source: ntrip/trunk/rtcm3torinex/lib/rtcm3torinex.c@ 5361

Last change on this file since 5361 was 5361, checked in by stoecker, 11 years ago

unify code
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1/*
2 Converter for RTCM3 data to RINEX.
3 $Id: rtcm3torinex.c 5361 2013-08-26 09:01:34Z stoecker $
4 Copyright (C) 2005-2012 by Dirk Stöcker <stoecker@alberding.eu>
5
6 This software is a complete NTRIP-RTCM3 to RINEX converter as well as
7 a module of the BNC tool for multiformat conversion. Contact Dirk
8 Stöcker for suggestions and bug reports related to the RTCM3 to RINEX
9 conversion problems and the author of BNC for all the other problems.
10
11 This program is free software; you can redistribute it and/or modify
12 it under the terms of the GNU General Public License as published by
13 the Free Software Foundation; either version 2 of the License, or
14 (at your option) any later version.
15
16 This program is distributed in the hope that it will be useful,
17 but WITHOUT ANY WARRANTY; without even the implied warranty of
18 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
19 GNU General Public License for more details.
20
21 You should have received a copy of the GNU General Public License
22 along with this program; if not, write to the Free Software
23 Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
24 or read http://www.gnu.org/licenses/gpl.txt
25*/
26
27#include <ctype.h>
28#include <errno.h>
29#include <math.h>
30#include <signal.h>
31#include <stdarg.h>
32#include <stdio.h>
33#include <stdlib.h>
34#include <string.h>
35#include <sys/types.h>
36#include <time.h>
37#include <unistd.h>
38
39#ifndef NO_RTCM3_MAIN
40#include <getopt.h>
41#include <netdb.h>
42#include <netinet/in.h>
43#include <sys/socket.h>
44#endif
45
46#ifndef sparc
47#include <stdint.h>
48#endif
49
50#ifndef isinf
51#define isinf(x) 0
52#endif
53
54#include "rtcm3torinex.h"
55
56/* CVS revision and version */
57static char revisionstr[] = "$Revision: 5361 $";
58
59#ifndef COMPILEDATE
60#define COMPILEDATE " built " __DATE__
61#endif
62
63static uint32_t CRC24(long size, const unsigned char *buf)
64{
65 uint32_t crc = 0;
66 int i;
67
68 while(size--)
69 {
70 crc ^= (*buf++) << (16);
71 for(i = 0; i < 8; i++)
72 {
73 crc <<= 1;
74 if(crc & 0x1000000)
75 crc ^= 0x01864cfb;
76 }
77 }
78 return crc;
79}
80
81static int GetMessage(struct RTCM3ParserData *handle)
82{
83 unsigned char *m, *e;
84 int i;
85
86 m = handle->Message+handle->SkipBytes;
87 e = handle->Message+handle->MessageSize;
88 handle->NeedBytes = handle->SkipBytes = 0;
89 while(e-m >= 3)
90 {
91 if(m[0] == 0xD3)
92 {
93 handle->size = ((m[1]&3)<<8)|m[2];
94 if(e-m >= handle->size+6)
95 {
96 if((uint32_t)((m[3+handle->size]<<16)|(m[3+handle->size+1]<<8)
97 |(m[3+handle->size+2])) == CRC24(handle->size+3, m))
98 {
99 handle->SkipBytes = handle->size;
100 break;
101 }
102 else
103 ++m;
104 }
105 else
106 {
107 handle->NeedBytes = handle->size+6;
108 break;
109 }
110 }
111 else
112 ++m;
113 }
114 if(e-m < 3)
115 handle->NeedBytes = 3;
116
117 /* copy buffer to front */
118 i = m - handle->Message;
119 if(i && m < e)
120 memmove(handle->Message, m, (size_t)(handle->MessageSize-i));
121 handle->MessageSize -= i;
122
123 return !handle->NeedBytes;
124}
125
126#define LOADBITS(a) \
127{ \
128 while((a) > numbits) \
129 { \
130 if(!size--) break; \
131 bitfield = (bitfield<<8)|*(data++); \
132 numbits += 8; \
133 } \
134}
135
136/* extract bits from data stream
137 b = variable to store result, a = number of bits */
138#define GETBITS64(b, a) \
139{ \
140 if(((a) > 56) && ((a)-56) > numbits) \
141 { \
142 uint64_t x; \
143 GETBITS(x, 56) \
144 LOADBITS((a)-56) \
145 b = ((x<<((a)-56)) | (bitfield<<(sizeof(bitfield)*8-numbits)) \
146 >>(sizeof(bitfield)*8-((a)-56))); \
147 numbits -= ((a)-56); \
148 } \
149 else \
150 { \
151 GETBITS(b, a) \
152 } \
153}
154
155/* extract bits from data stream
156 b = variable to store result, a = number of bits */
157#define GETBITS(b, a) \
158{ \
159 LOADBITS(a) \
160 b = (bitfield<<(64-numbits))>>(64-(a)); \
161 numbits -= (a); \
162}
163
164/* extract bits from data stream
165 b = variable to store result, a = number of bits */
166#define GETBITSFACTOR(b, a, c) \
167{ \
168 LOADBITS(a) \
169 b = ((bitfield<<(sizeof(bitfield)*8-numbits))>>(sizeof(bitfield)*8-(a)))*(c); \
170 numbits -= (a); \
171}
172
173/* extract floating value from data stream
174 b = variable to store result, a = number of bits */
175#define GETFLOAT(b, a, c) \
176{ \
177 LOADBITS(a) \
178 b = ((double)((bitfield<<(64-numbits))>>(64-(a))))*(c); \
179 numbits -= (a); \
180}
181
182/* extract signed floating value from data stream
183 b = variable to store result, a = number of bits */
184#define GETFLOATSIGN(b, a, c) \
185{ \
186 LOADBITS(a) \
187 b = ((double)(((int64_t)(bitfield<<(64-numbits)))>>(64-(a))))*(c); \
188 numbits -= (a); \
189}
190
191/* extract bits from data stream
192 b = variable to store result, a = number of bits */
193#define GETBITSSIGN(b, a) \
194{ \
195 LOADBITS(a) \
196 b = ((int64_t)(bitfield<<(64-numbits)))>>(64-(a)); \
197 numbits -= (a); \
198}
199
200#define GETFLOATSIGNM(b, a, c) \
201{ int l; \
202 LOADBITS(a) \
203 l = (bitfield<<(64-numbits))>>(64-1); \
204 b = ((double)(((bitfield<<(64-(numbits-1))))>>(64-(a-1))))*(c); \
205 numbits -= (a); \
206 if(l) b *= -1.0; \
207}
208
209#define SKIPBITS(b) { LOADBITS(b) numbits -= (b); }
210
211/* extract byte-aligned byte from data stream,
212 b = variable to store size, s = variable to store string pointer */
213#define GETSTRING(b, s) \
214{ \
215 b = *(data++); \
216 s = (char *) data; \
217 data += b; \
218 size -= b+1; \
219}
220
221struct leapseconds { /* specify the day of leap second */
222 int day; /* this is the day, where 23:59:59 exists 2 times */
223 int month; /* not the next day! */
224 int year;
225 int taicount;
226};
227static const int months[13] = {0,31,28,31,30,31,30,31,31,30,31,30,31};
228static const struct leapseconds leap[] = {
229/*{31, 12, 1971, 10},*/
230/*{30, 06, 1972, 11},*/
231/*{31, 12, 1972, 12},*/
232/*{31, 12, 1973, 13},*/
233/*{31, 12, 1974, 14},*/
234/*{31, 12, 1975, 15},*/
235/*{31, 12, 1976, 16},*/
236/*{31, 12, 1977, 17},*/
237/*{31, 12, 1978, 18},*/
238/*{31, 12, 1979, 19},*/
239{30, 06, 1981,20},
240{30, 06, 1982,21},
241{30, 06, 1983,22},
242{30, 06, 1985,23},
243{31, 12, 1987,24},
244{31, 12, 1989,25},
245{31, 12, 1990,26},
246{30, 06, 1992,27},
247{30, 06, 1993,28},
248{30, 06, 1994,29},
249{31, 12, 1995,30},
250{30, 06, 1997,31},
251{31, 12, 1998,32},
252{31, 12, 2005,33},
253{31, 12, 2008,34},
254{30, 06, 2012,35},
255{0,0,0,0} /* end marker */
256};
257#define LEAPSECONDS 16 /* only needed for approx. time */
258#define GPSLEAPSTART 19 /* 19 leap seconds existed at 6.1.1980 */
259
260static int longyear(int year, int month)
261{
262 if(!(year % 4) && (!(year % 400) || (year % 100)))
263 {
264 if(!month || month == 2)
265 return 1;
266 }
267 return 0;
268}
269
270int gnumleap(int year, int month, int day)
271{
272 int ls = 0;
273 const struct leapseconds *l;
274
275 for(l = leap; l->taicount && year >= l->year; ++l)
276 {
277 if(year > l->year || month > l->month || (month == l->month && day > l->day))
278 ls = l->taicount - GPSLEAPSTART;
279 }
280 return ls;
281}
282
283/* Convert Moscow time into UTC (fixnumleap == 1) or GPS (fixnumleap == 0) */
284void updatetime(int *week, int *secOfWeek, int mSecOfWeek, int fixnumleap)
285{
286 int y,m,d,k,l, nul;
287 unsigned int j = *week*(7*24*60*60) + *secOfWeek + 5*24*60*60+3*60*60;
288 int glo_daynumber = 0, glo_timeofday;
289 for(y = 1980; j >= (unsigned int)(k = (l = (365+longyear(y,0)))*24*60*60)
290 + gnumleap(y+1,1,1); ++y)
291 {
292 j -= k; glo_daynumber += l;
293 }
294 for(m = 1; j >= (unsigned int)(k = (l = months[m]+longyear(y, m))*24*60*60)
295 + gnumleap(y, m+1, 1); ++m)
296 {
297 j -= k; glo_daynumber += l;
298 }
299 for(d = 1; j >= 24UL*60UL*60UL + gnumleap(y, m, d+1); ++d)
300 j -= 24*60*60;
301 glo_daynumber -= 16*365+4-d;
302 nul = gnumleap(y, m, d);
303 glo_timeofday = j-nul;
304
305 // original version
306 // if(mSecOfWeek < 5*60*1000 && glo_timeofday > 23*60*60)
307 // *secOfWeek += 24*60*60;
308 // else if(glo_timeofday < 5*60 && mSecOfWeek > 23*60*60*1000)
309 // *secOfWeek -= 24*60*60;
310
311 // new version
312 if(mSecOfWeek < 4*60*60*1000 && glo_timeofday > 20*60*60)
313 *secOfWeek += 24*60*60;
314 else if(glo_timeofday < 4*60*60 && mSecOfWeek > 20*60*60*1000)
315 *secOfWeek -= 24*60*60;
316
317 *secOfWeek += mSecOfWeek/1000-glo_timeofday;
318 if(fixnumleap)
319 *secOfWeek -= nul;
320 if(*secOfWeek < 0) {*secOfWeek += 24*60*60*7; --*week; }
321 if(*secOfWeek >= 24*60*60*7) {*secOfWeek -= 24*60*60*7; ++*week; }
322}
323
324int RTCM3Parser(struct RTCM3ParserData *handle)
325{
326 int ret=0;
327
328#ifdef NO_RTCM3_MAIN
329 if(GetMessage(handle)) /* don't repeat */
330#else
331 while(!ret && GetMessage(handle))
332#endif /* NO_RTCM3_MAIN */
333 {
334 /* using 64 bit integer types, as it is much easier than handling
335 the long datatypes in 32 bit */
336 uint64_t numbits = 0, bitfield = 0;
337 int size = handle->size, type;
338 int syncf, old = 0;
339 unsigned char *data = handle->Message+3;
340
341 GETBITS(type,12)
342#ifdef NO_RTCM3_MAIN
343 handle->blocktype = type;
344#endif /* NO_RTCM3_MAIN */
345 switch(type)
346 {
347#ifdef NO_RTCM3_MAIN
348 default:
349 ret = type;
350 break;
351 case 1005: case 1006:
352 {
353 SKIPBITS(22)
354 GETBITSSIGN(handle->antX, 38)
355 SKIPBITS(2)
356 GETBITSSIGN(handle->antY, 38)
357 SKIPBITS(2)
358 GETBITSSIGN(handle->antZ, 38)
359 if(type == 1006)
360 GETBITS(handle->antH, 16)
361 ret = type;
362 }
363 break;
364 case 1007: case 1008: case 1033:
365 {
366 char *antenna;
367 int antnum;
368
369 SKIPBITS(12)
370 GETSTRING(antnum,antenna)
371 memcpy(handle->antenna, antenna, antnum);
372 handle->antenna[antnum] = 0;
373 ret = type;
374 }
375 break;
376 case 1013:
377 {
378 SKIPBITS(12);
379 GETBITS(handle->modjulday, 16);
380 GETBITS(handle->secofday, 17);
381 SKIPBITS(5);
382 GETBITS(handle->leapsec, 8);
383 ret = 1013;
384 }
385 break;
386#endif /* NO_RTCM3_MAIN */
387 case 1019:
388 {
389 struct gpsephemeris *ge;
390 int sv, i;
391
392 ge = &handle->ephemerisGPS;
393 memset(ge, 0, sizeof(*ge));
394
395 GETBITS(sv, 6)
396 ge->satellite = (sv < 40 ? sv : sv+80);
397 GETBITS(ge->GPSweek, 10)
398 ge->GPSweek += 1024;
399 GETBITS(ge->URAindex, 4)
400 GETBITS(sv, 2)
401 if(sv & 1)
402 ge->flags |= GPSEPHF_L2PCODE;
403 if(sv & 2)
404 ge->flags |= GPSEPHF_L2CACODE;
405 GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
406 GETBITS(ge->IODE, 8)
407 GETBITS(ge->TOC, 16)
408 ge->TOC <<= 4;
409 GETFLOATSIGN(ge->clock_driftrate, 8, 1.0/(double)(1<<30)/(double)(1<<25))
410 GETFLOATSIGN(ge->clock_drift, 16, 1.0/(double)(1<<30)/(double)(1<<13))
411 GETFLOATSIGN(ge->clock_bias, 22, 1.0/(double)(1<<30)/(double)(1<<1))
412 GETBITS(ge->IODC, 10)
413 GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
414 GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
415 GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
416 GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
417 GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
418 GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
419 GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
420 GETBITS(ge->TOE, 16)
421 ge->TOE <<= 4;
422
423 GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
424 GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
425 GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
426 GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
427 GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
428 GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
429 GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
430 GETFLOATSIGN(ge->TGD, 8, 1.0/(double)(1<<30)/(double)(1<<1))
431 GETBITS(ge->SVhealth, 6)
432 GETBITS(sv, 1)
433 if(sv)
434 ge->flags |= GPSEPHF_L2PCODEDATA;
435 GETBITS(sv, 1)
436 if(sv)
437 ge->flags |= GPSEPHF_6HOURSFIT;
438
439 i = ((int)ge->GPSweek - (int)handle->GPSWeek)*7*24*60*60
440 + ((int)ge->TOE - (int)handle->GPSTOW) - 2*60*60;
441 if(i > 5*60*60 && i < 8*60*60)
442 {
443 handle->GPSTOW = ge->TOE;
444 handle->GPSWeek = ge->GPSweek;
445 }
446 ge->TOW = 0.9999E9;
447 ret = 1019;
448 }
449 break;
450 case 1045: case 1046:
451 {
452 struct galileoephemeris *ge;
453 int sv;
454
455 ge = &handle->ephemerisGALILEO;
456 memset(ge, 0, sizeof(*ge));
457
458 GETBITS(sv, 6)
459 ge->satellite = sv;
460 GETBITS(ge->Week, 12)
461 GETBITS(ge->IODnav, 10)
462 GETBITS(ge->SISA, 8)
463 GETFLOATSIGN(ge->IDOT, 14, R2R_PI/(double)(1<<30)/(double)(1<<13))
464 GETBITSFACTOR(ge->TOC, 14, 60)
465 GETFLOATSIGN(ge->clock_driftrate, 6, 1.0/(double)(1<<30)/(double)(1<<29))
466 GETFLOATSIGN(ge->clock_drift, 21, 1.0/(double)(1<<30)/(double)(1<<16))
467 GETFLOATSIGN(ge->clock_bias, 31, 1.0/(double)(1<<30)/(double)(1<<4))
468 GETFLOATSIGN(ge->Crs, 16, 1.0/(double)(1<<5))
469 GETFLOATSIGN(ge->Delta_n, 16, R2R_PI/(double)(1<<30)/(double)(1<<13))
470 GETFLOATSIGN(ge->M0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
471 GETFLOATSIGN(ge->Cuc, 16, 1.0/(double)(1<<29))
472 GETFLOAT(ge->e, 32, 1.0/(double)(1<<30)/(double)(1<<3))
473 GETFLOATSIGN(ge->Cus, 16, 1.0/(double)(1<<29))
474 GETFLOAT(ge->sqrt_A, 32, 1.0/(double)(1<<19))
475 GETBITSFACTOR(ge->TOE, 14, 60)
476 GETFLOATSIGN(ge->Cic, 16, 1.0/(double)(1<<29))
477 GETFLOATSIGN(ge->OMEGA0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
478 GETFLOATSIGN(ge->Cis, 16, 1.0/(double)(1<<29))
479 GETFLOATSIGN(ge->i0, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
480 GETFLOATSIGN(ge->Crc, 16, 1.0/(double)(1<<5))
481 GETFLOATSIGN(ge->omega, 32, R2R_PI/(double)(1<<30)/(double)(1<<1))
482 GETFLOATSIGN(ge->OMEGADOT, 24, R2R_PI/(double)(1<<30)/(double)(1<<13))
483 GETFLOATSIGN(ge->BGD_1_5A, 10, 1.0/(double)(1<<30)/(double)(1<<2))
484 if(type == 1046)
485 {
486 GETFLOATSIGN(ge->BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2))
487 GETBITS(ge->E5aHS, 2)
488 GETBITS(sv, 1)
489 if(sv)
490 ge->flags |= GALEPHF_E5ADINVALID;
491 GETFLOATSIGN(ge->BGD_1_5B, 10, 1.0/(double)(1<<30)/(double)(1<<2))
492 }
493 else
494 {
495 GETBITS(ge->E5bHS, 2)
496 GETBITS(sv, 1)
497 if(sv)
498 ge->flags |= GALEPHF_E5BDINVALID;
499 }
500 ret = type;
501 }
502 break;
503 case 1020:
504 {
505 struct glonassephemeris *ge;
506 int i;
507
508 ge = &handle->ephemerisGLONASS;
509 memset(ge, 0, sizeof(*ge));
510
511 ge->flags |= GLOEPHF_PAVAILABLE;
