT64(1)<<count))
|
---|
1097 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
1098 | break;
|
---|
1099 | case 2:
|
---|
1100 | for(count = numcells; count--;)
|
---|
1101 | if(cellmask & (UINT64(1)<<count))
|
---|
1102 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
1103 | for(count = numcells; count--;)
|
---|
1104 | if(cellmask & (UINT64(1)<<count))
|
---|
1105 | GETBITS(ll[count], 4)
|
---|
1106 | break;
|
---|
1107 | case 3:
|
---|
1108 | for(count = numcells; count--;)
|
---|
1109 | if(cellmask & (UINT64(1)<<count))
|
---|
1110 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
1111 | for(count = numcells; count--;)
|
---|
1112 | if(cellmask & (UINT64(1)<<count))
|
---|
1113 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
1114 | for(count = numcells; count--;)
|
---|
1115 | if(cellmask & (UINT64(1)<<count))
|
---|
1116 | GETBITS(ll[count], 4)
|
---|
1117 | break;
|
---|
1118 | case 4:
|
---|
1119 | for(count = numcells; count--;)
|
---|
1120 | if(cellmask & (UINT64(1)<<count))
|
---|
1121 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
1122 | for(count = numcells; count--;)
|
---|
1123 | if(cellmask & (UINT64(1)<<count))
|
---|
1124 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
1125 | for(count = numcells; count--;)
|
---|
1126 | if(cellmask & (UINT64(1)<<count))
|
---|
1127 | GETBITS(ll[count], 4)
|
---|
1128 | for(count = numcells; count--;)
|
---|
1129 | if(cellmask & (UINT64(1)<<count))
|
---|
1130 | GETBITS(cnr[count], 6)
|
---|
1131 | break;
|
---|
1132 | case 5:
|
---|
1133 | for(count = numcells; count--;)
|
---|
1134 | if(cellmask & (UINT64(1)<<count))
|
---|
1135 | GETFLOATSIGN(psr[count], 15, 0.02)
|
---|
1136 | for(count = numcells; count--;)
|
---|
1137 | if(cellmask & (UINT64(1)<<count))
|
---|
1138 | GETFLOATSIGN(cp[count], 20, 1/256.0)
|
---|
1139 | for(count = numcells; count--;)
|
---|
1140 | if(cellmask & (UINT64(1)<<count))
|
---|
1141 | GETBITS(ll[count], 4)
|
---|
1142 | for(count = numcells; count--;)
|
---|
1143 | if(cellmask & (UINT64(1)<<count))
|
---|
1144 | GETFLOAT(cnr[count], 6, 1.0)
|
---|
1145 | for(count = numcells; count--;)
|
---|
1146 | if(cellmask & (UINT64(1)<<count))
|
---|
1147 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
1148 | break;
|
---|
1149 | case 6:
|
---|
1150 | for(count = numcells; count--;)
|
---|
1151 | if(cellmask & (UINT64(1)<<count))
|
---|
1152 | GETFLOATSIGN(psr[count], 20, 0.001)
|
---|
1153 | for(count = numcells; count--;)
|
---|
1154 | if(cellmask & (UINT64(1)<<count))
|
---|
1155 | GETFLOATSIGN(cp[count], 22, 1/1024.0)
|
---|
1156 | for(count = numcells; count--;)
|
---|
1157 | if(cellmask & (UINT64(1)<<count))
|
---|
1158 | GETBITS(ll[count], 10)
|
---|
1159 | for(count = numcells; count--;)
|
---|
1160 | if(cellmask & (UINT64(1)<<count))
|
---|
1161 | GETFLOAT(cnr[count], 10, 0.1)
|
---|
1162 | case 7:
|
---|
1163 | for(count = numcells; count--;)
|
---|
1164 | if(cellmask & (UINT64(1)<<count))
|
---|
1165 | GETFLOATSIGN(psr[count], 20, 0.001)
|
---|
1166 | for(count = numcells; count--;)
|
---|
1167 | if(cellmask & (UINT64(1)<<count))
|
---|
1168 | GETFLOATSIGN(cp[count], 22, 1/1024.0)
|
---|
1169 | for(count = numcells; count--;)
|
---|
1170 | if(cellmask & (UINT64(1)<<count))
|
---|
1171 | GETBITS(ll[count], 10)
|
---|
1172 | for(count = numcells; count--;)
|
---|
1173 | if(cellmask & (UINT64(1)<<count))
|
---|
1174 | GETFLOAT(cnr[count], 10, 0.1)
|
---|
1175 | for(count = numcells; count--;)
|
---|
1176 | if(cellmask & (UINT64(1)<<count))
|
---|
1177 | GETFLOATSIGN(dop[count], 15, 0.0001)
|
---|
1178 | break;
|
---|
1179 | }
|
---|
1180 | i = RTCM3_MSM_NUMSAT;
|
---|
1181 | j = -1;
|
---|
1182 | for(count = numcells; count--;)
|
---|
1183 | {
|
---|
1184 | while(j >= 0 && !(sigmask&(1<<--j)))
|
---|
1185 | ;
|
---|
1186 | if(j < 0)
|
---|
1187 | {
|
---|
1188 | while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */
|
---|
1189 | ;
|
---|
1190 | j = RTCM3_MSM_NUMSIG;
|
---|
1191 | while(!(sigmask&(1<<--j)))
|
---|
1192 | ;
|
---|
1193 | --numsat;
|
---|
1194 | }
|
---|
1195 | if(cellmask & (UINT64(1)<<count))
|
---|
1196 | {
|
---|
1197 | struct CodeData cd = {0,0,0,0,0,0,0};
|
---|
1198 | double wl = 0.0;
|
---|
1199 | switch(sys)
|
---|
1200 | {
|
---|
1201 | case RTCM3_MSM_GPS: cd = gps[RTCM3_MSM_NUMSIG-j-1];
|
---|
1202 | wl = cd.wl;
|
---|
1203 | break;
|
---|
1204 | case RTCM3_MSM_GLONASS: cd = glo[RTCM3_MSM_NUMSIG-j-1];
|
---|
1205 | {
|
---|
1206 | int k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1];
|
---|
1207 | if(k)
|
---|
1208 | {
|
---|
1209 | if(cd.wl == 0.0)
|
---|
1210 | wl = GLO_WAVELENGTH_L1(k-100);
|
---|
1211 | else if(cd.wl == 1.0)
|
---|
1212 | wl = GLO_WAVELENGTH_L2(k-100);
|
---|
1213 | }
|
---|
1214 | }
|
---|
1215 | break;
|
---|
1216 | case RTCM3_MSM_GALILEO: cd = gal[RTCM3_MSM_NUMSIG-j-1];
|
---|
1217 | wl = cd.wl;
|
---|
1218 | break;
|
---|
1219 | }
|
---|
1220 | if(cd.lock && wl) /* lock cannot have a valid zero value */
|
---|
1221 | {
|
---|
1222 | int fullsat = sys+RTCM3_MSM_NUMSAT-i-1, num;
|
---|
1223 | /* FIXME: workaround for GIOVE */
|
---|
1224 | if(fullsat >= PRN_GALILEO_START && fullsat <= PRN_GALILEO_START+2)
|
---|
1225 | fullsat += PRN_GIOVE_START-PRN_GALILEO_START;
|
---|
1226 | for(num = 0; num < gnss->numsats
|
---|
1227 | && fullsat != gnss->satellites[num]; ++num)
|
---|
1228 | ;
|
---|
1229 |
|
---|
1230 | if(num == gnss->numsats)
|
---|
1231 | gnss->satellites[gnss->numsats++] = fullsat;
|
---|
1232 |
|
---|
1233 | switch(type % 10)
|
---|
1234 | {
|
---|
1235 | case 1:
|
---|
1236 | if(psr[count] > -327.68)
|
---|
1237 | {
|
---|
1238 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
1239 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
1240 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
1241 | }
|
---|
1242 | break;
|
---|
1243 | case 2:
|
---|
1244 | if(wl && cp[count] > -2048.0)
|
---|
1245 | {
|
---|
1246 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
1247 | +(rrmod[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
1248 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
1249 | {
|
---|
1250 | gnss->dataflags2[num] |= cd.lock;
|
---|
1251 | handle->lastlockmsm[j][i] = ll[count];
|
---|
1252 | }
|
---|
1253 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
1254 | }
|
---|
1255 | break;
|
---|
1256 | case 3:
|
---|
1257 | if(psr[count] > -327.68)
|
---|
1258 | {
|
---|
1259 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
1260 | +(rrmod[numsat])*LIGHTSPEED/1000.0;
|
---|
1261 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
1262 | }
|
---|
1263 |
|
---|
1264 | if(wl && cp[count] > -2048.0)
|
---|
1265 | {
|
---|
1266 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
1267 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
1268 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
1269 | {
|
---|
1270 | gnss->dataflags2[num] |= cd.lock;
|
---|
1271 | handle->lastlockmsm[j][i] = ll[count];
|
---|
1272 | }
|
---|
1273 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
1274 | }
|
---|
1275 | break;
|
---|
1276 | case 4:
|
---|
1277 | if(psr[count] > -327.68)
|
---|
1278 | {
|
---|
1279 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
1280 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
1281 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
1282 | }
|
---|
1283 |
|
---|
1284 | if(wl && cp[count] > -2048.0)
|
---|
1285 | {
|
---|
1286 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
1287 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
1288 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
1289 | {
|
---|
1290 | gnss->dataflags2[num] |= cd.lock;
|
---|
1291 | handle->lastlockmsm[j][i] = ll[count];
|
---|
1292 | }
|
---|
1293 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
1294 | }
|
---|
1295 |
|
---|
1296 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
1297 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
1298 | break;
|
---|
1299 | case 5:
|
---|
1300 | if(psr[count] > -327.68)
|
---|
1301 | {
|
---|
1302 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
1303 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
1304 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
1305 | }
|
---|
1306 |
|
---|
1307 | if(wl && cp[count] > -2048.0)
|
---|
1308 | {
|
---|
1309 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
1310 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
1311 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
1312 | {
|
---|
1313 | gnss->dataflags2[num] |= cd.lock;
|
---|
1314 | handle->lastlockmsm[j][i] = ll[count];
|
---|
1315 | }
|
---|
1316 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
1317 | }
|
---|
1318 |
|
---|
1319 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
1320 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
1321 |
|
---|
1322 | if(dop[count] > -1.6384)
|
---|
1323 | {
|
---|
1324 | gnss->measdata[num][cd.typeD] = dop[count]+rdop[numsat];
|
---|
1325 | gnss->dataflags[num] |= (1<<cd.typeD);
|
---|
1326 | }
|
---|
1327 | break;
|
---|
1328 | case 6:
|
---|
1329 | if(psr[count] > -524.288)
|
---|
1330 | {
|
---|
1331 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
1332 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
1333 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
1334 | }
|
---|
1335 |
|
---|
1336 | if(wl && cp[count] > -2055.0)
|
---|
1337 | {
|
---|
1338 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
1339 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
1340 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
1341 | {
|
---|
1342 | gnss->dataflags2[num] |= cd.lock;
|
---|
1343 | handle->lastlockmsm[j][i] = ll[count];
|
---|
1344 | }
|
---|
1345 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
1346 | }
|
---|
1347 |
|
---|
1348 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
1349 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
1350 | break;
|
---|
1351 | case 7:
|
---|
1352 | if(psr[count] > -524.288)
|
---|
1353 | {
|
---|
1354 | gnss->measdata[num][cd.typeR] = psr[count]
|
---|
1355 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
|
---|
1356 | gnss->dataflags[num] |= (1<<cd.typeR);
|
---|
1357 | }
|
---|
1358 |
|
---|
1359 | if(wl && cp[count] > -2055.0)
|
---|
1360 | {
|
---|
1361 | gnss->measdata[num][cd.typeP] = cp[count]
|
---|
1362 | +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
|
---|
1363 | if(handle->lastlockmsm[j][i] != ll[count])
|
---|
1364 | {
|
---|
1365 | gnss->dataflags2[num] |= cd.lock;
|
---|
1366 | handle->lastlockmsm[j][i] = ll[count];
|
---|
1367 | }
|
---|
1368 | gnss->dataflags[num] |= (1<<cd.typeP);
|
---|
1369 | }
|
---|
1370 |
|
---|
1371 | gnss->measdata[num][cd.typeS] = cnr[count];
|
---|
1372 | gnss->dataflags[num] |= (1<<cd.typeS);
|
---|
1373 |
|
---|
1374 | if(dop[count] > -1.6384)
|
---|
1375 | {
|
---|
1376 | gnss->measdata[num][cd.typeD] = dop[count]+rdop[numsat];
|
---|
1377 | gnss->dataflags[num] |= (1<<cd.typeD);
|
---|
1378 | }
|
---|
1379 | break;
|
---|
1380 | }
|
---|
1381 | }
|
---|
1382 | }
|
---|
1383 | }
|
---|
1384 | }
|
---|
1385 | if(!syncf && !old)
|
---|
1386 | {
|
---|
1387 | handle->Data = *gnss;
|
---|
1388 | memset(gnss, 0, sizeof(*gnss));
|
---|
1389 | }
|
---|
1390 | if(!syncf || old)
|
---|
1391 | {
|
---|
1392 | if(!wasnoamb) /* not RINEX compatible without */
|
---|
1393 | ret = 1;
|
---|
1394 | else
|
---|
1395 | ret = 2;
|
---|
1396 | }
|
---|
1397 | #ifdef NO_RTCM3_MAIN
|
---|
1398 | else
|
---|
1399 | ret = type;
|
---|
1400 | #endif /* NO_RTCM3_MAIN */
|
---|
1401 | }
|
---|
1402 | break;
|
---|
1403 | }
|
---|
1404 | }
|
---|
1405 | return ret;
|
---|
1406 | }
|
---|
1407 |
|
---|
1408 | struct Header
|
---|
1409 | {
|
---|
1410 | const char *version;
|
---|
1411 | const char *pgm;
|
---|
1412 | const char *marker;
|
---|
1413 | const char *markertype;
|
---|
1414 | const char *observer;
|
---|
1415 | const char *receiver;
|
---|
1416 | const char *antenna;
|
---|
1417 | const char *position;
|
---|
1418 | const char *antennaposition;
|
---|
1419 | const char *wavelength;
|
---|
1420 | const char *typesofobs; /* should not be modified outside */
|
---|
1421 | const char *typesofobsG; /* should not be modified outside */
|
---|
1422 | const char *typesofobsR; /* should not be modified outside */
|
---|
1423 | const char *typesofobsS; /* should not be modified outside */
|
---|
1424 | const char *typesofobsE; /* should not be modified outside */
|
---|
1425 | const char *timeoffirstobs; /* should not be modified outside */
|
---|
1426 | };
|
---|
1427 |
|
---|
1428 | #define MAXHEADERLINES 50
|
---|
1429 | #define MAXHEADERBUFFERSIZE 4096
|
---|
1430 | struct HeaderData
|
---|
1431 | {
|
---|
1432 | union
|
---|
1433 | {
|
---|
1434 | struct Header named;
|
---|
1435 | const char *unnamed[MAXHEADERLINES];
|
---|
1436 | } data;
|
---|
1437 | int numheaders;
|
---|
1438 | };
|
---|
1439 |
|
---|
1440 | void converttime(struct converttimeinfo *c, int week, int tow)
|
---|
1441 | {
|
---|
1442 | int i, k, doy, j; /* temporary variables */
|
---|
1443 | j = week*(7*24*60*60) + tow + 5*24*60*60;
|
---|
1444 | for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
|
---|
1445 | j -= k;
|
---|
1446 | c->year = i;
|
---|
1447 | doy = 1+ (j / (24*60*60));
|
---|
1448 | j %= (24*60*60);
|
---|
1449 | c->hour = j / (60*60);
|
---|
1450 | j %= (60*60);
|
---|
1451 | c->minute = j / 60;
|
---|
1452 | c->second = j % 60;
|
---|
1453 | j = 0;
|
---|
1454 | for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
|
---|
1455 | j += k;
|
---|
1456 | c->month = i;
|
---|
1457 | c->day = doy - j;
|
---|
1458 | }
|
---|
1459 |
|
---|
1460 | #ifndef NO_RTCM3_MAIN
|
---|
1461 | void RTCM3Error(const char *fmt, ...)