512 GETBITS(ge->almanac_number, 6)
513 GETBITS(i, 5)
514 ge->frequency_number = i-7;
515 if(ge->almanac_number >= 1 && ge->almanac_number <= PRN_GLONASS_NUM)
516 handle->GLOFreq[ge->almanac_number-1] = 100+ge->frequency_number;
517 GETBITS(i, 1)
518 if(i)
519 ge->flags |= GLOEPHF_ALMANACHEALTHY;
520 GETBITS(i, 1)
521 if(i)
522 ge->flags |= GLOEPHF_ALMANACHEALTHOK;
523 GETBITS(i, 2)
524 if(i & 1)
525 ge->flags |= GLOEPHF_P10TRUE;
526 if(i & 2)
527 ge->flags |= GLOEPHF_P11TRUE;
528 GETBITS(i, 5)
529 ge->tk = i*60*60;
530 GETBITS(i, 6)
531 ge->tk += i*60;
532 GETBITS(i, 1)
533 ge->tk += i*30;
534 GETBITS(i, 1)
535 if(i)
536 ge->flags |= GLOEPHF_UNHEALTHY;
537 GETBITS(i, 1)
538 if(i)
539 ge->flags |= GLOEPHF_P2TRUE;
540 GETBITS(i, 7)
541 ge->tb = i*15*60;
542 GETFLOATSIGNM(ge->x_velocity, 24, 1.0/(double)(1<<20))
543 GETFLOATSIGNM(ge->x_pos, 27, 1.0/(double)(1<<11))
544 GETFLOATSIGNM(ge->x_acceleration, 5, 1.0/(double)(1<<30))
545 GETFLOATSIGNM(ge->y_velocity, 24, 1.0/(double)(1<<20))
546 GETFLOATSIGNM(ge->y_pos, 27, 1.0/(double)(1<<11))
547 GETFLOATSIGNM(ge->y_acceleration, 5, 1.0/(double)(1<<30))
548 GETFLOATSIGNM(ge->z_velocity, 24, 1.0/(double)(1<<20))
549 GETFLOATSIGNM(ge->z_pos, 27, 1.0/(double)(1<<11))
550 GETFLOATSIGNM(ge->z_acceleration, 5, 1.0/(double)(1<<30))
551 GETBITS(i, 1)
552 if(i)
553 ge->flags |= GLOEPHF_P3TRUE;
554 GETFLOATSIGNM(ge->gamma, 11, 1.0/(double)(1<<30)/(double)(1<<10))
555 SKIPBITS(3) /* GLONASS-M P, GLONASS-M ln (third string) */
556 GETFLOATSIGNM(ge->tau, 22, 1.0/(double)(1<<30)) /* GLONASS tau n(tb) */
557 SKIPBITS(5) /* GLONASS-M delta tau n(tb) */
558 GETBITS(ge->E, 5)
559 /* GETBITS(b, 1) / * GLONASS-M P4 */
560 /* GETBITS(b, 4) / * GLONASS-M Ft */
561 /* GETBITS(b, 11) / * GLONASS-M Nt */
562 /* GETBITS(b, 2) / * GLONASS-M M */
563 /* GETBITS(b, 1) / * GLONASS-M The Availability of Additional Data */
564 /* GETBITS(b, 11) / * GLONASS-M Na */
565 /* GETFLOATSIGNM(b, 32, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS tau c */
566 /* GETBITS(b, 5) / * GLONASS-M N4 */
567 /* GETFLOATSIGNM(b, 22, 1.0/(double)(1<<30)/(double)(1<<1)) / * GLONASS-M tau GPS */
568 /* GETBITS(b, 1) / * GLONASS-M ln (fifth string) */
569 ge->GPSWeek = handle->GPSWeek;
570 ge->GPSTOW = handle->GPSTOW;
571 ret = 1020;
572 }
573 break;
574 case 1001: case 1002: case 1003: case 1004:
575 if(handle->GPSWeek)
576 {
577 int lastlockl1[64];
578 int lastlockl2[64];
579 struct gnssdata *gnss;
580 int i, numsats, wasamb=0;
581
582 for(i = 0; i < 64; ++i)
583 lastlockl1[i] = lastlockl2[i] = 0;
584
585 gnss = &handle->DataNew;
586
587 SKIPBITS(12) /* id */
588 GETBITS(i,30)
589 if(i/1000 < (int)handle->GPSTOW - 86400)
590 ++handle->GPSWeek;
591 handle->GPSTOW = i/1000;
592 if(gnss->week && (gnss->timeofweek != i || gnss->week
593 != handle->GPSWeek))
594 {
595 handle->Data = *gnss;
596 memset(gnss, 0, sizeof(*gnss));
597 old = 1;
598 }
599 gnss->timeofweek = i;
600 gnss->week = handle->GPSWeek;
601
602 GETBITS(syncf,1) /* sync */
603 GETBITS(numsats,5)
604 SKIPBITS(4) /* smind, smint */
605
606 while(numsats-- && gnss->numsats < GNSS_MAXSATS)
607 {
608 int sv, code, l1range, c,l,s,ce,le,se,amb=0;
609 int fullsat, num;
610
611 GETBITS(sv, 6)
612 fullsat = sv < 40 ? sv : sv+80;
613 for(num = 0; num < gnss->numsats
614 && fullsat != gnss->satellites[num]; ++num)
615 ;
616
617 if(num == gnss->numsats)
618 gnss->satellites[gnss->numsats++] = fullsat;
619
620 /* L1 */
621 GETBITS(code, 1);
622 if(code)
623 {
624 c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
625 l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
626 s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
627 gnss->codetype[num][se] =
628 gnss->codetype[num][ce] = gnss->codetype[num][le] = "1W";
629 }
630 else
631 {
632 c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
633 l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
634 s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
635 gnss->codetype[num][se] =
636 gnss->codetype[num][ce] = gnss->codetype[num][le] = "1C";
637 }
638 if(!handle->info[RTCM3_MSM_GPS].type[ce])
639 {
640 handle->info[RTCM3_MSM_GPS].type[ce] =
641 handle->info[RTCM3_MSM_GPS].type[le] =
642 handle->info[RTCM3_MSM_GPS].type[se] = gnss->codetype[num][ce][1];
643 }
644 GETBITS(l1range, 24);
645 GETBITSSIGN(i, 20);
646 if((i&((1<<20)-1)) != 0x80000)
647 {
648 gnss->dataflags[num] |= (c|l);
649 gnss->measdata[num][ce] = l1range*0.02;
650 gnss->measdata[num][le] = l1range*0.02+i*0.0005;
651 }
652 GETBITS(i, 7);
653 lastlockl1[sv] = i;
654 if(handle->lastlockGPSl1[sv] > i || i == 0)
655 gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
656 if(type == 1002 || type == 1004)
657 {
658 GETBITS(amb,8);
659 if(amb && (gnss->dataflags[num] & c))
660 {
661 gnss->measdata[num][ce] += amb*299792.458;
662 gnss->measdata[num][le] += amb*299792.458;
663 ++wasamb;
664 }
665 GETBITS(i, 8);
666 if(i)
667 {
668 gnss->dataflags[num] |= s;
669 gnss->measdata[num][se] = i*0.25;
670 i /= 4*4;
671 if(i > 9) i = 9;
672 else if(i < 1) i = 1;
673 gnss->snrL1[num] = i;
674 }
675 }
676 gnss->measdata[num][le] /= GPS_WAVELENGTH_L1;
677 if(type == 1003 || type == 1004)
678 {
679 /* L2 */
680 GETBITS(code,2);
681 if(code)
682 {
683 c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
684 l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
685 s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
686 if(code >= 2)
687 {
688 gnss->codetype[num][se] =
689 gnss->codetype[num][ce] = gnss->codetype[num][le] = "2W";
690 gnss->dataflags2[num] |= GNSSDF2_XCORRL2;
691 }
692 else
693 {
694 gnss->codetype[num][se] =
695 gnss->codetype[num][ce] = gnss->codetype[num][le] = "2P";
696 }
697 }
698 else
699 {
700 c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
701 l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
702 s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
703 gnss->codetype[num][se] =
704 gnss->codetype[num][ce] = gnss->codetype[num][le] = "2 ";
705 }
706 if(!handle->info[RTCM3_MSM_GPS].type[ce])
707 {
708 handle->info[RTCM3_MSM_GPS].type[ce] =
709 handle->info[RTCM3_MSM_GPS].type[le] =
710 handle->info[RTCM3_MSM_GPS].type[se] = gnss->codetype[num][ce][1];
711 }
712 GETBITSSIGN(i,14);
713 if((i&((1<<14)-1)) != 0x2000)
714 {
715 gnss->dataflags[num] |= c;
716 gnss->measdata[num][ce] = l1range*0.02+i*0.02
717 +amb*299792.458;
718 }
719 GETBITSSIGN(i,20);
720 if((i&((1<<20)-1)) != 0x80000)
721 {
722 gnss->dataflags[num] |= l;
723 gnss->measdata[num][le] = l1range*0.02+i*0.0005
724 +amb*299792.458;
725 }
726 GETBITS(i,7);
727 lastlockl2[sv] = i;
728 if(handle->lastlockGPSl2[sv] > i || i == 0)
729 gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
730 if(type == 1004)
731 {
732 GETBITS(i, 8);
733 if(i)
734 {
735 gnss->dataflags[num] |= s;
736 gnss->measdata[num][se] = i*0.25;
737 i /= 4*4;
738 if(i > 9) i = 9;
739 else if(i < 1) i = 1;
740 gnss->snrL2[num] = i;
741 }
742 }
743 gnss->measdata[num][le] /= GPS_WAVELENGTH_L2;
744 }
745 }
746 for(i = 0; i < 64; ++i)
747 {
748 handle->lastlockGPSl1[i] = lastlockl1[i];
749 handle->lastlockGPSl2[i] = lastlockl2[i];
750 }
751 if(!syncf && !old)
752 {
753 handle->Data = *gnss;
754 memset(gnss, 0, sizeof(*gnss));
755 }
756 if(!syncf || old)
757 {
758 if(wasamb) /* not RINEX compatible without */
759 ret = 1;
760 else
761 ret = 2;
762 }
763#ifdef NO_RTCM3_MAIN
764 else
765 ret = type;
766#endif /* NO_RTCM3_MAIN */
767 }
768 break;
769 case 1009: case 1010: case 1011: case 1012:
770 {
771 int lastlockl1[64];
772 int lastlockl2[64];
773 struct gnssdata *gnss;
774 int i, numsats;
775 int wasamb=0;
776
777 for(i = 0; i < 64; ++i)
778 lastlockl1[i] = lastlockl2[i] = 0;
779
780 gnss = &handle->DataNew;
781
782 SKIPBITS(12) /* id */;
783 GETBITS(i,27) /* tk */
784
785 updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
786 i = handle->GPSTOW*1000;
787 if(gnss->week && (gnss->timeofweek != i || gnss->week
788 != handle->GPSWeek))
789 {
790 handle->Data = *gnss;
791 memset(gnss, 0, sizeof(*gnss));
792 old = 1;
793 }
794
795 gnss->timeofweek = i;
796 gnss->week = handle->GPSWeek;
797
798 GETBITS(syncf,1) /* sync */
799 GETBITS(numsats,5)
800
801 SKIPBITS(4) /* smind, smint */
802
803 while(numsats-- && gnss->numsats < GNSS_MAXSATS)
804 {
805 int sv, code, l1range, c,l,s,ce,le,se,amb=0;
806 int freq;
807 int fullsat, num;
808
809 GETBITS(sv, 6)
810 fullsat = sv-1 + PRN_GLONASS_START;
811 for(num = 0; num < gnss->numsats
812 && fullsat != gnss->satellites[num]; ++num)
813 ;
814
815 if(num == gnss->numsats)
816 gnss->satellites[gnss->numsats++] = fullsat;
817
818 /* L1 */
819 GETBITS(code, 1)
820 GETBITS(freq, 5)
821
822 if(sv >= 1 && sv <= PRN_GLONASS_NUM)
823 handle->GLOFreq[sv-1] = 100+freq-7;
824
825 if(code)
826 {
827 c = GNSSDF_P1DATA; ce = GNSSENTRY_P1DATA;
828 l = GNSSDF_L1PDATA; le = GNSSENTRY_L1PDATA;
829 s = GNSSDF_S1PDATA; se = GNSSENTRY_S1PDATA;
830 gnss->codetype[num][se] =
831 gnss->codetype[num][ce] = gnss->codetype[num][le] = "1P";
832 }
833 else
834 {
835 c = GNSSDF_C1DATA; ce = GNSSENTRY_C1DATA;
836 l = GNSSDF_L1CDATA; le = GNSSENTRY_L1CDATA;
837 s = GNSSDF_S1CDATA; se = GNSSENTRY_S1CDATA;
838 gnss->codetype[num][se] =
839 gnss->codetype[num][ce] = gnss->codetype[num][le] = "1C";
840 }
841 if(!handle->info[RTCM3_MSM_GLONASS].type[ce])
842 {
843 handle->info[RTCM3_MSM_GLONASS].type[ce] =
844 handle->info[RTCM3_MSM_GLONASS].type[le] =
845 handle->info[RTCM3_MSM_GLONASS].type[se] = gnss->codetype[num][ce][1];
846 }
847 GETBITS(l1range, 25)
848 GETBITSSIGN(i, 20)
849 if((i&((1<<20)-1)) != 0x80000)
850 {
851 /* Handle this like GPS. Actually for GLONASS L1 range is always
852 valid. To be on the save side, we handle it as invalid like we
853 do for GPS and also remove range in case of 0x80000. */
854 gnss->dataflags[num] |= (c|l);
855 gnss->measdata[num][ce] = l1range*0.02;
856 gnss->measdata[num][le] = l1range*0.02+i*0.0005;
857 }
858 GETBITS(i, 7)
859 lastlockl1[sv] = i;
860 if(handle->lastlockGLOl1[sv] > i || i == 0)
861 gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL1;
862 if(type == 1010 || type == 1012)
863 {
864 GETBITS(amb,7)
865 if(amb && (gnss->dataflags[num] & c))
866 {
867 gnss->measdata[num][ce] += amb*599584.916;
868 gnss->measdata[num][le] += amb*599584.916;
869 ++wasamb;
870 }
871 GETBITS(i, 8)
872 if(i)
873 {
874 gnss->dataflags[num] |= s;
875 gnss->measdata[num][se] = i*0.25;
876 i /= 4*4;
877 if(i > 9) i = 9;
878 else if(i < 1) i = 1;
879 gnss->snrL1[num] = i;
880 }
881 }
882 gnss->measdata[num][le] /= GLO_WAVELENGTH_L1(freq-7);
883 if(type == 1011 || type == 1012)
884 {
885 /* L2 */
886 GETBITS(code,2)
887 if(code)
888 {
889 c = GNSSDF_P2DATA; ce = GNSSENTRY_P2DATA;
890 l = GNSSDF_L2PDATA; le = GNSSENTRY_L2PDATA;
891 s = GNSSDF_S2PDATA; se = GNSSENTRY_S2PDATA;
892 gnss->codetype[num][se] =
893 gnss->codetype[num][ce] = gnss->codetype[num][le] = "2P";
894 }
895 else
896 {
897 c = GNSSDF_C2DATA; ce = GNSSENTRY_C2DATA;
898 l = GNSSDF_L2CDATA; le = GNSSENTRY_L2CDATA;
899 s = GNSSDF_S2CDATA; se = GNSSENTRY_S2CDATA;
900 gnss->codetype[num][se] =
901 gnss->codetype[num][ce] = gnss->codetype[num][le] = "2C";
902 }
903 if(!handle->info[RTCM3_MSM_GLONASS].type[ce])
904 {
905 handle->info[RTCM3_MSM_GLONASS].type[ce] =
906 handle->info[RTCM3_MSM_GLONASS].type[le] =
907 handle->info[RTCM3_MSM_GLONASS].type[se] = gnss->codetype[num][ce][1];
908 }
909 GETBITSSIGN(i,14)
910 if((i&((1<<14)-1)) != 0x2000)
911 {
912 gnss->dataflags[num] |= c;
913 gnss->measdata[num][ce] = l1range*0.02+i*0.02
914 +amb*599584.916;
915 }
916 GETBITSSIGN(i,20)
917 if((i&((1<<20)-1)) != 0x80000)
918 {
919 gnss->dataflags[num] |= l;
920 gnss->measdata[num][le] = l1range*0.02+i*0.0005
921 +amb*599584.916;
922 }
923 GETBITS(i,7)
924 lastlockl2[sv] = i;
925 if(handle->lastlockGLOl2[sv] > i || i == 0)
926 gnss->dataflags2[num] |= GNSSDF2_LOCKLOSSL2;
927 if(type == 1012)
928 {
929 GETBITS(i, 8)
930 if(i)
931 {
932 gnss->dataflags[num] |= s;
933 gnss->measdata[num][se] = i*0.25;
934 i /= 4*4;
935 if(i > 9) i = 9;
936 else if(i < 1) i = 1;
937 gnss->snrL2[num] = i;
938 }
939 }
940 gnss->measdata[num][le] /= GLO_WAVELENGTH_L2(freq-7);
941 }
942 if(!sv || sv > 24) /* illegal, remove it again */
943 --gnss->numsats;
944 }
945 for(i = 0; i < 64; ++i)
946 {
947 handle->lastlockGLOl1[i] = lastlockl1[i];
948 handle->lastlockGLOl2[i] = lastlockl2[i];
949 }
950 if(!syncf && !old)
951 {
952 handle->Data = *gnss;
953 memset(gnss, 0, sizeof(*gnss));
954 }
955 if(!syncf || old)
956 {
957 if(wasamb) /* not RINEX compatible without */
958 ret = 1;
959 else
960 ret = 2;
961 }
962#ifdef NO_RTCM3_MAIN
963 else
964 ret = type;
965#endif /* NO_RTCM3_MAIN */
966 }
967 break;
968 case 1071: case 1081: case 1091: case 1101: case 1111: case 1121:
969 case 1072: case 1082: case 1092: case 1102: case 1112: case 1122:
970 case 1073: case 1083: case 1093: case 1103: case 1113: case 1123:
971 case 1074: case 1084: case 1094: case 1104: case 1114: case 1124:
972 case 1075: case 1085: case 1095: case 1105: case 1115: case 1125:
973 case 1076: case 1086: case 1096: case 1106: case 1116: case 1126:
974 case 1077: case 1087: case 1097: case 1107: case 1117: case 1127:
975 if(handle->GPSWeek)
976 {
977 struct CodeData {
978 int typeR;
979 int typeP;
980 int typeD;
981 int typeS;
982 int lock;
983 double wl;
984 const char *code; /* currently unused */
985 };
986 struct CodeData gps[RTCM3_MSM_NUMSIG] =
987 {
988 {0,0,0,0,0,0,0},
989 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
990 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"},
991 {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
992 GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"},
993 {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
994 GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1W"},
995 {0,0,0,0,0,0,0}/*{GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
996 GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1Y"}*/,
997 {0,0,0,0,0,0,0},
998 {0,0,0,0,0,0,0},
999 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1000 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2C"},
1001 {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
1002 GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2P"},
1003 {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
1004 GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2W"},
1005 {0,0,0,0,0,0,0}/*{GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
1006 GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2Y"}*/,
1007 {0,0,0,0,0,0,0},
1008 {0,0,0,0,0,0,0},
1009 {0,0,0,0,0,0,0},
1010 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1011 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"},
1012 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1013 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"},
1014 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1015 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"},
1016 {0,0,0,0,0,0,0},
1017 {0,0,0,0,0,0,0},
1018 {0,0,0,0,0,0,0},
1019 {0,0,0,0,0,0,0},
1020 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1021 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"},
1022 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1023 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"},
1024 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1025 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"},
1026 {0,0,0,0,0,0,0},
1027 {0,0,0,0,0,0,0},
1028 {0,0,0,0,0,0,0},
1029 {0,0,0,0,0,0,0},
1030 {0,0,0,0,0,0,0},
1031 {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
1032 GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1S"},
1033 {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
1034 GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1L"},
1035 {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
1036 GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"}
1037 };
1038 /* NOTE: Uses 0.0, 1.0 for wavelength as sat index dependence is done later! */
1039 struct CodeData glo[RTCM3_MSM_NUMSIG] =
1040 {
1041 {0,0,0,0,0,0,0},
1042 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1043 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,0.0,"1C"},
1044 {GNSSENTRY_P1DATA,GNSSENTRY_L1PDATA,GNSSENTRY_D1PDATA,
1045 GNSSENTRY_S1PDATA,GNSSDF2_LOCKLOSSL1,0.0,"1P"},
1046 {0,0,0,0,0,0,0},
1047 {0,0,0,0,0,0,0},
1048 {0,0,0,0,0,0,0},
1049 {0,0,0,0,0,0,0},
1050 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1051 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,1.0,"2C"},
1052 {GNSSENTRY_P2DATA,GNSSENTRY_L2PDATA,GNSSENTRY_D2PDATA,
1053 GNSSENTRY_S2PDATA,GNSSDF2_LOCKLOSSL2,1.0,"2P"},
1054 {0,0,0,0,0,0,0},
1055 {0,0,0,0,0,0,0},
1056 {0,0,0,0,0,0,0},
1057 {0,0,0,0,0,0,0},
1058 {0,0,0,0,0,0,0},
1059 {0,0,0,0,0,0,0},
1060 {0,0,0,0,0,0,0},
1061 {0,0,0,0,0,0,0},
1062 {0,0,0,0,0,0,0},
1063 {0,0,0,0,0,0,0},
1064 {0,0,0,0,0,0,0},
1065 {0,0,0,0,0,0,0},
1066 {0,0,0,0,0,0,0},
1067 {0,0,0,0,0,0,0},
1068 {0,0,0,0,0,0,0},
1069 {0,0,0,0,0,0,0},
1070 {0,0,0,0,0,0,0},
1071 {0,0,0,0,0,0,0},
1072 {0,0,0,0,0,0,0},
1073 {0,0,0,0,0,0,0},
1074 {0,0,0,0,0,0,0},
1075 {0,0,0,0,0,0,0},
1076 {0,0,0,0,0,0,0}
1077 };
1078 struct CodeData gal[RTCM3_MSM_NUMSIG] =
1079 {
1080 {0,0,0,0,0,0,0},
1081 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1082 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1C"},
1083 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1084 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1A"},
1085 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1086 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1B"},
1087 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1088 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1X"},
1089 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1090 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GAL_WAVELENGTH_E1,"1Z"},
1091 {0,0,0,0,0,0,0},
1092 {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
1093 GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6C"},
1094 {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
1095 GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6A"},
1096 {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
1097 GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6B"},
1098 {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
1099 GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6X"},
1100 {GNSSENTRY_C6DATA,GNSSENTRY_L6DATA,GNSSENTRY_D6DATA,
1101 GNSSENTRY_S6DATA,GNSSDF2_LOCKLOSSE6,GAL_WAVELENGTH_E6,"6Z"},
1102 {0,0,0,0,0,0,0},
1103 {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
1104 GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7I"},
1105 {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
1106 GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7Q"},
1107 {GNSSENTRY_C5BDATA,GNSSENTRY_L5BDATA,GNSSENTRY_D5BDATA,
1108 GNSSENTRY_S5BDATA,GNSSDF2_LOCKLOSSE5B,GAL_WAVELENGTH_E5B,"7X"},
1109 {0,0,0,0,0,0,0},
1110 {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
1111 GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8I"},
1112 {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
1113 GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8Q"},
1114 {GNSSENTRY_C5ABDATA,GNSSENTRY_L5ABDATA,GNSSENTRY_D5ABDATA,
1115 GNSSENTRY_S5ABDATA,GNSSDF2_LOCKLOSSE5AB,GAL_WAVELENGTH_E5AB,"8X"},
1116 {0,0,0,0,0,0,0},
1117 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1118 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5I"},
1119 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1120 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5Q"},
1121 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1122 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GAL_WAVELENGTH_E5A,"5X"},
1123 {0,0,0,0,0,0,0},
1124 {0,0,0,0,0,0,0},
1125 {0,0,0,0,0,0,0},
1126 {0,0,0,0,0,0,0},
1127 {0,0,0,0,0,0,0},
1128 {0,0,0,0,0,0,0},
1129 {0,0,0,0,0,0,0},
1130 {0,0,0,0,0,0,0},
1131 };
1132 struct CodeData qzss[RTCM3_MSM_NUMSIG] =
1133 {
1134 {0,0,0,0,0,0,0},
1135 {GNSSENTRY_C1DATA,GNSSENTRY_L1CDATA,GNSSENTRY_D1CDATA,
1136 GNSSENTRY_S1CDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1C"},
1137 {0,0,0,0,0,0,0},
1138 {0,0,0,0,0,0,0},
1139 {0,0,0,0,0,0,0},
1140 {GNSSENTRY_CSAIFDATA,GNSSENTRY_LSAIFDATA,GNSSENTRY_DSAIFDATA,
1141 GNSSENTRY_SSAIFDATA,GNSSDF2_LOCKLOSSSAIF,GPS_WAVELENGTH_L1,"1Z"},
1142 {0,0,0,0,0,0,0},
1143 {0,0,0,0,0,0,0},
1144 {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA,
1145 GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6S"},
1146 {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA,
1147 GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6L"},
1148 {GNSSENTRY_CLEXDATA,GNSSENTRY_LLEXDATA,GNSSENTRY_DLEXDATA,
1149 GNSSENTRY_SLEXDATA,GNSSDF2_LOCKLOSSLEX,QZSS_WAVELENGTH_LEX,"6X"},
1150 {0,0,0,0,0,0,0},
1151 {0,0,0,0,0,0,0},
1152 {0,0,0,0,0,0,0},
1153 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1154 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2S"},
1155 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1156 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2L"},
1157 {GNSSENTRY_C2DATA,GNSSENTRY_L2CDATA,GNSSENTRY_D2CDATA,
1158 GNSSENTRY_S2CDATA,GNSSDF2_LOCKLOSSL2,GPS_WAVELENGTH_L2,"2X"},
1159 {0,0,0,0,0,0,0},
1160 {0,0,0,0,0,0,0},
1161 {0,0,0,0,0,0,0},
1162 {0,0,0,0,0,0,0},
1163 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1164 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5I"},
1165 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1166 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5Q"},
1167 {GNSSENTRY_C5DATA,GNSSENTRY_L5DATA,GNSSENTRY_D5DATA,
1168 GNSSENTRY_S5DATA,GNSSDF2_LOCKLOSSL5,GPS_WAVELENGTH_L5,"5X"},
1169 {0,0,0,0,0,0,0},
1170 {0,0,0,0,0,0,0},
1171 {0,0,0,0,0,0,0},
1172 {0,0,0,0,0,0,0},
1173 {0,0,0,0,0,0,0},
1174 {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
1175 GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1D"},
1176 {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
1177 GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1P"},
1178 {GNSSENTRY_C1NDATA,GNSSENTRY_L1NDATA,GNSSENTRY_D1NDATA,
1179 GNSSENTRY_S1NDATA,GNSSDF2_LOCKLOSSL1,GPS_WAVELENGTH_L1,"1X"}
1180 };
1181 struct CodeData compass[RTCM3_MSM_NUMSIG] =
1182 {
1183 {0,0,0,0,0,0,0},
1184 {GNSSENTRY_CB1DATA,GNSSENTRY_LB1DATA,GNSSENTRY_DB1DATA,
1185 GNSSENTRY_SB1DATA,GNSSDF2_LOCKLOSSB1,COMPASS_WAVELENGTH_B1,"2I"},
1186 {0,0,0,0,0,0,0},
1187 {0,0,0,0,0,0,0},
1188 {0,0,0,0,0,0,0},
1189 {0,0,0,0,0,0,0},
1190 {0,0,0,0,0,0,0},
1191 {GNSSENTRY_CB3DATA,GNSSENTRY_LB3DATA,GNSSENTRY_DB3DATA,
1192 GNSSENTRY_SB3DATA,GNSSDF2_LOCKLOSSB3,COMPASS_WAVELENGTH_B3,"6I"},
1193 {0,0,0,0,0,0,0},
1194 {0,0,0,0,0,0,0},
1195 {0,0,0,0,0,0,0},
1196 {0,0,0,0,0,0,0},
1197 {0,0,0,0,0,0,0},
1198 {GNSSENTRY_CB2DATA,GNSSENTRY_LB2DATA,GNSSENTRY_DB2DATA,
1199 GNSSENTRY_SB2DATA,GNSSDF2_LOCKLOSSB2,COMPASS_WAVELENGTH_B2,"7I"},
1200 {0,0,0,0,0,0,0},
1201 {0,0,0,0,0,0,0},
1202 {0,0,0,0,0,0,0},
1203 {0,0,0,0,0,0,0},
1204 {0,0,0,0,0,0,0},
1205 {0,0,0,0,0,0,0},
1206 {0,0,0,0,0,0,0},
1207 {0,0,0,0,0,0,0},
1208 {0,0,0,0,0,0,0},
1209 {0,0,0,0,0,0,0},
1210 {0,0,0,0,0,0,0},
1211 {0,0,0,0,0,0,0},
1212 {0,0,0,0,0,0,0},
1213 {0,0,0,0,0,0,0},
1214 {0,0,0,0,0,0,0},
1215 {0,0,0,0,0,0,0},
1216 {0,0,0,0,0,0,0},
1217 {0,0,0,0,0,0,0},
1218 };
1219
1220 int sys = RTCM3_MSM_GPS, i=0, count, j, old = 0, wasnoamb = 0,
1221 start=PRN_GPS_START;
1222 int syncf, sigmask, numsat = 0, numsig = 0, numcells;
1223 uint64_t satmask, cellmask, ui;
1224 double rrmod[RTCM3_MSM_NUMSAT];
1225 int rrint[RTCM3_MSM_NUMSAT], rdop[RTCM3_MSM_NUMSAT],
1226 extsat[RTCM3_MSM_NUMSAT];
1227 int ll[RTCM3_MSM_NUMCELLS]/*, hc[RTCM3_MSM_NUMCELLS]*/;
1228 double cnr[RTCM3_MSM_NUMCELLS];
1229 double cp[RTCM3_MSM_NUMCELLS], psr[RTCM3_MSM_NUMCELLS],
1230 dop[RTCM3_MSM_NUMCELLS];
1231 struct gnssdata *gnss = &handle->DataNew;
1232
1233 SKIPBITS(12)
1234 if(type >= 1121)
1235 {
1236 sys = RTCM3_MSM_COMPASS;
1237 start = PRN_COMPASS_START;
1238 }
1239 else if(type >= 1111)
1240 {
1241 sys = RTCM3_MSM_QZSS;
1242 start = PRN_QZSS_START;
1243 }
1244 else if(type >= 1101)
1245 {
1246 sys = RTCM3_MSM_SBAS;
1247 start = PRN_SBAS_START;
1248 }
1249 else if(type >= 1091)
1250 {
1251 sys = RTCM3_MSM_GALILEO;
1252 start = PRN_GALILEO_START;
1253 }
1254 else if(type >= 1081)
1255 {
1256 sys = RTCM3_MSM_GLONASS;
1257 start = PRN_GLONASS_START;
1258 }
1259
1260 for(i = 0; i < RTCM3_MSM_NUMSAT; ++i)
1261 extsat[i] = 15;
1262
1263 switch(sys)
1264 {
1265 case RTCM3_MSM_COMPASS:
1266 GETBITS(i,30)
1267 i += 14000;
1268 if(i >= 7*24*60*60*1000)
1269 i -= 7*24*60*60*1000;
1270 if(i/1000 < (int)handle->GPSTOW - 86400)
1271 ++handle->GPSWeek;
1272 handle->GPSTOW = i/1000;
1273 break;
1274 case RTCM3_MSM_GALILEO: /* use DF004 instead of DF248 */
1275 case RTCM3_MSM_QZSS:
1276 case RTCM3_MSM_SBAS:
1277 case RTCM3_MSM_GPS:
1278 GETBITS(i,30)
1279 if(i/1000 < (int)handle->GPSTOW - 86400)
1280 ++handle->GPSWeek;
1281 handle->GPSTOW = i/1000;
1282 break;
1283 case RTCM3_MSM_GLONASS:
1284 SKIPBITS(3)
1285 GETBITS(i,27) /* tk */
1286
1287 updatetime(&handle->GPSWeek, &handle->GPSTOW, i, 0); /* Moscow -> GPS */
1288 i = handle->GPSTOW*1000;
1289 break;
1290 }
1291
1292 if(gnss->week && (gnss->timeofweek != i || gnss->week
1293 != handle->GPSWeek))
1294 {
1295 handle->Data = *gnss;
1296 memset(gnss, 0, sizeof(*gnss));
1297 old = 1;
1298 }
1299 gnss->timeofweek = i;
1300 gnss->week = handle->GPSWeek;
1301
1302 GETBITS(syncf, 1)
1303 SKIPBITS(3+7+2+2+1+3)
1304 GETBITS64(satmask, RTCM3_MSM_NUMSAT)
1305
1306 /* http://gurmeetsingh.wordpress.com/2008/08/05/fast-bit-counting-routines/ */
1307 for(ui = satmask; ui; ui &= (ui - 1) /* remove rightmost bit */)
1308 ++numsat;
1309 GETBITS(sigmask, RTCM3_MSM_NUMSIG)
1310 for(i = sigmask; i; i &= (i - 1) /* remove rightmost bit */)
1311 ++numsig;
1312 i = numsat*numsig;
1313 GETBITS64(cellmask, (unsigned)i)
1314
1315 switch(type % 10)
1316 {
1317 case 1: case 2: case 3:
1318 ++wasnoamb;
1319 for(j = numsat; j--;)
1320 GETFLOAT(rrmod[j], 10, 1.0/1024.0)
1321 break;
1322 case 4: case 6:
1323 for(j = numsat; j--;)
1324 GETBITS(rrint[j], 8)
1325 for(j = numsat; j--;)
1326 GETFLOAT(rrmod[j], 10, 1.0/1024.0)
1327 break;
1328 case 5: case 7:
1329 for(j = numsat; j--;)
1330 GETBITS(rrint[j], 8)
1331 for(j = numsat; j--;)
1332 GETBITS(extsat[j], 4)
1333 for(j = numsat; j--;)
1334 GETFLOAT(rrmod[j], 10, 1.0/1024.0)
1335 for(j = numsat; j--;)
1336 GETBITSSIGN(rdop[j], 14)
1337 break;
1338 }
1339
1340 numcells = numsat*numsig;
1341 if(numcells <= RTCM3_MSM_NUMCELLS)
1342 {
1343 switch(type % 10)
1344 {
1345 case 1:
1346 for(count = numcells; count--;)
1347 if(cellmask & (UINT64(1)<<count))
1348 GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
1349 break;
1350 case 2:
1351 for(count = numcells; count--;)
1352 if(cellmask & (UINT64(1)<<count))
1353 GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
1354 for(count = numcells; count--;)
1355 if(cellmask & (UINT64(1)<<count))
1356 GETBITS(ll[count], 4)
1357 for(count = numcells; count--;)
1358 if(cellmask & (UINT64(1)<<count))
1359 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
1360 break;
1361 case 3:
1362 for(count = numcells; count--;)
1363 if(cellmask & (UINT64(1)<<count))
1364 GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
1365 for(count = numcells; count--;)
1366 if(cellmask & (UINT64(1)<<count))
1367 GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
1368 for(count = numcells; count--;)
1369 if(cellmask & (UINT64(1)<<count))
1370 GETBITS(ll[count], 4)
1371 for(count = numcells; count--;)
1372 if(cellmask & (UINT64(1)<<count))
1373 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
1374 break;
1375 case 4:
1376 for(count = numcells; count--;)
1377 if(cellmask & (UINT64(1)<<count))
1378 GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
1379 for(count = numcells; count--;)
1380 if(cellmask & (UINT64(1)<<count))
1381 GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
1382 for(count = numcells; count--;)
1383 if(cellmask & (UINT64(1)<<count))
1384 GETBITS(ll[count], 4)
1385 for(count = numcells; count--;)
1386 if(cellmask & (UINT64(1)<<count))
1387 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
1388 for(count = numcells; count--;)
1389 if(cellmask & (UINT64(1)<<count))
1390 GETBITS(cnr[count], 6)
1391 break;
1392 case 5:
1393 for(count = numcells; count--;)
1394 if(cellmask & (UINT64(1)<<count))
1395 GETFLOATSIGN(psr[count], 15, 1.0/(1<<24))
1396 for(count = numcells; count--;)
1397 if(cellmask & (UINT64(1)<<count))
1398 GETFLOATSIGN(cp[count], 22, 1.0/(1<<29))
1399 for(count = numcells; count--;)
1400 if(cellmask & (UINT64(1)<<count))
1401 GETBITS(ll[count], 4)
1402 for(count = numcells; count--;)
1403 if(cellmask & (UINT64(1)<<count))
1404 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
1405 for(count = numcells; count--;)
1406 if(cellmask & (UINT64(1)<<count))
1407 GETFLOAT(cnr[count], 6, 1.0)
1408 for(count = numcells; count--;)
1409 if(cellmask & (UINT64(1)<<count))
1410 GETFLOATSIGN(dop[count], 15, 0.0001)
1411 break;
1412 case 6:
1413 for(count = numcells; count--;)