|
---|
1462 | {
|
---|
1463 | va_list v;
|
---|
1464 | va_start(v, fmt);
|
---|
1465 | vfprintf(stderr, fmt, v);
|
---|
1466 | va_end(v);
|
---|
1467 | }
|
---|
1468 | #endif
|
---|
1469 |
|
---|
1470 | void RTCM3Text(const char *fmt, ...)
|
---|
1471 | {
|
---|
1472 | va_list v;
|
---|
1473 | va_start(v, fmt);
|
---|
1474 | vprintf(fmt, v);
|
---|
1475 | va_end(v);
|
---|
1476 | }
|
---|
1477 |
|
---|
1478 | static void fixrevision(void)
|
---|
1479 | {
|
---|
1480 | if(revisionstr[0] == '$')
|
---|
1481 | {
|
---|
1482 | char *a;
|
---|
1483 | int i=sizeof(RTCM3TORINEX_VERSION); /* set version to 1.<revision> */
|
---|
1484 | strcpy(revisionstr, RTCM3TORINEX_VERSION ".");
|
---|
1485 | for(a = revisionstr+11; *a && *a != ' '; ++a)
|
---|
1486 | revisionstr[i++] = *a;
|
---|
1487 | revisionstr[i] = 0;
|
---|
1488 | }
|
---|
1489 | }
|
---|
1490 |
|
---|
1491 | static int HandleRunBy(char *buffer, int buffersize, const char **u,
|
---|
1492 | int rinex3)
|
---|
1493 | {
|
---|
1494 | const char *user;
|
---|
1495 | time_t t;
|
---|
1496 | struct tm * t2;
|
---|
1497 |
|
---|
1498 | #ifdef NO_RTCM3_MAIN
|
---|
1499 | fixrevision();
|
---|
1500 | #endif
|
---|
1501 |
|
---|
1502 | user= getenv("USER");
|
---|
1503 | if(!user) user = "";
|
---|
1504 | t = time(&t);
|
---|
1505 | t2 = gmtime(&t);
|
---|
1506 | if(u) *u = user;
|
---|
1507 | return 1+snprintf(buffer, buffersize,
|
---|
1508 | rinex3 ?
|
---|
1509 | "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
|
---|
1510 | "PGM / RUN BY / DATE" :
|
---|
1511 | "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
|
---|
1512 | "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
|
---|
1513 | t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
|
---|
1514 | }
|
---|
1515 |
|
---|
1516 | #ifdef NO_RTCM3_MAIN
|
---|
1517 | #define NUMSTARTSKIP 1
|
---|
1518 | #else
|
---|
1519 | #define NUMSTARTSKIP 3
|
---|
1520 | #endif
|
---|
1521 |
|
---|
1522 | void HandleHeader(struct RTCM3ParserData *Parser)
|
---|
1523 | {
|
---|
1524 | #ifdef NO_RTCM3_MAIN
|
---|
1525 | int i;
|
---|
1526 | if(Parser->allflags == 0)
|
---|
1527 | Parser->allflags = ~0;
|
---|
1528 | if(Parser->rinex3)
|
---|
1529 | {
|
---|
1530 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
1531 | if(Parser->allflags & GNSSDF_##b##DATA) \
|
---|
1532 | { \
|
---|
1533 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
1534 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
1535 | ++Parser->numdatatypes##a; \
|
---|
1536 | }
|
---|
1537 |
|
---|
1538 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
1539 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
1540 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
1541 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
1542 | CHECKFLAGSNEW(GPS, P1, C1P)
|
---|
1543 | CHECKFLAGSNEW(GPS, L1P, L1P)
|
---|
1544 | CHECKFLAGSNEW(GPS, D1P, D1P)
|
---|
1545 | CHECKFLAGSNEW(GPS, S1P, S1P)
|
---|
1546 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
1547 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
1548 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
1549 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
1550 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
1551 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
1552 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
1553 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
1554 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
1555 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
1556 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
1557 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
1558 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
1559 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
1560 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
1561 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
1562 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
1563 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
1564 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
1565 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
1566 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
1567 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
1568 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
1569 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
1570 | }
|
---|
1571 | else
|
---|
1572 | {
|
---|
1573 | #define CHECKFLAGS(a, b) \
|
---|
1574 | if(Parser->allflags & GNSSDF_##a##DATA) \
|
---|
1575 | { \
|
---|
1576 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
1577 | { \
|
---|
1578 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
1579 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
1580 | } \
|
---|
1581 | else \
|
---|
1582 | { \
|
---|
1583 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
1584 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
1585 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
1586 | } \
|
---|
1587 | }
|
---|
1588 |
|
---|
1589 | int data[RINEXENTRY_NUMBER];
|
---|
1590 | for(i = 0; i < RINEXENTRY_NUMBER; ++i) data[i] = 0;
|
---|
1591 |
|
---|
1592 | CHECKFLAGS(C1,C1)
|
---|
1593 | CHECKFLAGS(C2,C2)
|
---|
1594 | CHECKFLAGS(P1,P1)
|
---|
1595 | CHECKFLAGS(P2,P2)
|
---|
1596 | CHECKFLAGS(L1C,L1)
|
---|
1597 | CHECKFLAGS(L1P,L1)
|
---|
1598 | CHECKFLAGS(L2C,L2)
|
---|
1599 | CHECKFLAGS(L2P,L2)
|
---|
1600 | CHECKFLAGS(D1C,D1)
|
---|
1601 | CHECKFLAGS(D1P,D1)
|
---|
1602 | CHECKFLAGS(D2C,D2)
|
---|
1603 | CHECKFLAGS(D2P,D2)
|
---|
1604 | CHECKFLAGS(S1C,S1)
|
---|
1605 | CHECKFLAGS(S1P,S1)
|
---|
1606 | CHECKFLAGS(S2C,S2)
|
---|
1607 | CHECKFLAGS(S2P,S2)
|
---|
1608 | CHECKFLAGS(C5,C5)
|
---|
1609 | CHECKFLAGS(L5,L5)
|
---|
1610 | CHECKFLAGS(D5,D5)
|
---|
1611 | CHECKFLAGS(S5,S5)
|
---|
1612 | CHECKFLAGS(C5AB,C5AB)
|
---|
1613 | CHECKFLAGS(L5AB,L5AB)
|
---|
1614 | CHECKFLAGS(D5AB,D5AB)
|
---|
1615 | CHECKFLAGS(S5AB,S5AB)
|
---|
1616 | CHECKFLAGS(C5B,C5B)
|
---|
1617 | CHECKFLAGS(L5B,L5B)
|
---|
1618 | CHECKFLAGS(D5B,D5B)
|
---|
1619 | CHECKFLAGS(S5B,S5B)
|
---|
1620 | CHECKFLAGS(C6,C6)
|
---|
1621 | CHECKFLAGS(L6,L6)
|
---|
1622 | CHECKFLAGS(D6,D6)
|
---|
1623 | CHECKFLAGS(S6,S6)
|
---|
1624 | }
|
---|
1625 | #else /* NO_RTCM3_MAIN */
|
---|
1626 | struct HeaderData hdata;
|
---|
1627 | char thebuffer[MAXHEADERBUFFERSIZE];
|
---|
1628 | char *buffer = thebuffer;
|
---|
1629 | size_t buffersize = sizeof(thebuffer);
|
---|
1630 | int i;
|
---|
1631 |
|
---|
1632 | memset(&hdata, 0, sizeof(hdata));
|
---|
1633 |
|
---|
1634 | hdata.data.named.version = buffer;
|
---|
1635 | i = 1+snprintf(buffer, buffersize,
|
---|
1636 | "%9.2f OBSERVATION DATA M (Mixed)"
|
---|
1637 | " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
|
---|
1638 | buffer += i; buffersize -= i;
|
---|
1639 |
|
---|
1640 | {
|
---|
1641 | const char *str;
|
---|
1642 | hdata.data.named.pgm = buffer;
|
---|
1643 | i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
|
---|
1644 | buffer += i; buffersize -= i;
|
---|
1645 | hdata.data.named.observer = buffer;
|
---|
1646 | i = 1+snprintf(buffer, buffersize,
|
---|
1647 | "%-20.20s "
|
---|
1648 | "OBSERVER / AGENCY", str);
|
---|
1649 | buffer += i; buffersize -= i;
|
---|
1650 | }
|
---|
1651 |
|
---|
1652 | hdata.data.named.marker =
|
---|
1653 | "RTCM3TORINEX "
|
---|
1654 | "MARKER NAME";
|
---|
1655 |
|
---|
1656 | hdata.data.named.markertype = !Parser->rinex3 ? 0 :
|
---|
1657 | "GEODETIC "
|
---|
1658 | "MARKER TYPE";
|
---|
1659 |
|
---|
1660 | hdata.data.named.receiver =
|
---|
1661 | " "
|
---|
1662 | "REC # / TYPE / VERS";
|
---|
1663 |
|
---|
1664 | hdata.data.named.antenna =
|
---|
1665 | " "
|
---|
1666 | "ANT # / TYPE";
|
---|
1667 |
|
---|
1668 | hdata.data.named.position =
|
---|
1669 | " .0000 .0000 .0000 "
|
---|
1670 | "APPROX POSITION XYZ";
|
---|
1671 |
|
---|
1672 | hdata.data.named.antennaposition =
|
---|
1673 | " .0000 .0000 .0000 "
|
---|
1674 | "ANTENNA: DELTA H/E/N";
|
---|
1675 |
|
---|
1676 | hdata.data.named.wavelength = Parser->rinex3 ? 0 :
|
---|
1677 | " 1 1 "
|
---|
1678 | "WAVELENGTH FACT L1/2";
|
---|
1679 |
|
---|
1680 | if(Parser->rinex3)
|
---|
1681 | {
|
---|
1682 | #define CHECKFLAGSNEW(a, b, c) \
|
---|
1683 | if(flags & GNSSDF_##b##DATA) \
|
---|
1684 | { \
|
---|
1685 | Parser->dataflag##a[Parser->numdatatypes##a] = GNSSDF_##b##DATA; \
|
---|
1686 | Parser->datapos##a[Parser->numdatatypes##a] = GNSSENTRY_##b##DATA; \
|
---|
1687 | ++Parser->numdatatypes##a; \
|
---|
1688 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " %-3s", #c); \
|
---|
1689 | tbufferpos += 4; \
|
---|
1690 | }
|
---|
1691 |
|
---|
1692 | int flags = Parser->startflags;
|
---|
1693 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
1694 | int tbufferpos = 0;
|
---|
1695 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1696 | flags |= Parser->Data.dataflags[i];
|
---|
1697 |
|
---|
1698 | CHECKFLAGSNEW(GPS, C1, C1C)
|
---|
1699 | CHECKFLAGSNEW(GPS, L1C, L1C)
|
---|
1700 | CHECKFLAGSNEW(GPS, D1C, D1C)
|
---|
1701 | CHECKFLAGSNEW(GPS, S1C, S1C)
|
---|
1702 | CHECKFLAGSNEW(GPS, P1, C1W)
|
---|
1703 | CHECKFLAGSNEW(GPS, L1P, L1W)
|
---|
1704 | CHECKFLAGSNEW(GPS, D1P, D1W)
|
---|
1705 | CHECKFLAGSNEW(GPS, S1P, S1W)
|
---|
1706 |
|
---|
1707 | hdata.data.named.typesofobsS = buffer;
|
---|
1708 | i = 1+snprintf(buffer, buffersize,
|
---|
1709 | "S %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
1710 | buffer += i; buffersize -= i;
|
---|
1711 |
|
---|
1712 | CHECKFLAGSNEW(GPS, P2, C2P)
|
---|
1713 | CHECKFLAGSNEW(GPS, L2P, L2P)
|
---|
1714 | CHECKFLAGSNEW(GPS, D2P, D2P)
|
---|
1715 | CHECKFLAGSNEW(GPS, S2P, S2P)
|
---|
1716 | CHECKFLAGSNEW(GPS, C2, C2X)
|
---|
1717 | CHECKFLAGSNEW(GPS, L2C, L2X)
|
---|
1718 | CHECKFLAGSNEW(GPS, D2C, D2X)
|
---|
1719 | CHECKFLAGSNEW(GPS, S2C, S2X)
|
---|
1720 | CHECKFLAGSNEW(GPS, C5, C5)
|
---|
1721 | CHECKFLAGSNEW(GPS, L5, L5)
|
---|
1722 | CHECKFLAGSNEW(GPS, D5, D5)
|
---|
1723 | CHECKFLAGSNEW(GPS, S5, S5)
|
---|
1724 |
|
---|
1725 | hdata.data.named.typesofobsG = buffer;
|
---|
1726 | i = 1+snprintf(buffer, buffersize,
|
---|
1727 | "G %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGPS, tbuffer);
|
---|
1728 | if(Parser->numdatatypesGPS>13)
|
---|
1729 | {
|
---|
1730 | i += snprintf(buffer+i-1, buffersize,
|
---|