1414 if(cellmask & (UINT64(1)<<count))
1415 GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
1416 for(count = numcells; count--;)
1417 if(cellmask & (UINT64(1)<<count))
1418 GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
1419 for(count = numcells; count--;)
1420 if(cellmask & (UINT64(1)<<count))
1421 GETBITS(ll[count], 10)
1422 for(count = numcells; count--;)
1423 if(cellmask & (UINT64(1)<<count))
1424 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
1425 for(count = numcells; count--;)
1426 if(cellmask & (UINT64(1)<<count))
1427 GETFLOAT(cnr[count], 10, 1.0/(1<<4))
1428 break;
1429 case 7:
1430 for(count = numcells; count--;)
1431 if(cellmask & (UINT64(1)<<count))
1432 GETFLOATSIGN(psr[count], 20, 1.0/(1<<29))
1433 for(count = numcells; count--;)
1434 if(cellmask & (UINT64(1)<<count))
1435 GETFLOATSIGN(cp[count], 24, 1.0/(1U<<31))
1436 for(count = numcells; count--;)
1437 if(cellmask & (UINT64(1)<<count))
1438 GETBITS(ll[count], 10)
1439 for(count = numcells; count--;)
1440 if(cellmask & (UINT64(1)<<count))
1441 SKIPBITS(1)/*GETBITS(hc[count], 1)*/
1442 for(count = numcells; count--;)
1443 if(cellmask & (UINT64(1)<<count))
1444 GETFLOAT(cnr[count], 10, 1.0/(1<<4))
1445 for(count = numcells; count--;)
1446 if(cellmask & (UINT64(1)<<count))
1447 GETFLOATSIGN(dop[count], 15, 0.0001)
1448 break;
1449 }
1450 i = RTCM3_MSM_NUMSAT;
1451 j = -1;
1452 for(count = numcells; count--;)
1453 {
1454 while(j >= 0 && !(sigmask&(1<<--j)))
1455 ;
1456 if(j < 0)
1457 {
1458 while(!(satmask&(UINT64(1)<<(--i)))) /* next satellite */
1459 ;
1460 j = RTCM3_MSM_NUMSIG;
1461 while(!(sigmask&(1<<--j)))
1462 ;
1463 --numsat;
1464 }
1465 if(cellmask & (UINT64(1)<<count))
1466 {
1467 struct CodeData cd = {0,0,0,0,0,0,0};
1468 double wl = 0.0;
1469 switch(sys)
1470 {
1471 case RTCM3_MSM_QZSS:
1472 cd = qzss[RTCM3_MSM_NUMSIG-j-1];
1473 wl = cd.wl;
1474 break;
1475 case RTCM3_MSM_COMPASS:
1476 cd = compass[RTCM3_MSM_NUMSIG-j-1];
1477 wl = cd.wl;
1478 break;
1479 case RTCM3_MSM_GPS: case RTCM3_MSM_SBAS:
1480 cd = gps[RTCM3_MSM_NUMSIG-j-1];
1481 wl = cd.wl;
1482 break;
1483 case RTCM3_MSM_GLONASS: cd = glo[RTCM3_MSM_NUMSIG-j-1];
1484 {
1485 int k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1];
1486 if(!k && extsat[count] < 14)
1487 {
1488 k = handle->GLOFreq[RTCM3_MSM_NUMSAT-i-1]
1489 = 100+extsat[count]-7;
1490 }
1491 if(k)
1492 {
1493 if(cd.wl == 0.0)
1494 wl = GLO_WAVELENGTH_L1(k-100);
1495 else if(cd.wl == 1.0)
1496 wl = GLO_WAVELENGTH_L2(k-100);
1497 }
1498 }
1499 break;
1500 case RTCM3_MSM_GALILEO: cd = gal[RTCM3_MSM_NUMSIG-j-1];
1501 wl = cd.wl;
1502 break;
1503 }
1504 if(cd.lock && wl) /* lock cannot have a valid zero value */
1505 {
1506 int fullsat = RTCM3_MSM_NUMSAT-i-1, num;
1507
1508 if(sys == RTCM3_MSM_GALILEO && fullsat >= 50 && fullsat <= 51)
1509 fullsat += PRN_GIOVE_START-50;
1510 else
1511 fullsat += start;
1512
1513 for(num = 0; num < gnss->numsats
1514 && fullsat != gnss->satellites[num]; ++num)
1515 ;
1516
1517 if(num == gnss->numsats)
1518 gnss->satellites[gnss->numsats++] = fullsat;
1519
1520 gnss->codetype[num][cd.typeR] =
1521 gnss->codetype[num][cd.typeP] =
1522 gnss->codetype[num][cd.typeD] =
1523 gnss->codetype[num][cd.typeS] = cd.code;
1524 if(!handle->info[sys].type[cd.typeR])
1525 {
1526 handle->info[sys].type[cd.typeR] =
1527 handle->info[sys].type[cd.typeP] =
1528 handle->info[sys].type[cd.typeD] =
1529 handle->info[sys].type[cd.typeS] = cd.code[1];
1530 }
1531
1532 switch(type % 10)
1533 {
1534 case 1:
1535 if(psr[count] > -1.0/(1<<10))
1536 {
1537 gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
1538 +(rrmod[numsat])*LIGHTSPEED/1000.0;
1539 gnss->dataflags[num] |= (1LL<<cd.typeR);
1540 }
1541 break;
1542 case 2:
1543 if(wl && cp[count] > -1.0/(1<<8))
1544 {
1545 gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
1546 +(rrmod[numsat])*LIGHTSPEED/1000.0/wl;
1547 if(handle->lastlockmsm[j][i] != ll[count])
1548 {
1549 gnss->dataflags2[num] |= cd.lock;
1550 handle->lastlockmsm[j][i] = ll[count];
1551 }
1552 gnss->dataflags[num] |= (1LL<<cd.typeP);
1553 }
1554 break;
1555 case 3:
1556 if(psr[count] > -1.0/(1<<10))
1557 {
1558 gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
1559 +(rrmod[numsat])*LIGHTSPEED/1000.0;
1560 gnss->dataflags[num] |= (1LL<<cd.typeR);
1561 }
1562
1563 if(wl && cp[count] > -1.0/(1<<8))
1564 {
1565 gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
1566 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
1567 if(handle->lastlockmsm[j][i] != ll[count])
1568 {
1569 gnss->dataflags2[num] |= cd.lock;
1570 handle->lastlockmsm[j][i] = ll[count];
1571 }
1572 gnss->dataflags[num] |= (1LL<<cd.typeP);
1573 }
1574 break;
1575 case 4:
1576 if(psr[count] > -1.0/(1<<10))
1577 {
1578 gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
1579 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
1580 gnss->dataflags[num] |= (1LL<<cd.typeR);
1581 }
1582
1583 if(wl && cp[count] > -1.0/(1<<8))
1584 {
1585 gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
1586 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
1587 if(handle->lastlockmsm[j][i] != ll[count])
1588 {
1589 gnss->dataflags2[num] |= cd.lock;
1590 handle->lastlockmsm[j][i] = ll[count];
1591 }
1592 gnss->dataflags[num] |= (1LL<<cd.typeP);
1593 }
1594
1595 gnss->measdata[num][cd.typeS] = cnr[count];
1596 gnss->dataflags[num] |= (1LL<<cd.typeS);
1597 break;
1598 case 5:
1599 if(psr[count] > -1.0/(1<<10))
1600 {
1601 gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
1602 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
1603 gnss->dataflags[num] |= (1LL<<cd.typeR);
1604 }
1605
1606 if(wl && cp[count] > -1.0/(1<<8))
1607 {
1608 gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
1609 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
1610 if(handle->lastlockmsm[j][i] != ll[count])
1611 {
1612 gnss->dataflags2[num] |= cd.lock;
1613 handle->lastlockmsm[j][i] = ll[count];
1614 }
1615 gnss->dataflags[num] |= (1LL<<cd.typeP);
1616 }
1617
1618 gnss->measdata[num][cd.typeS] = cnr[count];
1619 gnss->dataflags[num] |= (1<<cd.typeS);
1620
1621 if(dop[count] > -1.6384)
1622 {
1623 gnss->measdata[num][cd.typeD] = -(dop[count]
1624 +rdop[numsat])/wl;
1625 gnss->dataflags[num] |= (1LL<<cd.typeD);
1626 }
1627 break;
1628 case 6:
1629 if(psr[count] > -1.0/(1<<10))
1630 {
1631 gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
1632 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
1633 gnss->dataflags[num] |= (1LL<<cd.typeR);
1634 }
1635
1636 if(wl && cp[count] > -1.0/(1<<8))
1637 {
1638 gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
1639 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
1640 if(handle->lastlockmsm[j][i] != ll[count])
1641 {
1642 gnss->dataflags2[num] |= cd.lock;
1643 handle->lastlockmsm[j][i] = ll[count];
1644 }
1645 gnss->dataflags[num] |= (1LL<<cd.typeP);
1646 }
1647
1648 gnss->measdata[num][cd.typeS] = cnr[count];
1649 gnss->dataflags[num] |= (1LL<<cd.typeS);
1650 break;
1651 case 7:
1652 if(psr[count] > -1.0/(1<<10))
1653 {
1654 gnss->measdata[num][cd.typeR] = psr[count]*LIGHTSPEED/1000.0
1655 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0;
1656 gnss->dataflags[num] |= (1LL<<cd.typeR);
1657 }
1658
1659 if(wl && cp[count] > -1.0/(1<<8))
1660 {
1661 gnss->measdata[num][cd.typeP] = cp[count]*LIGHTSPEED/1000.0/wl
1662 +(rrmod[numsat]+rrint[numsat])*LIGHTSPEED/1000.0/wl;
1663 if(handle->lastlockmsm[j][i] != ll[count])
1664 {
1665 gnss->dataflags2[num] |= cd.lock;
1666 handle->lastlockmsm[j][i] = ll[count];
1667 }
1668 gnss->dataflags[num] |= (1LL<<cd.typeP);
1669 }
1670
1671 gnss->measdata[num][cd.typeS] = cnr[count];
1672 gnss->dataflags[num] |= (1LL<<cd.typeS);
1673
1674 if(dop[count] > -1.6384)
1675 {
1676 gnss->measdata[num][cd.typeD] = -(dop[count]
1677 +rdop[numsat])/wl;
1678 gnss->dataflags[num] |= (1LL<<cd.typeD);
1679 }
1680 break;
1681 }
1682 }
1683 }
1684 }
1685 }
1686 if(!syncf && !old)
1687 {
1688 handle->Data = *gnss;
1689 memset(gnss, 0, sizeof(*gnss));
1690 }
1691 if(!syncf || old)
1692 {
1693 if(!wasnoamb) /* not RINEX compatible without */
1694 ret = 1;
1695 else
1696 ret = 2;
1697 }
1698#ifdef NO_RTCM3_MAIN
1699 else
1700 ret = type;
1701#endif /* NO_RTCM3_MAIN */
1702 }
1703 break;
1704 }
1705 }
1706 return ret;
1707}
1708
1709struct Header
1710{
1711 const char *version;
1712 const char *pgm;
1713 const char *marker;
1714 const char *markertype;
1715 const char *observer;
1716 const char *receiver;
1717 const char *antenna;
1718 const char *position;
1719 const char *antennaposition;
1720 const char *wavelength;
1721 const char *typesofobs; /* should not be modified outside */
1722 const char *typesofobsG; /* should not be modified outside */
1723 const char *typesofobsR; /* should not be modified outside */
1724 const char *typesofobsS; /* should not be modified outside */
1725 const char *typesofobsE; /* should not be modified outside */
1726 const char *typesofobsC; /* should not be modified outside */
1727 const char *typesofobsJ; /* should not be modified outside */
1728 const char *timeoffirstobs; /* should not be modified outside */
1729};
1730
1731#define MAXHEADERLINES 50
1732#define MAXHEADERBUFFERSIZE 4096
1733struct HeaderData
1734{
1735 union
1736 {
1737 struct Header named;
1738 const char *unnamed[MAXHEADERLINES];
1739 } data;
1740 int numheaders;
1741};
1742
1743void converttime(struct converttimeinfo *c, int week, int tow)
1744{
1745 int i, k, doy, j; /* temporary variables */
1746 j = week*(7*24*60*60) + tow + 5*24*60*60;
1747 for(i = 1980; j >= (k = (365+longyear(i,0))*24*60*60); ++i)
1748 j -= k;
1749 c->year = i;
1750 doy = 1+ (j / (24*60*60));
1751 j %= (24*60*60);
1752 c->hour = j / (60*60);
1753 j %= (60*60);
1754 c->minute = j / 60;
1755 c->second = j % 60;
1756 j = 0;
1757 for(i = 1; j + (k = months[i] + longyear(c->year,i)) < doy; ++i)
1758 j += k;
1759 c->month = i;
1760 c->day = doy - j;
1761}
1762
1763#ifndef NO_RTCM3_MAIN
1764void RTCM3Error(const char *fmt, ...)
1765{
1766 va_list v;
1767 va_start(v, fmt);
1768 vfprintf(stderr, fmt, v);
1769 va_end(v);
1770}
1771#endif
1772
1773void RTCM3Text(const char *fmt, ...)
1774{
1775 va_list v;
1776 va_start(v, fmt);
1777 vprintf(fmt, v);
1778 va_end(v);
1779}
1780
1781static void fixrevision(void)
1782{
1783 if(revisionstr[0] == '$')
1784 {
1785 char *a;
1786 int i=sizeof(RTCM3TORINEX_VERSION); /* set version to 1.<revision> */
1787 strcpy(revisionstr, RTCM3TORINEX_VERSION ".");
1788 for(a = revisionstr+11; *a && *a != ' '; ++a)
1789 revisionstr[i++] = *a;
1790 revisionstr[i] = 0;
1791 }
1792}
1793
1794static int HandleRunBy(char *buffer, int buffersize, const char **u,
1795int rinex3)
1796{
1797 const char *user;
1798 time_t t;
1799 struct tm * t2;
1800
1801#ifdef NO_RTCM3_MAIN
1802 fixrevision();
1803#endif
1804
1805 user= getenv("USER");
1806 if(!user) user = "";
1807 t = time(&t);
1808 t2 = gmtime(&t);
1809 if(u) *u = user;
1810 return 1+snprintf(buffer, buffersize,
1811 rinex3 ?
1812 "RTCM3TORINEX %-7.7s%-20.20s%04d%02d%02d %02d%02d%02d UTC "
1813 "PGM / RUN BY / DATE" :
1814 "RTCM3TORINEX %-7.7s%-20.20s%04d-%02d-%02d %02d:%02d "
1815 "PGM / RUN BY / DATE", revisionstr, user, 1900+t2->tm_year,
1816 t2->tm_mon+1, t2->tm_mday, t2->tm_hour, t2->tm_min, t2->tm_sec);
1817}
1818
1819#ifdef NO_RTCM3_MAIN
1820#define NUMSTARTSKIP 1
1821#else
1822#define NUMSTARTSKIP 3
1823#endif
1824
1825int HandleObsHeader(struct RTCM3ParserData *Parser, char *buffer,
1826size_t buffersize, struct HeaderData *hdata)
1827{
1828 int buffersizeold = buffersize;
1829 int i, modified = 0;
1830
1831 if(Parser->rinex3)
1832 {
1833 int flags;
1834#define CHECKFLAGSNEW(a, b, c) \
1835 if(flags & GNSSDF_##b##DATA) \
1836 { \
1837 int new = hdata ? 1 : 0; \
1838 if(!hdata) /* check if already known */ \
1839 { \
1840 int ic; \
1841 for(ic = 0; ic < Parser->info[RTCM3_MSM_##a].numtypes \
1842 && Parser->info[RTCM3_MSM_##a].flags[ic] != GNSSDF_##b##DATA; ++ic) \
1843 ; \
1844 if(ic == Parser->info[RTCM3_MSM_##a].numtypes) \
1845 new = 1; \
1846 } \
1847 if(new) \
1848 { \
1849 Parser->info[RTCM3_MSM_##a].flags[Parser->info[RTCM3_MSM_##a].numtypes] \
1850 = GNSSDF_##b##DATA; \
1851 Parser->info[RTCM3_MSM_##a].pos[Parser->info[RTCM3_MSM_##a].numtypes] \
1852 = GNSSENTRY_##b##DATA; \
1853 if(Parser->info[RTCM3_MSM_##a].type[GNSSENTRY_##b##DATA]) \
1854 { \
1855 snprintf(Parser->fieldbuffer##a+4*Parser->info[RTCM3_MSM_##a].numtypes, \
1856 sizeof(Parser->fieldbuffer##a)-4*Parser->info[RTCM3_MSM_##a].numtypes, \
1857 " %-2.2s%c", #c, Parser->info[RTCM3_MSM_##a].type[GNSSENTRY_##b##DATA]); \
1858 } \
1859 else \
1860 { \
1861 snprintf(Parser->fieldbuffer##a+4*Parser->info[RTCM3_MSM_##a].numtypes, \
1862 sizeof(Parser->fieldbuffer##a)-4*Parser->info[RTCM3_MSM_##a].numtypes, \
1863 " %-3s", #c); \
1864 } \
1865 ++Parser->info[RTCM3_MSM_##a].numtypes; \
1866 ++modified; \
1867 } \
1868 }
1869
1870#define INITFLAGS(a) \
1871 flags = Parser->startflags; \
1872 modified = 0; \
1873 for(i = 0; i < Parser->Data.numsats; ++i) \
1874 { \
1875 if(Parser->Data.satellites[i] >= PRN_##a##_START \
1876 && Parser->Data.satellites[i] <= PRN_##a##_END) \
1877 flags |= Parser->Data.dataflags[i]; \
1878 }
1879
1880 INITFLAGS(SBAS)
1881 CHECKFLAGSNEW(SBAS, C1, C1C)
1882 CHECKFLAGSNEW(SBAS, L1C, L1C)
1883 CHECKFLAGSNEW(SBAS, D1C, D1C)
1884 CHECKFLAGSNEW(SBAS, S1C, S1C)
1885 CHECKFLAGSNEW(SBAS, C5, C5)
1886 CHECKFLAGSNEW(SBAS, L5, L5)
1887 CHECKFLAGSNEW(SBAS, D5, D5)
1888 CHECKFLAGSNEW(SBAS, S5, S5)
1889
1890 if(modified)
1891 {
1892 if(hdata)
1893 hdata->data.named.typesofobsS = buffer;
1894 i = 1+snprintf(buffer, buffersize,
1895 "S %3d%-52.52s SYS / # / OBS TYPES",
1896 Parser->info[RTCM3_MSM_SBAS].numtypes, Parser->fieldbufferSBAS);
1897 buffer += i; buffersize -= i;
1898 }
1899
1900 INITFLAGS(GPS)
1901 CHECKFLAGSNEW(GPS, C1, C1C)
1902 CHECKFLAGSNEW(GPS, L1C, L1C)
1903 CHECKFLAGSNEW(GPS, D1C, D1C)
1904 CHECKFLAGSNEW(GPS, S1C, S1C)
1905 CHECKFLAGSNEW(GPS, P1, C1W)
1906 CHECKFLAGSNEW(GPS, L1P, L1W)
1907 CHECKFLAGSNEW(GPS, D1P, D1W)
1908 CHECKFLAGSNEW(GPS, S1P, S1W)
1909 CHECKFLAGSNEW(GPS, C5, C5)
1910 CHECKFLAGSNEW(GPS, L5, L5)
1911 CHECKFLAGSNEW(GPS, D5, D5)
1912 CHECKFLAGSNEW(GPS, S5, S5)
1913 CHECKFLAGSNEW(GPS, P2, C2W)
1914 CHECKFLAGSNEW(GPS, L2P, L2W)
1915 CHECKFLAGSNEW(GPS, D2P, D2W)
1916 CHECKFLAGSNEW(GPS, S2P, S2W)
1917 CHECKFLAGSNEW(GPS, C2, C2)
1918 CHECKFLAGSNEW(GPS, L2C, L2)
1919 CHECKFLAGSNEW(GPS, D2C, D2)
1920 CHECKFLAGSNEW(GPS, S2C, S2)
1921 CHECKFLAGSNEW(GPS, C1N, C1)
1922 CHECKFLAGSNEW(GPS, L1N, L1)
1923 CHECKFLAGSNEW(GPS, D1N, D1)
1924 CHECKFLAGSNEW(GPS, S1N, S1)
1925
1926 if(modified)
1927 {
1928 if(hdata)
1929 hdata->data.named.typesofobsG = buffer;
1930 i = 1+snprintf(buffer, buffersize,
1931 "G %3d%-52.52s SYS / # / OBS TYPES",
1932 Parser->info[RTCM3_MSM_GPS].numtypes, Parser->fieldbufferGPS);
1933 if(Parser->info[RTCM3_MSM_GPS].numtypes>13)
1934 {
1935 i += snprintf(buffer+i-1, buffersize,
1936 "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGPS+13*4);
1937 }
1938 buffer += i; buffersize -= i;
1939 }
1940
1941 INITFLAGS(GLONASS)
1942 CHECKFLAGSNEW(GLONASS, C1, C1C)
1943 CHECKFLAGSNEW(GLONASS, L1C, L1C)
1944 CHECKFLAGSNEW(GLONASS, D1C, D1C)
1945 CHECKFLAGSNEW(GLONASS, S1C, S1C)
1946 CHECKFLAGSNEW(GLONASS, P1, C1P)
1947 CHECKFLAGSNEW(GLONASS, L1P, L1P)
1948 CHECKFLAGSNEW(GLONASS, D1P, D1P)
1949 CHECKFLAGSNEW(GLONASS, S1P, S1P)
1950 CHECKFLAGSNEW(GLONASS, P2, C2P)
1951 CHECKFLAGSNEW(GLONASS, L2P, L2P)
1952 CHECKFLAGSNEW(GLONASS, D2P, D2P)
1953 CHECKFLAGSNEW(GLONASS, S2P, S2P)
1954 CHECKFLAGSNEW(GLONASS, C2, C2C)
1955 CHECKFLAGSNEW(GLONASS, L2C, L2C)
1956 CHECKFLAGSNEW(GLONASS, D2C, D2C)
1957 CHECKFLAGSNEW(GLONASS, S2C, S2C)
1958
1959 if(modified)
1960 {
1961 if(hdata)
1962 hdata->data.named.typesofobsR = buffer;
1963 i = 1+snprintf(buffer, buffersize,
1964 "R %3d%-52.52s SYS / # / OBS TYPES",
1965 Parser->info[RTCM3_MSM_GLONASS].numtypes, Parser->fieldbufferGLONASS);
1966 if(Parser->info[RTCM3_MSM_GLONASS].numtypes>13)
1967 {
1968 i += snprintf(buffer+i-1, buffersize,
1969 "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGLONASS+13*4);
1970 }
1971 buffer += i; buffersize -= i;
1972 }
1973
1974 INITFLAGS(GALGIO)
1975 CHECKFLAGSNEW(GALILEO, C1, C1)
1976 CHECKFLAGSNEW(GALILEO, L1C, L1)
1977 CHECKFLAGSNEW(GALILEO, D1C, D1)
1978 CHECKFLAGSNEW(GALILEO, S1C, S1)
1979 CHECKFLAGSNEW(GALILEO, C6, C6)
1980 CHECKFLAGSNEW(GALILEO, L6, L6)
1981 CHECKFLAGSNEW(GALILEO, D6, D6)
1982 CHECKFLAGSNEW(GALILEO, S6, S6)
1983 CHECKFLAGSNEW(GALILEO, C5, C5)
1984 CHECKFLAGSNEW(GALILEO, L5, L5)
1985 CHECKFLAGSNEW(GALILEO, D5, D5)
1986 CHECKFLAGSNEW(GALILEO, S5, S5)
1987 CHECKFLAGSNEW(GALILEO, C5B, C7)
1988 CHECKFLAGSNEW(GALILEO, L5B, L7)
1989 CHECKFLAGSNEW(GALILEO, D5B, D7)
1990 CHECKFLAGSNEW(GALILEO, S5B, S7)
1991 CHECKFLAGSNEW(GALILEO, C5AB, C8)
1992 CHECKFLAGSNEW(GALILEO, L5AB, L8)
1993 CHECKFLAGSNEW(GALILEO, D5AB, D8)
1994 CHECKFLAGSNEW(GALILEO, S5AB, S8)
1995
1996 if(modified)
1997 {
1998 if(hdata)
1999 hdata->data.named.typesofobsE = buffer;
2000 i = 1+snprintf(buffer, buffersize,
2001 "E %3d%-52.52s SYS / # / OBS TYPES",
2002 Parser->info[RTCM3_MSM_GALILEO].numtypes, Parser->fieldbufferGALILEO);
2003 if(Parser->info[RTCM3_MSM_GALILEO].numtypes>13)
2004 {
2005 i += snprintf(buffer+i-1, buffersize,
2006 "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferGALILEO+13*4);
2007 }
2008 buffer += i; buffersize -= i;
2009 }
2010
2011 INITFLAGS(COMPASS)
2012 CHECKFLAGSNEW(COMPASS, CB1, C2I)
2013 CHECKFLAGSNEW(COMPASS, LB1, L2I)
2014 CHECKFLAGSNEW(COMPASS, DB1, D2I)
2015 CHECKFLAGSNEW(COMPASS, SB1, S2I)
2016 CHECKFLAGSNEW(COMPASS, CB2, C7I)
2017 CHECKFLAGSNEW(COMPASS, LB2, L7I)
2018 CHECKFLAGSNEW(COMPASS, DB2, D7I)
2019 CHECKFLAGSNEW(COMPASS, SB2, S7I)
2020 CHECKFLAGSNEW(COMPASS, CB3, C6I)
2021 CHECKFLAGSNEW(COMPASS, LB3, L6I)
2022 CHECKFLAGSNEW(COMPASS, DB3, D6I)
2023 CHECKFLAGSNEW(COMPASS, SB3, S6I)
2024
2025 if(modified)
2026 {
2027 if(hdata)
2028 hdata->data.named.typesofobsC = buffer;
2029 i = 1+snprintf(buffer, buffersize,
2030 "C %3d%-52.52s SYS / # / OBS TYPES",
2031 Parser->info[RTCM3_MSM_COMPASS].numtypes, Parser->fieldbufferCOMPASS);
2032 if(Parser->info[RTCM3_MSM_COMPASS].numtypes>13)
2033 {
2034 i += snprintf(buffer+i-1, buffersize,
2035 "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferCOMPASS+13*4);
2036 }
2037 buffer += i; buffersize -= i;
2038 }
2039
2040 INITFLAGS(QZSS)
2041
2042 CHECKFLAGSNEW(QZSS, C1, C1C)
2043 CHECKFLAGSNEW(QZSS, L1C, L1C)
2044 CHECKFLAGSNEW(QZSS, D1C, D1C)
2045 CHECKFLAGSNEW(QZSS, S1C, S1C)
2046
2047 CHECKFLAGSNEW(QZSS, CSAIF, C1Z)
2048 CHECKFLAGSNEW(QZSS, LSAIF, L1Z)
2049 CHECKFLAGSNEW(QZSS, DSAIF, D1Z)
2050 CHECKFLAGSNEW(QZSS, SSAIF, S1Z)
2051
2052 CHECKFLAGSNEW(QZSS, C1N, C1)
2053 CHECKFLAGSNEW(QZSS, L1N, L1)
2054 CHECKFLAGSNEW(QZSS, D1N, D1)
2055 CHECKFLAGSNEW(QZSS, S1N, S1)
2056
2057 CHECKFLAGSNEW(QZSS, C6, C6)
2058 CHECKFLAGSNEW(QZSS, L6, L6)
2059 CHECKFLAGSNEW(QZSS, D6, D6)
2060 CHECKFLAGSNEW(QZSS, S6, S6)
2061
2062 CHECKFLAGSNEW(QZSS, C2, C2)
2063 CHECKFLAGSNEW(QZSS, L2C, L2)
2064 CHECKFLAGSNEW(QZSS, D2C, D2)
2065 CHECKFLAGSNEW(QZSS, S2C, S2)
2066
2067 CHECKFLAGSNEW(QZSS, C5, C5)
2068 CHECKFLAGSNEW(QZSS, L5, L5)
2069 CHECKFLAGSNEW(QZSS, D5, D5)
2070 CHECKFLAGSNEW(QZSS, S5, S5)
2071
2072 if(modified)
2073 {
2074 if(hdata)
2075 hdata->data.named.typesofobsJ = buffer;
2076 i = 1+snprintf(buffer, buffersize,
2077 "J %3d%-52.52s SYS / # / OBS TYPES",
2078 Parser->info[RTCM3_MSM_QZSS].numtypes, Parser->fieldbufferQZSS);
2079 if(Parser->info[RTCM3_MSM_QZSS].numtypes>13)
2080 {
2081 i += snprintf(buffer+i-1, buffersize,
2082 "\n %-52.52s SYS / # / OBS TYPES", Parser->fieldbufferQZSS+13*4);
2083 }
2084 buffer += i; buffersize -= i;
2085 }
2086 }
2087 else
2088 {
2089#define CHECKFLAGS(a, b) \
2090 if(flags & GNSSDF_##a##DATA) \
2091 { \
2092 if(Parser->datafields[RINEXENTRY_##b##DATA]) \
2093 { \
2094 Parser->info[RTCM3_MSM_GPS].flags[Parser->datafields[\
2095 RINEXENTRY_##b##DATA]-1] = GNSSDF_##a##DATA; \
2096 Parser->info[RTCM3_MSM_GPS].pos[Parser->datafields[\
2097 RINEXENTRY_##b##DATA]-1] = GNSSENTRY_##a##DATA; \
2098 } \
2099 else \
2100 { \
2101 Parser->flags[Parser->info[RTCM3_MSM_GPS].numtypes] = GNSSDF_##a##DATA; \
2102 Parser->pos[Parser->info[RTCM3_MSM_GPS].numtypes] = GNSSENTRY_##a##DATA; \
2103 Parser->datafields[RINEXENTRY_##b##DATA] = \
2104 ++Parser->info[RTCM3_MSM_GPS].numtypes; \
2105 snprintf(Parser->fieldbuffer+6*Parser->numdatafields, \
2106 sizeof(Parser->fieldbuffer)-6*Parser->numdatafields, " "#b); \
2107 ++Parser->numdatafields; \
2108 ++modified; \
2109 } \
2110 }
2111
2112 int flags = Parser->startflags;
2113 for(i = 0; i < Parser->Data.numsats; ++i)
2114 flags |= Parser->Data.dataflags[i];
2115
2116 CHECKFLAGS(C1,C1)
2117 CHECKFLAGS(C2,C2)
2118 CHECKFLAGS(P1,P1)
2119 CHECKFLAGS(P2,P2)
2120 CHECKFLAGS(L1C,L1)
2121 CHECKFLAGS(L1P,L1)
2122 CHECKFLAGS(L2C,L2)
2123 CHECKFLAGS(L2P,L2)
2124 CHECKFLAGS(D1C,D1)
2125 CHECKFLAGS(D1P,D1)
2126 CHECKFLAGS(D2C,D2)
2127 CHECKFLAGS(D2P,D2)
2128 CHECKFLAGS(S1C,S1)
2129 CHECKFLAGS(S1P,S1)
2130 CHECKFLAGS(S2C,S2)
2131 CHECKFLAGS(S2P,S2)
2132 CHECKFLAGS(C5,C5)
2133 CHECKFLAGS(L5,L5)
2134 CHECKFLAGS(D5,D5)
2135 CHECKFLAGS(S5,S5)
2136 CHECKFLAGS(C5AB,C8)
2137 CHECKFLAGS(L5AB,L8)
2138 CHECKFLAGS(D5AB,D8)
2139 CHECKFLAGS(S5AB,S8)
2140 CHECKFLAGS(C5B,C7)
2141 CHECKFLAGS(L5B,L7)
2142 CHECKFLAGS(D5B,D7)
2143 CHECKFLAGS(S5B,S7)
2144 CHECKFLAGS(C6,C6)
2145 CHECKFLAGS(L6,L6)
2146 CHECKFLAGS(D6,D6)
2147 CHECKFLAGS(S6,S6)
2148 /* Skip C1N and SAIF for RINEX2! */
2149
2150 if(hdata)
2151 hdata->data.named.typesofobs = buffer;
2152 if(modified)
2153 {
2154 i = 1+snprintf(buffer, buffersize,
2155 "%6d%-54.54s# / TYPES OF OBSERV", Parser->info[RTCM3_MSM_GPS].numtypes,
2156 Parser->fieldbuffer);
2157 if(Parser->info[RTCM3_MSM_GPS].numtypes>9)
2158 {
2159 i += snprintf(buffer+i-1, buffersize,
2160 "\n %-54.54s# / TYPES OF OBSERV", Parser->fieldbuffer+9*6);
2161 }
2162 if(Parser->info[RTCM3_MSM_GPS].numtypes>18)
2163 {
2164 i += snprintf(buffer+i-1, buffersize,
2165 "\n %-54.54s# / TYPES OF OBSERV", Parser->fieldbuffer+18*6);
2166 }
2167 buffer += i; buffersize -= i;
2168 }
2169 }
2170 return buffersizeold - buffersize;
2171}
2172
2173void HandleHeader(struct RTCM3ParserData *Parser)
2174{
2175#ifdef NO_RTCM3_MAIN
2176 int i, modified = 0;
2177 if(Parser->allflags == 0)
2178 Parser->allflags = ~0;
2179 if(Parser->rinex3)
2180 {
2181 struct HeaderData *hdata = 0;
2182 int flags = Parser->allflags;
2183 CHECKFLAGSNEW(GPS, C1, C1C)
2184 CHECKFLAGSNEW(GPS, L1C, L1C)
2185 CHECKFLAGSNEW(GPS, D1C, D1C)
2186 CHECKFLAGSNEW(GPS, S1C, S1C)
2187 CHECKFLAGSNEW(GPS, P1, C1P)
2188 CHECKFLAGSNEW(GPS, L1P, L1P)
2189 CHECKFLAGSNEW(GPS, D1P, D1P)
2190 CHECKFLAGSNEW(GPS, S1P, S1P)
2191 CHECKFLAGSNEW(GPS, P2, C2P)
2192 CHECKFLAGSNEW(GPS, L2P, L2P)
2193 CHECKFLAGSNEW(GPS, D2P, D2P)
2194 CHECKFLAGSNEW(GPS, S2P, S2P)
2195 CHECKFLAGSNEW(GPS, C2, C2X)
2196 CHECKFLAGSNEW(GPS, L2C, L2X)
2197 CHECKFLAGSNEW(GPS, D2C, D2X)
2198 CHECKFLAGSNEW(GPS, S2C, S2X)
2199 CHECKFLAGSNEW(GLONASS, C1, C1C)
2200 CHECKFLAGSNEW(GLONASS, L1C, L1C)
2201 CHECKFLAGSNEW(GLONASS, D1C, D1C)
2202 CHECKFLAGSNEW(GLONASS, S1C, S1C)
2203 CHECKFLAGSNEW(GLONASS, P1, C1P)
2204 CHECKFLAGSNEW(GLONASS, L1P, L1P)
2205 CHECKFLAGSNEW(GLONASS, D1P, D1P)
2206 CHECKFLAGSNEW(GLONASS, S1P, S1P)
2207 CHECKFLAGSNEW(GLONASS, P2, C2P)
2208 CHECKFLAGSNEW(GLONASS, L2P, L2P)
2209 CHECKFLAGSNEW(GLONASS, D2P, D2P)
2210 CHECKFLAGSNEW(GLONASS, S2P, S2P)
2211 CHECKFLAGSNEW(GLONASS, C2, C2C)
2212 CHECKFLAGSNEW(GLONASS, L2C, L2C)
2213 CHECKFLAGSNEW(GLONASS, D2C, D2C)
2214 CHECKFLAGSNEW(GLONASS, S2C, S2C)
2215 }
2216 else
2217 {
2218 int flags = Parser->allflags;
2219 int data[RINEXENTRY_NUMBER];
2220 for(i = 0; i < RINEXENTRY_NUMBER; ++i) data[i] = 0;
2221
2222 CHECKFLAGS(C1,C1)
2223 CHECKFLAGS(C2,C2)
2224 CHECKFLAGS(P1,P1)
2225 CHECKFLAGS(P2,P2)
2226 CHECKFLAGS(L1C,L1)
2227 CHECKFLAGS(L1P,L1)
2228 CHECKFLAGS(L2C,L2)
2229 CHECKFLAGS(L2P,L2)
2230 CHECKFLAGS(D1C,D1)
2231 CHECKFLAGS(D1P,D1)
2232 CHECKFLAGS(D2C,D2)
2233 CHECKFLAGS(D2P,D2)
2234 CHECKFLAGS(S1C,S1)
2235 CHECKFLAGS(S1P,S1)
2236 CHECKFLAGS(S2C,S2)
2237 CHECKFLAGS(S2P,S2)
2238 CHECKFLAGS(C5,C5)
2239 CHECKFLAGS(L5,L5)
2240 CHECKFLAGS(D5,D5)
2241 CHECKFLAGS(S5,S5)
2242 CHECKFLAGS(C5AB,C8)
2243 CHECKFLAGS(L5AB,L8)
2244 CHECKFLAGS(D5AB,D8)
2245 CHECKFLAGS(S5AB,S8)
2246 CHECKFLAGS(C5B,C7)
2247 CHECKFLAGS(L5B,L7)
2248 CHECKFLAGS(D5B,D7)
2249 CHECKFLAGS(S5B,S7)
2250 CHECKFLAGS(C6,C6)
2251 CHECKFLAGS(L6,L6)
2252 CHECKFLAGS(D6,D6)
2253 CHECKFLAGS(S6,S6)
2254 }
2255#else /* NO_RTCM3_MAIN */
2256 struct HeaderData hdata;
2257 char thebuffer[MAXHEADERBUFFERSIZE];
2258 char *buffer = thebuffer;
2259 size_t buffersize = sizeof(thebuffer);
2260 int i;
2261
2262 memset(&hdata, 0, sizeof(hdata));
2263
2264 hdata.data.named.version = buffer;
2265 i = 1+snprintf(buffer, buffersize,
2266 "%9.2f OBSERVATION DATA M (Mixed)"
2267 " RINEX VERSION / TYPE", Parser->rinex3 ? 3.0 : 2.11);
2268 buffer += i; buffersize -= i;
2269
2270 {
2271 const char *str;
2272 hdata.data.named.pgm = buffer;
2273 i = HandleRunBy(buffer, buffersize, &str, Parser->rinex3);
2274 buffer += i; buffersize -= i;
2275 hdata.data.named.observer = buffer;
2276 i = 1+snprintf(buffer, buffersize,
2277 "%-20.20s "
2278 "OBSERVER / AGENCY", str);
2279 buffer += i; buffersize -= i;
2280 }
2281
2282 hdata.data.named.marker =
2283 "RTCM3TORINEX "
2284 "MARKER NAME";
2285
2286 hdata.data.named.markertype = !Parser->rinex3 ? 0 :
2287 "GEODETIC "
2288 "MARKER TYPE";
2289
2290 hdata.data.named.receiver =
2291 " "
2292 "REC # / TYPE / VERS";
2293
2294 hdata.data.named.antenna =
2295 " "
2296 "ANT # / TYPE";
2297
2298 hdata.data.named.position =
2299 " .0000 .0000 .0000 "
2300 "APPROX POSITION XYZ";
2301
2302 hdata.data.named.antennaposition =
2303 " .0000 .0000 .0000 "
2304 "ANTENNA: DELTA H/E/N";
2305
2306 hdata.data.named.wavelength = Parser->rinex3 ? 0 :
2307 " 1 1 "
2308 "WAVELENGTH FACT L1/2";
2309
2310 hdata.numheaders = 18;
2311
2312 i = HandleObsHeader(Parser, buffer, buffersize, &hdata);
2313 buffer += i; buffersize -= i;
2314
2315 {
2316 struct converttimeinfo cti;
2317 converttime(&cti, Parser->Data.week,
2318 (int)floor(Parser->Data.timeofweek/1000.0));
2319 hdata.data.named.timeoffirstobs = buffer;
2320 i = 1+snprintf(buffer, buffersize,
2321 " %4d %2d %2d %2d %2d %10.7f GPS "
2322 "TIME OF FIRST OBS", cti.year, cti.month, cti.day, cti.hour,
2323 cti.minute, cti.second + fmod(Parser->Data.timeofweek/1000.0,1.0));
2324
2325 buffer += i; buffersize -= i;
2326 }
2327
2328 if(Parser->headerfile)
2329 {
2330 FILE *fh;
2331 if((fh = fopen(Parser->headerfile, "r")))
2332 {
2333 size_t siz;
2334 char *lastblockstart;
2335 if((siz = fread(buffer, 1, buffersize-1, fh)) > 0)
2336 {
2337 buffer[siz] = '\n';
2338 if(siz == buffersize)
2339 {
2340 RTCM3Error("Header file is too large. Only %d bytes read.",
2341 (int)siz);
2342 }
2343 /* scan the file line by line and enter the entries in the list */
2344 /* warn for "# / TYPES OF OBSERV" and "TIME OF FIRST OBS" */
2345 /* overwrites entries, except for comments */
2346 lastblockstart = buffer;
2347 for(i = 0; i < (int)siz; ++i)
2348 {
2349 if(buffer[i] == '\n')
2350 { /* we found a line */
2351 char *end;
2352 while(buffer[i+1] == '\r')
2353 ++i; /* skip \r in case there are any */
2354 end = buffer+i;
2355 while(*end == '\t' || *end == ' ' || *end == '\r' || *end == '\n')
2356 *(end--) = 0;
2357 if(end-lastblockstart < 60+5) /* short line */
2358 RTCM3Error("Short Header line '%s' ignored.\n", lastblockstart);
2359 else
2360 {
2361 int pos;
2362 if(!strcmp("COMMENT", lastblockstart+60))
2363 pos = hdata.numheaders;
2364 else
2365 {
2366 for(pos = 0; pos < hdata.numheaders; ++pos)
2367 {
2368 if(!strcmp(hdata.data.unnamed[pos]+60, lastblockstart+60))
2369 break;
2370 }
2371 if(!strcmp("# / TYPES OF OBSERV", lastblockstart+60)
2372 || !strcmp("TIME OF FIRST OBS", lastblockstart+60))
2373 {
2374 RTCM3Error("Overwriting header '%s' is dangerous.\n",
2375 lastblockstart+60);
2376 }
2377 }
2378 if(pos >= MAXHEADERLINES)
2379 {
2380 RTCM3Error("Maximum number of header lines of %d reached.\n",
2381 MAXHEADERLINES);
2382 }
2383 else if(!strcmp("END OF HEADER", lastblockstart+60))
2384 {
2385 RTCM3Error("End of header ignored.\n");
2386 }
2387 else
2388 {
2389 hdata.data.unnamed[pos] = lastblockstart;
2390 if(pos == hdata.numheaders)
2391 ++hdata.numheaders;
2392 }
2393 }
2394 lastblockstart = buffer+i+1;
2395 }
2396 }
2397 }
2398 else
2399 {
2400 RTCM3Error("Could not read data from headerfile '%s'.\n",
2401 Parser->headerfile);
2402 }
2403 fclose(fh);
2404 }
2405 else
2406 {
2407 RTCM3Error("Could not open header datafile '%s'.\n",
2408 Parser->headerfile);
2409 }
2410 }
2411
2412 for(i = 0; i < hdata.numheaders; ++i)
2413 {
2414 if(hdata.data.unnamed[i] && hdata.data.unnamed[i][0])
2415 RTCM3Text("%s\n", hdata.data.unnamed[i]);
2416 }
2417 RTCM3Text(" "
2418 "END OF HEADER\n");
2419#endif
2420}
2421
2422static void ConvLine(FILE *file, const char *fmt, ...)