1731 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1732 | }
|
---|
1733 | buffer += i; buffersize -= i;
|
---|
1734 |
|
---|
1735 | tbufferpos = 0;
|
---|
1736 |
|
---|
1737 | CHECKFLAGSNEW(GLO, C1, C1C)
|
---|
1738 | CHECKFLAGSNEW(GLO, L1C, L1C)
|
---|
1739 | CHECKFLAGSNEW(GLO, D1C, D1C)
|
---|
1740 | CHECKFLAGSNEW(GLO, S1C, S1C)
|
---|
1741 | CHECKFLAGSNEW(GLO, P1, C1P)
|
---|
1742 | CHECKFLAGSNEW(GLO, L1P, L1P)
|
---|
1743 | CHECKFLAGSNEW(GLO, D1P, D1P)
|
---|
1744 | CHECKFLAGSNEW(GLO, S1P, S1P)
|
---|
1745 | CHECKFLAGSNEW(GLO, P2, C2P)
|
---|
1746 | CHECKFLAGSNEW(GLO, L2P, L2P)
|
---|
1747 | CHECKFLAGSNEW(GLO, D2P, D2P)
|
---|
1748 | CHECKFLAGSNEW(GLO, S2P, S2P)
|
---|
1749 | CHECKFLAGSNEW(GLO, C2, C2C)
|
---|
1750 | CHECKFLAGSNEW(GLO, L2C, L2C)
|
---|
1751 | CHECKFLAGSNEW(GLO, D2C, D2C)
|
---|
1752 | CHECKFLAGSNEW(GLO, S2C, S2C)
|
---|
1753 |
|
---|
1754 | hdata.data.named.typesofobsR = buffer;
|
---|
1755 | i = 1+snprintf(buffer, buffersize,
|
---|
1756 | "R %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGLO, tbuffer);
|
---|
1757 | if(Parser->numdatatypesGLO>13)
|
---|
1758 | {
|
---|
1759 | i += snprintf(buffer+i-1, buffersize,
|
---|
1760 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1761 | }
|
---|
1762 | buffer += i; buffersize -= i;
|
---|
1763 |
|
---|
1764 | tbufferpos = 0;
|
---|
1765 |
|
---|
1766 | CHECKFLAGSNEW(GAL, C1, C1)
|
---|
1767 | CHECKFLAGSNEW(GAL, L1C, L1)
|
---|
1768 | CHECKFLAGSNEW(GAL, D1C, D1)
|
---|
1769 | CHECKFLAGSNEW(GAL, S1C, S1)
|
---|
1770 | CHECKFLAGSNEW(GAL, C6, C6)
|
---|
1771 | CHECKFLAGSNEW(GAL, L6, L6)
|
---|
1772 | CHECKFLAGSNEW(GAL, D6, D6)
|
---|
1773 | CHECKFLAGSNEW(GAL, S6, S6)
|
---|
1774 | CHECKFLAGSNEW(GAL, C5, C5)
|
---|
1775 | CHECKFLAGSNEW(GAL, L5, L5)
|
---|
1776 | CHECKFLAGSNEW(GAL, D5, D5)
|
---|
1777 | CHECKFLAGSNEW(GAL, S5, S5)
|
---|
1778 | CHECKFLAGSNEW(GAL, C5B, C7)
|
---|
1779 | CHECKFLAGSNEW(GAL, L5B, L7)
|
---|
1780 | CHECKFLAGSNEW(GAL, D5B, D7)
|
---|
1781 | CHECKFLAGSNEW(GAL, S5B, S7)
|
---|
1782 | CHECKFLAGSNEW(GAL, C5AB, C8)
|
---|
1783 | CHECKFLAGSNEW(GAL, L5AB, L8)
|
---|
1784 | CHECKFLAGSNEW(GAL, D5AB, D8)
|
---|
1785 | CHECKFLAGSNEW(GAL, S5AB, S8)
|
---|
1786 |
|
---|
1787 | hdata.data.named.typesofobsE = buffer;
|
---|
1788 | i = 1+snprintf(buffer, buffersize,
|
---|
1789 | "E %3d%-52.52s SYS / # / OBS TYPES", Parser->numdatatypesGAL, tbuffer);
|
---|
1790 | if(Parser->numdatatypesGAL>13)
|
---|
1791 | {
|
---|
1792 | i += snprintf(buffer+i-1, buffersize,
|
---|
1793 | "\n %-52.52s SYS / # / OBS TYPES", tbuffer+13*4);
|
---|
1794 | }
|
---|
1795 | buffer += i; buffersize -= i;
|
---|
1796 | }
|
---|
1797 | else
|
---|
1798 | {
|
---|
1799 | #define CHECKFLAGS(a, b) \
|
---|
1800 | if(flags & GNSSDF_##a##DATA) \
|
---|
1801 | { \
|
---|
1802 | if(data[RINEXENTRY_##b##DATA]) \
|
---|
1803 | { \
|
---|
1804 | Parser->dataflagGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
|
---|
1805 | Parser->dataposGPS[data[RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
|
---|
1806 | } \
|
---|
1807 | else \
|
---|
1808 | { \
|
---|
1809 | Parser->dataflag[Parser->numdatatypesGPS] = GNSSDF_##a##DATA; \
|
---|
1810 | Parser->datapos[Parser->numdatatypesGPS] = GNSSENTRY_##a##DATA; \
|
---|
1811 | data[RINEXENTRY_##b##DATA] = ++Parser->numdatatypesGPS; \
|
---|
1812 | snprintf(tbuffer+tbufferpos, sizeof(tbuffer)-tbufferpos, " "#b); \
|
---|
1813 | tbufferpos += 6; \
|
---|
1814 | } \
|
---|
1815 | }
|
---|
1816 |
|
---|
1817 | int flags = Parser->startflags;
|
---|
1818 | int data[RINEXENTRY_NUMBER];
|
---|
1819 | char tbuffer[6*RINEXENTRY_NUMBER+1];
|
---|
1820 | int tbufferpos = 0;
|
---|
1821 | for(i = 0; i < RINEXENTRY_NUMBER; ++i)
|
---|
1822 | data[i] = 0;
|
---|
1823 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
1824 | flags |= Parser->Data.dataflags[i];
|
---|
1825 |
|
---|
1826 | CHECKFLAGS(C1,C1)
|
---|
1827 | CHECKFLAGS(C2,C2)
|
---|
1828 | CHECKFLAGS(P1,P1)
|
---|
1829 | CHECKFLAGS(P2,P2)
|
---|
1830 | CHECKFLAGS(L1C,L1)
|
---|
1831 | CHECKFLAGS(L1P,L1)
|
---|
1832 | CHECKFLAGS(L2C,L2)
|
---|
1833 | CHECKFLAGS(L2P,L2)
|
---|
1834 | CHECKFLAGS(D1C,D1)
|
---|
1835 | CHECKFLAGS(D1P,D1)
|
---|
1836 | CHECKFLAGS(D2C,D2)
|
---|
1837 | CHECKFLAGS(D2P,D2)
|
---|
1838 | CHECKFLAGS(S1C,S1)
|
---|
1839 | CHECKFLAGS(S1P,S1)
|
---|
1840 | CHECKFLAGS(S2C,S2)
|
---|
1841 | CHECKFLAGS(S2P,S2)
|
---|
1842 | CHECKFLAGS(C5,C5)
|
---|
1843 | CHECKFLAGS(L5,L5)
|
---|
1844 | CHECKFLAGS(D5,D5)
|
---|
1845 | CHECKFLAGS(S5,S5)
|
---|
1846 | CHECKFLAGS(C5AB,C5AB)
|
---|
1847 | CHECKFLAGS(L5AB,L5AB)
|
---|
1848 | CHECKFLAGS(D5AB,D5AB)
|
---|
1849 | CHECKFLAGS(S5AB,S5AB)
|
---|
1850 | CHECKFLAGS(C5B,C5B)
|
---|
1851 | CHECKFLAGS(L5B,L5B)
|
---|
1852 | CHECKFLAGS(D5B,D5B)
|
---|
1853 | CHECKFLAGS(S5B,S5B)
|
---|
1854 | CHECKFLAGS(C6,C6)
|
---|
1855 | CHECKFLAGS(L6,L6)
|
---|
1856 | CHECKFLAGS(D6,D6)
|
---|
1857 | CHECKFLAGS(S6,S6)
|
---|
1858 |
|
---|
1859 | hdata.data.named.typesofobs = buffer;
|
---|
1860 | i = 1+snprintf(buffer, buffersize,
|
---|
1861 | "%6d%-54.54s# / TYPES OF OBSERV", Parser->numdatatypesGPS, tbuffer);
|
---|
1862 | if(Parser->numdatatypesGPS>9)
|
---|
1863 | {
|
---|
1864 | i += snprintf(buffer+i-1, buffersize,
|
---|
1865 | "\n %-54.54s# / TYPES OF OBSERV", tbuffer+9*6);
|
---|
1866 | }
|
---|
1867 | buffer += i; buffersize -= i;
|
---|
1868 | }
|
---|
1869 |
|
---|
1870 | {
|
---|
1871 | struct converttimeinfo cti;
|
---|
1872 | converttime(&cti, Parser->Data.week,
|
---|
1873 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
1874 | hdata.data.named.timeoffirstobs = buffer;
|
---|
1875 | i = 1+snprintf(buffer, buffersize,
|
---|
1876 | " %4d %2d %2d %2d %2d %10.7f GPS "
|
---|
1877 | "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
|
---|
1878 | cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
|
---|
1879 |
|
---|
1880 | buffer += i; buffersize -= i;
|
---|
1881 | }
|
---|
1882 |
|
---|
1883 | hdata.numheaders = 15;
|
---|
1884 |
|
---|
1885 | if(Parser->headerfile)
|
---|
1886 | {
|
---|
1887 | FILE *fh;
|
---|
1888 | if((fh = fopen(Parser->headerfile, "r")))
|
---|
1889 | {
|
---|
1890 | size_t siz;
|
---|
1891 | char *lastblockstart;
|
---|
1892 | if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
|
---|
1893 | {
|
---|
1894 | buffer[siz] = '\n';
|
---|
1895 | if(siz == buffersize)
|
---|
1896 | {
|
---|
1897 | RTCM3Error("Header file is too large. Only %d bytes read.",
|
---|
1898 | (int)siz);
|
---|
1899 | }
|
---|
1900 | /* scan the file line by line and enter the entries in the list */
|
---|
1901 | /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
|
---|
1902 | /* overwrites entries, except for comments */
|
---|
1903 | lastblockstart = buffer;
|
---|
1904 | for(i = 0; i < (int)siz; ++i)
|
---|
1905 | {
|
---|
1906 | if(buffer[i] == '\n')
|
---|
1907 | { /* we found a line */
|
---|
1908 | char *end;
|
---|
1909 | while(buffer[i+1] == '\r')
|
---|
1910 | ++i; /* skip \r in case there are any */
|
---|
1911 | end = buffer+i;
|
---|
1912 | while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
|
---|
1913 | *(end--) = 0;
|
---|
1914 | if(end-lastblockstart < 60+5) /* short line */
|
---|
1915 | RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
|
---|
1916 | else
|
---|
1917 | {
|
---|
1918 | int pos;
|
---|
1919 | if(!strcmp("COMMENT", lastblockstart+60))
|
---|
1920 | pos = hdata.numheaders;
|
---|
1921 | else
|
---|
1922 | {
|
---|
1923 | for(pos = 0; pos < hdata.numheaders; ++pos)
|
---|
1924 | {
|
---|
1925 | if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
|
---|
1926 | break;
|
---|
1927 | }
|
---|
1928 | if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
|
---|
1929 | || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
|
---|
1930 | {
|
---|
1931 | RTCM3Error("Overwriting header '%s' is dangerous.\n",
|
---|
1932 | lastblockstart+60);
|
---|
1933 | }
|
---|
1934 | }
|
---|
1935 | if(pos >= MAXHEADERLINES)
|
---|
1936 | {
|
---|
1937 | RTCM3Error("Maximum number of header lines of %d reached.\n",
|
---|
1938 | MAXHEADERLINES);
|
---|
1939 | }
|
---|
1940 | else if(!strcmp("END OF HEADER", lastblockstart+60))
|
---|
1941 | {
|
---|
1942 | RTCM3Error("End of header ignored.\n");
|
---|
1943 | }
|
---|
1944 | else
|
---|
1945 | {
|
---|
1946 | hdata.data.unnamed[pos] = lastblockstart;
|
---|
1947 | if(pos == hdata.numheaders)
|
---|
1948 | ++hdata.numheaders;
|
---|
1949 | }
|
---|
1950 | }
|
---|
1951 | lastblockstart = buffer+i+1;
|
---|
1952 | }
|
---|
1953 | }
|
---|
1954 | }
|
---|
1955 | else
|
---|
1956 | {
|
---|
1957 | RTCM3Error("Could not read data from headerfile '%s'.\n",
|
---|
1958 | Parser->headerfile);
|
---|
1959 | }
|
---|
1960 | fclose(fh);
|
---|
1961 | }
|
---|
1962 | else
|
---|
1963 | {
|
---|
1964 | RTCM3Error("Could not open header datafile '%s'.\n",
|
---|
1965 | Parser->headerfile);
|
---|
1966 | }
|
---|
1967 | }
|
---|
1968 |
|
---|
1969 | for(i = 0; i < hdata.numheaders; ++i)
|
---|
1970 | {
|
---|
1971 | if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
|
---|
1972 | RTCM3Text("%s\n", hdata.data.unnamed[i]);
|
---|
1973 | }
|
---|
1974 | RTCM3Text(" "
|
---|
1975 | "END OF HEADER\n");
|
---|
1976 | #endif
|
---|
1977 | }
|
---|
1978 |
|
---|
1979 | static void ConvLine(FILE *file, const char *fmt, ...)
|
---|
1980 | {
|
---|
1981 | char buffer[100], *b;
|
---|
1982 | va_list v;
|
---|
1983 | va_start(v, fmt);
|
---|
1984 | vsnprintf(buffer, sizeof(buffer), fmt, v);
|
---|
1985 | for(b = buffer; *b; ++b)
|
---|
1986 | {
|
---|
1987 | if(*b == 'e') *b = 'D';
|
---|
1988 | }
|
---|
1989 | fprintf(file, "%s", buffer);
|
---|
1990 | va_end(v);
|
---|
1991 | }
|
---|
1992 |
|
---|
1993 | void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
|
---|
1994 | {
|
---|
1995 | Parser->Message[Parser->MessageSize++] = byte;
|
---|
1996 | if(Parser->MessageSize >= Parser->NeedBytes)
|
---|
1997 | {
|
---|
1998 | int r;
|
---|
1999 | while((r = RTCM3Parser(Parser)))
|
---|
2000 | {
|
---|
2001 | if(r == 1020 || r == 1019)
|
---|
2002 | {
|
---|
2003 | FILE *file = 0;
|
---|
2004 |
|
---|
2005 | if(Parser->rinex3 && !(file = Parser->gpsfile))
|
---|
2006 | {
|
---|
2007 | const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
|
---|
2008 | if(n)
|
---|
2009 | {
|
---|
2010 | if(!(Parser->gpsfile = fopen(n, "w")))
|
---|
2011 | {
|