2423{
2424 char buffer[100], *b;
2425 va_list v;
2426 va_start(v, fmt);
2427 vsnprintf(buffer, sizeof(buffer), fmt, v);
2428 for(b = buffer; *b; ++b)
2429 {
2430 if(*b == 'e') *b = 'D';
2431 }
2432 fprintf(file, "%s", buffer);
2433 va_end(v);
2434}
2435
2436void HandleByte(struct RTCM3ParserData *Parser, unsigned int byte)
2437{
2438 Parser->Message[Parser->MessageSize++] = byte;
2439 if(Parser->MessageSize >= Parser->NeedBytes)
2440 {
2441 int r;
2442 while((r = RTCM3Parser(Parser)))
2443 {
2444 if(r == 1020 || r == 1019)
2445 {
2446 FILE *file = 0;
2447
2448 if(Parser->rinex3 && !(file = Parser->gpsfile))
2449 {
2450 const char *n = Parser->gpsephemeris ? Parser->gpsephemeris : Parser->glonassephemeris;
2451 if(n)
2452 {
2453 if(!(Parser->gpsfile = fopen(n, "w")))
2454 {
2455 RTCM3Error("Could not open ephemeris output file.\n");
2456 }
2457 else
2458 {
2459 char buffer[100];
2460 fprintf(Parser->gpsfile,
2461 "%9.2f%11sN: GNSS NAV DATA M: Mixed%12sRINEX VERSION / TYPE\n", 3.0, "", "");
2462 HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
2463 fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
2464 }
2465 Parser->gpsephemeris = 0;
2466 Parser->glonassephemeris = 0;
2467 file = Parser->gpsfile;
2468 }
2469 }
2470 else
2471 {
2472 if(r == 1020)
2473 {
2474 if(Parser->glonassephemeris)
2475 {
2476 if(!(Parser->glonassfile = fopen(Parser->glonassephemeris, "w")))
2477 {
2478 RTCM3Error("Could not open GLONASS ephemeris output file.\n");
2479 }
2480 else
2481 {
2482 char buffer[100];
2483 fprintf(Parser->glonassfile,
2484 "%9.2f%11sG: GLONASS NAV DATA%21sRINEX VERSION / TYPE\n", 2.1, "", "");
2485 HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
2486 fprintf(Parser->glonassfile, "%s\n%60sEND OF HEADER\n", buffer, "");
2487 }
2488 Parser->glonassephemeris = 0;
2489 }
2490 file = Parser->glonassfile;
2491 }
2492 else if(r == 1019)
2493 {
2494 if(Parser->gpsephemeris)
2495 {
2496 if(!(Parser->gpsfile = fopen(Parser->gpsephemeris, "w")))
2497 {
2498 RTCM3Error("Could not open GPS ephemeris output file.\n");
2499 }
2500 else
2501 {
2502 char buffer[100];
2503 fprintf(Parser->gpsfile,
2504 "%9.2f%11sN: GPS NAV DATA%25sRINEX VERSION / TYPE\n", 2.1, "", "");
2505 HandleRunBy(buffer, sizeof(buffer), 0, Parser->rinex3);
2506 fprintf(Parser->gpsfile, "%s\n%60sEND OF HEADER\n", buffer, "");
2507 }
2508 Parser->gpsephemeris = 0;
2509 }
2510 file = Parser->gpsfile;
2511 }
2512 }
2513 if(file)
2514 {
2515 if(r == 1020)
2516 {
2517 struct glonassephemeris *e = &Parser->ephemerisGLONASS;
2518 int w = e->GPSWeek, tow = e->GPSTOW, i;
2519 struct converttimeinfo cti;
2520
2521 updatetime(&w, &tow, e->tb*1000, 1); /* Moscow - > UTC */
2522 converttime(&cti, w, tow);
2523
2524 i = e->tk-3*60*60; if(i < 0) i += 86400;
2525
2526 if(Parser->rinex3)
2527 ConvLine(file, "R%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
2528 e->almanac_number, cti.year, cti.month, cti.day, cti.hour, cti.minute,
2529 cti.second, -e->tau, e->gamma, (double) i);
2530 else
2531 ConvLine(file, "%02d %02d %02d %02d %02d %02d%5.1f%19.12e%19.12e%19.12e\n",
2532 e->almanac_number, cti.year%100, cti.month, cti.day, cti.hour, cti.minute,
2533 (double) cti.second, -e->tau, e->gamma, (double) i);
2534 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->x_pos,
2535 e->x_velocity, e->x_acceleration, (e->flags & GLOEPHF_UNHEALTHY) ? 1.0 : 0.0);
2536 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->y_pos,
2537 e->y_velocity, e->y_acceleration, (double) e->frequency_number);
2538 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->z_pos,
2539 e->z_velocity, e->z_acceleration, (double) e->E);
2540 }
2541 else /* if(r == 1019) */
2542 {
2543 struct gpsephemeris *e = &Parser->ephemerisGPS;
2544 double d; /* temporary variable */
2545 unsigned long int i; /* temporary variable */
2546 struct converttimeinfo cti;
2547 converttime(&cti, e->GPSweek, e->TOC);
2548
2549 if(Parser->rinex3)
2550 ConvLine(file, "G%02d %04d %02d %02d %02d %02d %02d%19.12e%19.12e%19.12e\n",
2551 e->satellite, cti.year, cti.month, cti.day, cti.hour,
2552 cti.minute, cti.second, e->clock_bias, e->clock_drift,
2553 e->clock_driftrate);
2554 else
2555 ConvLine(file, "%02d %02d %02d %02d %02d %02d%05.1f%19.12e%19.12e%19.12e\n",
2556 e->satellite, cti.year%100, cti.month, cti.day, cti.hour,
2557 cti.minute, (double) cti.second, e->clock_bias, e->clock_drift,
2558 e->clock_driftrate);
2559 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", (double)e->IODE,
2560 e->Crs, e->Delta_n, e->M0);
2561 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->Cuc,
2562 e->e, e->Cus, e->sqrt_A);
2563 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n",
2564 (double) e->TOE, e->Cic, e->OMEGA0, e->Cis);
2565 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->i0,
2566 e->Crc, e->omega, e->OMEGADOT);
2567 d = 0;
2568 i = e->flags;
2569 if(i & GPSEPHF_L2CACODE)
2570 d += 2.0;
2571 if(i & GPSEPHF_L2PCODE)
2572 d += 1.0;
2573 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", e->IDOT, d,
2574 (double) e->GPSweek, i & GPSEPHF_L2PCODEDATA ? 1.0 : 0.0);
2575 if(e->URAindex <= 6) /* URA index */
2576 d = ceil(10.0*pow(2.0, 1.0+((double)e->URAindex)/2.0))/10.0;
2577 else
2578 d = ceil(10.0*pow(2.0, ((double)e->URAindex)/2.0))/10.0;
2579 /* 15 indicates not to use satellite. We can't handle this special
2580 case, so we create a high "non"-accuracy value. */
2581 ConvLine(file, " %19.12e%19.12e%19.12e%19.12e\n", d,
2582 ((double) e->SVhealth), e->TGD, ((double) e->IODC));
2583
2584 ConvLine(file, " %19.12e%19.12e\n", ((double)e->TOW),
2585 i & GPSEPHF_6HOURSFIT ? 6.0 : 4.0);
2586 /* TOW */
2587 }
2588 }
2589 }
2590 else if (r == 1 || r == 2)
2591 {
2592 int i, j, o, nh=0;
2593 char newheader[512];
2594 struct converttimeinfo cti;
2595
2596 /* skip first epochs to detect correct data types */
2597 if(Parser->init < (Parser->changeobs ? 1 : NUMSTARTSKIP))
2598 {
2599 ++Parser->init;
2600
2601 if(Parser->init == (Parser->changeobs ? 1 : NUMSTARTSKIP))
2602 HandleHeader(Parser);
2603 else
2604 {
2605 for(i = 0; i < Parser->Data.numsats; ++i)
2606 Parser->startflags |= Parser->Data.dataflags[i];
2607 continue;
2608 }
2609 }
2610 if(r == 2 && !Parser->validwarning)
2611 {
2612 RTCM3Text("No valid RINEX! All values are modulo 299792.458!"
2613 " COMMENT\n");
2614 Parser->validwarning = 1;
2615 }
2616
2617 converttime(&cti, Parser->Data.week,
2618 (int)floor(Parser->Data.timeofweek/1000.0));
2619 newheader[0] = 0;
2620 if(Parser->changeobs)
2621 {
2622 nh = HandleObsHeader(Parser, newheader, sizeof(newheader), 0);
2623 }
2624 if(Parser->rinex3)
2625 {
2626 RTCM3Text("> %04d %02d %02d %02d %02d%11.7f %d%3d\n",
2627 cti.year, cti.month, cti.day, cti.hour, cti.minute, cti.second
2628 + fmod(Parser->Data.timeofweek/1000.0,1.0), nh ? 4 : 0,
2629 Parser->Data.numsats);
2630 if(nh)
2631 {
2632 RTCM3Text("%s\n "
2633 " END OF HEADER\n", newheader);
2634 }
2635 for(i = 0; i < Parser->Data.numsats; ++i)
2636 {
2637 int sys[RTCM3_MSM_NUMSYS] = {0,0,0,0,0,0};
2638 if(Parser->Data.satellites[i] <= PRN_GPS_END)
2639 {
2640 RTCM3Text("G%02d", Parser->Data.satellites[i]);
2641 sys[RTCM3_MSM_GPS] = 1;
2642 }
2643 else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
2644 && Parser->Data.satellites[i] <= PRN_GLONASS_END)
2645 {
2646 RTCM3Text("R%02d", Parser->Data.satellites[i] - (PRN_GLONASS_START-1));
2647 sys[RTCM3_MSM_GLONASS] = 1;
2648 }
2649 else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
2650 && Parser->Data.satellites[i] <= PRN_GALILEO_END)
2651 {
2652 RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GALILEO_START-1));
2653 sys[RTCM3_MSM_GALILEO] = 1;
2654 }
2655 else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
2656 && Parser->Data.satellites[i] <= PRN_GIOVE_END)
2657 {
2658 RTCM3Text("E%02d", Parser->Data.satellites[i] - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
2659 sys[RTCM3_MSM_GALILEO] = 1;
2660 }
2661 else if(Parser->Data.satellites[i] >= PRN_QZSS_START
2662 && Parser->Data.satellites[i] <= PRN_QZSS_END)
2663 {
2664 RTCM3Text("J%02d", Parser->Data.satellites[i] - (PRN_QZSS_START-1));
2665 sys[RTCM3_MSM_QZSS] = 1;
2666 }
2667 else if(Parser->Data.satellites[i] >= PRN_COMPASS_START
2668 && Parser->Data.satellites[i] <= PRN_COMPASS_END)
2669 {
2670 RTCM3Text("C%02d", Parser->Data.satellites[i] - (PRN_COMPASS_START-1));
2671 sys[RTCM3_MSM_COMPASS] = 1;
2672 }
2673 else if(Parser->Data.satellites[i] >= PRN_SBAS_START
2674 && Parser->Data.satellites[i] <= PRN_SBAS_END)
2675 {
2676 RTCM3Text("S%02d", Parser->Data.satellites[i] - PRN_SBAS_START+20);
2677 sys[RTCM3_MSM_SBAS] = 1;
2678 }
2679 else
2680 {
2681 RTCM3Text("%3d", Parser->Data.satellites[i]);
2682 }
2683
2684 if(sys[RTCM3_MSM_GLONASS])
2685 {
2686 for(j = 0; j < Parser->info[RTCM3_MSM_GLONASS].numtypes; ++j)
2687 {
2688 long long df = Parser->info[RTCM3_MSM_GLONASS].flags[j];
2689 int pos = Parser->info[RTCM3_MSM_GLONASS].pos[j];
2690 if((Parser->Data.dataflags[i] & df)
2691 && !isnan(Parser->Data.measdata[i][pos])
2692 && !isinf(Parser->Data.measdata[i][pos])
2693 && (Parser->Data.codetype[i][pos]
2694 && Parser->info[RTCM3_MSM_GLONASS].type[pos]
2695 && Parser->info[RTCM3_MSM_GLONASS].type[pos]
2696 == Parser->Data.codetype[i][pos][1]))
2697 {
2698 char lli = ' ';
2699 char snr = ' ';
2700 if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
2701 {
2702 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
2703 lli = '1';
2704 snr = '0'+Parser->Data.snrL1[i];
2705 }
2706 if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
2707 {
2708 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
2709 lli = '1';
2710 snr = '0'+Parser->Data.snrL2[i];
2711 }
2712 RTCM3Text("%14.3f%c%c",
2713 Parser->Data.measdata[i][pos],lli,snr);
2714 }
2715 else
2716 { /* no or illegal data */
2717 RTCM3Text(" ");
2718 }
2719 }
2720 }
2721 else if(sys[RTCM3_MSM_GALILEO])
2722 {
2723 for(j = 0; j < Parser->info[RTCM3_MSM_GALILEO].numtypes; ++j)
2724 {
2725 long long df = Parser->info[RTCM3_MSM_GALILEO].flags[j];
2726 int pos = Parser->info[RTCM3_MSM_GALILEO].pos[j];
2727 if((Parser->Data.dataflags[i] & df)
2728 && !isnan(Parser->Data.measdata[i][pos])
2729 && !isinf(Parser->Data.measdata[i][pos])
2730 && (Parser->Data.codetype[i][pos]
2731 && Parser->info[RTCM3_MSM_GALILEO].type[pos]
2732 && Parser->info[RTCM3_MSM_GALILEO].type[pos]
2733 == Parser->Data.codetype[i][pos][1]))
2734 {
2735 char lli = ' ';
2736 char snr = ' ';
2737 if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
2738 {
2739 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
2740 lli = '1';
2741 snr = '0'+Parser->Data.snrL1[i];
2742 }
2743 if(df & GNSSDF_L6DATA)
2744 {
2745 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE6)
2746 lli = '1';
2747 snr = ' ';
2748 }
2749 if(df & GNSSDF_L5DATA)
2750 {
2751 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
2752 lli = '1';
2753 snr = ' ';
2754 }
2755 if(df & GNSSDF_L5BDATA)
2756 {
2757 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5B)
2758 lli = '1';
2759 snr = ' ';
2760 }
2761 if(df & GNSSDF_L5ABDATA)
2762 {
2763 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSE5AB)
2764 lli = '1';
2765 snr = ' ';
2766 }
2767 RTCM3Text("%14.3f%c%c",
2768 Parser->Data.measdata[i][pos],lli,snr);
2769 }
2770 else
2771 { /* no or illegal data */
2772 RTCM3Text(" ");
2773 }
2774 }
2775 }
2776 else if(sys[RTCM3_MSM_COMPASS])
2777 {
2778 for(j = 0; j < Parser->info[RTCM3_MSM_COMPASS].numtypes; ++j)
2779 {
2780 long long df = Parser->info[RTCM3_MSM_COMPASS].flags[j];
2781 int pos = Parser->info[RTCM3_MSM_COMPASS].pos[j];
2782 if((Parser->Data.dataflags[i] & df)
2783 && !isnan(Parser->Data.measdata[i][pos])
2784 && !isinf(Parser->Data.measdata[i][pos])
2785 && (Parser->Data.codetype[i][pos]
2786 && Parser->info[RTCM3_MSM_COMPASS].type[pos]
2787 && Parser->info[RTCM3_MSM_COMPASS].type[pos]
2788 == Parser->Data.codetype[i][pos][1]))
2789 {
2790 char lli = ' ';
2791 char snr = ' ';
2792 if(df & GNSSDF_LB1DATA)
2793 {
2794 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB1)
2795 lli = '1';
2796 }
2797 if(df & GNSSDF_LB2DATA)
2798 {
2799 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB2)
2800 lli = '1';
2801 }
2802 if(df & GNSSDF_LB3DATA)
2803 {
2804 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSB3)
2805 lli = '1';
2806 }
2807 RTCM3Text("%14.3f%c%c",
2808 Parser->Data.measdata[i][pos],lli,snr);
2809 }
2810 else
2811 { /* no or illegal data */
2812 RTCM3Text(" ");
2813 }
2814 }
2815 }
2816 else if(sys[RTCM3_MSM_QZSS])
2817 {
2818 for(j = 0; j < Parser->info[RTCM3_MSM_QZSS].numtypes; ++j)
2819 {
2820 long long df = Parser->info[RTCM3_MSM_QZSS].flags[j];
2821 int pos = Parser->info[RTCM3_MSM_QZSS].pos[j];
2822 if((Parser->Data.dataflags[i] & df)
2823 && !isnan(Parser->Data.measdata[i][pos])
2824 && !isinf(Parser->Data.measdata[i][pos])
2825 && (Parser->Data.codetype[i][pos]
2826 && Parser->info[RTCM3_MSM_QZSS].type[pos]
2827 && Parser->info[RTCM3_MSM_QZSS].type[pos]
2828 == Parser->Data.codetype[i][pos][1]))
2829 {
2830 char lli = ' ';
2831 char snr = ' ';
2832 if(df & GNSSDF_L1CDATA)
2833 {
2834 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
2835 lli = '1';
2836 snr = '0'+Parser->Data.snrL1[i];
2837 }
2838 if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
2839 {
2840 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
2841 lli = '1';
2842 snr = '0'+Parser->Data.snrL2[i];
2843 }
2844 if(df & GNSSDF_L5DATA)
2845 {
2846 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
2847 lli = '1';
2848 snr = ' ';
2849 }
2850 RTCM3Text("%14.3f%c%c",
2851 Parser->Data.measdata[i][pos],lli,snr);
2852 }
2853 else
2854 { /* no or illegal data */
2855 RTCM3Text(" ");
2856 }
2857 }
2858 }
2859 else if(sys[RTCM3_MSM_SBAS])
2860 {
2861 for(j = 0; j < Parser->info[RTCM3_MSM_SBAS].numtypes; ++j)
2862 {
2863 long long df = Parser->info[RTCM3_MSM_SBAS].flags[j];
2864 int pos = Parser->info[RTCM3_MSM_SBAS].pos[j];
2865 if((Parser->Data.dataflags[i] & df)
2866 && !isnan(Parser->Data.measdata[i][pos])
2867 && !isinf(Parser->Data.measdata[i][pos])
2868 && (Parser->Data.codetype[i][pos]
2869 && Parser->info[RTCM3_MSM_SBAS].type[pos]
2870 && Parser->info[RTCM3_MSM_SBAS].type[pos]
2871 == Parser->Data.codetype[i][pos][1]))
2872 {
2873 char lli = ' ';
2874 char snr = ' ';
2875 if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
2876 {
2877 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
2878 lli = '1';
2879 snr = '0'+Parser->Data.snrL1[i];
2880 }
2881 if(df & GNSSDF_L5DATA)
2882 {
2883 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
2884 lli = '1';
2885 snr = ' ';
2886 }
2887 RTCM3Text("%14.3f%c%c",
2888 Parser->Data.measdata[i][pos],lli,snr);
2889 }
2890 else
2891 { /* no or illegal data */
2892 RTCM3Text(" ");
2893 }
2894 }
2895 }
2896 else
2897 {
2898 for(j = 0; j < Parser->info[RTCM3_MSM_GPS].numtypes; ++j)
2899 {
2900 long long df = Parser->info[RTCM3_MSM_GPS].flags[j];
2901 int pos = Parser->info[RTCM3_MSM_GPS].pos[j];
2902 if((Parser->Data.dataflags[i] & df)
2903 && !isnan(Parser->Data.measdata[i][pos])
2904 && !isinf(Parser->Data.measdata[i][pos])
2905 && (Parser->Data.codetype[i][pos]
2906 && Parser->info[RTCM3_MSM_GPS].type[pos]
2907 && Parser->info[RTCM3_MSM_GPS].type[pos]
2908 == Parser->Data.codetype[i][pos][1]))
2909 {
2910 char lli = ' ';
2911 char snr = ' ';
2912 if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
2913 {
2914 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
2915 lli = '1';
2916 snr = '0'+Parser->Data.snrL1[i];
2917 }
2918 if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
2919 {
2920 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
2921 lli = '1';
2922 snr = '0'+Parser->Data.snrL2[i];
2923 }
2924 if(df & GNSSDF_L5DATA)
2925 {
2926 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL5)
2927 lli = '1';
2928 snr = ' ';
2929 }
2930 RTCM3Text("%14.3f%c%c",
2931 Parser->Data.measdata[i][pos],lli,snr);
2932 }
2933 else
2934 { /* no or illegal data */
2935 RTCM3Text(" ");
2936 }
2937 }
2938 }
2939 RTCM3Text("\n");
2940 }
2941 }
2942 else
2943 {
2944 RTCM3Text(" %02d %2d %2d %2d %2d %10.7f %d%3d",
2945 cti.year%100, cti.month, cti.day, cti.hour, cti.minute, cti.second
2946 + fmod(Parser->Data.timeofweek/1000.0,1.0), nh ? 4 : 0,
2947 Parser->Data.numsats);
2948 for(i = 0; i < 12 && i < Parser->Data.numsats; ++i)
2949 {
2950 if(Parser->Data.satellites[i] <= PRN_GPS_END)
2951 RTCM3Text("G%02d", Parser->Data.satellites[i]);
2952 else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
2953 && Parser->Data.satellites[i] <= PRN_GLONASS_END)
2954 RTCM3Text("R%02d", Parser->Data.satellites[i]
2955 - (PRN_GLONASS_START-1));
2956 else if(Parser->Data.satellites[i] >= PRN_SBAS_START
2957 && Parser->Data.satellites[i] <= PRN_SBAS_END)
2958 RTCM3Text("S%02d", Parser->Data.satellites[i]
2959 - PRN_SBAS_START+20);
2960 else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
2961 && Parser->Data.satellites[i] <= PRN_GALILEO_END)
2962 RTCM3Text("E%02d", Parser->Data.satellites[i]
2963 - (PRN_GALILEO_START-1));
2964 else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
2965 && Parser->Data.satellites[i] <= PRN_GIOVE_END)
2966 RTCM3Text("E%02d", Parser->Data.satellites[i]
2967 - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
2968 else if(Parser->Data.satellites[i] >= PRN_QZSS_START
2969 && Parser->Data.satellites[i] <= PRN_QZSS_END)
2970 RTCM3Text("J%02d", Parser->Data.satellites[i]
2971 - (PRN_QZSS_START-1));
2972 else if(Parser->Data.satellites[i] >= PRN_COMPASS_START
2973 && Parser->Data.satellites[i] <= PRN_COMPASS_END)
2974 RTCM3Text("C%02d", Parser->Data.satellites[i]
2975 - (PRN_COMPASS_START-1));
2976 else
2977 RTCM3Text("%3d", Parser->Data.satellites[i]);
2978 }
2979 RTCM3Text("\n");
2980 o = 12;
2981 j = Parser->Data.numsats - 12;
2982 while(j > 0)
2983 {
2984 RTCM3Text(" ");
2985 for(i = o; i < o+12 && i < Parser->Data.numsats; ++i)
2986 {
2987 if(Parser->Data.satellites[i] <= PRN_GPS_END)
2988 RTCM3Text("G%02d", Parser->Data.satellites[i]);
2989 else if(Parser->Data.satellites[i] >= PRN_GLONASS_START
2990 && Parser->Data.satellites[i] <= PRN_GLONASS_END)
2991 RTCM3Text("R%02d", Parser->Data.satellites[i]
2992 - (PRN_GLONASS_START-1));
2993 else if(Parser->Data.satellites[i] >= PRN_SBAS_START
2994 && Parser->Data.satellites[i] <= PRN_SBAS_END)
2995 RTCM3Text("S%02d", Parser->Data.satellites[i]
2996 - PRN_SBAS_START+20);
2997 else if(Parser->Data.satellites[i] >= PRN_GALILEO_START
2998 && Parser->Data.satellites[i] <= PRN_GALILEO_END)
2999 RTCM3Text("E%02d", Parser->Data.satellites[i]
3000 - (PRN_GALILEO_START-1));
3001 else if(Parser->Data.satellites[i] >= PRN_GIOVE_START
3002 && Parser->Data.satellites[i] <= PRN_GIOVE_END)
3003 RTCM3Text("E%02d", Parser->Data.satellites[i]
3004 - (PRN_GIOVE_START-PRN_GIOVE_OFFSET));
3005 else if(Parser->Data.satellites[i] >= PRN_QZSS_START
3006 && Parser->Data.satellites[i] <= PRN_QZSS_END)
3007 RTCM3Text("J%02d", Parser->Data.satellites[i]
3008 - (PRN_QZSS_START-1));
3009 else if(Parser->Data.satellites[i] >= PRN_COMPASS_START
3010 && Parser->Data.satellites[i] <= PRN_COMPASS_END)
3011 RTCM3Text("C%02d", Parser->Data.satellites[i]
3012 - (PRN_COMPASS_START-1));
3013 else
3014 RTCM3Text("%3d", Parser->Data.satellites[i]);
3015 }
3016 RTCM3Text("\n");
3017 j -= 12;
3018 o += 12;
3019 }
3020 if(nh)
3021 {
3022 RTCM3Text("%s\n "
3023 " END OF HEADER\n", newheader);
3024 }
3025 for(i = 0; i < Parser->Data.numsats; ++i)
3026 {
3027 for(j = 0; j < Parser->info[RTCM3_MSM_GPS].numtypes; ++j)
3028 {
3029 int v = 0;
3030 long long df = Parser->flags[j];
3031 int pos = Parser->pos[j];
3032 if((Parser->Data.dataflags[i] & df)
3033 && !isnan(Parser->Data.measdata[i][pos])
3034 && !isinf(Parser->Data.measdata[i][pos]))
3035 {
3036 v = 1;
3037 }
3038 else
3039 {
3040 df = Parser->info[RTCM3_MSM_GPS].flags[j];
3041 pos = Parser->info[RTCM3_MSM_GPS].pos[j];
3042
3043 if((Parser->Data.dataflags[i] & df)
3044 && !isnan(Parser->Data.measdata[i][pos])
3045 && !isinf(Parser->Data.measdata[i][pos]))
3046 {
3047 v = 1;
3048 }
3049 }
3050
3051 if(!v)
3052 { /* no or illegal data */
3053 RTCM3Text(" ");
3054 }
3055 else
3056 {
3057 char lli = ' ';
3058 char snr = ' ';
3059 if(df & (GNSSDF_L1CDATA|GNSSDF_L1PDATA))
3060 {
3061 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL1)
3062 lli = '1';
3063 snr = '0'+Parser->Data.snrL1[i];
3064 }
3065 if(df & (GNSSDF_L2CDATA|GNSSDF_L2PDATA))
3066 {
3067 if(Parser->Data.dataflags2[i]
3068 & (GNSSDF2_LOCKLOSSL2|GNSSDF2_XCORRL2))
3069 {
3070 lli = '0';
3071 if(Parser->Data.dataflags2[i] & GNSSDF2_LOCKLOSSL2)
3072 lli += 1;
3073 if(Parser->Data.dataflags2[i] & GNSSDF2_XCORRL2)
3074 lli += 4;
3075 }
3076 snr = '0'+Parser->Data.snrL2[i];
3077 }
3078 if((df & GNSSDF_P2DATA) && (Parser->Data.dataflags2[i]
3079 & GNSSDF2_XCORRL2))
3080 lli = '4';
3081 RTCM3Text("%14.3f%c%c",
3082 Parser->Data.measdata[i][pos],lli,snr);
3083 }
3084 if(j%5 == 4 || j == Parser->info[RTCM3_MSM_GPS].numtypes-1)
3085 RTCM3Text("\n");
3086 }
3087 }
3088 }
3089 }
3090 }
3091 }
3092}
3093
3094#ifndef NO_RTCM3_MAIN
3095static char datestr[] = "$Date: 2013-08-26 09:01:34 +0000 (Mon, 26 Aug 2013) $";
3096
3097/* The string, which is send as agent in HTTP request */
3098#define AGENTSTRING "NTRIP NtripRTCM3ToRINEX"
3099
3100#define MAXDATASIZE 1000 /* max number of bytes we can get at once */
3101
3102static const char encodingTable [64] = {
3103 'A','B','C','D','E','F','G','H','I','J','K','L','M','N','O','P',
3104 'Q','R','S','T','U','V','W','X','Y','Z','a','b','c','d','e','f',
3105 'g','h','i','j','k','l','m','n','o','p','q','r','s','t','u','v',
3106 'w','x','y','z','0','1','2','3','4','5','6','7','8','9','+','/'
3107};
3108
3109/* does not buffer overrun, but breaks directly after an error */
3110/* returns the number of required bytes */
3111static int encode(char *buf, int size, const char *user, const char *pwd)
3112{
3113 unsigned char inbuf[3];
3114 char *out = buf;
3115 int i, sep = 0, fill = 0, bytes = 0;
3116
3117 while(*user || *pwd)
3118 {
3119 i = 0;
3120 while(i < 3 && *user) inbuf[i++] = *(user++);
3121 if(i < 3 && !sep) {inbuf[i++] = ':'; ++sep; }
3122 while(i < 3 && *pwd) inbuf[i++] = *(pwd++);
3123 while(i < 3) {inbuf[i++] = 0; ++fill; }
3124 if(out-buf < size-1)
3125 *(out++) = encodingTable[(inbuf [0] & 0xFC) >> 2];
3126 if(out-buf < size-1)
3127 *(out++) = encodingTable[((inbuf [0] & 0x03) << 4)
3128 | ((inbuf [1] & 0xF0) >> 4)];
3129 if(out-buf < size-1)
3130 {
3131 if(fill == 2)
3132 *(out++) = '=';
3133 else
3134 *(out++) = encodingTable[((inbuf [1] & 0x0F) << 2)
3135 | ((inbuf [2] & 0xC0) >> 6)];
3136 }
3137 if(out-buf < size-1)
3138 {
3139 if(fill >= 1)
3140 *(out++) = '=';
3141 else
3142 *(out++) = encodingTable[inbuf [2] & 0x3F];
3143 }
3144 bytes += 4;
3145 }
3146 if(out-buf < size)
3147 *out = 0;
3148 return bytes;
3149}
3150
3151static int stop = 0;
3152
3153struct Args
3154{
3155 const char *server;
3156 const char *port;
3157 int mode;
3158 int timeout;
3159 int rinex3;
3160 int changeobs;
3161 const char *user;
3162 const char *password;
3163 const char *proxyhost;
3164 const char *proxyport;
3165 const char *nmea;
3166 const char *data;
3167 const char *headerfile;
3168 const char *gpsephemeris;
3169 const char *glonassephemeris;
3170};
3171
3172/* option parsing */
3173#ifdef NO_LONG_OPTS
3174#define LONG_OPT(a)
3175#else
3176#define LONG_OPT(a) a
3177static struct option opts[] = {
3178{ "data", required_argument, 0, 'd'},
3179{ "server", required_argument, 0, 's'},
3180{ "password", required_argument, 0, 'p'},
3181{ "port", required_argument, 0, 'r'},
3182{ "timeout", required_argument, 0, 't'},
3183{ "header", required_argument, 0, 'f'},
3184{ "user", required_argument, 0, 'u'},
3185{ "gpsephemeris", required_argument, 0, 'E'},
3186{ "glonassephemeris", required_argument, 0, 'G'},
3187{ "rinex3", no_argument, 0, '3'},
3188{ "changeobs", no_argument, 0, 'O'},
3189{ "proxyport", required_argument, 0, 'R'},
3190{ "proxyhost", required_argument, 0, 'S'},
3191{ "nmea", required_argument, 0, 'n'},
3192{ "mode", required_argument, 0, 'M'},
3193{ "help", no_argument, 0, 'h'},
3194{0,0,0,0}};
3195#endif
3196#define ARGOPT "-d:s:p:r:t:f:u:E:G:M:S:R:n:h3O"
3197
3198enum MODE { HTTP = 1, RTSP = 2, NTRIP1 = 3, AUTO = 4, END };
3199
3200static const char *geturl(const char *url, struct Args *args)
3201{
3202 static char buf[1000];
3203 static char *Buffer = buf;
3204 static char *Bufend = buf+sizeof(buf);
3205
3206 if(strncmp("ntrip:", url, 6))
3207 return "URL must start with 'ntrip:'.";
3208 url += 6; /* skip ntrip: */
3209
3210 if(*url != '@' && *url != '/')
3211 {
3212 /* scan for mountpoint */
3213 args->data = Buffer;
3214 while(*url && *url != '@' && *url != ';' &&*url != '/' && Buffer != Bufend)
3215 *(Buffer++) = *(url++);
3216 if(Buffer == args->data)
3217 return "Mountpoint required.";
3218 else if(Buffer >= Bufend-1)
3219 return "Parsing buffer too short.";
3220 *(Buffer++) = 0;
3221 }
3222
3223 if(*url == '/') /* username and password */
3224 {
3225 ++url;
3226 args->user = Buffer;
3227 while(*url && *url != '@' && *url != ';' && *url != ':' && Buffer != Bufend)
3228 *(Buffer++) = *(url++);
3229 if(Buffer == args->user)
3230 return "Username cannot be empty.";
3231 else if(Buffer >= Bufend-1)
3232 return "Parsing buffer too short.";
3233 *(Buffer++) = 0;
3234
3235 if(*url == ':') ++url;
3236
3237 args->password = Buffer;
3238 while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
3239 *(Buffer++) = *(url++);
3240 if(Buffer == args->password)
3241 return "Password cannot be empty.";
3242 else if(Buffer >= Bufend-1)
3243 return "Parsing buffer too short.";
3244 *(Buffer++) = 0;
3245 }
3246
3247 if(*url == '@') /* server */
3248 {
3249 ++url;
3250 if(*url != '@' && *url != ':')
3251 {
3252 args->server = Buffer;
3253 while(*url && *url != '@' && *url != ':' && *url != ';' && Buffer != Bufend)
3254 *(Buffer++) = *(url++);
3255 if(Buffer == args->server)
3256 return "Servername cannot be empty.";
3257 else if(Buffer >= Bufend-1)
3258 return "Parsing buffer too short.";
3259 *(Buffer++) = 0;
3260 }
3261
3262 if(*url == ':')
3263 {
3264 ++url;
3265 args->port = Buffer;
3266 while(*url && *url != '@' && *url != ';' && Buffer != Bufend)
3267 *(Buffer++) = *(url++);
3268 if(Buffer == args->port)
3269 return "Port cannot be empty.";
3270 else if(Buffer >= Bufend-1)
3271 return "Parsing buffer too short.";
3272 *(Buffer++) = 0;
3273 }
3274
3275 if(*url == '@') /* proxy */
3276 {
3277 ++url;
3278 args->proxyhost = Buffer;
3279 while(*url && *url != ':' && *url != ';' && Buffer != Bufend)
3280 *(Buffer++) = *(url++);
3281 if(Buffer == args->proxyhost)
3282 return "Proxy servername cannot be empty.";
3283 else if(Buffer >= Bufend-1)
3284 return "Parsing buffer too short.";
3285 *(Buffer++) = 0;
3286
3287 if(*url == ':')
3288 {
3289 ++url;
3290 args->proxyport = Buffer;
3291 while(*url && *url != ';' && Buffer != Bufend)
3292 *(Buffer++) = *(url++);
3293 if(Buffer == args->proxyport)
3294 return "Proxy port cannot be empty.";
3295 else if(Buffer >= Bufend-1)
3296 return "Parsing buffer too short.";
3297 *(Buffer++) = 0;
3298 }
3299 }
3300 }
3301 if(*url == ';') /* NMEA */
3302 {
3303 args->nmea = ++url;
3304 while(*url)
3305 ++url;
3306 }
3307
3308 return *url ? "Garbage at end of server string." : 0;
3309}
3310
3311static int getargs(int argc, char **argv, struct Args *args)
3312{
3313 int res = 1;
3314 int getoptr;
3315 int help = 0;
3316 char *t;
3317
3318 args->server = "www.euref-ip.net";
3319 args->port = "2101";
3320 args->timeout = 60;
3321 args->user = "";
3322 args->password = "";
3323 args->data = 0;
3324 args->headerfile = 0;
3325 args->gpsephemeris = 0;
3326 args->glonassephemeris = 0;
3327 args->rinex3 = 0;
3328 args->nmea = 0;
3329 args->changeobs = 0;
3330 args->proxyhost = 0;
3331 args->proxyport = "2101";
3332 args->mode = AUTO;
3333 help = 0;
3334
3335 do
3336 {
3337
3338#ifdef NO_LONG_OPTS
3339 switch((getoptr = getopt(argc, argv, ARGOPT)))
3340#else
3341 switch((getoptr = getopt_long(argc, argv, ARGOPT, opts, 0)))
3342#endif
3343 {
3344 case 's': args->server = optarg; break;
3345 case 'u': args->user = optarg; break;
3346 case 'p': args->password = optarg; break;
3347 case 'd': args->data = optarg; break;
3348 case 'f': args->headerfile = optarg; break;
3349 case 'E': args->gpsephemeris = optarg; break;
3350 case 'G': args->glonassephemeris = optarg; break;
3351 case 'r': args->port = optarg; break;
3352 case '3': args->rinex3 = 1; break;
3353 case 'S': args->proxyhost = optarg; break;
3354 case 'n': args->nmea = optarg; break;
3355 case 'R': args->proxyport = optarg; break;
3356 case 'O': args->changeobs = 1; break;
3357 case 'h': help=1; break;
3358 case 'M':
3359 args->mode = 0;
3360 if (!strcmp(optarg,"n") || !strcmp(optarg,"ntrip1"))
3361 args->mode = NTRIP1;
3362 else if(!strcmp(optarg,"h") || !strcmp(optarg,"http"))
3363 args->mode = HTTP;
3364 else if(!strcmp(optarg,"r") || !strcmp(optarg,"rtsp"))
3365 args->mode = RTSP;
3366 else if(!strcmp(optarg,"a") || !strcmp(optarg,"auto"))
3367 args->mode = AUTO;
3368 else args->mode = atoi(optarg);
3369 if((args->mode == 0) || (args->mode >= END))
3370 {
3371 fprintf(stderr, "Mode %s unknown\n", optarg);
3372 res = 0;
3373 }
3374 break;
3375 case 't':
3376 args->timeout = strtoul(optarg, &t, 10);
3377 if((t && *t) || args->timeout < 0)
3378 res = 0;
3379 break;
3380
3381 case 1:
3382 {
3383 const char *err;
3384 if((err = geturl(optarg, args)))
3385 {
3386 RTCM3Error("%s\n\n", err);
3387 res = 0;
3388 }
3389 }
3390 break;
3391 case -1: break;
3392 }
3393 } while(getoptr != -1 || !res);
3394
3395 datestr[0] = datestr[7];
3396 datestr[1] = datestr[8];
3397 datestr[2] = datestr[9];
3398 datestr[3] = datestr[10];
3399 datestr[5] = datestr[12];
3400 datestr[6] = datestr[13];
3401 datestr[8] = datestr[15];
3402 datestr[9] = datestr[16];
3403 datestr[4] = datestr[7] = '-';
3404 datestr[10] = 0;
3405
3406 if(args->gpsephemeris && args->glonassephemeris && args->rinex3)
3407 {
3408 RTCM3Error("RINEX3 produces a combined ephemeris file, but 2 files were specified.\n"
3409 "Please specify only one navigation file.\n");
3410 res = 0;
3411 }
3412 else if(!res || help)
3413 {
3414 RTCM3Error("Version %s (%s) GPL" COMPILEDATE
3415 "\nUsage: %s -s server -u user ...\n"
3416 " -d " LONG_OPT("--data ") "the requested data set\n"
3417 " -f " LONG_OPT("--headerfile ") "file for RINEX header information\n"
3418 " -s " LONG_OPT("--server ") "the server name or address\n"
3419 " -p " LONG_OPT("--password ") "the login password\n"
3420 " -r " LONG_OPT("--port ") "the server port number (default 2101)\n"
3421 " -t " LONG_OPT("--timeout ") "timeout in seconds (default 60)\n"
3422 " -u " LONG_OPT("--user ") "the user name\n"
3423 " -E " LONG_OPT("--gpsephemeris ") "output file for GPS ephemeris data\n"
3424 " -G " LONG_OPT("--glonassephemeris ") "output file for GLONASS ephemeris data\n"
3425 " -3 " LONG_OPT("--rinex3 ") "output RINEX type 3 data\n"
3426 " -S " LONG_OPT("--proxyhost ") "proxy name or address\n"
3427 " -R " LONG_OPT("--proxyport ") "proxy port, optional (default 2101)\n"
3428 " -n " LONG_OPT("--nmea ") "NMEA string for sending to server\n"
3429 " -O " LONG_OPT("--changeobs ") "Add observation type change header lines\n"
3430 " -M " LONG_OPT("--mode ") "mode for data request\n"
3431 " Valid modes are:\n"
3432 " 1, h, http NTRIP Version 2.0 Caster in TCP/IP mode\n"
3433 " 2, r, rtsp NTRIP Version 2.0 Caster in RTSP/RTP mode\n"