---|
2012 | RTCM3Error("Could not open ephemeris output file.\n");
|
---|
2013 | }
|
---|
2014 | else
|
---|
2015 | {
|
---|
2016 | char buffer[100];
|
---|
2017 | fprintf(Parser->gpsfile,
|
---|
2018 | "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
|
---|
2019 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
2020 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
2021 | }
|
---|
2022 | Parser->gpsephemeris = 0;
|
---|
2023 | Parser->glonassephemeris = 0;
|
---|
2024 | file = Parser->gpsfile;
|
---|
2025 | }
|
---|
2026 | }
|
---|
2027 | else
|
---|
2028 | {
|
---|
2029 | if(r == 1020)
|
---|
2030 | {
|
---|
2031 | if(Parser->glonassephemeris)
|
---|
2032 | {
|
---|
2033 | if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
|
---|
2034 | {
|
---|
2035 | RTCM3Error("Could not open GLONASS ephemeris output file.\n");
|
---|
2036 | }
|
---|
2037 | else
|
---|
2038 | {
|
---|
2039 | char buffer[100];
|
---|
2040 | fprintf(Parser->glonassfile,
|
---|
2041 | "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
2042 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
2043 | fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
2044 | }
|
---|
2045 | Parser->glonassephemeris = 0;
|
---|
2046 | }
|
---|
2047 | file = Parser->glonassfile;
|
---|
2048 | }
|
---|
2049 | else if(r == 1019)
|
---|
2050 | {
|
---|
2051 | if(Parser->gpsephemeris)
|
---|
2052 | {
|
---|
2053 | if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
|
---|
2054 | {
|
---|
2055 | RTCM3Error("Could not open GPS ephemeris output file.\n");
|
---|
2056 | }
|
---|
2057 | else
|
---|
2058 | {
|
---|
2059 | char buffer[100];
|
---|
2060 | fprintf(Parser->gpsfile,
|
---|
2061 | "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
|
---|
2062 | HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
|
---|
2063 | fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
|
---|
2064 | }
|
---|
2065 | Parser->gpsephemeris = 0;
|
---|
2066 | }
|
---|
2067 | file = Parser->gpsfile;
|
---|
2068 | }
|
---|
2069 | }
|
---|
2070 | if(file)
|
---|
2071 | {
|
---|
2072 | if(r == 1020)
|
---|
2073 | {
|
---|
2074 | struct glonassephemeris *e = &Parser->ephemerisGLONASS;
|
---|
2075 | int w = e->GPSWeek, tow = e->GPSTOW, i;
|
---|
2076 | struct converttimeinfo cti;
|
---|
2077 |
|
---|
2078 | updatetime(&w, &tow, e->tb*1000, 1); /* Moscow - > UTC */
|
---|
2079 | converttime(&cti, w, tow);
|
---|
2080 |
|
---|
2081 | i = e->tk-3*60*60; if(i < 0) i += 86400;
|
---|
2082 |
|
---|
2083 | if(Parser->rinex3)
|
---|
2084 | ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
2085 | e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
|
---|
2086 | cti.second, -e->tau, e->gamma, (double) i);
|
---|
2087 | else
|
---|
2088 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
|
---|
2089 | e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
|
---|
2090 | (double) cti.second, -e->tau, e->gamma, (double) i);
|
---|
2091 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
|
---|
2092 | e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
|
---|
2093 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
|
---|
2094 | e->y_velocity, e->y_acceleration, (double) e->frequency_number);
|
---|
2095 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
|
---|
2096 | e->z_velocity, e->z_acceleration, (double) e->E);
|
---|
2097 | }
|
---|
2098 | else /* if(r == 1019) */
|
---|
2099 | {
|
---|
2100 | struct gpsephemeris *e = &Parser->ephemerisGPS;
|
---|
2101 | double d; /* temporary variable */
|
---|
2102 | unsigned long int i; /* temporary variable */
|
---|
2103 | struct converttimeinfo cti;
|
---|
2104 | converttime(&cti, e->GPSweek, e->TOC);
|
---|
2105 |
|
---|
2106 | if(Parser->rinex3)
|
---|
2107 | ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
|
---|
2108 | e->satellite, cti.year, cti.month, cti.day, cti.hour,
|
---|
2109 | cti.minute, cti.second, e->clock_bias, e->clock_drift,
|
---|
2110 | e->clock_driftrate);
|
---|
2111 | else
|
---|
2112 | ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
|
---|
2113 | e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
|
---|
2114 | cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
|
---|
2115 | e->clock_driftrate);
|
---|
2116 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
|
---|
2117 | e->Crs, e->Delta_n, e->M0);
|
---|
2118 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
|
---|
2119 | e->e, e->Cus, e->sqrt_A);
|
---|
2120 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
|
---|
2121 | (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
|
---|
2122 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
|
---|
2123 | e->Crc, e->omega, e->OMEGADOT);
|
---|
2124 | d = 0;
|
---|
2125 | i = e->flags;
|
---|
2126 | if(i & GPSEPHF_L2CACODE)
|
---|
2127 | d += 2.0;
|
---|
2128 | if(i & GPSEPHF_L2PCODE)
|
---|
2129 | d += 1.0;
|
---|
2130 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
|
---|
2131 | (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
|
---|
2132 | if(e->URAindex <= 6) /* URA index */
|
---|
2133 | d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
|
---|
2134 | else
|
---|
2135 | d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
|
---|
2136 | /* 15 indicates not to use satellite. We can't handle this special
|
---|
2137 | case, so we create a high "non"-accuracy value. */
|
---|
2138 | ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
|
---|
2139 | ((double) e->SVhealth), e->TGD, ((double) e->IODC));
|
---|
2140 |
|
---|
2141 | ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW), 0.0);
|
---|
2142 | /* TOW */
|
---|
2143 | }
|
---|
2144 | }
|
---|
2145 | }
|
---|
2146 | else if (r == 1 || r == 2)
|
---|
2147 | {
|
---|
2148 | int i, j, o;
|
---|
2149 | struct converttimeinfo cti;
|
---|
2150 |
|
---|
2151 | if(Parser->init < NUMSTARTSKIP) /* skip first epochs to detect correct data types */
|
---|
2152 | {
|
---|
2153 | ++Parser->init;
|
---|
2154 |
|
---|
2155 | if(Parser->init == NUMSTARTSKIP)
|
---|
2156 | HandleHeader(Parser);
|
---|
2157 | else
|
---|
2158 | {
|
---|
2159 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
2160 | Parser->startflags |= Parser->Data.dataflags[i];
|
---|
2161 | continue;
|
---|
2162 | }
|
---|
2163 | }
|
---|
2164 | if(r == 2 && !Parser->validwarning)
|
---|
2165 | {
|
---|
2166 | RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
|
---|
2167 | " COMMENT\n");
|
---|
2168 | Parser->validwarning = 1;
|
---|
2169 | }
|
---|
2170 |
|
---|
2171 | converttime(&cti, Parser->Data.week,
|
---|
2172 | (int)floor(Parser->Data.timeofweek/1000.0));
|
---|
2173 | if(Parser->rinex3)
|
---|
2174 | {
|
---|
2175 | RTCM3Text("> %04d %02d %02d %02d %02d%11.7f 0%3d\n",
|
---|
2176 | cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
2177 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
2178 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
2179 | {
|
---|
2180 | int glo = 0, gal = 0;
|
---|
2181 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
2182 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
2183 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
2184 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
2185 | {
|
---|
2186 | RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
|
---|
2187 | glo = 1;
|
---|
2188 | }
|
---|
2189 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
2190 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
2191 | {
|
---|
2192 | RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GALILEO_START-1));
|
---|
2193 | gal = 1;
|
---|
2194 | }
|
---|
2195 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
2196 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
2197 | {
|
---|
2198 | RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
2199 | gal = 1;
|
---|
2200 | }
|
---|
2201 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
2202 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
2203 | RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_WAAS_START+20);
|
---|
2204 | else
|
---|
2205 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
2206 |
|
---|
2207 | if(glo)
|
---|
2208 | {
|
---|
2209 | for(j = 0; j < Parser->numdatatypesGLO; ++j)
|
---|
2210 | {
|
---|
2211 | int df = Parser->dataflagGLO[j];
|
---|
2212 | int pos = Parser->dataposGLO[j];
|
---|
2213 | if((Parser->Data.dataflags[i] & df)
|
---|
2214 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
2215 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
2216 | {
|
---|
2217 | char lli = ' ';
|
---|
2218 | char snr = ' ';
|
---|
2219 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
2220 | {
|
---|
2221 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
2222 | lli = '1';
|
---|
2223 | snr = '0'+Parser->Data.snrL1[i];
|
---|
2224 | }
|
---|
2225 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
2226 | {
|
---|
2227 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
2228 | lli = '1';
|
---|
2229 | snr = '0'+Parser->Data.snrL2[i];
|
---|
2230 | }
|
---|
2231 | RTCM3Text("%14.3f%c%c",
|
---|
2232 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
2233 | }
|
---|
2234 | else
|
---|
2235 | { /* no or illegal data */
|
---|
2236 | RTCM3Text(" ");
|
---|
2237 | }
|
---|
2238 | }
|
---|
2239 | }
|
---|
2240 | else if(gal)
|
---|
2241 | {
|
---|
2242 | for(j = 0; j < Parser->numdatatypesGAL; ++j)
|
---|
2243 | {
|
---|
2244 | int df = Parser->dataflagGAL[j];
|
---|
2245 | int pos = Parser->dataposGAL[j];
|
---|
2246 | if((Parser->Data.dataflags[i] & df)
|
---|
2247 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
2248 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
2249 | {
|
---|
2250 | char lli = ' ';
|
---|
2251 | char snr = ' ';
|
---|
2252 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
2253 | {
|
---|
2254 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
2255 | lli = '1';
|
---|
2256 | snr = '0'+Parser->Data.snrL1[i];
|
---|
2257 | }
|
---|
2258 | if(df & GNSSDF_L6DATA)
|
---|
2259 | {
|
---|
2260 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE6)
|
---|
2261 | lli = '1';
|
---|
2262 | snr = ' ';
|
---|
2263 | }
|
---|
2264 | if(df & GNSSDF_L5DATA)
|
---|
2265 | {
|
---|
2266 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
2267 | lli = '1';
|
---|
2268 | snr = ' ';
|
---|
2269 | }
|
---|
2270 | if(df & GNSSDF_L5BDATA)