3434 " 3, n, ntrip1 NTRIP Version 1.0 Caster\n"
3435 " 4, a, auto automatic detection (default)\n"
3436 "or using an URL:\n%s ntrip:data[/user[:password]][@[server][:port][@proxyhost[:proxyport]]][;nmea]\n"
3437 , revisionstr, datestr, argv[0], argv[0]);
3438 exit(1);
3439 }
3440 return res;
3441}
3442
3443/* let the output complete a block if necessary */
3444static void signalhandler(int sig)
3445{
3446 if(!stop)
3447 {
3448 RTCM3Error("Stop signal number %d received. "
3449 "Trying to terminate gentle.\n", sig);
3450 stop = 1;
3451 alarm(1);
3452 }
3453}
3454
3455#ifndef WINDOWSVERSION
3456static void WaitMicro(int mic)
3457{
3458 struct timeval tv;
3459 tv.tv_sec = mic/1000000;
3460 tv.tv_usec = mic%1000000;
3461#ifdef DEBUG
3462 fprintf(stderr, "Waiting %d micro seconds\n", mic);
3463#endif
3464 select(0, 0, 0, 0, &tv);
3465}
3466#else /* WINDOWSVERSION */
3467void WaitMicro(int mic)
3468{
3469 Sleep(mic/1000);
3470}
3471#endif /* WINDOWSVERSION */
3472
3473#define ALARMTIME (2*60)
3474
3475/* for some reason we had to abort hard (maybe waiting for data */
3476#ifdef __GNUC__
3477static __attribute__ ((noreturn)) void signalhandler_alarm(
3478int sig __attribute__((__unused__)))
3479#else /* __GNUC__ */
3480static void signalhandler_alarm(int sig)
3481#endif /* __GNUC__ */
3482{
3483 RTCM3Error("Programm forcefully terminated.\n");
3484 exit(1);
3485}
3486
3487int main(int argc, char **argv)
3488{
3489 struct Args args;
3490 struct RTCM3ParserData Parser;
3491
3492 setbuf(stdout, 0);
3493 setbuf(stdin, 0);
3494 setbuf(stderr, 0);
3495
3496 fixrevision();
3497
3498 signal(SIGINT, signalhandler);
3499 signal(SIGALRM,signalhandler_alarm);
3500 signal(SIGQUIT,signalhandler);
3501 signal(SIGTERM,signalhandler);
3502 signal(SIGPIPE,signalhandler);
3503 memset(&Parser, 0, sizeof(Parser));
3504 {
3505 time_t tim;
3506 tim = time(0) - ((10*365+2+5)*24*60*60+LEAPSECONDS);
3507 Parser.GPSWeek = tim/(7*24*60*60);
3508 Parser.GPSTOW = tim%(7*24*60*60);
3509 }
3510
3511 if(getargs(argc, argv, &args))
3512 {
3513 int sockfd, numbytes;
3514 char buf[MAXDATASIZE];
3515 struct sockaddr_in their_addr; /* connector's address information */
3516 struct hostent *he;
3517 struct servent *se;
3518 const char *server, *port, *proxyserver = 0;
3519 char proxyport[6];
3520 char *b;
3521 long i;
3522 struct timeval tv;
3523
3524 alarm(ALARMTIME);
3525
3526 Parser.headerfile = args.headerfile;
3527 Parser.glonassephemeris = args.glonassephemeris;
3528 Parser.gpsephemeris = args.gpsephemeris;
3529 Parser.rinex3 = args.rinex3;
3530 Parser.changeobs = args.changeobs;
3531
3532 if(args.proxyhost)
3533 {
3534 int p;
3535 if((i = strtol(args.port, &b, 10)) && (!b || !*b))
3536 p = i;
3537 else if(!(se = getservbyname(args.port, 0)))
3538 {
3539 RTCM3Error("Can't resolve port %s.", args.port);
3540 exit(1);
3541 }
3542 else
3543 {
3544 p = ntohs(se->s_port);
3545 }
3546 snprintf(proxyport, sizeof(proxyport), "%d", p);
3547 port = args.proxyport;
3548 proxyserver = args.server;
3549 server = args.proxyhost;
3550 }
3551 else
3552 {
3553 server = args.server;
3554 port = args.port;
3555 }
3556
3557 memset(&their_addr, 0, sizeof(struct sockaddr_in));
3558 if((i = strtol(port, &b, 10)) && (!b || !*b))
3559 their_addr.sin_port = htons(i);
3560 else if(!(se = getservbyname(port, 0)))
3561 {
3562 RTCM3Error("Can't resolve port %s.", port);
3563 exit(1);
3564 }
3565 else
3566 {
3567 their_addr.sin_port = se->s_port;
3568 }
3569 if(!(he=gethostbyname(server)))
3570 {
3571 RTCM3Error("Server name lookup failed for '%s'.\n", server);
3572 exit(1);
3573 }
3574 if((sockfd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
3575 {
3576 perror("socket");
3577 exit(1);
3578 }
3579
3580 tv.tv_sec = args.timeout;
3581 tv.tv_usec = 0;
3582 if(setsockopt(sockfd, SOL_SOCKET, SO_RCVTIMEO, (struct timeval *)&tv, sizeof(struct timeval) ) == -1)
3583 {
3584 RTCM3Error("Function setsockopt: %s\n", strerror(errno));
3585 exit(1);
3586 }
3587
3588 their_addr.sin_family = AF_INET;
3589 their_addr.sin_addr = *((struct in_addr *)he->h_addr);
3590
3591 if(args.data && args.mode == RTSP)
3592 {
3593 struct sockaddr_in local;
3594 int sockudp, localport;
3595 int cseq = 1;
3596 socklen_t len;
3597
3598 if((sockudp = socket(AF_INET, SOCK_DGRAM, 0)) == -1)
3599 {
3600 perror("socket");
3601 exit(1);
3602 }
3603 /* fill structure with local address information for UDP */
3604 memset(&local, 0, sizeof(local));
3605 local.sin_family = AF_INET;
3606 local.sin_port = htons(0);
3607 local.sin_addr.s_addr = htonl(INADDR_ANY);
3608 len = sizeof(local);
3609 /* bind() in order to get a random RTP client_port */
3610 if((bind(sockudp, (struct sockaddr *)&local, len)) < 0)
3611 {
3612 perror("bind");
3613 exit(1);
3614 }
3615 if((getsockname(sockudp, (struct sockaddr*)&local, &len)) != -1)
3616 {
3617 localport = ntohs(local.sin_port);
3618 }
3619 else
3620 {
3621 perror("local access failed");
3622 exit(1);
3623 }
3624 if(connect(sockfd, (struct sockaddr *)&their_addr,
3625 sizeof(struct sockaddr)) == -1)
3626 {
3627 perror("connect");
3628 exit(1);
3629 }
3630 i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
3631 "SETUP rtsp://%s%s%s/%s RTSP/1.0\r\n"
3632 "CSeq: %d\r\n"
3633 "Ntrip-Version: Ntrip/2.0\r\n"
3634 "Ntrip-Component: Ntripclient\r\n"
3635 "User-Agent: %s/%s\r\n"
3636 "Transport: RTP/GNSS;unicast;client_port=%u\r\n"
3637 "Authorization: Basic ",
3638 args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
3639 args.data, cseq++, AGENTSTRING, revisionstr, localport);
3640 if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
3641 {
3642 RTCM3Error("Requested data too long\n");
3643 exit(1);
3644 }
3645 i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
3646 if(i > MAXDATASIZE-4)
3647 {
3648 RTCM3Error("Username and/or password too long\n");
3649 exit(1);
3650 }
3651 buf[i++] = '\r';
3652 buf[i++] = '\n';
3653 buf[i++] = '\r';
3654 buf[i++] = '\n';
3655 if(args.nmea)
3656 {
3657 int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
3658 if(j >= 0 && j < MAXDATASIZE-i)
3659 i += j;
3660 else
3661 {
3662 RTCM3Error("NMEA string too long\n");
3663 exit(1);
3664 }
3665 }
3666 if(send(sockfd, buf, (size_t)i, 0) != i)
3667 {
3668 perror("send");
3669 exit(1);
3670 }
3671 if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
3672 {
3673 if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
3674 {
3675 int serverport = 0, session = 0;
3676 const char *portcheck = "server_port=";
3677 const char *sessioncheck = "session: ";
3678 int l = strlen(portcheck)-1;
3679 int j=0;
3680 for(i = 0; j != l && i < numbytes-l; ++i)
3681 {
3682 for(j = 0; j < l && tolower(buf[i+j]) == portcheck[j]; ++j)
3683 ;
3684 }
3685 if(i == numbytes-l)
3686 {
3687 RTCM3Error("No server port number found\n");
3688 exit(1);
3689 }
3690 else
3691 {
3692 i+=l;
3693 while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
3694 serverport = serverport * 10 + buf[i++]-'0';
3695 if(buf[i] != '\r' && buf[i] != ';')
3696 {
3697 RTCM3Error("Could not extract server port\n");
3698 exit(1);
3699 }
3700 }
3701 l = strlen(sessioncheck)-1;
3702 j=0;
3703 for(i = 0; j != l && i < numbytes-l; ++i)
3704 {
3705 for(j = 0; j < l && tolower(buf[i+j]) == sessioncheck[j]; ++j)
3706 ;
3707 }
3708 if(i == numbytes-l)
3709 {
3710 RTCM3Error("No session number found\n");
3711 exit(1);
3712 }
3713 else
3714 {
3715 i+=l;
3716 while(i < numbytes && buf[i] >= '0' && buf[i] <= '9')
3717 session = session * 10 + buf[i++]-'0';
3718 if(buf[i] != '\r')
3719 {
3720 RTCM3Error("Could not extract session number\n");
3721 exit(1);
3722 }
3723 }
3724
3725 i = snprintf(buf, MAXDATASIZE,
3726 "PLAY rtsp://%s%s%s/%s RTSP/1.0\r\n"
3727 "CSeq: %d\r\n"
3728 "Session: %d\r\n"
3729 "\r\n",
3730 args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
3731 args.data, cseq++, session);
3732
3733 if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
3734 {
3735 RTCM3Error("Requested data too long\n");
3736 exit(1);
3737 }
3738 if(send(sockfd, buf, (size_t)i, 0) != i)
3739 {
3740 perror("send");
3741 exit(1);
3742 }
3743 if((numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
3744 {
3745 if(numbytes >= 17 && !strncmp(buf, "RTSP/1.0 200 OK\r\n", 17))
3746 {
3747 struct sockaddr_in addrRTP;
3748 /* fill structure with caster address information for UDP */
3749 memset(&addrRTP, 0, sizeof(addrRTP));
3750 addrRTP.sin_family = AF_INET;
3751 addrRTP.sin_port = htons(serverport);
3752 their_addr.sin_addr = *((struct in_addr *)he->h_addr);
3753 len = sizeof(addrRTP);
3754 int ts = 0;
3755 int sn = 0;
3756 int ssrc = 0;
3757 int init = 0;
3758 int u, v, w;
3759 while(!stop && (i = recvfrom(sockudp, buf, 1526, 0,
3760 (struct sockaddr*) &addrRTP, &len)) > 0)
3761 {
3762 alarm(ALARMTIME);
3763 if(i >= 12+1 && (unsigned char)buf[0] == (2 << 6) && buf[1] == 0x60)
3764 {
3765 u= ((unsigned char)buf[2]<<8)+(unsigned char)buf[3];
3766 v = ((unsigned char)buf[4]<<24)+((unsigned char)buf[5]<<16)
3767 +((unsigned char)buf[6]<<8)+(unsigned char)buf[7];
3768 w = ((unsigned char)buf[8]<<24)+((unsigned char)buf[9]<<16)
3769 +((unsigned char)buf[10]<<8)+(unsigned char)buf[11];
3770
3771 if(init)
3772 {
3773 int z;
3774 if(u < -30000 && sn > 30000) sn -= 0xFFFF;
3775 if(ssrc != w || ts > v)
3776 {
3777 RTCM3Error("Illegal UDP data received.\n");
3778 exit(1);
3779 }
3780 if(u > sn) /* don't show out-of-order packets */
3781 for(z = 12; z < i && !stop; ++z)
3782 HandleByte(&Parser, (unsigned int) buf[z]);
3783 }
3784 sn = u; ts = v; ssrc = w; init = 1;
3785 }
3786 else
3787 {
3788 RTCM3Error("Illegal UDP header.\n");
3789 exit(1);
3790 }
3791 }
3792 }
3793 i = snprintf(buf, MAXDATASIZE,
3794 "TEARDOWN rtsp://%s%s%s/%s RTSP/1.0\r\n"
3795 "CSeq: %d\r\n"
3796 "Session: %d\r\n"
3797 "\r\n",
3798 args.server, proxyserver ? ":" : "", proxyserver ? args.port : "",
3799 args.data, cseq++, session);
3800
3801 if(i > MAXDATASIZE || i < 0) /* second check for old glibc */
3802 {
3803 RTCM3Error("Requested data too long\n");
3804 exit(1);
3805 }
3806 if(send(sockfd, buf, (size_t)i, 0) != i)
3807 {
3808 perror("send");
3809 exit(1);
3810 }
3811 }
3812 else
3813 {
3814 RTCM3Error("Could not start data stream.\n");
3815 exit(1);
3816 }
3817 }
3818 else
3819 {
3820 RTCM3Error("Could not setup initial control connection.\n");
3821 exit(1);
3822 }
3823 }
3824 else
3825 {
3826 perror("recv");
3827 exit(1);
3828 }
3829 }
3830 else
3831 {
3832 if(connect(sockfd, (struct sockaddr *)&their_addr,
3833 sizeof(struct sockaddr)) == -1)
3834 {
3835 perror("connect");
3836 exit(1);
3837 }
3838 if(!args.data)
3839 {
3840 i = snprintf(buf, MAXDATASIZE,
3841 "GET %s%s%s%s/ HTTP/1.0\r\n"
3842 "Host: %s\r\n%s"
3843 "User-Agent: %s/%s\r\n"
3844 "Connection: close\r\n"
3845 "\r\n"
3846 , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
3847 proxyserver ? ":" : "", proxyserver ? proxyport : "",
3848 args.server, args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
3849 AGENTSTRING, revisionstr);
3850 }
3851 else
3852 {
3853 i=snprintf(buf, MAXDATASIZE-40, /* leave some space for login */
3854 "GET %s%s%s%s/%s HTTP/1.0\r\n"
3855 "Host: %s\r\n%s"
3856 "User-Agent: %s/%s\r\n"
3857 "Connection: close\r\n"
3858 "Authorization: Basic "
3859 , proxyserver ? "http://" : "", proxyserver ? proxyserver : "",
3860 proxyserver ? ":" : "", proxyserver ? proxyport : "",
3861 args.data, args.server,
3862 args.mode == NTRIP1 ? "" : "Ntrip-Version: Ntrip/2.0\r\n",
3863 AGENTSTRING, revisionstr);
3864 if(i > MAXDATASIZE-40 || i < 0) /* second check for old glibc */
3865 {
3866 RTCM3Error("Requested data too long\n");
3867 exit(1);
3868 }
3869 i += encode(buf+i, MAXDATASIZE-i-4, args.user, args.password);
3870 if(i > MAXDATASIZE-4)
3871 {
3872 RTCM3Error("Username and/or password too long\n");
3873 exit(1);
3874 }
3875 buf[i++] = '\r';
3876 buf[i++] = '\n';
3877 buf[i++] = '\r';
3878 buf[i++] = '\n';
3879 if(args.nmea)
3880 {
3881 int j = snprintf(buf+i, MAXDATASIZE-i, "%s\r\n", args.nmea);
3882 if(j >= 0 && j < MAXDATASIZE-i)
3883 i += j;
3884 else
3885 {
3886 RTCM3Error("NMEA string too long\n");
3887 exit(1);
3888 }
3889 }
3890 }
3891 if(send(sockfd, buf, (size_t)i, 0) != i)
3892 {
3893 perror("send");
3894 exit(1);
3895 }
3896 if(args.data)
3897 {
3898 int k = 0;
3899 int chunkymode = 0;
3900 int totalbytes = 0;
3901 int chunksize = 0;
3902
3903 while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) != -1)
3904 {
3905 if(numbytes > 0)
3906 alarm(ALARMTIME);
3907 else
3908 {
3909 WaitMicro(100);
3910 continue;
3911 }
3912 if(!k)
3913 {
3914 if(numbytes > 17 && (!strncmp(buf, "HTTP/1.1 200 OK\r\n", 17)
3915 || !strncmp(buf, "HTTP/1.0 200 OK\r\n", 17)))
3916 {
3917 const char *datacheck = "Content-Type: gnss/data\r\n";
3918 const char *chunkycheck = "Transfer-Encoding: chunked\r\n";
3919 int l = strlen(datacheck)-1;
3920 int j=0;
3921 for(i = 0; j != l && i < numbytes-l; ++i)
3922 {
3923 for(j = 0; j < l && buf[i+j] == datacheck[j]; ++j)
3924 ;
3925 }
3926 if(i == numbytes-l)
3927 {
3928 RTCM3Error("No 'Content-Type: gnss/data' found\n");
3929 exit(1);
3930 }
3931 l = strlen(chunkycheck)-1;
3932 j=0;
3933 for(i = 0; j != l && i < numbytes-l; ++i)
3934 {
3935 for(j = 0; j < l && buf[i+j] == chunkycheck[j]; ++j)
3936 ;
3937 }
3938 if(i < numbytes-l)
3939 chunkymode = 1;
3940 }
3941 else if(numbytes < 12 || strncmp("ICY 200 OK\r\n", buf, 12))
3942 {
3943 RTCM3Error("Could not get the requested data: ");
3944 for(k = 0; k < numbytes && buf[k] != '\n' && buf[k] != '\r'; ++k)
3945 {
3946 RTCM3Error("%c", isprint(buf[k]) ? buf[k] : '.');
3947 }
3948 RTCM3Error("\n");
3949 exit(1);
3950 }
3951 else if(args.mode != NTRIP1)
3952 {
3953 if(args.mode != AUTO)
3954 {
3955 RTCM3Error("NTRIP version 2 HTTP connection failed%s.\n",
3956 args.mode == AUTO ? ", falling back to NTRIP1" : "");
3957 }
3958 if(args.mode == HTTP)
3959 exit(1);
3960 }
3961 ++k;
3962 }
3963 else
3964 {
3965 if(chunkymode)
3966 {
3967 int stop = 0;
3968 int pos = 0;
3969 while(!stop && pos < numbytes)
3970 {
3971 switch(chunkymode)
3972 {
3973 case 1: /* reading number starts */
3974 chunksize = 0;
3975 ++chunkymode; /* no break */
3976 case 2: /* during reading number */
3977 i = buf[pos++];
3978 if(i >= '0' && i <= '9') chunksize = chunksize*16+i-'0';
3979 else if(i >= 'a' && i <= 'f') chunksize = chunksize*16+i-'a'+10;
3980 else if(i >= 'A' && i <= 'F') chunksize = chunksize*16+i-'A'+10;
3981 else if(i == '\r') ++chunkymode;
3982 else if(i == ';') chunkymode = 5;
3983 else stop = 1;
3984 break;
3985 case 3: /* scanning for return */
3986 if(buf[pos++] == '\n') chunkymode = chunksize ? 4 : 1;
3987 else stop = 1;
3988 break;
3989 case 4: /* output data */
3990 i = numbytes-pos;
3991 if(i > chunksize) i = chunksize;
3992 {
3993 int z;
3994 for(z = 0; z < i && !stop; ++z)
3995 HandleByte(&Parser, (unsigned int) buf[pos+z]);
3996 }
3997 totalbytes += i;
3998 chunksize -= i;
3999 pos += i;
4000 if(!chunksize)
4001 chunkymode = 1;
4002 break;
4003 case 5:
4004 if(i == '\r') chunkymode = 3;
4005 break;
4006 }
4007 }
4008 if(stop)
4009 {
4010 RTCM3Error("Error in chunky transfer encoding\n");
4011 break;
4012 }
4013 }
4014 else
4015 {
4016 totalbytes += numbytes;
4017 {
4018 int z;
4019 for(z = 0; z < numbytes && !stop; ++z)
4020 HandleByte(&Parser, (unsigned int) buf[z]);
4021 }
4022 }
4023 if(totalbytes < 0) /* overflow */
4024 {
4025 totalbytes = 0;
4026 }
4027 }
4028 }
4029 }
4030 else
4031 {
4032 while(!stop && (numbytes=recv(sockfd, buf, MAXDATASIZE-1, 0)) > 0)
4033 {
4034 alarm(ALARMTIME);
4035 fwrite(buf, (size_t)numbytes, 1, stdout);
4036 }
4037 }
4038 close(sockfd);
4039 }
4040 }
4041 return 0;
4042}
4043#endif /* NO_RTCM3_MAIN */
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