|
---|
2271 | {
|
---|
2272 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5B)
|
---|
2273 | lli = '1';
|
---|
2274 | snr = ' ';
|
---|
2275 | }
|
---|
2276 | if(df & GNSSDF_L5ABDATA)
|
---|
2277 | {
|
---|
2278 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5AB)
|
---|
2279 | lli = '1';
|
---|
2280 | snr = ' ';
|
---|
2281 | }
|
---|
2282 | RTCM3Text("%14.3f%c%c",
|
---|
2283 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
2284 | }
|
---|
2285 | else
|
---|
2286 | { /* no or illegal data */
|
---|
2287 | RTCM3Text(" ");
|
---|
2288 | }
|
---|
2289 | }
|
---|
2290 | }
|
---|
2291 | else
|
---|
2292 | {
|
---|
2293 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
2294 | {
|
---|
2295 | int df = Parser->dataflagGPS[j];
|
---|
2296 | int pos = Parser->dataposGPS[j];
|
---|
2297 | if((Parser->Data.dataflags[i] & df)
|
---|
2298 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
2299 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
2300 | {
|
---|
2301 | char lli = ' ';
|
---|
2302 | char snr = ' ';
|
---|
2303 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
2304 | {
|
---|
2305 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
2306 | lli = '1';
|
---|
2307 | snr = '0'+Parser->Data.snrL1[i];
|
---|
2308 | }
|
---|
2309 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
2310 | {
|
---|
2311 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
2312 | lli = '1';
|
---|
2313 | snr = '0'+Parser->Data.snrL2[i];
|
---|
2314 | }
|
---|
2315 | if(df & GNSSDF_L5DATA)
|
---|
2316 | {
|
---|
2317 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
|
---|
2318 | lli = '1';
|
---|
2319 | snr = ' ';
|
---|
2320 | }
|
---|
2321 | RTCM3Text("%14.3f%c%c",
|
---|
2322 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
2323 | }
|
---|
2324 | else
|
---|
2325 | { /* no or illegal data */
|
---|
2326 | RTCM3Text(" ");
|
---|
2327 | }
|
---|
2328 | }
|
---|
2329 | }
|
---|
2330 | RTCM3Text("\n");
|
---|
2331 | }
|
---|
2332 | }
|
---|
2333 | else
|
---|
2334 | {
|
---|
2335 | RTCM3Text(" %02d %2d %2d %2d %2d %10.7f 0%3d",
|
---|
2336 | cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
|
---|
2337 | + fmod(Parser->Data.timeofweek/1000.0,1.0), Parser->Data.numsats);
|
---|
2338 | for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
|
---|
2339 | {
|
---|
2340 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
2341 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
2342 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
2343 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
2344 | RTCM3Text("R%02d", Parser->Data.satellites[i]
|
---|
2345 | - (PRN_GLONASS_START-1));
|
---|
2346 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
2347 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
2348 | RTCM3Text("S%02d", Parser->Data.satellites[i]
|
---|
2349 | - PRN_WAAS_START+20);
|
---|
2350 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
2351 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
2352 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
2353 | - (PRN_GALILEO_START-1));
|
---|
2354 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
2355 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
2356 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
2357 | - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
2358 | else
|
---|
2359 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
2360 | }
|
---|
2361 | RTCM3Text("\n");
|
---|
2362 | o = 12;
|
---|
2363 | j = Parser->Data.numsats - 12;
|
---|
2364 | while(j > 0)
|
---|
2365 | {
|
---|
2366 | RTCM3Text(" ");
|
---|
2367 | for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
|
---|
2368 | {
|
---|
2369 | if(Parser->Data.satellites[i] <= PRN_GPS_END)
|
---|
2370 | RTCM3Text("G%02d", Parser->Data.satellites[i]);
|
---|
2371 | else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
|
---|
2372 | && Parser->Data.satellites[i] <= PRN_GLONASS_END)
|
---|
2373 | RTCM3Text("R%02d", Parser->Data.satellites[i]
|
---|
2374 | - (PRN_GLONASS_START-1));
|
---|
2375 | else if(Parser->Data.satellites[i] >= PRN_WAAS_START
|
---|
2376 | && Parser->Data.satellites[i] <= PRN_WAAS_END)
|
---|
2377 | RTCM3Text("S%02d", Parser->Data.satellites[i]
|
---|
2378 | - PRN_WAAS_START+20);
|
---|
2379 | else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
|
---|
2380 | && Parser->Data.satellites[i] <= PRN_GALILEO_END)
|
---|
2381 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
2382 | - (PRN_GALILEO_START-1));
|
---|
2383 | else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
|
---|
2384 | && Parser->Data.satellites[i] <= PRN_GIOVE_END)
|
---|
2385 | RTCM3Text("E%02d", Parser->Data.satellites[i]
|
---|
2386 | - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
|
---|
2387 | else
|
---|
2388 | RTCM3Text("%3d", Parser->Data.satellites[i]);
|
---|
2389 | }
|
---|
2390 | RTCM3Text("\n");
|
---|
2391 | j -= 12;
|
---|
2392 | o += 12;
|
---|
2393 | }
|
---|
2394 | for(i = 0; i < Parser->Data.numsats; ++i)
|
---|
2395 | {
|
---|
2396 | for(j = 0; j < Parser->numdatatypesGPS; ++j)
|
---|
2397 | {
|
---|
2398 | int v = 0;
|
---|
2399 | int df = Parser->dataflag[j];
|
---|
2400 | int pos = Parser->datapos[j];
|
---|
2401 | if((Parser->Data.dataflags[i] & df)
|
---|
2402 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
2403 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
2404 | {
|
---|
2405 | v = 1;
|
---|
2406 | }
|
---|
2407 | else
|
---|
2408 | {
|
---|
2409 | df = Parser->dataflagGPS[j];
|
---|
2410 | pos = Parser->dataposGPS[j];
|
---|
2411 |
|
---|
2412 | if((Parser->Data.dataflags[i] & df)
|
---|
2413 | && !isnan(Parser->Data.measdata[i][pos])
|
---|
2414 | && !isinf(Parser->Data.measdata[i][pos]))
|
---|
2415 | {
|
---|
2416 | v = 1;
|
---|
2417 | }
|
---|
2418 | }
|
---|
2419 |
|
---|
2420 | if(!v)
|
---|
2421 | { /* no or illegal data */
|
---|
2422 | RTCM3Text(" ");
|
---|
2423 | }
|
---|
2424 | else
|
---|
2425 | {
|
---|
2426 | char lli = ' ';
|
---|
2427 | char snr = ' ';
|
---|
2428 | if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
|
---|
2429 | {
|
---|
2430 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
|
---|
2431 | lli = '1';
|
---|
2432 | snr = '0'+Parser->Data.snrL1[i];
|
---|
2433 | }
|
---|
2434 | if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
|
---|
2435 | {
|
---|
2436 | if(Parser->Data.dataflags2[i]
|
---|
2437 | & (GNSSDF2_LOCKLOSSL2|GNSSDF2_XCORRL2))
|
---|
2438 | {
|
---|
2439 | lli = '0';
|
---|
2440 | if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
|
---|
2441 | lli += 1;
|
---|
2442 | if(Parser->Data.dataflags2[i] & GNSSDF2_XCORRL2)
|
---|
2443 | lli += 4;
|
---|
2444 | }
|
---|
2445 | snr = '0'+Parser->Data.snrL2[i];
|
---|
2446 | }
|
---|
2447 | if((df & GNSSDF_P2DATA) && (Parser->Data.dataflags2[i]
|
---|
2448 | & GNSSDF2_XCORRL2))
|
---|
2449 | lli = '4';
|
---|
2450 | RTCM3Text("%14.3f%c%c",
|
---|
2451 | Parser->Data.measdata[i][pos],lli,snr);
|
---|
2452 | }
|
---|
2453 | if(j%5 == 4 || j == Parser->numdatatypesGPS-1)
|
---|
2454 | RTCM3Text("\n");
|
---|
2455 | }
|
---|
2456 | }
|
---|
2457 | }
|
---|
2458 | }
|
---|
2459 | }
|
---|
2460 | }
|
---|
2461 | }
|
---|
2462 |
|
---|
2463 | #ifndef NO_RTCM3_MAIN
|
---|
2464 | static char datestr[] = "$Date: 2010-12-01 14:26:47 +0000 (Wed, 01 Dec 2010) $";
|
---|
2465 |
|
---|
2466 | /* The string, which is send as agent in HTTP request */
|
---|
2467 | #define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
|
---|
2468 |
|
---|
2469 | #define MAXDATASIZE 1000 /* max number of bytes we can get at once */
|
---|
2470 |
|
---|
2471 | static const char encodingTable [64] = {
|
---|
2472 | 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
|
---|
2473 | 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
|
---|
2474 | 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
|
---|
2475 | 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
|
---|
2476 | };
|
---|
2477 |
|
---|
2478 | /* does not buffer overrun, but breaks directly after an error */
|
---|
2479 | /* returns the number of required bytes */
|
---|
2480 | static int encode(char *buf, int size, const char *user, const char *pwd)
|
---|
2481 | {
|
---|
2482 | unsigned char inbuf[3];
|
---|
2483 | char *out = buf;
|
---|
2484 | int i, sep = 0, fill = 0, bytes = 0;
|
---|
2485 |
|
---|
2486 | while(*user || *pwd)
|
---|
2487 | {
|
---|
2488 | i = 0;
|
---|
2489 | while(i < 3 && *user) inbuf[i++] = *(user++);
|
---|
2490 | if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
|
---|
2491 | while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
|
---|
2492 | while(i < 3) {inbuf[i++] = 0; ++fill; }
|
---|
2493 | if(out-buf < size-1)
|
---|
2494 | *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
|
---|
2495 | if(out-buf < size-1)
|
---|
2496 | *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
|
---|
2497 | | ((inbuf [1] & 0xF0) >> 4)];
|
---|
2498 | if(out-buf < size-1)
|
---|
2499 | {
|
---|
2500 | if(fill == 2)
|
---|
2501 | *(out++) = '=';
|
---|
2502 | else
|
---|
2503 | *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
|
---|
2504 | | ((inbuf [2] & 0xC0) >> 6)];
|
---|
2505 | }
|
---|
2506 | if(out-buf < size-1)
|
---|
2507 | {
|
---|
2508 | if(fill >= 1)
|
---|
2509 | *(out++) = '=';
|
---|
2510 | else
|
---|
2511 | *(out++) = encodingTable[inbuf [2] & 0x3F];
|
---|
2512 | }
|
---|
2513 | bytes += 4;
|
---|
2514 | }
|
---|
2515 | if(out-buf < size)
|
---|
2516 | *out = 0;
|
---|
2517 | return bytes;
|
---|
2518 | }
|
---|
2519 |
|
---|
2520 | static int stop = 0;
|
---|
2521 |
|
---|
2522 | struct Args
|
---|
2523 | {
|
---|
2524 | const char *server;
|
---|
2525 | const char *port;
|
---|
2526 | int mode;
|
---|
2527 | int timeout;
|
---|
2528 | int rinex3;
|
---|
2529 | const char *user;
|
---|
2530 | const char *password;
|
---|
2531 | const char *proxyhost;
|
---|
2532 | const char *proxyport;
|
---|
2533 | const char *nmea;
|
---|
2534 | const char *data;
|
---|
2535 | const char *headerfile;
|
---|
2536 | const char *gpsephemeris;
|
---|
2537 | const char *glonassephemeris;
|
---|
2538 | };
|
---|
2539 |
|
---|
2540 | /* option parsing */
|
---|
2541 | #ifdef NO_LONG_OPTS
|
---|
2542 | #define LONG_OPT(a)
|
---|
2543 | #else
|
---|
2544 | #define LONG_OPT(a) a
|
---|
2545 | static struct option opts[] = {
|
---|
2546 | { "data", required_argument, 0, 'd'},
|
---|
2547 | { "server", required_argument, 0, 's'},
|
---|
2548 | { "password", required_argument, 0, 'p'},
|
---|
2549 | { "port", required_argument, 0, 'r'},
|
---|
2550 | { "timeout", required_argument, 0, 't'},
|
---|
2551 | { "header", required_argument, 0, 'f'},
|
---|
2552 | { "user", required_argument, 0, 'u'},
|
---|
2553 | { "gpsephemeris", required_argument, 0, 'E'},
|
---|
2554 | { "glonassephemeris", required_argument, 0, 'G'},
|
---|
2555 | { "rinex3", no_argument, 0, '3'},
|
---|
2556 | { "proxyport", required_argument, 0, 'R'},
|
---|
2557 | { "proxyhost", required_argument, 0, 'S'},
|
---|
2558 | { "nmea", required_argument, 0, 'n'},
|
---|
2559 | { "mode", required_argument, 0, 'M'},
|
---|
2560 | { "help", no_argument, 0, 'h'},
|
---|
2561 | {0,0,0,0}};
|
---|
2562 | #endif
|
---|
2563 | #define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3"
|
---|
2564 |
|
---|
2565 | enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
|
---|
2566 |
|
---|
2567 | static const char *geturl(const char *url, struct Args *args)
|
---|
2568 | {
|
---|
2569 | static char buf[1000];
|
---|
2570 | static char *Buffer = buf;
|
---|
2571 | static char *Bufend = buf+sizeof(buf);
|
---|
2572 |
|
---|
2573 | if(strncmp("ntrip:", url, 6))
|
---|
2574 | return "URL must start with 'ntrip:'.";
|
---|
2575 | url += 6; /* skip ntrip: */
|
---|
2576 |
|
---|
2577 | if(*url != '@' && *url != '/')
|
---|
2578 | {
|
---|
2579 | /* scan for mountpoint */
|
---|
2580 | args->data = Buffer;
|
---|
2581 | while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
|
---|
2582 | *(Buffer++) = *(url++);
|
---|
2583 | if(Buffer == args->data)
|
---|
2584 | return "Mountpoint required.";
|
---|
2585 | else if(Buffer >= Bufend-1)
|
---|
2586 | return "Parsing buffer too short.";
|
---|
2587 | *(Buffer++) = 0;
|
---|
2588 | }
|
---|
2589 |
|
---|
2590 | if(*url == '/') /* username and password */
|
---|
2591 | {
|
---|
2592 | ++url;
|
---|
2593 | args->user = Buffer;
|
---|
2594 | while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
|
---|
2595 | *(Buffer++) = *(url++);
|
---|
2596 | if(Buffer == args->user)
|
---|
2597 | return "Username cannot be empty.";
|
---|
2598 | else if(Buffer >= Bufend-1)
|
---|
2599 | return "Parsing buffer too short.";
|
---|
2600 | *(Buffer++) = 0;
|
---|
2601 |
|
---|
2602 | if(*url == ':') ++url;
|
---|
2603 |
|
---|
2604 | args->password = Buffer;
|
---|
2605 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
2606 | *(Buffer++) = *(url++);
|
---|
2607 | if(Buffer == args->password)
|
---|
2608 | return "Password cannot be empty.";
|
---|
2609 | else if(Buffer >= Bufend-1)
|
---|
2610 | return "Parsing buffer too short.";
|
---|
2611 | *(Buffer++) = 0;
|
---|
2612 | }
|
---|
2613 |
|
---|
2614 | if(*url == '@') /* server */
|
---|
2615 | {
|
---|
2616 | ++url;
|
---|
2617 | if(*url != '@' && *url != ':')
|
---|
2618 | {
|
---|
2619 | args->server = Buffer;
|
---|
2620 | while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
2621 | *(Buffer++) = *(url++);
|
---|
2622 | if(Buffer == args->server)
|
---|
2623 | return "Servername cannot be empty.";
|
---|
2624 | else if(Buffer >= Bufend-1)
|
---|
2625 | return "Parsing buffer too short.";
|
---|
2626 | *(Buffer++) = 0;
|
---|
2627 | }
|
---|
2628 |
|
---|
2629 | if(*url == ':')
|
---|
2630 | {
|
---|
2631 | ++url;
|
---|
2632 | args->port = Buffer;
|
---|
2633 | while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
|
---|
2634 | *(Buffer++) = *(url++);
|
---|
2635 | if(Buffer == args->port)
|
---|
2636 | return "Port cannot be empty.";
|
---|
2637 | else if(Buffer >= Bufend-1)
|
---|
2638 | return "Parsing buffer too short.";
|
---|
2639 | *(Buffer++) = 0;
|
---|
2640 | }
|
---|
2641 |
|
---|
2642 | if(*url == '@') /* proxy */
|
---|
2643 | {
|
---|
2644 | ++url;
|
---|
2645 | args->proxyhost = Buffer;
|
---|
2646 | while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
|
---|
2647 | *(Buffer++) = *(url++);
|
---|
2648 | if(Buffer == args->proxyhost)
|
---|
2649 | return "Proxy servername cannot be empty.";
|
---|
2650 | else if(Buffer >= Bufend-1)
|
---|
2651 | return "Parsing buffer too short.";
|
---|
2652 | *(Buffer++) = 0;
|
---|
2653 |
|
---|
2654 | if(*url == ':')
|
---|
2655 | {
|
---|
2656 | ++url;
|
---|
2657 | args->proxyport = Buffer;
|
---|
2658 | while(*url && *url != ';' && Buffer != Bufend)
|
---|
2659 | *(Buffer++) = *(url++);
|
---|
2660 | if(Buffer == args->proxyport)
|
---|
2661 | return "Proxy port cannot be empty.";
|
---|
2662 | else if(Buffer >= Bufend-1)
|
---|
2663 | return "Parsing buffer too short.";
|
---|
2664 | *(Buffer++) = 0;
|
---|
2665 | }
|
---|
2666 | }
|
---|
2667 | }
|
---|
2668 | if(*url == ';') /* NMEA */
|
---|
2669 | {
|
---|
2670 | args->nmea = ++url;
|
---|
2671 | while(*url)
|
---|
2672 | ++url;
|
---|
2673 | }
|
---|
2674 |
|
---|
2675 | return *url ? "Garbage at end of server string." : 0;
|
---|
2676 | }
|
---|
2677 |
|
---|
2678 | static int getargs(int argc, char **argv, struct Args *args)
|
---|
2679 | {
|
---|
2680 | int res = 1;
|
---|
2681 | int getoptr;
|
---|
2682 | int help = 0;
|
---|
2683 | char *t;
|
---|
2684 |
|
---|
2685 | args->server = "www.euref-ip.net";
|
---|
2686 | args->port = "2101";
|
---|
2687 | args->timeout = 60;
|
---|
2688 | args->user = "";
|
---|
2689 | args->password = "";
|
---|
2690 | args->data = 0;
|
---|
2691 | args->headerfile = 0;
|
---|
2692 | args->gpsephemeris = 0;
|
---|
2693 | args->glonassephemeris = 0;
|
---|
2694 | args->rinex3 = 0;
|
---|
2695 | args->nmea = 0;
|
---|
2696 | args->proxyhost = 0;
|
---|
2697 | args->proxyport = "2101";
|
---|
2698 | args->mode = AUTO;
|
---|
2699 | help = 0;
|
---|
2700 |
|
---|
2701 | do
|
---|
2702 | {
|
---|
2703 |
|
---|
2704 | #ifdef NO_LONG_OPTS
|
---|
2705 | switch((getoptr = getopt(argc, argv, ARGOPT)))
|
---|
2706 | #else
|
---|
2707 | switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
|
---|
2708 | #endif
|
---|
2709 | {
|
---|
2710 | case 's': args->server = optarg; break;
|
---|
2711 | case 'u': args->user = optarg; break;
|
---|
2712 | case 'p': args->password = optarg; break;
|
---|
2713 | case 'd': args->data = optarg; break;
|
---|
2714 | case 'f': args->headerfile = optarg; break;
|
---|
2715 | case 'E': args->gpsephemeris = optarg; break;
|
---|
2716 | case 'G': args->glonassephemeris = optarg; break;
|
---|
2717 | case 'r': args->port = optarg; break;
|
---|
2718 | case '3': args->rinex3 = 1; break;
|
---|
2719 | case 'S': args->proxyhost = optarg; break;
|
---|
2720 | case 'n': args->nmea = optarg; break;
|
---|
2721 | case 'R': args->proxyport = optarg; break;
|
---|
2722 | case 'h': help=1; break;
|
---|
2723 | case 'M':
|
---|
2724 | args->mode = 0;
|
---|
2725 | if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
|
---|
2726 | args->mode = NTRIP1;
|
---|
2727 | else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
|
---|
2728 | args->mode = HTTP;
|
---|
2729 | else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
|
---|
2730 | args->mode = RTSP;
|
---|
2731 | else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
|
---|
2732 | args->mode = AUTO;
|
---|
2733 | else args->mode = atoi(optarg);
|
---|
2734 | if((args->mode == 0) || (args->mode >= END))
|
---|
2735 | {
|
---|
2736 | fprintf(stderr, "Mode %s unknown\n", optarg);
|
---|
2737 | res = 0;
|
---|
2738 | }
|
---|
2739 | break;
|
---|
2740 | case 't':
|
---|
2741 | args->timeout = strtoul(optarg, &t, 10);
|
---|
2742 | if((t && *t) || args->timeout < 0)
|
---|
2743 | res = 0;
|
---|
2744 | break;
|
---|
2745 |
|
---|
2746 | case 1:
|
---|
2747 | {
|
---|
2748 | const char *err;
|
---|
2749 | if((err = geturl(optarg, args)))
|
---|
2750 | {
|
---|
2751 | RTCM3Error("%s\n\n", err);
|
---|
2752 | res = 0;
|
---|
2753 | }
|
---|
2754 | }
|
---|
2755 | break;
|
---|
2756 | case -1: break;
|
---|
2757 | }
|
---|
2758 | } while(getoptr != -1 || !res);
|
---|
2759 |
|
---|
2760 | datestr[0] = datestr[7];
|
---|
2761 | datestr[1] = datestr[8];
|
---|
2762 | datestr[2] = datestr[9];
|
---|
2763 | datestr[3] = datestr[10];
|
---|
2764 | datestr[5] = datestr[12];
|
---|
2765 | datestr[6] = datestr[13];
|
---|
2766 | datestr[8] = datestr[15];
|
---|
2767 | datestr[9] = datestr[16];
|
---|
2768 | datestr[4] = datestr[7] = '-';
|
---|
2769 | datestr[10] = 0;
|
---|
2770 |
|
---|
2771 | if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
|
---|
2772 | {
|
---|
2773 | RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
|
---|
2774 | "Please specify only one navigation file.\n");
|
---|
2775 | res = 0;
|
---|
2776 | }
|
---|
2777 | else if(!res || help)
|
---|
2778 | {
|
---|
2779 | RTCM3Error("Version %s (%s) GPL" COMPILEDATE
|
---|
2780 | "\nUsage: %s -s server -u user ...\n"
|
---|
2781 | " -d " LONG_OPT("--data ") "the requested data set\n"
|
---|
2782 | " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
|
---|
2783 | " -s " LONG_OPT("--server ") "the server name or address\n"
|
---|
2784 | " -p " LONG_OPT("--password ") "the login password\n"
|
---|
2785 | " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
|
---|
2786 | " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
|
---|
2787 | " -u " LONG_OPT("--user ") "the user name\n"
|
---|
2788 | " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
|
---|
2789 | " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
|
---|
2790 | " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
|
---|
2791 | " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
|
---|
2792 | " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
|
---|
2793 | " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
|
---|
2794 | " -M " LONG_OPT("--mode ") "mode for data request\n"
|
---|
2795 | " Valid modes are:\n"
|
---|
2796 | " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
|
---|
2797 | " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
|
---|
2798 | " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
|
---|
2799 | " 4, a, auto automatic detection (default)\n"
|
---|
2800 | "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
|
---|
2801 | , revisionstr, datestr, argv[0], argv[0]);
|
---|
2802 | exit(1);
|
---|
2803 | }
|
---|
2804 | return res;
|
---|
2805 | }
|
---|
2806 |
|
---|
2807 | /* let the output complete a block if necessary */
|
---|
2808 | static void signalhandler(int sig)
|
---|
2809 | {
|
---|
2810 | if(!stop)
|
---|
2811 | {
|
---|
2812 | RTCM3Error("Stop signal number %d received. "
|
---|
2813 | "Trying to terminate gentle.\n", sig);
|
---|
2814 | stop = 1;
|
---|
2815 | alarm(1);
|
---|
2816 | }
|
---|
2817 | }
|
---|
2818 |
|
---|
2819 | #ifndef WINDOWSVERSION
|
---|
2820 | static void WaitMicro(int mic)
|
---|
2821 | {
|
---|
2822 | struct timeval tv;
|
---|
2823 | tv.tv_sec = mic/1000000;
|
---|
2824 | tv.tv_usec = mic%1000000;
|
---|
2825 | #ifdef DEBUG
|
---|
2826 | fprintf(stderr, "Waiting %d micro seconds\n", mic);
|
---|
2827 | #endif
|
---|
2828 | select(0, 0, 0, 0, &tv);
|
---|
2829 | }
|
---|
2830 | #else /* WINDOWSVERSION */
|
---|
2831 | void WaitMicro(int mic)
|
---|
2832 | {
|
---|
2833 | Sleep(mic/1000);
|
---|
2834 | }
|
---|
2835 | #endif /* WINDOWSVERSION */
|
---|
2836 |
|
---|
2837 | #define ALARMTIME (2*60)
|
---|
2838 |
|
---|
2839 | /* for some reason we had to abort hard (maybe waiting for data */
|
---|
2840 | #ifdef __GNUC__
|
---|
2841 | static __attribute__ ((noreturn)) void signalhandler_alarm(
|
---|
2842 | int sig __attribute__((__unused__)))
|
---|
2843 | #else /* __GNUC__ */
|
---|
2844 | static void signalhandler_alarm(int sig)
|
---|
2845 | #endif /* __GNUC__ */
|
---|
2846 | {
|
---|
2847 | RTCM3Error("Programm forcefully terminated.\n");
|
---|
2848 | exit(1);
|
---|
2849 | }
|
---|
2850 |
|
---|
2851 | int main(int argc, char **argv)
|
---|
2852 | {
|
---|
2853 | struct Args args;
|
---|
2854 | struct RTCM3ParserData Parser;
|
---|
2855 |
|
---|
2856 | setbuf(stdout, 0);
|
---|
2857 | setbuf(stdin, 0);
|
---|
2858 | setbuf(stderr, 0);
|
---|
2859 |
|
---|
2860 | fixrevision();
|
---|
2861 |
|
---|
2862 | signal(SIGINT, signalhandler);
|
---|
2863 | signal(SIGALRM,signalhandler_alarm);
|
---|
2864 | signal(SIGQUIT,signalhandler);
|
---|
2865 | signal(SIGTERM,signalhandler);
|
---|
2866 | signal(SIGPIPE,signalhandler);
|
---|
2867 | memset(&Parser, 0, sizeof(Parser));
|
---|
2868 | {
|
---|
2869 | time_t tim;
|
---|
2870 | tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
|
---|
2871 | Parser.GPSWeek = tim/(7*24*60*60);
|
---|
2872 | Parser.GPSTOW = tim%(7*24*60*60);
|
---|
2873 | }
|
---|
2874 |
|
---|
2875 | if(getargs(argc, argv, &args))
|
---|
2876 | {
|
---|
2877 | int sockfd, numbytes;
|
---|
2878 | char buf[MAXDATASIZE];
|
---|
2879 | struct sockaddr_in their_addr; /* connector's address information */
|
---|
2880 | struct hostent *he;
|
---|
2881 | struct servent *se;
|
---|
2882 | const char *server, *port, *proxyserver = 0;
|
---|
2883 | char proxyport[6];
|
---|
2884 | char *b;
|
---|
2885 | long i;
|
---|
2886 | struct timeval tv;
|
---|
2887 |
|
---|
2888 | alarm(ALARMTIME);
|
---|
2889 |
|
---|
2890 | Parser.headerfile = args.headerfile;
|
---|
2891 | Parser.glonassephemeris = args.glonassephemeris;
|
---|
2892 | Parser.gpsephemeris = args.gpsephemeris;
|
---|
2893 | Parser.rinex3 = args.rinex3;
|
---|
2894 |
|
---|
2895 | if(args.proxyhost)
|
---|
2896 | {
|
---|
2897 | int p;
|
---|
2898 | if((i = strtol(args.port, &b, 10)) && (!b || !*b))
|
---|
2899 | p = i;
|
---|
2900 | else if(!(se = getservbyname(args.port, 0)))
|
---|
2901 | {
|
---|
2902 | RTCM3Error("Can't resolve port %s.", args.port);
|
---|
2903 | exit(1);
|
---|
2904 | }
|
---|
2905 | else
|
---|
2906 | {
|
---|
2907 | p = ntohs(se->s_port);
|
---|
2908 | }
|
---|
2909 | snprintf(proxyport, sizeof(proxyport), "%d", p);
|
---|
2910 | port = args.proxyport;
|
---|
2911 | proxyserver = args.server;
|
---|
2912 | server = args.proxyhost;
|
---|
2913 | }
|
---|
2914 | else
|
---|
2915 | {
|
---|
2916 | server = args.server;
|
---|
2917 | port = args.port;
|
---|
2918 | }
|
---|
2919 |
|
---|
2920 | memset(&their_addr, 0, sizeof(struct sockaddr_in));
|
---|
2921 | if((i = strtol(port, &b, 10)) && (!b || !*b))
|
---|
2922 | their_addr.sin_port = htons(i);
|
---|
2923 | else if(!(se = getservbyname(port, 0)))
|
---|
2924 | {
|
---|
2925 | RTCM3Error("Can't resolve port %s.", port);
|
---|
2926 | exit(1);
|
---|
2927 | }
|
---|
2928 | else
|
---|
2929 | {
|
---|
2930 | their_addr.sin_port = se->s_port;
|
---|
2931 | }
|
---|
2932 | if(!(he=gethostbyname(server)))
|
---|
2933 | {
|
---|
2934 | RTCM3Error("Server name lookup failed for '%s'.\n", server);
|
---|
2935 | exit(1);
|
---|
2936 | }
|
---|
2937 | if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
|
---|
2938 | {
|
---|
2939 | perror("socket");
|
---|
2940 | exit(1);
|
---|
2941 | }
|
---|
2942 |
|
---|
2943 | tv.tv_sec = args.timeout;
|
---|
2944 | tv.tv_usec = 0;
|
---|
2945 | if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
|
---|
2946 | {
|
---|
2947 | RTCM3Error("Function setsockopt: %s\n", strerror(errno));
|
---|
2948 | exit(1);
|
---|
2949 | }
|
---|
2950 |
|
---|
2951 | their_addr.sin_family = AF_INET;
|
---|
2952 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
2953 |
|
---|
2954 | if(args.data && args.mode == RTSP)
|
---|
2955 | {
|
---|
2956 | struct sockaddr_in local;
|
---|
2957 | int sockudp, localport;
|
---|
2958 | int cseq = 1;
|
---|
2959 | socklen_t len;
|
---|
2960 |
|
---|
2961 | if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
|
---|
2962 | {
|
---|
2963 | perror("socket");
|
---|
2964 | exit(1);
|
---|
2965 | }
|
---|
2966 | /* fill structure with local address information for UDP */
|
---|
2967 | memset(&local, 0, sizeof(local));
|
---|
2968 | local.sin_family = AF_INET;
|
---|
2969 | local.sin_port = htons(0);
|
---|
2970 | local.sin_addr.s_addr = htonl(INADDR_ANY);
|
---|
2971 | len = sizeof(local);
|
---|
2972 | /* bind() in order to get a random RTP client_port */
|
---|
2973 | if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
|
---|
2974 | {
|
---|
2975 | perror("bind");
|
---|
2976 | exit(1);
|
---|
2977 | }
|
---|
2978 | if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
|
---|
2979 | {
|
---|
2980 | localport = ntohs(local.sin_port);
|
---|
2981 | }
|
---|
2982 | else
|
---|
2983 | {
|
---|
2984 | perror("local access failed");
|
---|
2985 | exit(1);
|
---|
2986 | }
|
---|
2987 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
2988 | sizeof(struct sockaddr)) == -1)
|
---|
2989 | {
|
---|
2990 | perror("connect");
|
---|
2991 | exit(1);
|
---|
2992 | }
|
---|
2993 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
2994 | "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
2995 | "CSeq: %d\r\n"
|
---|
2996 | "Ntrip-Version: Ntrip/2.0\r\n"
|
---|
2997 | "Ntrip-Component: Ntripclient\r\n"
|
---|
2998 | "User-Agent: %s/%s\r\n"
|
---|
2999 | "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
|
---|
3000 | "Authorization: Basic ",
|
---|
3001 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
3002 | args.data, cseq++, AGENTSTRING, revisionstr, localport);
|
---|
3003 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
3004 | {
|
---|
3005 | RTCM3Error("Requested data too long\n");
|
---|
3006 | exit(1);
|
---|
3007 | }
|
---|
3008 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
3009 | if(i > MAXDATASIZE-4)
|
---|
3010 | {
|
---|
3011 | RTCM3Error("Username and/or password too long\n");
|
---|
3012 | exit(1);
|
---|
3013 | }
|
---|
3014 | buf[i++] = '\r';
|
---|
3015 | buf[i++] = '\n';
|
---|
3016 | buf[i++] = '\r';
|
---|
3017 | buf[i++] = '\n';
|
---|
3018 | if(args.nmea)
|
---|
3019 | {
|
---|
3020 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
3021 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
3022 | i += j;
|
---|
3023 | else
|
---|
3024 | {
|
---|
3025 | RTCM3Error("NMEA string too long\n");
|
---|
3026 | exit(1);
|
---|
3027 | }
|
---|
3028 | }
|
---|
3029 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
3030 | {
|
---|
3031 | perror("send");
|
---|
3032 | exit(1);
|
---|
3033 | }
|
---|
3034 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
3035 | {
|
---|
3036 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
3037 | {
|
---|
3038 | int serverport = 0, session = 0;
|
---|
3039 | const char *portcheck = "server_port=";
|
---|
3040 | const char *sessioncheck = "session: ";
|
---|
3041 | int l = strlen(portcheck)-1;
|
---|
3042 | int j=0;
|
---|
3043 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
3044 | {
|
---|
3045 | for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
|
---|
3046 | ;
|
---|
3047 | }
|
---|
3048 | if(i == numbytes-l)
|
---|
3049 | {
|
---|
3050 | RTCM3Error("No server port number found\n");
|
---|
3051 | exit(1);
|
---|
3052 | }
|
---|
3053 | else
|
---|
3054 | {
|
---|
3055 | i+=l;
|
---|
3056 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
3057 | serverport = serverport * 10 + buf[i++]-'0';
|
---|
3058 | if(buf[i] != '\r' && buf[i] != ';')
|
---|
3059 | {
|
---|
3060 | RTCM3Error("Could not extract server port\n");
|
---|
3061 | exit(1);
|
---|
3062 | }
|
---|
3063 | }
|
---|
3064 | l = strlen(sessioncheck)-1;
|
---|
3065 | j=0;
|
---|
3066 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
3067 | {
|
---|
3068 | for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
|
---|
3069 | ;
|
---|
3070 | }
|
---|
3071 | if(i == numbytes-l)
|
---|
3072 | {
|
---|
3073 | RTCM3Error("No session number found\n");
|
---|
3074 | exit(1);
|
---|
3075 | }
|
---|
3076 | else
|
---|
3077 | {
|
---|
3078 | i+=l;
|
---|
3079 | while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
|
---|
3080 | session = session * 10 + buf[i++]-'0';
|
---|
3081 | if(buf[i] != '\r')
|
---|
3082 | {
|
---|
3083 | RTCM3Error("Could not extract session number\n");
|
---|
3084 | exit(1);
|
---|
3085 | }
|
---|
3086 | }
|
---|
3087 |
|
---|
3088 | i = snprintf(buf, MAXDATASIZE,
|
---|
3089 | "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
3090 | "CSeq: %d\r\n"
|
---|
3091 | "Session: %d\r\n"
|
---|
3092 | "\r\n",
|
---|
3093 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
3094 | args.data, cseq++, session);
|
---|
3095 |
|
---|
3096 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
3097 | {
|
---|
3098 | RTCM3Error("Requested data too long\n");
|
---|
3099 | exit(1);
|
---|
3100 | }
|
---|
3101 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
3102 | {
|
---|
3103 | perror("send");
|
---|
3104 | exit(1);
|
---|
3105 | }
|
---|
3106 | if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
3107 | {
|
---|
3108 | if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
|
---|
3109 | {
|
---|
3110 | struct sockaddr_in addrRTP;
|
---|
3111 | /* fill structure with caster address information for UDP */
|
---|
3112 | memset(&addrRTP, 0, sizeof(addrRTP));
|
---|
3113 | addrRTP.sin_family = AF_INET;
|
---|
3114 | addrRTP.sin_port = htons(serverport);
|
---|
3115 | their_addr.sin_addr = *((struct in_addr *)he->h_addr);
|
---|
3116 | len = sizeof(addrRTP);
|
---|
3117 | int ts = 0;
|
---|
3118 | int sn = 0;
|
---|
3119 | int ssrc = 0;
|
---|
3120 | int init = 0;
|
---|
3121 | int u, v, w;
|
---|
3122 | while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
|
---|
3123 | (struct sockaddr*) &addrRTP, &len)) > 0)
|
---|
3124 | {
|
---|
3125 | alarm(ALARMTIME);
|
---|
3126 | if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
|
---|
3127 | {
|
---|
3128 | u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
|
---|
3129 | v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
|
---|
3130 | +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
|
---|
3131 | w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
|
---|
3132 | +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
|
---|
3133 |
|
---|
3134 | if(init)
|
---|
3135 | {
|
---|
3136 | int z;
|
---|
3137 | if(u < -30000 && sn > 30000) sn -= 0xFFFF;
|
---|
3138 | if(ssrc != w || ts > v)
|
---|
3139 | {
|
---|
3140 | RTCM3Error("Illegal UDP data received.\n");
|
---|
3141 | exit(1);
|
---|
3142 | }
|
---|
3143 | if(u > sn) /* don't show out-of-order packets */
|
---|
3144 | for(z = 12; z < i && !stop; ++z)
|
---|
3145 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
3146 | }
|
---|
3147 | sn = u; ts = v; ssrc = w; init = 1;
|
---|
3148 | }
|
---|
3149 | else
|
---|
3150 | {
|
---|
3151 | RTCM3Error("Illegal UDP header.\n");
|
---|
3152 | exit(1);
|
---|
3153 | }
|
---|
3154 | }
|
---|
3155 | }
|
---|
3156 | i = snprintf(buf, MAXDATASIZE,
|
---|
3157 | "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
|
---|
3158 | "CSeq: %d\r\n"
|
---|
3159 | "Session: %d\r\n"
|
---|
3160 | "\r\n",
|
---|
3161 | args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
|
---|
3162 | args.data, cseq++, session);
|
---|
3163 |
|
---|
3164 | if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
|
---|
3165 | {
|
---|
3166 | RTCM3Error("Requested data too long\n");
|
---|
3167 | exit(1);
|
---|
3168 | }
|
---|
3169 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
3170 | {
|
---|
3171 | perror("send");
|
---|
3172 | exit(1);
|
---|
3173 | }
|
---|
3174 | }
|
---|
3175 | else
|
---|
3176 | {
|
---|
3177 | RTCM3Error("Could not start data stream.\n");
|
---|
3178 | exit(1);
|
---|
3179 | }
|
---|
3180 | }
|
---|
3181 | else
|
---|
3182 | {
|
---|
3183 | RTCM3Error("Could not setup initial control connection.\n");
|
---|
3184 | exit(1);
|
---|
3185 | }
|
---|
3186 | }
|
---|
3187 | else
|
---|
3188 | {
|
---|
3189 | perror("recv");
|
---|
3190 | exit(1);
|
---|
3191 | }
|
---|
3192 | }
|
---|
3193 | else
|
---|
3194 | {
|
---|
3195 | if(connect(sockfd, (struct sockaddr *)&their_addr,
|
---|
3196 | sizeof(struct sockaddr)) == -1)
|
---|
3197 | {
|
---|
3198 | perror("connect");
|
---|
3199 | exit(1);
|
---|
3200 | }
|
---|
3201 | if(!args.data)
|
---|
3202 | {
|
---|
3203 | i = snprintf(buf, MAXDATASIZE,
|
---|
3204 | "GET %s%s%s%s/ HTTP/1.0\r\n"
|
---|
3205 | "Host: %s\r\n%s"
|
---|
3206 | "User-Agent: %s/%s\r\n"
|
---|
3207 | "Connection: close\r\n"
|
---|
3208 | "\r\n"
|
---|
3209 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
3210 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
3211 | args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
3212 | AGENTSTRING, revisionstr);
|
---|
3213 | }
|
---|
3214 | else
|
---|
3215 | {
|
---|
3216 | i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
|
---|
3217 | "GET %s%s%s%s/%s HTTP/1.0\r\n"
|
---|
3218 | "Host: %s\r\n%s"
|
---|
3219 | "User-Agent: %s/%s\r\n"
|
---|
3220 | "Connection: close\r\n"
|
---|
3221 | "Authorization: Basic "
|
---|
3222 | , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
|
---|
3223 | proxyserver ? ":" : "", proxyserver ? proxyport : "",
|
---|
3224 | args.data, args.server,
|
---|
3225 | args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
|
---|
3226 | AGENTSTRING, revisionstr);
|
---|
3227 | if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
|
---|
3228 | {
|
---|
3229 | RTCM3Error("Requested data too long\n");
|
---|
3230 | exit(1);
|
---|
3231 | }
|
---|
3232 | i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
|
---|
3233 | if(i > MAXDATASIZE-4)
|
---|
3234 | {
|
---|
3235 | RTCM3Error("Username and/or password too long\n");
|
---|
3236 | exit(1);
|
---|
3237 | }
|
---|
3238 | buf[i++] = '\r';
|
---|
3239 | buf[i++] = '\n';
|
---|
3240 | buf[i++] = '\r';
|
---|
3241 | buf[i++] = '\n';
|
---|
3242 | if(args.nmea)
|
---|
3243 | {
|
---|
3244 | int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
|
---|
3245 | if(j >= 0 && j < MAXDATASIZE-i)
|
---|
3246 | i += j;
|
---|
3247 | else
|
---|
3248 | {
|
---|
3249 | RTCM3Error("NMEA string too long\n");
|
---|
3250 | exit(1);
|
---|
3251 | }
|
---|
3252 | }
|
---|
3253 | }
|
---|
3254 | if(send(sockfd, buf, (size_t)i, 0) != i)
|
---|
3255 | {
|
---|
3256 | perror("send");
|
---|
3257 | exit(1);
|
---|
3258 | }
|
---|
3259 | if(args.data)
|
---|
3260 | {
|
---|
3261 | int k = 0;
|
---|
3262 | int chunkymode = 0;
|
---|
3263 | int starttime = time(0);
|
---|
3264 | int lastout = starttime;
|
---|
3265 | int totalbytes = 0;
|
---|
3266 | int chunksize = 0;
|
---|
3267 |
|
---|
3268 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
|
---|
3269 | {
|
---|
3270 | if(numbytes > 0)
|
---|
3271 | alarm(ALARMTIME);
|
---|
3272 | else
|
---|
3273 | {
|
---|
3274 | WaitMicro(100);
|
---|
3275 | continue;
|
---|
3276 | }
|
---|
3277 | if(!k)
|
---|
3278 | {
|
---|
3279 | if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
|
---|
3280 | || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
|
---|
3281 | {
|
---|
3282 | const char *datacheck = "Content-Type: gnss/data\r\n";
|
---|
3283 | const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
|
---|
3284 | int l = strlen(datacheck)-1;
|
---|
3285 | int j=0;
|
---|
3286 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
3287 | {
|
---|
3288 | for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
|
---|
3289 | ;
|
---|
3290 | }
|
---|
3291 | if(i == numbytes-l)
|
---|
3292 | {
|
---|
3293 | RTCM3Error("No 'Content-Type: gnss/data' found\n");
|
---|
3294 | exit(1);
|
---|
3295 | }
|
---|
3296 | l = strlen(chunkycheck)-1;
|
---|
3297 | j=0;
|
---|
3298 | for(i = 0; j != l && i < numbytes-l; ++i)
|
---|
3299 | {
|
---|
3300 | for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
|
---|
3301 | ;
|
---|
3302 | }
|
---|
3303 | if(i < numbytes-l)
|
---|
3304 | chunkymode = 1;
|
---|
3305 | }
|
---|
3306 | else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
|
---|
3307 | {
|
---|
3308 | RTCM3Error("Could not get the requested data: ");
|
---|
3309 | for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
|
---|
3310 | {
|
---|
3311 | RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
|
---|
3312 | }
|
---|
3313 | RTCM3Error("\n");
|
---|
3314 | exit(1);
|
---|
3315 | }
|
---|
3316 | else if(args.mode != NTRIP1)
|
---|
3317 | {
|
---|
3318 | if(args.mode != AUTO)
|
---|
3319 | {
|
---|
3320 | RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
|
---|
3321 | args.mode == AUTO ? ", falling back to NTRIP1" : "");
|
---|
3322 | }
|
---|
3323 | if(args.mode == HTTP)
|
---|
3324 | exit(1);
|
---|
3325 | }
|
---|
3326 | ++k;
|
---|
3327 | }
|
---|
3328 | else
|
---|
3329 | {
|
---|
3330 | if(chunkymode)
|
---|
3331 | {
|
---|
3332 | int stop = 0;
|
---|
3333 | int pos = 0;
|
---|
3334 | while(!stop && pos < numbytes)
|
---|
3335 | {
|
---|
3336 | switch(chunkymode)
|
---|
3337 | {
|
---|
3338 | case 1: /* reading number starts */
|
---|
3339 | chunksize = 0;
|
---|
3340 | ++chunkymode; /* no break */
|
---|
3341 | case 2: /* during reading number */
|
---|
3342 | i = buf[pos++];
|
---|
3343 | if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
|
---|
3344 | else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
|
---|
3345 | else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
|
---|
3346 | else if(i == '\r') ++chunkymode;
|
---|
3347 | else if(i == ';') chunkymode = 5;
|
---|
3348 | else stop = 1;
|
---|
3349 | break;
|
---|
3350 | case 3: /* scanning for return */
|
---|
3351 | if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
|
---|
3352 | else stop = 1;
|
---|
3353 | break;
|
---|
3354 | case 4: /* output data */
|
---|
3355 | i = numbytes-pos;
|
---|
3356 | if(i > chunksize) i = chunksize;
|
---|
3357 | {
|
---|
3358 | int z;
|
---|
3359 | for(z = 0; z < i && !stop; ++z)
|
---|
3360 | HandleByte(&Parser, (unsigned int) buf[pos+z]);
|
---|
3361 | }
|
---|
3362 | totalbytes += i;
|
---|
3363 | chunksize -= i;
|
---|
3364 | pos += i;
|
---|
3365 | if(!chunksize)
|
---|
3366 | chunkymode = 1;
|
---|
3367 | break;
|
---|
3368 | case 5:
|
---|
3369 | if(i == '\r') chunkymode = 3;
|
---|
3370 | break;
|
---|
3371 | }
|
---|
3372 | }
|
---|
3373 | if(stop)
|
---|
3374 | {
|
---|
3375 | RTCM3Error("Error in chunky transfer encoding\n");
|
---|
3376 | break;
|
---|
3377 | }
|
---|
3378 | }
|
---|
3379 | else
|
---|
3380 | {
|
---|
3381 | totalbytes += numbytes;
|
---|
3382 | {
|
---|
3383 | int z;
|
---|
3384 | for(z = 0; z < numbytes && !stop; ++z)
|
---|
3385 | HandleByte(&Parser, (unsigned int) buf[z]);
|
---|
3386 | }
|
---|
3387 | }
|
---|
3388 | if(totalbytes < 0) /* overflow */
|
---|
3389 | {
|
---|
3390 | totalbytes = 0;
|
---|
3391 | starttime = time(0);
|
---|
3392 | lastout = starttime;
|
---|
3393 | }
|
---|
3394 | }
|
---|
3395 | }
|
---|
3396 | }
|
---|
3397 | else
|
---|
3398 | {
|
---|
3399 | while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
|
---|
3400 | {
|
---|
3401 | alarm(ALARMTIME);
|
---|
3402 | fwrite(buf, (size_t)numbytes, 1, stdout);
|
---|
3403 | }
|
---|
3404 | }
|
---|
3405 | close(sockfd);
|
---|
3406 | }
|
---|
3407 | }
|
---|
3408 | return 0;
|
---|
3409 | }
|
---|
3410 | #endif /* NO_RTCM3_MAIN */
|
---|